Provide a way to configure a simulated motor if it identifies itself as being simulated

r3638 | dcl | 2012-07-11 15:11:41 +1000 (Wed, 11 Jul 2012) | 1 line

site_ansto/motor_dmc2280.c

@@ -108,6 +108,7 @@ struct EvtEvent_s {
 #define VAR_SWI       (1<<7)
 #define VAR_HOM       (1<<8)
 #define VAR_STP       (1<<9)
+#define VAR_SIM       (1<<10)
 
 static pAsyncProtocol DMC2280_Protocol = NULL;
 
@@ -1237,6 +1238,20 @@ static int cmdVars(pDMC2280Driv self) {
   return DMC_SendReq(self, cmd);
 }
 
+static void cmdConfig(pDMC2280Driv self) {
+  char cmd[CMDLEN];
+  snprintf(cmd, CMDLEN, "MG \"CONFIG%c=SPX=%g,CPX=%g,RL=%g,FL=%g,UH=%g,%s=%d\"",
+      self->axisLabel,
+      self->stepsPerX,
+      self->cntsPerX,
+      self->fLower,
+      self->fUpper,
+      self->fHome,
+      self->abs_encoder ? "EH" : "MH",
+      self->abs_encoder ? self->absEncHome : self->motorHome);
+  DMC_Send(self, cmd);
+}
+
 static int cmdOn(pDMC2280Driv self) {
   char cmd[CMDLEN];
   if (self->protocol == 1) {
@@ -1439,6 +1454,8 @@ static int rspStatus(pDMC2280Driv self, const char* text) {
 
 static int rspVars(pDMC2280Driv self, const char* text) {
   self->variables = 0;
+  if (has_var(self, text, "SIMULATE"))
+    self->variables |= VAR_SIM;
   if (has_var(self, text, "HOMERUN"))
     self->variables |= VAR_HOM;
   if (has_var_x(self, text, "REQ"))
@@ -1794,6 +1811,8 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
         }
         if (self->subState == 1) { /* Vars */
           rspVars(self, pCmd->inp_buf);
+          if (self->variables & VAR_SIM)
+            cmdConfig(self);
           cmdStatus(self);
           self->subState = 2;
           return;