- New drivers for EL737 and EL734 high performance

- Changes to makefiles


SKIPPED:
	psi/dornier2.c
	psi/el734hp.c
	psi/el737driv.c
	psi/el737hpdriv.c
	psi/make_gen
	psi/makefile_alpha
	psi/psi.c
	psi/velodorn.c
	psi/velodorn.h
	psi/velodorn.w
	psi/hardsup/el737_utility.c
	psi/hardsup/makefile_alpha
	psi/tecs/makefile_alpha

motor.c

@@ -74,6 +74,7 @@
 #define SPEED   9
 #define SIGN    10
 #define ECOUNT  11
+#define POSCOUNT 12
 /*------------------------------------------------------------------------
    a tiny structure used in CallBack work
 */
@@ -173,6 +174,9 @@
      fputs(pBueffel,fd);
      sprintf(pBueffel,"%s AccessCode %f\n",name,ObVal(self->ParArray,USRIGHTS));
      fputs(pBueffel,fd);
+     sprintf(pBueffel,"%s poscount %f\n",name,
+	     ObVal(self->ParArray,POSCOUNT));
+     fputs(pBueffel,fd);
      return 1;
   }
 /*-------------------------------------------------------------------------*/
@@ -195,18 +199,145 @@
         SCSetInterrupt(pCon,iVal);
       }
   }
+/*-----------------------------------------------------------------------*/
+static int evaluateStatus(pMotor self, SConnection *pCon)
+{
+  int iRet, iCode;
+  MotCallback sCall;
+  char pBueffel[256], pError[132];
+  float fHard;
+
+  iRet = self->pDriver->GetStatus(self->pDriver);
+  if( (iRet == OKOK) || (iRet == HWIdle)) 
+  {
+      MotorGetSoftPosition(self,pCon,&sCall.fVal);
+      sCall.pName = self->name;
+      InvokeCallBack(self->pCall, MOTEND, &sCall);
+      MotorGetHardPosition(self,pCon,&fHard);
+      self->fPosition = fHard;
+      if(absf(fHard - self->fTarget) > ObVal(self->ParArray,PREC))
+      {
+         snprintf(pBueffel,131,"WARNING: %s off position by %f",
+                 self->name, absf(fHard - self->fTarget));
+         SCWrite(pCon,pBueffel, eWarning);                    
+         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
+         self->retryCount = 0;
+         return HWPosFault;
+       }
+       self->retryCount = 0;
+       return HWIdle;  
+     }
+   /* motor suggests a fault */  
+     else if(iRet == HWFault)
+     {
+       self->pDriver->GetError(self->pDriver,&iCode, pError,131);
+       iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
+       if(iRet == MOTFAIL)
+       {
+         snprintf(pBueffel,255,"ERROR: %s on %s",pError,self->name);
+         SCWrite(pCon,pBueffel,eError);
+         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
+         self->retryCount = 0;
+         return HWFault;
+       }
+       else if(iRet == MOTREDO)
+       {
+         self->pDriver->RunTo(self->pDriver,self->fTarget);
+         self->retryCount++;
+         if(self->retryCount >= 3)
+         {
+            self->retryCount = 0;
+            return HWFault;
+         }
+         return HWBusy;
+       }
+       else
+       {
+         self->retryCount = 0;
+         return HWBusy;
+       }  
+     } 
+   /* a positioning fault */  
+     else if(iRet == HWPosFault)
+     {
+       self->pDriver->GetError(self->pDriver,&iCode, pError,131);
+       iRet = self->pDriver->TryAndFixIt(self->pDriver,iCode, self->fTarget);
+       if(iRet == MOTFAIL)
+       {
+         snprintf(pBueffel,255,"ERROR: %s on %s",pError,self->name);
+         SCWrite(pCon,pBueffel,eError);
+         MotorInterrupt(pCon,ObVal(self->ParArray,INT));
+         self->retryCount = 0;
+         return HWFault;
+       }
+       else if(iRet == MOTREDO)
+       {
+         self->posFaultCount++;
+         if(self->posFaultCount >= 4)
+         {
+           self->posFaultCount = 0;
+           self->retryCount = 0;
+           return HWPosFault;
+         }
+         self->pDriver->RunTo(self->pDriver,self->fTarget);
+         return HWBusy;
+       }
+       else
+       {
+         return HWBusy;
+       }  
+     }
+     else if(iRet == HWWarn)
+     {
+        self->pDriver->GetError(self->pDriver,&iCode,pError,131);
+        snprintf(pBueffel,255,"WARNING: %s on %s",pError,self->name);
+        SCWrite(pCon,pBueffel,eStatus);
+        return HWIdle;
+     }
+     self->retryCount = 0;
+     return iRet;
+}
+/*---------------------------------------------------------------------*/
+static void handleMoveCallback(pMotor self, SConnection *pCon)
+{
+    MotCallback sCall;
+  
+    self->posCount++;
+    if(self->posCount >= ObVal(self->ParArray,POSCOUNT))
+    {
+      MotorGetSoftPosition(self,pCon,&sCall.fVal);
+      sCall.pName = self->name;
+      InvokeCallBack(self->pCall, MOTDRIVE, &sCall);
+      self->posCount = 0;
+    }
+}
+/*-----------------------------------------------------------------------*/
+  static int MotorStatus(void *sulf, SConnection *pCon)
+  {
+     pMotor self = NULL;
+     int status;
+
+     assert(sulf);
+     self = (pMotor)sulf;
+
+     status = evaluateStatus(self,pCon);
+     if(status == HWBusy)
+     {
+       handleMoveCallback(self,pCon);
+     }
+     return status;
+  }
 /*--------------------------------------------------------------------------
   Refactor
   --------------------------------------------------------------------------*/
-  static int MotorStatus(void *sulf, SConnection *pCon)
+  static int MotorStatus2(void *sulf, SConnection *pCon)
   {
      float fHard;
      pMotor self;
      int iRet,i, iCode;
-     static int iRetry = 0;
      char pError[132];
      char pBueffel[256];
-     static int iPosFault = 0;
+     static int iPosFault = 0, iRetry = 0;
      MotCallback sCall;
      
      
@@ -354,7 +485,7 @@
     
     
     /* create and initialize parameters */
-    pM->ParArray = ObParCreate(12);
+    pM->ParArray = ObParCreate(13);
     if(!pM->ParArray)
     {
        free(pM);
@@ -372,6 +503,7 @@
     ObParInit(pM->ParArray,SPEED,"speed",0.02,usInternal);
     ObParInit(pM->ParArray,SIGN,"sign",1.0,usMugger);
     ObParInit(pM->ParArray,ECOUNT,"failafter",3.0,usMugger);
+    ObParInit(pM->ParArray,POSCOUNT,"poscount",20.0,usMugger);
     pDriv->GetPosition(pDriv,&(pM->fPosition));
     pM->fTarget = pM->fPosition;
     pM->endScriptID = 0;
@@ -696,6 +828,8 @@ extern void KillPiPiezo(void *pData);
     }
 
     /* Boundaries OK, send command */
+    self->posFaultCount = 0;
+    self->retryCount = 0;
     self->fTarget = fHard;
     iRet = self->pDriver->RunTo(self->pDriver,fHard);
     if(iRet != OKOK)