/*
FILENAME...     devOmsPC68.c
USAGE...        Motor record device level support for OMS VME58.

Version:	$Revision: 1.2 $
Modified By:	$Author: sluiter $
Last Modified:	$Date: 2008-03-14 20:19:06 $
*/

/*
 *      Original Author: Brian Tieman
 *      Current Author: Ron Sluiter
 *      Date: 04/24/06
 *
 *      Experimental Physics and Industrial Control System (EPICS)
 *
 *      Copyright 1991, the Regents of the University of California,
 *      and the University of Chicago Board of Governors.
 *
 *      This software was produced under  U.S. Government contracts:
 *      (W-7405-ENG-36) at the Los Alamos National Laboratory,
 *      and (W-31-109-ENG-38) at Argonne National Laboratory.
 *
 *      Initial development by:
 *            The Controls and Automation Group (AT-8)
 *            Ground Test Accelerator
 *            Accelerator Technology Division
 *            Los Alamos National Laboratory
 *
 *      Co-developed with
 *            The Controls and Computing Group
 *            Accelerator Systems Division
 *            Advanced Photon Source
 *            Argonne National Laboratory
 *
 * Modification Log:
 * -----------------
 * .01  04-25-06    copied from devOms.cc
 */


#include        <alarm.h>
#include        <callback.h>
#include        <dbDefs.h>
#include        <dbAccess.h>
#include        <dbCommon.h>
#include        <devSup.h>
#include        <drvSup.h>
#include        <recSup.h>
#include        <errlog.h>

#include        "motorRecord.h"
#include        "motor.h"
#include        "drvOmsPC68Com.h"
#include        "devOmsCom.h"

#include        "epicsExport.h"

#define STATIC static

extern int OmsPC68_num_cards;
extern struct driver_table OmsPC68_access;

/* ----------------Create the dsets for devOMS----------------- */
STATIC long oms_init(void *);
STATIC long oms_init_record(void *);
STATIC long oms_start_trans(struct motorRecord *);
STATIC RTN_STATUS oms_end_trans(struct motorRecord *);

struct motor_dset devOmsPC68 =
{
    {8, NULL, oms_init, oms_init_record, NULL},
    motor_update_values,
    oms_start_trans,
    oms_build_trans,
    oms_end_trans
};

extern "C" {epicsExportAddress(dset,devOmsPC68);}

STATIC struct board_stat **oms_cards;
STATIC const char errmsg[] = {"\n\n!!!ERROR!!! - OmsPC68 driver uninitialized.\n"};

//__________________________________________________________________________________________

STATIC long oms_init(void *arg)
{
    int after = (arg == 0) ? 0 : 1;

    if (*(OmsPC68_access.init_indicator) == NO)
    {
        errlogSevPrintf(errlogMinor, "%s", errmsg);
        return(ERROR);
    }
    else
        return(motor_init_com (after, OmsPC68_num_cards, &OmsPC68_access, &oms_cards));
}

//__________________________________________________________________________________________

STATIC long oms_init_record(void *arg)
{
    struct motorRecord *mr = (struct motorRecord *) arg;

    return(motor_init_record_com(mr, OmsPC68_num_cards, &OmsPC68_access, oms_cards));
}

//__________________________________________________________________________________________

STATIC long oms_start_trans(struct motorRecord *mr)
{
    struct motor_trans  *trans;
    long                rtnval;

    rtnval = motor_start_trans_com(mr, oms_cards);
    /* Initialize a STOP_AXIS command termination string pointer. */
    trans = (struct motor_trans *) mr->dpvt;
    trans->motor_call.termstring = " ID";
    return(rtnval);
}

//__________________________________________________________________________________________

STATIC RTN_STATUS oms_end_trans(struct motorRecord *mr)
{
    if (*(OmsPC68_access.init_indicator) == NO)
    {
        errlogSevPrintf(errlogMinor, "%s", errmsg);
        return(ERROR);
    }
    else
        return(motor_end_trans_com(mr, &OmsPC68_access));
}

//__________________________________________________________________________________________