Move things around, fix typo

r1896 | dcl | 2007-04-20 09:11:03 +1000 (Fri, 20 Apr 2007) | 2 lines

site_ansto/motor_dmc2280.c

@@ -37,12 +37,17 @@
  * with valid values.
  * \see getDMCSetting
  */
+typedef struct __MoDriv DMC2280Driv, *pDMC2280Driv;
+
+typedef struct __command Command, *pCommand;
+typedef int (*CommandCallback)(pCommand pCmd);
+
 enum dmcsetting {dmcspeed, dmcacceleration, dmcdeceleration};
 /*-----------------------------------------------------------------------
   The motor driver structure. Please note that the first set of fields has 
   be identical with the fields of AbstractModriv in  ../modriv.h 
   ------------------------------------------------------------------------*/
-typedef struct __MoDriv {
+struct __MoDriv {
   /* general motor driver interface 
      fields. _REQUIRED!
      */
@@ -110,7 +115,7 @@ typedef struct __MoDriv {
   pNWTimer motor_timer; /**< motor off timer */
   int debug;
   int preseek; /**< Flag = 1 if current move is a backlash preseek */
-} DMC2280Driv, *pDMC2280Driv;
+};
 
 int DMC2280MotionControl = 1; /* defaults to enabled */
 
@@ -170,9 +175,6 @@ static int DMC2280Halt(void *pData);
 static int DMC2280SetPar(void *pData, SConnection *pCon,
     char *name, float newValue);
 
-typedef struct __command Command, *pCommand;
-typedef int (*CommandCallback)(pCommand pCmd);
-
 struct __command {
   pMultiChan unit;
   int cstate;
@@ -656,38 +658,6 @@ static int RunHomeRoutine(pDMC2280Driv self, float newValue) {
   return SUCCESS;
 }
 
-/** \brief Reads motor position, implements the GetPosition
- * method in the MotorDriver interface.
- *
- * \param *pData provides access to a motor's data
- * \param *fPos contains the motor position in physical units after a call.
- * \return
- * - OKOK request succeeded
- * - HWFault request failed
- * */
-static int DMC2280GetPos(void *pData, float *fPos){
-  pDMC2280Driv self = NULL;
-  char reply[CMDLEN];
-  char cmd[CMDLEN];
-  float absEncPos, motorPos;
-
-  reply[0]='\0';
-  self = (pDMC2280Driv)pData;
-  assert(self != NULL);
-  if (1 == self->abs_endcoder) {
-    if (readAbsEnc(self, &absEncPos) == FAILURE)
-      return HWFault;
-    *fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
-  } else {
-    snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
-    if (FAILURE == DMC2280SendReceive(self, cmd, reply))
-      return HWFault;
-    motorPos =(float)atof(reply);
-    *fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
-  }
-  return OKOK;
-}
-
 /**
  * \brief calculate and issue the motion commands
  *
@@ -931,72 +901,6 @@ static int motor_timeout(void* context, int mode) {
   return 0;
 }
 
-/**
- * \brief handle the run command for a motor with airpads
- *
- * \param self motor data
- * \param fValue new motor position
- */
-static int DMC2280RunAir(pDMC2280Driv self, float fValue) {
-  self->fTarget = fValue;
-  if (!DMC_AirPads(self, 1))
-    return HWFault;
-  return OKOK;
-}
-
-/** \brief DMC2280 implementation of the RunTo
- * method in the MotorDriver interface.
- *
- * \param *pData provides access to a motor's data
- * \param fValue target position in physical units, software zeros
- * have already been applied.
- * \return
- * - OKOK request succeeded
- * - HWFault request failed
- * */
-static int DMC2280Run(void *pData,float fValue){
-  pDMC2280Driv self = NULL;
-  self = (pDMC2280Driv)pData;
-  assert(self != NULL);
-
-  /* If Motion Control is off, report HWFault */
-  if (DMC2280MotionControl != 1) {
-    if (DMC2280MotionControl == 0)
-      self->errorCode = MOTIONCONTROLOFF;
-    else
-      self->errorCode = MOTIONCONTROLUNK;
-    return HWFault;
-  }
-
-  if (self->motor_timer)
-    NetWatchRemoveTimer(self->motor_timer);
-  self->motor_timer = NULL;
-
-  if (self->settle)
-    self->time_settle_done.tv_sec = 0;
-
-  /*
-   * Note: this will read the current position which will block
-   */
-  do {
-    float currPos;
-    DMC2280GetPos(pData, &currPos);
-    self->lastPosition = currPos;
-#if 1
-    self->time_lastPos_set.tv_sec = 0;
-#endif
-  } while (0);
-
-  /*
-   * Note: this passes control to a timer routine
-   */
-  if (self->has_airpads)
-    if (self->airpad_state != AIRPADS_UP)
-      return DMC2280RunAir(self, fValue);
-
-  return DMC2280RunCommon(self, fValue);
-}
-
 /** \brief Check if the axis has moved significantly since
  * the last check.
  *
@@ -1080,6 +984,105 @@ static int checkMotion(void *pData) {
   return 1;
 }
 
