- Adapted indenation to new agreed upon system

- Fixed bad status in poldi zug driver

el734hp.c

@@ -28,39 +28,37 @@
   The motor driver structure. Please note that the first set of fields has 
   be identical with the fields of AbstractModriv in  ../modriv.h 
 ------------------------------------------------------------------------*/
-  typedef struct __MoDriv {
-                           /* general motor driver interface 
-                              fields. REQUIRED!
-                           */
-                           float fUpper; /* upper limit */
-                           float fLower; /* lower limit */
-                           char *name;
-                           int   (*GetPosition)(void *self,float *fPos);
-                           int   (*RunTo)(void *self, float fNewVal);
-                           int   (*GetStatus)(void *self);
-                           void  (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
-                           int   (*TryAndFixIt)(void *self,int iError, float fNew);
-                           int   (*Halt)(void *self);
-                           int   (*GetDriverPar)(void *self, char *name, 
-                                  float *value);
-                           int    (*SetDriverPar)(void *self,SConnection *pCon,
-                                   char *name, float newValue);
-                           void   (*ListDriverPar)(void *self, char *motorName,
-                                  SConnection *pCon);
-                           void   (*KillPrivate)(void *self);
-                           
-                           
-                           /* EL-734 specific fields */
-                           prs232 controller;
-                           int iMotor;
-                           float lastValue;
-                           int errorCode;
-                           int oredMsr;
-                           int posCount;
-                           int runCount;
-                           char errorReply[80];
-                           time_t valueExpiry;
-                          } EL734Driv, *pEL734Driv;
+typedef struct __MoDriv {
+  /* general motor driver interface 
+     fields. REQUIRED!
+   */
+  float fUpper;                 /* upper limit */
+  float fLower;                 /* lower limit */
+  char *name;
+  int (*GetPosition) (void *self, float *fPos);
+  int (*RunTo) (void *self, float fNewVal);
+  int (*GetStatus) (void *self);
+  void (*GetError) (void *self, int *iCode, char *buffer, int iBufLen);
+  int (*TryAndFixIt) (void *self, int iError, float fNew);
+  int (*Halt) (void *self);
+  int (*GetDriverPar) (void *self, char *name, float *value);
+  int (*SetDriverPar) (void *self, SConnection * pCon,
+                       char *name, float newValue);
+  void (*ListDriverPar) (void *self, char *motorName, SConnection * pCon);
+  void (*KillPrivate) (void *self);
+
+
+  /* EL-734 specific fields */
+  prs232 controller;
+  int iMotor;
+  float lastValue;
+  int errorCode;
+  int oredMsr;
+  int posCount;
+  int runCount;
+  char errorReply[80];
+  time_t valueExpiry;
+} EL734Driv, *pEL734Driv;
 /*------------------- error codes ----------------------------------*/
 #define BADADR     -1
 #define BADBSY     -2
@@ -72,7 +70,7 @@
 #define BADSTP     -8
 #define BADEMERG   -9
 #define LOWLIM    -10
-#define HILIM     -11 
+#define HILIM     -11
 #define RUNFAULT  -12
 #define POSFAULT  -13
 #define BADCUSHION -14
@@ -83,38 +81,39 @@
   line even after releasing the emergency stop button
   --------------------------------------------------------------------*/
 static int transactEL734(prs232 self, void *send, int sendLen,
-			 void *reply, int replylen){
+                         void *reply, int replylen)
+{
   int status, len, oldTimeout;
   char *pReply = NULL;
 
   /*
-    try to read away rubbish on the line first
-  */
+     try to read away rubbish on the line first
+   */
   oldTimeout = getRS232Timeout(self);
-  setRS232Timeout(self,0);
-  if(availableRS232(self)){
+  setRS232Timeout(self, 0);
+  if (availableRS232(self)) {
     len = replylen;
-    readRS232(self,reply,&len); 
+    readRS232(self, reply, &len);
   }
-  setRS232Timeout(self,oldTimeout);
+  setRS232Timeout(self, oldTimeout);
 
