- Added protocol from phytron MCCC-2 motor controller

- Modified lmd200.c to reflect new additional values

phytron.c

@@ -0,0 +1,100 @@
+/**
+ * This is an asynchronous protocol driver for the protocol of 
+ * the Phytron MCC-2 motor controller. 
+ * The send format is:
+ *   <STX> DATA <ETX>
+ * the reply format is:
+ *   <STX> NACK | ACK |& REPLY <ETX>
+ * 
+ * copyright: see file COPYRIGHT
+ * 
+ * Mark Koennecke, June 2009
+ */
+#include <errno.h>
+#include <ascon.h>
+#include <ascon.i>
+#include <dynstring.h>
+
+#define STX   '\2'
+#define ETX   '\3'
+#define NACK  '\5'
+#define ACK   '\6'
+
+/*---------------------------------------------------------------------------*/
+static int PhytronHandler(Ascon * a)
+{
+  char *data = NULL;
+  int ret, l;
+  char chr;
+
+
+  switch (a->state) {
+  case AsconWriteStart:
+	DynStringInsert(a->wrBuffer,"\2",0);
+	DynStringConcatChar(a->wrBuffer,ETX);
+	a->state = AsconWriting;
+	a->wrPos = 0;
+    break;
+  case AsconReading:
+    ret = AsconReadChar(a->fd, &chr);
+    if (ret < 0) {
+      /* EINTR means we must retry */
+      if (errno != EINTR && errno != EAGAIN) {
+        AsconError(a, "AsconReadChar failed:", errno);
+      }
+      return 1;
+    } else if (ret > 0) {
+    	if(chr == STX){
+    		DynStringClear(a->rdBuffer);
+    	} else if (chr == ACK){
+    		DynStringConcat(a->rdBuffer,"ACK");
+    	} else if(chr == NACK){
+    		DynStringConcat(a->rdBuffer,"NACK");
+    	} else if(chr == ETX){
+    		a->state = AsconReadDone; 
+    	} else {
+    		DynStringConcatChar(a->rdBuffer,chr);
+    	}
+   } else if (ret == 0) {
+      if (a->timeout > 0) {
+        if (DoubleTime() - a->start > a->timeout) {
+          AsconError(a, "read timeout", 0);
+          a->state = AsconTimeout;
+        }
+      }
+    }
+    break;
+  default:
+    return AsconStdHandler(a);
+  }
+  return 1;
+}
+
+/*------------------------------------------------------------------------*/
+static int PhytronInit(Ascon * a, SConnection * con, int argc, char *argv[])
+{
+  a->fd = -1;
+  a->state = AsconConnectStart;
+  a->reconnectInterval = 10;
+  a->hostport = strdup(argv[1]);
+  if (argc > 2) {
+    a->timeout = atof(argv[2]);
+  } else {
+    a->timeout = 2.0;           /* sec */
+  }
+  a->killPrivate = free;
+  return 1;
+}
+
+/*------------------------------------------------------------------------*/
+void AddPhytronProtocoll()
+{
+  AsconProtocol *prot = NULL;
+
+  prot = calloc(sizeof(AsconProtocol), 1);
+  prot->name = strdup("phytron");
+  prot->init = PhytronInit;
+  prot->handler = PhytronHandler;
+  AsconInsertProtocol(prot);
+}
+