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motor/Makefile Normal file
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#--------------------------------------------------------------------------
# Makefile for Davids motor test program.
#
# Mark Koennecke, October 1998
#--------------------------------------------------------------------------
BINTARGET=$(HOME)/bin/sics
OBJ=el734_test.o makeprint.o
CFLAGS= -I../hardsup -c
LFLAGS= -L../hardsup -lhlib -lX11 -lm
.c.o:
cc $(CFLAGS) $*.c
all: $(OBJ)
cc -o el734_test $(OBJ) $(LFLAGS)
- cp el734_test $(BINTARGET)
clean:
- rm el734_test
- rm *.o

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motor/el734_test.c Normal file
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motor/makeprint.c Normal file
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#define ident "1B02"
#ifdef VAXC
#module MakePrint ident
#endif
#ifdef __DECC
#pragma module MakePrint ident
#endif
/*
** +--------------------------------------------------------------+
** | Paul Scherrer Institute |
** | Department ASQ |
** | |
** | This software may be used freely by non-profit organizations.|
** | It may be copied provided that the name of P.S.I. and of the |
** | author is included. Neither P.S.I. nor the author assume any |
** | responsibility for the use of this software outside of P.S.I.|
** +--------------------------------------------------------------+
**
** Module Name . . . . . . . . : [...LIB.SINQ]MAKEPRINT.C
**
** Author . . . . . . . . . . : D. Maden
** Date of creation . . . . . . : Nov 1995
**
** To compile this module, use:
$ import tasmad
$ define/group sinq_c_tlb mad_lib:sinq_c.tlb
$ cc /debug /noopt /obj=[]MakePrint -
tasmad_disk:[mad.lib.sinq]MakePrint +
sinq_c_tlb/lib
** To include this module in SINQ.OLB, use:
$ import tasmad
$ define/group sinq_c_tlb mad_lib:sinq_c.tlb
$
$ define/group sinq_olb mad_lib:sinq_dbg.olb
$ @tasmad_disk:[mad.lib.sinq]sinq_olb MakePrint debug
$
$ define/group sinq_olb mad_lib:sinq.olb
$ @tasmad_disk:[mad.lib.sinq]sinq_olb MakePrint
**
** Updates:
** 1A01 30-Nov-1995 DM. Initial version.
** 1B01 21-Mar-1996 DM. Move from DELTAT.OLB to SINQ.OLB.
**============================================================================
** The entry points included in this module are described below. Prototypes
** can be defined via:
**
** #include <sinq_prototypes.h>
**
** MakePrint - ensure all characters in a buffer are printable.
** MakePrintable - extended version of MakePrint.
**---------------------------------------------------------------------
** char *MakePrint (*text)
** ---------
** Input Args:
** none
** Output Args:
** none
** Modified Args:
** char *text
** Return status:
** A pointer to "text".
** Routines called:
** none
** Description:
** The routine ensures that all characters in "text" are 7-bit
** and then replaces any non-printing character with a ".". A trailing
** "\n" or "\r" is removed.
**---------------------------------------------------------------------------
** char *MakePrintable (*out, out_size, *in)
** -------------
** Input Args:
** char *in -- the text to be converted.
** int out_size -- the size of the out buffer.
** Output Args:
** char *out -- buffer to hold the converted text.
** Modified Args:
** none
** Return status:
** A pointer to "out".
** Routines called:
** none
** Description:
** The routine copies all the characters in "in" to "out", ensuring that
** "out" only contains printable characters.
** If the parity bit of a char is set, the char is prefixed with "^",
** any "^" chars get replaced by "\^".
** Then, if the result is non-printable, it is replaced by "\" and its
** octal value. Standard C-language control chars get replaced with
** the corresponding printable string, e.g. <LF> is "\n". Any "\" is
** replaced by "\\".
**============================================================================*/
/*
**---------------------------------------------------------------------------
** Global Definitions
*/
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include <sinq_prototypes.h>
#define NIL ('\0')
/*--------------------------------------------------------------------------
** Global Variables
*/
/*
**--------------------------------------------------------------------------
** MakePrint: Make all characters in a buffer printable.
*/
char *MakePrint (char *chr) {
/* =========
*/
int len, i;
for (i = 0; chr[i] != NIL; i++) chr[i] &= 0x7F;
len = strlen (chr);
if (len <= 0) return chr;
if (chr[len-1] == '\r') chr[len-1] = NIL;
if (chr[len-1] == '\n') chr[len-1] = NIL;
for (i = 0; chr[i] != NIL; i++) {
if (chr[i] < ' ') chr[i] = '.';
if (chr[i] == 0x7F) chr[i] = '.';
}
return chr;
