From a14e06dd91e97c9d15b870514dd59ceb8d5fda36 Mon Sep 17 00:00:00 2001
From: koennecke <koennecke>
Date: Fri, 22 Apr 2005 14:10:04 +0000
Subject: [PATCH] - Fixed a confusing error message with the SANS-2 velocity
 selector - Added a parameter DEC to the motor driver which determines the  
 number of decimals on the fucking display screen and made this work too

---
 dornier2.c | 11 +++++++++++
 ecbdriv.c  |  5 ++++-
 2 files changed, 15 insertions(+), 1 deletion(-)

diff --git a/dornier2.c b/dornier2.c
index 021f1f0..741a02d 100644
--- a/dornier2.c
+++ b/dornier2.c
@@ -70,6 +70,12 @@ typedef struct __VelSelDriv *pVelSelDriv;
                                  has yet been read. Solves a starting
                                  problem
 			      */
+                 int firstStatus; /* at times the nvs does not send
+                                     the reply to the first status 
+                                     request after starting. This flag
+                                     helps to suppress an error message
+                                     which may be confusing to loosers
+				  */
                 } Dornier, *pDornier;
 /*------------------------------------------------------------------*/
 static int requestDornierStatus(pDornier pDorn){
@@ -271,6 +277,7 @@ static int takeControl(pDornier pDorn){
       iRet = transactRS232(pDorn->controller,pCommand,strlen(pCommand),
 			   pAnswer,49);
       setRS232ReplyTerminator(pDorn->controller,"\n");
+      pDorn->firstStatus = 1;
       if(iRet != 1)
       {
 	if(iRet != INCOMPLETE){
@@ -389,6 +396,10 @@ static int evaluateStatus(pVelSelDriv self, int *iCode){
   pDorn->statusMode = STATSEND;
   status = readAndInterpretStatus(pDorn,&sStatus);
   if(!status){
+    if(pDorn->firstStatus == 1){
+      pDorn->firstStatus = 0;
+      return VSACCEL;
+    }
     return VELOFAIL;
   }
 
diff --git a/ecbdriv.c b/ecbdriv.c
index 740b21e..4ec1ca8 100644
--- a/ecbdriv.c
+++ b/ecbdriv.c
@@ -68,8 +68,9 @@ Parameter indexes in ObPar array and meanings
 #define DEG2STEP   14    /* conversion factor from degree to encoder digits */
 #define BACKLASH   15    /* motor backlash */
 #define PORT       17    /* ECB port when multiplexed */
+#define DEC        18    /* Decimals in display */
 
-#define MAXPAR 19 /* 1 extra for the sentinel, do not forget to initialize! */
+#define MAXPAR 20 /* 1 extra for the sentinel, do not forget to initialize! */
 
 /*------------------------------ ECB defines -------------------------*/
 #define MAX_ENCODER 40
@@ -483,6 +484,7 @@ static int loadGearing(pECBMotDriv self){
   Ecb_pack data;
   Z80_reg in, out;
 
+  dec = (int)ObVal(self->driverPar,DEC);
   in.c = self->ecbIndex;
   dgear = (double) ObVal(self->driverPar,STEPS2DEG);;
 
@@ -1232,6 +1234,7 @@ static void initializeParameters(pECBMotDriv self){
   ObParInit(self->driverPar,DEG2STEP,"step2dig",0,usMugger);
   ObParInit(self->driverPar,BACKLASH,"backlash",0,usMugger);
   ObParInit(self->driverPar,PORT,"port",0,usMugger);
+  ObParInit(self->driverPar,DEC,"dec",1,usMugger);
   ObParInit(self->driverPar,MAXPAR-1,"tueet",-100,-100); /* sentinel! */
 }
 /*=======================================================================*/