 
   /*
-    Actually do something. Some controllers send one erroneus *ES when the
-    emergency stop had been released. Therefore we believe an emergency stop
-    message only at the second try. This is the logic below.
-  */
-  status = transactRS232(self,send,sendLen,reply,replylen);
-  if(status >= 1){
-    pReply = (char *)reply;
-    if(strstr(pReply,"*ES") != NULL){
-      if(availableRS232(self)){
-	len = replylen;
-	readRS232TillTerm(self,reply,&len);
+     Actually do something. Some controllers send one erroneus *ES when the
+     emergency stop had been released. Therefore we believe an emergency stop
+     message only at the second try. This is the logic below.
+   */
+  status = transactRS232(self, send, sendLen, reply, replylen);
+  if (status >= 1) {
+    pReply = (char *) reply;
+    if (strstr(pReply, "*ES") != NULL) {
+      if (availableRS232(self)) {
+        len = replylen;
+        readRS232TillTerm(self, reply, &len);
       }
-      status = transactRS232(self,send,sendLen,reply,replylen);
-      if(status >= 1){
-	return 1;
+      status = transactRS232(self, send, sendLen, reply, replylen);
+      if (status >= 1) {
+        return 1;
       }
     } else {
       return 1;
@@ -122,306 +121,324 @@ static int transactEL734(prs232 self, void *send, int sendLen,
   } else {
     return status;
   }
-  return 0; /* not reached */
+  return 0;                     /* not reached */
 }
+
 /*-------------------------------------------------------------------
   If we get an empty reply when we expect some response data, then, maybe,
   the controller has sent us "\r*ES\r". Therefore this checks on
   empty messages if there is some more, i.e: the *ES
   --------------------------------------------------------------------*/
-static void checkEmpty(pEL734Driv self, char *pReply, int *replylen){
+static void checkEmpty(pEL734Driv self, char *pReply, int *replylen)
+{
   int oldTimeout;
 
-  if(strlen(pReply) < 1) {
+  if (strlen(pReply) < 1) {
     oldTimeout = getRS232Timeout(self->controller);
-    setRS232Timeout(self->controller,0);
-    if(availableRS232(self->controller)){
-      readRS232(self->controller,pReply,replylen);
+    setRS232Timeout(self->controller, 0);
+    if (availableRS232(self->controller)) {
+      readRS232(self->controller, pReply, replylen);
     }
-    setRS232Timeout(self->controller,oldTimeout);
+    setRS232Timeout(self->controller, oldTimeout);
   }
 }
+
 /*--------------------------------------------------------------------*/
-static int checkResponse(pEL734Driv self, char *pReply){
+static int checkResponse(pEL734Driv self, char *pReply)
+{
   /*
-    error messages start with ?, if none we are done
-  */
-  if(strstr(pReply,"?") == NULL && strstr(pReply,"*") == NULL){
+     error messages start with ?, if none we are done
+   */
+  if (strstr(pReply, "?") == NULL && strstr(pReply, "*") == NULL) {
     return 1;
   }
   strtolower(pReply);
-  if(strstr(pReply,"?adr") != NULL){
+  if (strstr(pReply, "?adr") != NULL) {
     self->errorCode = BADADR;
-  } else if(strstr(pReply,"?bsy") != NULL){
+  } else if (strstr(pReply, "?bsy") != NULL) {
     self->errorCode = BADBSY;
-  } else if(strstr(pReply,"?cmd") != NULL){
+  } else if (strstr(pReply, "?cmd") != NULL) {
     self->errorCode = BADCMD;
-  } else if(strstr(pReply,"?loc") != NULL){
+  } else if (strstr(pReply, "?loc") != NULL) {
     self->errorCode = BADLOC;
-  } else if(strstr(pReply,"?par") != NULL){
+  } else if (strstr(pReply, "?par") != NULL) {
     self->errorCode = BADPAR;
-  } else if(strstr(pReply,"?rng") != NULL){
+  } else if (strstr(pReply, "?rng") != NULL) {
     self->errorCode = BADRNG;
-  }else if(strstr(pReply,"*es") != NULL){
+  } else if (strstr(pReply, "*es") != NULL) {
     self->errorCode = BADEMERG;
-  }else if(strstr(pReply,"*ms") != NULL){
+  } else if (strstr(pReply, "*ms") != NULL) {
     self->errorCode = BADSTP;
   } else {
-    strncpy(self->errorReply,pReply,79);
+    strncpy(self->errorReply, pReply, 79);
     self->errorCode = BADUNKNOWN;
   }
   return 0;
 }
+
 /*---------------------------------------------------------------------*/
-static int EL734GetPos(void *pData, float *fPos){
+static int EL734GetPos(void *pData, float *fPos)
+{
   pEL734Driv self = NULL;
   int status, replyLen;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
 