}
/*
**--------------------------------------------------------------------------
** MakePrintable: improved version of MakePrint.
*/
char *MakePrintable (char *out, int out_size, char *in) {
/* =============
*/
int len, i, j;
char *my_tmp1, *my_tmp2;
len = strlen (in);
my_tmp1 = malloc (5 * len + 1); /* Get plenty of working space */
if (my_tmp1 == NULL) {
out[0] = NIL; return out;
}
my_tmp2 = malloc (5 * len + 1);
if (my_tmp2 == NULL) {
free (my_tmp1); out[0] = NIL; return out;
}
/*
** Process the parity bits, "\" and "^" first.
*/
i = 0; j = 0;
while (in[i] != NIL) {
if ((in[i] & 0x80) != 0) {
my_tmp1[j] = '^'; j++;
my_tmp1[j] = in[i] & 0x7f;
}else if (in[i] == '\\') {
my_tmp1[j] = '\\'; j++;
my_tmp1[j] = '\\';
}else if (in[i] == '^') {
my_tmp1[j] = '\\'; j++;
my_tmp1[j] = '^';
}else {
my_tmp1[j] = in[i];
}
i++; j++;
}
my_tmp1[j] = NIL;
/*
** Now do the non-printing stuff.
*/
i = 0; j = 0;
while (my_tmp1[i] != NIL) {
if ((my_tmp1[i] < ' ') || (my_tmp1[i] == 0x7f)) {
my_tmp2[j] = '\\', j++;
switch (my_tmp1[i]) {
case '\007': my_tmp2[j] = 'a'; break;
case '\010': my_tmp2[j] = 'b'; break;
case '\011': my_tmp2[j] = 't'; break;
case '\012': my_tmp2[j] = 'n'; break;
case '\013': my_tmp2[j] = 'v'; break;
case '\014': my_tmp2[j] = 'f'; break;
case '\015': my_tmp2[j] = 'r'; break;
default: sprintf (&my_tmp2[j], "%3o", my_tmp1[i]); j += 2; break;
}
}else {
my_tmp2[j] = my_tmp1[i];
}
i++; j++;
}
my_tmp2[j] = NIL;
StrJoin (out, out_size, my_tmp2, "");
free (my_tmp1); free (my_tmp2);
return out;
}
/*-------------------------------------------- End of MakePrint.C =======*/

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! EL734 Status at Fri Oct 16 11:14:22 1998
! ============
!
! Reference mode information: EL734 ID = "STPMC EL734 V2.0 FFF"
! K = -11 = LoLim + Index is ref. pt. Server "lnsp19.psi.ch"
! -1 = LoLim is ref. pt. Port 4000
! 0 = Abs encoder Channel 2
! 1 = HiLim is ref. pt. Motor 1
! 2 = Separate ref. pt.
! 11 = HiLim + Index is ref. pt.
! 12 = Separate + Index ref. pt.
!
! # of positionings, SP = 110
! # of positioning faults, ST = 191
! # of positioning failures, SR = 25
! # of air-cushion failures, SA = 0
! Status, MSR = Idle. Flags, SS = 0x02 CCW
! Input status is "off".
! No motors are active.
!
mn %d ............... ! Motor name
ec %d 0 0 ! Zero the encoder mapping
ec %d 2 1 ! Encoder mapping (type/number)
ep %d 1 ! Encoder magic parameter
a %d 2 ! Precision
fd %d 256 1 ! Encoder gearing (numer/denom)
fm %d 1000 1 ! Motor gearing (numer/denom)
d %d 0.5 ! Inertia tolerance
e %d 10 ! Start/stop ramp (kHz/sec)
f %d 1 ! Open loop/Closed loop (0/1)
g %d 1000 ! Start/stop frequency (Mot-S/sec)
h %d -180.70 359.30 ! Low/High Software Limits
j %d 3000 ! Top speed (Mot-S/sec)
k %d 0 ! Reference mode
l %d 0 ! Backlash/Spielausgleich (Mot-S)
m %d 1 ! Position tolerance (Enc-Steps)
q %d 0.00 ! Reference switch width
t %d 0 ! One-sided operation flag (0 = no)
v %d -46445 ! Null point
w %d 0 ! Air-cushion dependency
z %d 0 ! Circumf. of encoder (Enc-Steps)
mem %d ............... ! User data register
!
! Current position is 22.04
!