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- Added Sycamore protocol and command context to SICS

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- Added sinfo to SICS
- Added driver for TCP/IP Astrium velocity selector
- Added driver for TCP/IP Astrium chopper controller
This commit is contained in:
koennecke
2005-12-22 22:16:13 +00:00
parent 6b224a4520
commit a5f315b56a
22 changed files with 2225 additions and 90 deletions
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45
el734hp.c
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@ -392,6 +392,27 @@ static void EL734Error(void *pData, int *iCode, char *error, int errLen){
}
}
/*----------------------------------------------------------------------*/
static int EL734Halt(void *pData){
pEL734Driv self = NULL;
int status;
char pCommand[50],pReply[80];
self = (pEL734Driv)pData;
assert(self);
snprintf(pCommand,79,"s %d\r",self->iMotor);
status = transactEL734(self->controller,pCommand,strlen(pCommand),
pReply,79);
if(status != 1){
self->errorCode = status;
return 0;
}
if(!checkResponse(self,pReply)){
return 0;
}
return 1;
}
/*----------------------------------------------------------------------*/
static int EL734Fix(void *pData, int iCode, float fValue){
pEL734Driv self = NULL;
int status, msr, i, len = 49;
@ -404,7 +425,10 @@ static int EL734Fix(void *pData, int iCode, float fValue){
case BADADR:
case BADCMD:
case BADPAR:
return MOTREDO;
case BADBSY:
EL734Halt(pData);
SicsWait(1);
return MOTREDO;
case TIMEOUT:
for(i = 0; i < 3; i++){
@ -466,27 +490,6 @@ static int EL734Fix(void *pData, int iCode, float fValue){
}
return MOTFAIL;
}
/*----------------------------------------------------------------------*/
static int EL734Halt(void *pData){
pEL734Driv self = NULL;
int status;
char pCommand[50],pReply[80];
self = (pEL734Driv)pData;
assert(self);
snprintf(pCommand,79,"s %d\r",self->iMotor);
status = transactEL734(self->controller,pCommand,strlen(pCommand),
pReply,79);
if(status != 1){
self->errorCode = status;
return 0;
}
if(!checkResponse(self,pReply)){
return 0;
}
return 1;
}
/*--------------------------------------------------------------------*/
static int EL734GetPar(void *pData, char *name,
float *fValue){