-  if(time(NULL) < self->valueExpiry){
+  if (time(NULL) < self->valueExpiry) {
     *fPos = self->lastValue;
     return OKOK;
   }
 
-  snprintf(pCommand,79,"u %d\r",self->iMotor);
-  status = transactEL734(self->controller,pCommand,strlen(pCommand),
-			 pReply,79);
-  if(status != 1){
+  snprintf(pCommand, 79, "u %d\r", self->iMotor);
+  status = transactEL734(self->controller, pCommand, strlen(pCommand),
+                         pReply, 79);
+  if (status != 1) {
     self->errorCode = status;
     return HWFault;
   }
 
   replyLen = 79;
-  checkEmpty(self,pReply,&replyLen);
+  checkEmpty(self, pReply, &replyLen);
 
-  if(!checkResponse(self,pReply)){
+  if (!checkResponse(self, pReply)) {
     return HWFault;
   }
-  sscanf(pReply,"%f",fPos);
+  sscanf(pReply, "%f", fPos);
   self->lastValue = *fPos;
   self->valueExpiry = time(NULL) + 3;
   return OKOK;
 }
+
 /*----------------------------------------------------------------------*/
-static int EL734Run(void *pData,float fValue){
+static int EL734Run(void *pData, float fValue)
+{
   pEL734Driv self = NULL;
   int status;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
 
   self->oredMsr = 3;
-  snprintf(pCommand,79,"p %d %.3f\r",self->iMotor,fValue);
-  status = transactEL734(self->controller,pCommand,strlen(pCommand),
-			 pReply,79);
-  if(status != 1){
+  snprintf(pCommand, 79, "p %d %.3f\r", self->iMotor, fValue);
+  status = transactEL734(self->controller, pCommand, strlen(pCommand),
+                         pReply, 79);
+  if (status != 1) {
     self->errorCode = status;
     return HWFault;
   }
-  if(!checkResponse(self,pReply)){
+  if (!checkResponse(self, pReply)) {
     return HWFault;
   }
-  self->posCount =0;
+  self->posCount = 0;
   self->runCount = 0;
   return OKOK;
 }
+
 /*-----------------------------------------------------------------------*/
-static int decodeMSR(pEL734Driv self, int msr){
-  if (msr == 0){
-    if(self->posCount > 0 || self->runCount > 0){
+static int decodeMSR(pEL734Driv self, int msr)
+{
+  if (msr == 0) {
+    if (self->posCount > 0 || self->runCount > 0) {
       self->errorCode = BADCOUNT;
       return HWPosFault;
     }
 
     /*
-      we are done: check ored_msr for troubles
-    */
-    if(self->oredMsr & 0x2){
+       we are done: check ored_msr for troubles
+     */
+    if (self->oredMsr & 0x2) {
       return HWIdle;
-    } else if(self->oredMsr & 0x10){
+    } else if (self->oredMsr & 0x10) {
       self->errorCode = LOWLIM;
       return HWFault;
-    } else if(self->oredMsr & 0x20){
+    } else if (self->oredMsr & 0x20) {
       self->errorCode = HILIM;
       return HWFault;
-    } else if(self->oredMsr & 0x80){
+    } else if (self->oredMsr & 0x80) {
       self->errorCode = RUNFAULT;
       return HWPosFault;
-    } else if(self->oredMsr & 0x200){
+    } else if (self->oredMsr & 0x200) {
       self->errorCode = POSFAULT;
       return HWPosFault;
-    } else if(self->oredMsr & 0x1000){
+    } else if (self->oredMsr & 0x1000) {
       self->errorCode = BADCUSHION;
       return HWFault;
-    } else if(self->oredMsr & 0x40) {
+    } else if (self->oredMsr & 0x40) {
       self->errorCode = BADSTP;
       return HWFault;
-    } else if(self->oredMsr & 0x100){
+    } else if (self->oredMsr & 0x100) {
       self->errorCode = POSFAULT;
       return HWFault;
-    } else if(self->oredMsr & 0x400){
+    } else if (self->oredMsr & 0x400) {
       self->errorCode = POSFAULT;
       return HWFault;
     } else {
       self->errorCode = BADUNKNOWN;
-      return HWFault; /* should not happen */
+      return HWFault;           /* should not happen */
     }
   } else {
     /*
-      we are still tugging along ............
-    */
-    if(msr & 0x80){
+       we are still tugging along ............
+     */
+    if (msr & 0x80) {
       self->runCount++;
-    }else if(msr & 0x20){
-    	self->errorCode = HILIM;
-    	return HWFault;
-    }else if(msr & 0x10){
-    	self->errorCode = LOWLIM;
-    	return HWFault;
-    }else if(msr & 0x1000){
-    	self->errorCode = BADCUSHION;
-    	return HWFault;
-    }else if(msr & 0x40){
-    	self->errorCode = BADSTP;
-    	return HWFault;
-    } else if(msr & 0x200) {
+    } else if (msr & 0x20) {
+      self->errorCode = HILIM;
+      return HWFault;
+    } else if (msr & 0x10) {
+      self->errorCode = LOWLIM;
+      return HWFault;
+    } else if (msr & 0x1000) {
+      self->errorCode = BADCUSHION;
+      return HWFault;
+    } else if (msr & 0x40) {
+      self->errorCode = BADSTP;
+      return HWFault;
+    } else if (msr & 0x200) {
       self->posCount++;
-    } else if(msr & 0x100) {
+    } else if (msr & 0x100) {
       self->errorCode = POSFAULT;
       return HWFault;
-    } else if(msr & 0x400) {
+    } else if (msr & 0x400) {
       self->errorCode = POSFAULT;
-      return HWFault;	
+      return HWFault;
     }
-    
+
     return HWBusy;
   }
 }
+
 /*------------------------------------------------------------------------*/
-static int EL734Status(void *pData){
+static int EL734Status(void *pData)
+{
   pEL734Driv self = NULL;
   int status, msr, replyLen = 79;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
 
