From d542f758b072f548d44dde2dd10ee425f83cc6a4 Mon Sep 17 00:00:00 2001
From: cvs <cvs>
Date: Thu, 4 Sep 2003 07:15:38 +0000
Subject: [PATCH] - Fixed putpos bug in ecbdriv.c - Improved handling of
 conflicting drive commands in ecbdriv.c - Better status codes after drive
 command - Better error handling in anticollider

---
 ecbdriv.c           | 63 ++++++++++++++++++++++++++++-----------------
 makefile_linux      |  2 ++
 tecs/makefile_linux | 10 +++++--
 3 files changed, 49 insertions(+), 26 deletions(-)

diff --git a/ecbdriv.c b/ecbdriv.c
index 09bac5e..454137d 100644
--- a/ecbdriv.c
+++ b/ecbdriv.c
@@ -240,6 +240,7 @@ static int checkMotorResult(pECBMotDriv self, Z80_reg out){
       self->errorCode = ECBINHIBIT;
       break;
     case 32:
+    case 96:
       self->errorCode = ECBRUNNING;
       break;
     case 1:
@@ -252,6 +253,7 @@ static int checkMotorResult(pECBMotDriv self, Z80_reg out){
       self->errorCode = ECBINUSE;
       break;
     default:
+      fprintf(stderr,"Unidentified ECB motor error code %d\n", out.b);
       self->errorCode = UNIDENTIFIED;
       break;
     }
@@ -846,30 +848,6 @@ static void ECBGetError(void *pData, int *iCode, char *buffer, int bufferlen){
     break;
   }
 }
-/*=======================================================================*/
-static int ECBTryAndFixIt(void *pData, int iCode, float fNew){
-  pECBMotDriv self = (pECBMotDriv)pData;
-  int result;
-  Z80_reg in, out;
-
-  assert(self);
-  
-  switch(iCode){
-  case ECBMANUELL:
-    in.d = 1 ;
-    ecbExecute(self->ecb,162,in,&out);
-    result = MOTREDO;
-    break;
-  case COMMERROR:
-    ecbClear(self->ecb);
-    result = MOTREDO;
-    break;
-  default:
-    result = MOTFAIL;
-    break;
-  }
-  return result;
-}
 /*========================================================================*/
 static int ECBHalt(void *pData){
   pECBMotDriv self = (pECBMotDriv)pData;
@@ -890,6 +868,42 @@ static int ECBHalt(void *pData){
   return 1;
 }
 /*=======================================================================*/
+static int ECBTryAndFixIt(void *pData, int iCode, float fNew){
+  pECBMotDriv self = (pECBMotDriv)pData;
+  int result;
+  Z80_reg in, out;
+  int i;
+
+  assert(self);
+  
+  switch(iCode){
+  case ECBMANUELL:
+    in.d = 1 ;
+    ecbExecute(self->ecb,162,in,&out);
+    result = MOTREDO;
+    break;
+  case ECBRUNNING:
+    ECBHalt(pData);
+    self->restart = 0;
+    for(i = 0; i < 7; i++){
+      if(ECBGetStatus(pData) == HWIdle){
+	break;
+      }
+    SicsWait(1);
+    }
+    result = MOTREDO;
+    break;
+  case COMMERROR:
+    ecbClear(self->ecb);
+    result = MOTREDO;
+    break;
+  default:
+    result = MOTFAIL;
+    break;
+  }
+  return result;
+}
+/*=======================================================================*/
 static int ECBGetDriverPar(void *pData,char *name,  float *value){
   pECBMotDriv self = (pECBMotDriv)pData;
   ObPar *par = NULL;
@@ -1019,6 +1033,7 @@ static int ECBSetDriverPar(void *pData, SConnection *pCon,  char *name,
       SCWrite(pCon,pBueffel,eError);
       return status;
     }
+    return 1;
   }
 
   /*
diff --git a/makefile_linux b/makefile_linux
index 1a180fa..925c06a 100644
--- a/makefile_linux
+++ b/makefile_linux
@@ -8,6 +8,8 @@
 
 include ../$(SRC)linux_def
 
+HDFROOT=/usr/users/SANS2/src
+
 CC       = gcc
 CFLAGS = -I$(HDFROOT)/include -DHDF4 -DHDF5 $(NI) -I$(SRC)hardsup \
        -I../$(SRC) -fwritable-strings -DCYGNUS -DNONINTF -g $(DFORTIFY)
diff --git a/tecs/makefile_linux b/tecs/makefile_linux
index 7244df0..e7d20d0 100644
--- a/tecs/makefile_linux
+++ b/tecs/makefile_linux
@@ -5,11 +5,14 @@
 # Markus Zolliker, March 2003
 #--------------------------------------------------------------------------
 
-include ../../$(SRC)linux_def
+include ../../linux_def
+
+SICST=..
+SICS=$(SRC)..
 
 CC       = gcc
 FC       = g77
-CFLAGS   = -DLINUX -g $(DFORTIFY)
+CFLAGS   = -DLINUX -g $(DFORTIFY) -I../..
 FFLAGS   = -u -fvxt -g
 ARFLAGS  = cr
 
@@ -20,6 +23,9 @@ ARFLAGS  = cr
 PGPLOT   =/afs/psi.ch/user/z/zolliker/pgplot/
 PGLIB    =$(PGPLOT)/libpgplot.a -L/usr/X11R6/lib -lX11
 
+# -- library for ASYNSRV
+HARDSUPLIB=../hardsup/libhlib.a
+
 # -- readline library
 RDLIB    =-lreadline -ltermcap