- GPIB/ECB modules completed, ecb motor driver in progress

motor.c

@@ -10,6 +10,7 @@
      revised: Mark Koennecke, June 1997
      callback added: Mark Koennecke, August 1997
      endscript facility added: Mark Koennecke, August 2002 
+     Modified to support driver parameters, Mark Koennecke, January 2003
 
      Copyright:
 
@@ -34,7 +35,6 @@
      DERIVATIVES THEREOF, EVEN IF THE AUTHORS HAVE BEEN ADVISED OF THE
      POSSIBILITY OF SUCH DAMAGE.
 
-
      INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY,
      FITNESS FOR A PARTICULAR PURPOSE, AND NON-INFRINGEMENT.  THIS SOFTWARE
      IS PROVIDED ON AN "AS IS" BASIS, AND THE AUTHORS AND DISTRIBUTORS HAVE
@@ -333,16 +333,7 @@
         self->pDriver->GetError(self->pDriver,&iCode,pError,131);
         sprintf(pBueffel,"WARNING: %s on %s",pError,self->name);
         SCWrite(pCon,pBueffel,eStatus);
-        if(self->pDriver->ContinueAfterWarn(self->pDriver))
-        {
-           iRetry = 0;
-           return HWBusy;
-        }
-        else
-        {
-          iRetry = 0;
-          return HWIdle;
-        }   
+        return HWIdle;
      }
      iRetry = 0;
      return iRet;
@@ -514,7 +505,17 @@ extern void KillPiPiezo(void *pData);
        }
        else
        {
-         return 0;
+         /*
+           check for a driver parameter
+	 */
+	 if(self->pDriver->GetDriverPar != NULL)
+	 {
+	   return self->pDriver->GetDriverPar(self->pDriver,name,fVal); 
+         } 
+         else
+	 {
+	   return 0;
+         } 
        }
     } 
   }
@@ -553,10 +554,6 @@ extern void KillPiPiezo(void *pData);
      }
      
      iRet = ObParSet(self->ParArray,self->name,name,fVal,pCon);
-     if(!iRet)
-     {
-       return iRet;
-     }
      if(strcmp(name,"sign") == 0)
      {
         if((absf(fVal)-1.0) > 0.01)
@@ -573,6 +570,17 @@ extern void KillPiPiezo(void *pData);
           ObParInit(self->ParArray,SZERO,"softzero",ZEROINACTIVE,usUser);
         }
      }
+
+     /*
+        try set driver parameters
+     */
+     if(iRet == 0)
+     {
+       if(self->pDriver->SetDriverPar != NULL)
+       {
+	 iRet = self->pDriver->SetDriverPar(self->pDriver,pCon,name,fVal);
+       }
+     }
      return iRet;
   } 
 /*---------------------------------------------------------------------------
@@ -988,6 +996,13 @@ extern MotorDriver *MakePiPiezo(Tcl_Interp *pTcl, char *pArray);
     sprintf(pBueffel,"%s.TargetPosition = %f\n", self->name,self->fTarget);
     SCWrite(pCon,pBueffel,eStatus);
     
+    /*
+      list driver parameters when appropriate
+    */
+    if(self->pDriver->ListDriverPar != NULL)
+    {
+      self->pDriver->ListDriverPar(self->pDriver,self->name, pCon);
+    }
   }
 /*--------------------------------------------------------------------------*/
   void MotorReset(pMotor pM)