-  snprintf(pCommand,79,"msr %d\r",self->iMotor);
-  status = transactEL734(self->controller,pCommand,strlen(pCommand),
-			 pReply,79);
-  if(status < 0){
+  snprintf(pCommand, 79, "msr %d\r", self->iMotor);
+  status = transactEL734(self->controller, pCommand, strlen(pCommand),
+                         pReply, 79);
+  if (status < 0) {
     self->errorCode = status;
     return HWFault;
   }
 
-  checkEmpty(self,pReply,&replyLen);
+  checkEmpty(self, pReply, &replyLen);
 
-  if(!checkResponse(self,pReply)){
+  if (!checkResponse(self, pReply)) {
     return HWFault;
   }
-  sscanf(pReply,"%x",&msr);
-  self->oredMsr |= msr; 
+  sscanf(pReply, "%x", &msr);
+  self->oredMsr |= msr;
   self->valueExpiry = -1;
-  return decodeMSR(self,msr);
+  return decodeMSR(self, msr);
 }
+
 /*----------------------------------------------------------------------*/
-static void EL734Error(void *pData, int *iCode, char *error, int errLen){
+static void EL734Error(void *pData, int *iCode, char *error, int errLen)
+{
   pEL734Driv self = NULL;
   char pBueffel[132];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
 