+/**
+ * \brief handle the run command for a motor with airpads
+ *
+ * \param self motor data
+ * \param fValue new motor position
+ */
+static int DMC2280RunAir(pDMC2280Driv self, float fValue) {
+  if (!DMC_AirPads(self, 1))
+    return HWFault;
+  return OKOK;
+}
+
+/** \brief Reads motor position, implements the GetPosition
+ * method in the MotorDriver interface.
+ *
+ * \param *pData provides access to a motor's data
+ * \param *fPos contains the motor position in physical units after a call.
+ * \return
+ * - OKOK request succeeded
+ * - HWFault request failed
+ * */
+static int DMC2280GetPos(void *pData, float *fPos){
+  pDMC2280Driv self = NULL;
+  char reply[CMDLEN];
+  char cmd[CMDLEN];
+  float absEncPos, motorPos;
+
+  reply[0]='\0';
+  self = (pDMC2280Driv)pData;
+  assert(self != NULL);
+  if (1 == self->abs_endcoder) {
+    if (readAbsEnc(self, &absEncPos) == FAILURE)
+      return HWFault;
+    *fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
+  } else {
+    snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
+    if (FAILURE == DMC2280SendReceive(self, cmd, reply))
+      return HWFault;
+    motorPos =(float)atof(reply);
+    *fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
+  }
+  return OKOK;
+}
+
+/** \brief DMC2280 implementation of the RunTo
+ * method in the MotorDriver interface.
+ *
+ * \param *pData provides access to a motor's data
+ * \param fValue target position in physical units, software zeros
+ * have already been applied.
+ * \return
+ * - OKOK request succeeded
+ * - HWFault request failed
+ * */
+static int DMC2280Run(void *pData,float fValue){
+  pDMC2280Driv self = NULL;
+  self = (pDMC2280Driv)pData;
+  assert(self != NULL);
+
+  /* If Motion Control is off, report HWFault */
+  if (DMC2280MotionControl != 1) {
+    if (DMC2280MotionControl == 0)
+      self->errorCode = MOTIONCONTROLOFF;
+    else
+      self->errorCode = MOTIONCONTROLUNK;
+    return HWFault;
+  }
+
+  if (self->motor_timer)
+    NetWatchRemoveTimer(self->motor_timer);
+  self->motor_timer = NULL;
+
+  if (self->settle)
+    self->time_settle_done.tv_sec = 0;
+
+  /*
+   * Note: this will read the current position which will block
+   */
+  do {
+    float currPos;
+    DMC2280GetPos(pData, &currPos);
+    self->lastPosition = currPos;
+#if 1
+    self->time_lastPos_set.tv_sec = 0;
+#endif
+  } while (0);
+
+  self->fTarget = fValue;
+
+  /*
+   * Note: this passes control to a timer routine
+   */
+  if (self->has_airpads)
+    if (self->airpad_state != AIRPADS_UP)
+      return DMC2280RunAir(self, fValue);
+
+  return DMC2280RunCommon(self, fValue);
+}
+
 
 /** \brief Returns the motor status while it's moving,
  * implements the GetStatus method in the MotorDriver interface.
@@ -1197,7 +1200,7 @@ static int DMC2280Status(void *pData){
      * When we get here, the motion has completed
      */
     if (self->preseek) {
-      DMC_RunCommon(self, self->fTarget);
+      DMC2280RunCommon(self, self->fTarget);
       return HWBusy;
     }
     /* and we
@@ -1419,23 +1422,6 @@ static int DMC2280Halt(void *pData){
     return 1;
 }
 
-/** \brief Allow motor drivers to return text values like units.
- *
- * Refactoring: Should replace this with a function that will
- * return hdb values.
- * This is the first step in the refactoring process. */
-int DMC2280GetTextPar(void *pData, char *name, char *textPar) {
-  pDMC2280Driv self = NULL;
-
-  self = (pDMC2280Driv)pData;
-
-  if(strcasecmp(name,UNITS) == 0) {
-    snprintf(textPar, UNITSLEN, self->units);
-    return 1;
-  } 
-  return 0;
-}
-
 /** \brief Fetches the value of the named parameter,
  * implements the GetDriverPar method in the MotorDriver interface.
  *
@@ -2104,19 +2090,19 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
       sscanf(pPtr,"%f",&(pNew->cntsPerX));
   }
 
-    /* Set speed */
+  /* Set speed */
-    snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
+  snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
-    if (FAILURE == DMC2280Send(pNew, cmd))
+  if (FAILURE == DMC2280Send(pNew, cmd))
-      return NULL;
+    return NULL;
-    /* Set acceleration */
+  /* Set acceleration */
-    snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
+  snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
-    if (FAILURE == DMC2280Send(pNew, cmd))
+  if (FAILURE == DMC2280Send(pNew, cmd))
-      return NULL;
+    return NULL;
-    /* Set deceleration */
+  /* Set deceleration */
-    snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
+  snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
-    if (FAILURE == DMC2280Send(pNew, cmd))
+  if (FAILURE == DMC2280Send(pNew, cmd))
-      return NULL;
+    return NULL;
-    /* TODO Initialise current position and target to get a sensible initial list output */
+  /* TODO Initialise current position and target to get a sensible initial list output */
   return (MotorDriver *)pNew;
 }