lin-epics-modules/motorBase
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Update frequency with every status update.

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Ron Sluiter
2008-10-15 18:36:12 +00:00
parent 723289ad73
commit f8a37dfc99
1 changed files with 18 additions and 11 deletions
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motorApp/AttocubeSrc/drvANC150Asyn.cc
+18 -11
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@@ -2,9 +2,9 @@
FILENAME... drvANC150Asyn.cc
USAGE... Motor record driver level support for Kohzu SC800
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-09-10 18:50:48 $
Last Modified: $Date: 2008-10-15 18:36:12 $
*/
@@ -126,11 +126,12 @@ typedef struct
epicsTimeStamp now;
} motorANC150_t;
extern "C" {
static int motorANC150LogMsg(void *, const motorAxisLogMask_t, const char *, ...);
}
static int sendOnly(ANC150Controller *, char *);
static asynStatus sendAndReceive(ANC150Controller *, char *, char *, int);
static asynStatus getFreq(ANC150Controller *, int, char *, char *, int);
static asynStatus getFreq(ANC150Controller *, int);
#define PRINT (drv.print)
#define FLOW motorAxisTraceFlow
@@ -506,7 +507,7 @@ static int motorAxisforceCallback(AXIS_HDL pAxis)
}
static void ANC150Poller(ANC150Controller * pController)
static void ANC150Poller(ANC150Controller *pController)
{
/* This is the task that polls the ANC150 */
double timeout;
@@ -575,6 +576,9 @@ static void ANC150Poller(ANC150Controller * pController)
PRINT(pAxis->logParam, IODRIVER, "ANC150Poller: axis %d axisStatus=%x, position=%f\n",
pAxis->axis, pAxis->axisStatus, pAxis->currentPosition);
/* Update frequency. */
getFreq(pController, itera);
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);
@@ -678,7 +682,7 @@ int ANC150AsynConfig(int card, /* Controller number */
do
{
pasynOctetSyncIO->flush(pController->pasynUser);
status = sendAndReceive(pController, "ver", inputBuff, sizeof(inputBuff));
status = sendAndReceive(pController, (char *) "ver", inputBuff, sizeof(inputBuff));
if (status == asynSuccess && strncmp(inputBuff, "attocube", 8) == 0)
strncpy(pController->firmwareVersion, &inputBuff[19], sizeof(inputBuff));
else
@@ -712,7 +716,7 @@ int ANC150AsynConfig(int card, /* Controller number */
pAxis->currentPosition = 0.0;
pAxis->movetimer = new epicsTime();
pAxis->moving_ind = false;
getFreq(pController, axis, outputBuff, inputBuff, sizeof(inputBuff));
getFreq(pController, axis);
sprintf(outputBuff, "setm %d stp", pAxis->axis + 1);
status = sendOnly(pAxis->pController, outputBuff);
}
@@ -782,18 +786,21 @@ static asynStatus sendAndReceive(ANC150Controller *pController, char *outputBuff
}
static asynStatus getFreq(ANC150Controller *pController, int axis,
char *outputBuff, char *inputBuff, int inputSize)
static asynStatus getFreq(ANC150Controller *pController, int axis)
{
AXIS_HDL pAxis;
asynStatus status;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
int savedfreq;
sprintf(outputBuff, "getf %d", axis + 1);
status = sendAndReceive(pController, outputBuff, inputBuff, inputSize);
status = sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
pAxis = pController->pAxis;
savedfreq = pAxis->frequency;
if (status != asynSuccess || sscanf(inputBuff, "frequency = %d", &pAxis->frequency) != 1)
pAxis->frequency = 1;
pAxis->frequency = savedfreq;
return(status);
}