   *iCode = self->errorCode;
-  switch(*iCode){
+  switch (*iCode) {
   case BADADR:
-    strncpy(error,"Bad address",errLen);
+    strncpy(error, "Bad address", errLen);
     break;
   case BADBSY:
-    strncpy(error,"Motor still busy",errLen);
+    strncpy(error, "Motor still busy", errLen);
     break;
   case BADCMD:
-    strncpy(error,"Bad command",errLen);
+    strncpy(error, "Bad command", errLen);
     break;
   case BADLOC:
-    strncpy(error,"Motor controller is on local",errLen);
+    strncpy(error, "Motor controller is on local", errLen);
     break;
   case BADPAR:
-    strncpy(error,"Bad parameter",errLen);
+    strncpy(error, "Bad parameter", errLen);
     break;
   case BADRNG:
-    strncpy(error,"Bad range",errLen);
+    strncpy(error, "Bad range", errLen);
     break;
   case BADUNKNOWN:
-    snprintf(pBueffel,131,"Unknown response: %s",self->errorReply);
-    strncpy(error,pBueffel,errLen);
+    snprintf(pBueffel, 131, "Unknown response: %s", self->errorReply);
+    strncpy(error, pBueffel, errLen);
     break;
   case BADSTP:
-    strncpy(error,"Motor is switched off at motor controller",errLen);
+    strncpy(error, "Motor is switched off at motor controller", errLen);
     break;
   case BADEMERG:
-    strncpy(error,"Emergency stop is engaged, please release",errLen);
+    strncpy(error, "Emergency stop is engaged, please release", errLen);
     break;
   case LOWLIM:
-    strncpy(error,"Crashed into lower limit switch",errLen);
+    strncpy(error, "Crashed into lower limit switch", errLen);
     break;
   case HILIM:
-    strncpy(error,"Crashed into upper limit switch",errLen);
+    strncpy(error, "Crashed into upper limit switch", errLen);
     break;
   case RUNFAULT:
-    strncpy(error,"Run fault detected",errLen);
+    strncpy(error, "Run fault detected", errLen);
     break;
   case POSFAULT:
-    strncpy(error,"Positioning fault detected",errLen);
+    strncpy(error, "Positioning fault detected", errLen);
     break;
   case BADCUSHION:
-    strncpy(error,"Air cushion problem",errLen);
+    strncpy(error, "Air cushion problem", errLen);
     break;
   case BADCOUNT:
-    snprintf(pBueffel,131,"%d RunFaults, %d PosFaults",
-	     self->runCount, self->posCount);
-    strncpy(error,pBueffel,errLen);
+    snprintf(pBueffel, 131, "%d RunFaults, %d PosFaults",
+             self->runCount, self->posCount);
+    strncpy(error, pBueffel, errLen);
     break;
   default:
-    getRS232Error(*iCode,error,errLen);
+    getRS232Error(*iCode, error, errLen);
     break;
   }
 }
+
 /*----------------------------------------------------------------------*/
-static int EL734Halt(void *pData){
+static int EL734Halt(void *pData)
+{
   pEL734Driv self = NULL;
   int status;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  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){
+  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)){
+  if (!checkResponse(self, pReply)) {
     return 0;
   }
   return 1;
 }
+
 /*----------------------------------------------------------------------*/
-static int EL734Fix(void *pData, int iCode, float fValue){
+static int EL734Fix(void *pData, int iCode, float fValue)
+{
   pEL734Driv self = NULL;
   int status, msr, i, len = 49;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
 
-  switch(iCode){
+  switch (iCode) {
   case BADADR:
   case BADCMD:
   case BADPAR:
@@ -431,40 +448,42 @@ static int EL734Fix(void *pData, int iCode, float fValue){
     SicsWait(1);
     return MOTREDO;
   case TIMEOUT:
-    for(i = 0; i < 3; i++){
+    for (i = 0; i < 3; i++) {
       len = 49;
-      status = readRS232TillTerm(self->controller,pReply,&len);
-      if(status == 1){
-	return MOTREDO;
+      status = readRS232TillTerm(self->controller, pReply, &len);
+      if (status == 1) {
+        return MOTREDO;
       }
     }
     /*
-      If nothing can be read, the only fixable cause is a network breakdown
-      Try to fix this. If this does not work: give up
-    */
+       If nothing can be read, the only fixable cause is a network breakdown
+       Try to fix this. If this does not work: give up
+     */
     closeRS232(self->controller);
     SicsWait(60);
     status = initRS232(self->controller);
-    if(status != 1){
+    if (status != 1) {
       return MOTFAIL;
     } else {
       return MOTREDO;
     }
     break;
   case BADUNKNOWN:
-    if(availableRS232(self->controller)){
+    if (availableRS232(self->controller)) {
       len = 79;
-      readRS232TillTerm(self->controller,pReply,&len);
+      readRS232TillTerm(self->controller, pReply, &len);
       return MOTREDO;
     }
     return MOTFAIL;
     break;
   case BADLOC:
-    snprintf(pCommand,49,"RMT 1\r");
-    transactEL734(self->controller,pCommand,strlen(pCommand),pReply,79);
-    snprintf(pCommand,49,"ECHO 0\r");
-    transactEL734(self->controller,pCommand,strlen(pCommand),pReply,79);
-    return  MOTREDO;
+    snprintf(pCommand, 49, "RMT 1\r");
+    transactEL734(self->controller, pCommand, strlen(pCommand), pReply,
+                  79);
+    snprintf(pCommand, 49, "ECHO 0\r");
+    transactEL734(self->controller, pCommand, strlen(pCommand), pReply,
+                  79);
+    return MOTREDO;
   case NOTCONNECTED:
     initRS232(self->controller);
     return MOTREDO;
@@ -477,12 +496,12 @@ static int EL734Fix(void *pData, int iCode, float fValue){
     return MOTOK;
   case BADSEND:
     /*
-      network problem: try to reopen connection
-    */
+       network problem: try to reopen connection
+     */
     closeRS232(self->controller);
-    SicsWait(60); 
+    SicsWait(60);
     status = initRS232(self->controller);
-    if(status != 1){
+    if (status != 1) {
       return MOTFAIL;
     } else {
       return MOTREDO;
@@ -490,136 +509,146 @@ static int EL734Fix(void *pData, int iCode, float fValue){
   }
   return MOTFAIL;
 }
+
 /*--------------------------------------------------------------------*/
-static int EL734GetPar(void *pData, char *name,
-		       float *fValue){
+static int EL734GetPar(void *pData, char *name, float *fValue)
+{
   pEL734Driv self = NULL;
   int status, replyLen = 79;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
-  if(strcmp(name,"speed") == 0){
-    snprintf(pCommand,79,"J %d\r",self->iMotor);
-    status = transactEL734(self->controller,pCommand,strlen(pCommand),
-			 pReply,79);
-    if(status != 1){
+  if (strcmp(name, "speed") == 0) {
+    snprintf(pCommand, 79, "J %d\r", self->iMotor);
+    status = transactEL734(self->controller, pCommand, strlen(pCommand),
+                           pReply, 79);
+    if (status != 1) {
       self->errorCode = status;
       return 0;
     }
 
-    checkEmpty(self,pReply,&replyLen);
+    checkEmpty(self, pReply, &replyLen);
 
-    if(!checkResponse(self,pReply)){
+    if (!checkResponse(self, pReply)) {
       return 0;
     }
-    sscanf(pReply,"%f",fValue);
+    sscanf(pReply, "%f", fValue);
     return 1;
   }
   return 0;
 }
+
 /*--------------------------------------------------------------------*/
-static int EL734SetPar(void *pData, SConnection *pCon,
-		       char *name, float newValue){
+static int EL734SetPar(void *pData, SConnection * pCon,
+                       char *name, float newValue)
+{
   pEL734Driv self = NULL;
   int status;
-  char pCommand[50],pReply[80];
+  char pCommand[50], pReply[80];
 
-  self = (pEL734Driv)pData;
+  self = (pEL734Driv) pData;
   assert(self);
-  pCommand[0] ='\0';
-  if(strcmp(name,"speed") == 0){
-    snprintf(pCommand,79,"J %d %d\r",self->iMotor,(int)newValue);
-  } else if(strcmp(name,"forceupper") == 0){
-    if(!SCMatchRights(pCon,usMugger)){
+  pCommand[0] = '\0';
+  if (strcmp(name, "speed") == 0) {
+    snprintf(pCommand, 79, "J %d %d\r", self->iMotor, (int) newValue);
+  } else if (strcmp(name, "forceupper") == 0) {
+    if (!SCMatchRights(pCon, usMugger)) {
       return 0;
     }
     self->fUpper = newValue;
-    snprintf(pCommand,79,"H %d %8.3f %8.3f\r",self->iMotor,self->fLower, self->fUpper);
-  } else if(strcmp(name,"forcelower") == 0){
-    if(!SCMatchRights(pCon,usMugger)){
+    snprintf(pCommand, 79, "H %d %8.3f %8.3f\r", self->iMotor,
+             self->fLower, self->fUpper);
+  } else if (strcmp(name, "forcelower") == 0) {
+    if (!SCMatchRights(pCon, usMugger)) {
       return 0;
     }
     self->fLower = newValue;
-    snprintf(pCommand,79,"H %d %8.3f %8.3f\r",self->iMotor,self->fLower, self->fUpper);
-  } else if(strcmp(name,"forcepos") == 0){
-    if(!SCMatchRights(pCon,usMugger)){
+    snprintf(pCommand, 79, "H %d %8.3f %8.3f\r", self->iMotor,
+             self->fLower, self->fUpper);
+  } else if (strcmp(name, "forcepos") == 0) {
+    if (!SCMatchRights(pCon, usMugger)) {
       return 0;
     }
-    snprintf(pCommand,79,"U %d %8.3f\r",self->iMotor,newValue);
+    snprintf(pCommand, 79, "U %d %8.3f\r", self->iMotor, newValue);
   }
-  if(strlen(pCommand) > 1){
-    status = transactEL734(self->controller,pCommand,strlen(pCommand),
-			 pReply,79);
-    if(status != 1){
+  if (strlen(pCommand) > 1) {
+    status = transactEL734(self->controller, pCommand, strlen(pCommand),
+                           pReply, 79);
+    if (status != 1) {
       self->errorCode = status;
       return 0;
     }
-    if(!checkResponse(self,pReply)){
-      snprintf(pCommand,79,"ERROR %s while setting parameter",pReply);
-      SCWrite(pCon,pCommand,eError);
+    if (!checkResponse(self, pReply)) {
+      snprintf(pCommand, 79, "ERROR %s while setting parameter", pReply);
+      SCWrite(pCon, pCommand, eError);
       return 0;
     }
     return 1;
   }
   return 0;
 }
+
 /*--------------------------------------------------------------------*/
-static void EL734List(void *self, char *name, SConnection *pCon){
+static void EL734List(void *self, char *name, SConnection * pCon)
+{
   float value;
   char pBueffel[256];
 
-  EL734GetPar(self,"speed",&value);
-  snprintf(pBueffel,255,"%s speed = %f",name,value);
-  SCWrite(pCon,pBueffel,eValue);
+  EL734GetPar(self, "speed", &value);
+  snprintf(pBueffel, 255, "%s speed = %f", name, value);
+  SCWrite(pCon, pBueffel, eValue);
   return;
 }
+
 /*---------------------------------------------------------------------*/
-static void KillEL734(void *pData){
+static void KillEL734(void *pData)
+{
   /*
-    the controller is owned by the controller object and will be
-    deleted when that object is removed
-  */
+     the controller is owned by the controller object and will be
+     deleted when that object is removed
+   */
   return;
 }
+
 /*------------------------------------------------------------------*/
-MotorDriver *CreateEL734HP(SConnection *pCon, int argc, char *argv[]){
+MotorDriver *CreateEL734HP(SConnection * pCon, int argc, char *argv[])
+{
   pEL734Driv pNew = NULL;
   int motor, status, i, success;
   prs232 controller = NULL;
-  char pCommand[50],pReply[80], pError[255];
+  char pCommand[50], pReply[80], pError[255];
 
   /*
-    check arguments
-  */
-  if(argc < 2){
-    SCWrite(pCon,"ERROR: not enough arguments to create EL734HP driver",
-	    eError);
+     check arguments
+   */
+  if (argc < 2) {
+    SCWrite(pCon, "ERROR: not enough arguments to create EL734HP driver",
+            eError);
     return NULL;
   }
-  controller = (prs232)FindCommandData(pServ->pSics,argv[0],
-				       "RS232 Controller");
-  if(!controller){
-    SCWrite(pCon,"ERROR: motor controller not found",eError);
+  controller = (prs232) FindCommandData(pServ->pSics, argv[0],
+                                        "RS232 Controller");
+  if (!controller) {
+    SCWrite(pCon, "ERROR: motor controller not found", eError);
     return NULL;
   }
 
   motor = atoi(argv[1]);
-  if(motor < 0 || motor > 12){
-    SCWrite(pCon,"ERROR: invalid motor number",eError);
+  if (motor < 0 || motor > 12) {
+    SCWrite(pCon, "ERROR: invalid motor number", eError);
     return NULL;
   }
 
   /*
-    allocate and initialize data structure
-  */
-  pNew = (pEL734Driv)malloc(sizeof(EL734Driv));
-  if(!pNew){
-    SCWrite(pCon,"ERROR: no memory to allocate motor driver",
-	    eError);
+     allocate and initialize data structure
+   */
+  pNew = (pEL734Driv) malloc(sizeof(EL734Driv));
+  if (!pNew) {
+    SCWrite(pCon, "ERROR: no memory to allocate motor driver", eError);
     return NULL;
   }
-  memset(pNew,0,sizeof(EL734Driv));
+  memset(pNew, 0, sizeof(EL734Driv));
   pNew->GetPosition = EL734GetPos;
   pNew->RunTo = EL734Run;
   pNew->GetStatus = EL734Status;
@@ -635,74 +664,72 @@ MotorDriver *CreateEL734HP(SConnection *pCon, int argc, char *argv[]){
   pNew->oredMsr = 3;
 
   /*
-    connection will already have been set up, read limits
-  */
-  snprintf(pCommand,49,"h %d\r",pNew->iMotor);
+     connection will already have been set up, read limits
+   */
+  snprintf(pCommand, 49, "h %d\r", pNew->iMotor);
   success = 0;
-  for(i = 0; i < 3; i++){
-    status = transactEL734(pNew->controller, pCommand,strlen(pCommand),
-			 pReply,79);
-    if(status != 1){
-      getRS232Error(status,pReply,79);
-      snprintf(pError,255,"ERROR: %s",pReply);
-      SCWrite(pCon,pError,eError);
+  for (i = 0; i < 3; i++) {
+    status = transactEL734(pNew->controller, pCommand, strlen(pCommand),
+                           pReply, 79);
+    if (status != 1) {
+      getRS232Error(status, pReply, 79);
+      snprintf(pError, 255, "ERROR: %s", pReply);
+      SCWrite(pCon, pError, eError);
       closeRS232(pNew->controller);
       SicsWait(60);
       initRS232(pNew->controller);
     } else {
-      if(checkResponse(pNew,pReply)){
-	if(sscanf(pReply,"%f %f",&pNew->fLower,&pNew->fUpper)!= 2){
-	  snprintf(pError,255,
-		 "ERROR: received shitty HW limit response from SICS: %s",
-		 pReply);
-	  SCWrite(pCon,pError,eError);
-	} else{
-	  success = 1;
-	  break;
-	}
+      if (checkResponse(pNew, pReply)) {
+        if (sscanf(pReply, "%f %f", &pNew->fLower, &pNew->fUpper) != 2) {
+          snprintf(pError, 255,
+                   "ERROR: received shitty HW limit response from SICS: %s",
+                   pReply);
+          SCWrite(pCon, pError, eError);
+        } else {
+          success = 1;
+          break;
+        }
       }
-    } 
+    }
   }
-  if(success == 0){
-      SCWrite(pCon,
-      "ERROR: invalid response when reading HW limits, defaulting..",
-	      eError);
-      pNew->fLower = -180.;
-      pNew->fUpper = 180.;
+  if (success == 0) {
+    SCWrite(pCon,
+            "ERROR: invalid response when reading HW limits, defaulting..",
+            eError);
+    pNew->fLower = -180.;
+    pNew->fUpper = 180.;
   }
 
-  snprintf(pError,255,"EL734 returned HW-limits of: %s", pReply);
-  SCWrite(pCon,pError,eError);
-  return (MotorDriver *)pNew;
+  snprintf(pError, 255, "EL734 returned HW-limits of: %s", pReply);
+  SCWrite(pCon, pError, eError);
+  return (MotorDriver *) pNew;
 }
+
 /*================ a 1000 scaled motor for SANSLI =================*/
-static int EL734TRun(void *pData,float fValue){
-	return EL734Run(pData, fValue*1000);
+static int EL734TRun(void *pData, float fValue)
+{
+  return EL734Run(pData, fValue * 1000);
 }
+
 /*-----------------------------------------------------------------*/
-static int EL734TGetPos(void *pData, float *fPos){
-	int status;
-	status = EL734GetPos(pData, fPos);
-	*fPos /= 1000;
-	return status;
+static int EL734TGetPos(void *pData, float *fPos)
+{
+  int status;
+  status = EL734GetPos(pData, fPos);
+  *fPos /= 1000;
+  return status;
 }
+
 /*-------------------------------------------------------------------*/
-MotorDriver *CreateEL734HPT(SConnection *pCon, int argc, 
-			char *argv[]){
-	MotorDriver *pDriv = NULL;
-	pDriv = CreateEL734HP(pCon,argc,argv);
-	if(pDriv != NULL){
-		pDriv->GetPosition = EL734TGetPos;
-		pDriv->RunTo = EL734TRun;
-		pDriv->fLower /= 1000.;
-		pDriv->fUpper /= 1000.;
-	}
-	return pDriv;
+MotorDriver *CreateEL734HPT(SConnection * pCon, int argc, char *argv[])
+{
+  MotorDriver *pDriv = NULL;
+  pDriv = CreateEL734HP(pCon, argc, argv);
+  if (pDriv != NULL) {
+    pDriv->GetPosition = EL734TGetPos;
+    pDriv->RunTo = EL734TRun;
+    pDriv->fLower /= 1000.;
+    pDriv->fUpper /= 1000.;
+  }
+  return pDriv;
 }
-
-
-
-
-
-
-