mirror of
https://github.com/Binary-Coalescence/motorDSM.git
synced 2025-08-04 21:55:40 -05:00
Corrected compiler error when passing Asyn parameter(s).
This commit is contained in:
David Kline
@@ -37,12 +37,12 @@
|
||||
|
||||
#ifdef __GNUG__
|
||||
#ifdef DEBUG
|
||||
volatile int drvMCB4BDebug = 0;
|
||||
#define Debug(L, FMT, V...) { if(L <= drvMCB4BDebug) \
|
||||
{ printf("%s(%d):",__FILE__,__LINE__); \
|
||||
printf(FMT,##V); } }
|
||||
volatile int drvMCB4BDebug = 0;
|
||||
#define Debug(L, FMT, V...) { if(L <= drvMCB4BDebug) \
|
||||
{ printf("%s(%d):",__FILE__,__LINE__); \
|
||||
printf(FMT,##V); } }
|
||||
#else
|
||||
#define Debug(L, FMT, V...)
|
||||
#define Debug(L, FMT, V...)
|
||||
#endif
|
||||
#else
|
||||
#define Debug()
|
||||
@@ -51,10 +51,10 @@
|
||||
/* Debugging notes:
|
||||
* drvMCB4BDebug == 0 No debugging information is printed
|
||||
* drvMCB4BDebug >= 1 Warning information is printed
|
||||
* drvMCB4BDebug >= 2 Time-stamped messages are printed for each string
|
||||
* drvMCB4BDebug >= 2 Time-stamped messages are printed for each string
|
||||
* sent to and received from the controller
|
||||
* drvMCB4BDebug >= 3 Additional debugging messages
|
||||
*/
|
||||
*/
|
||||
|
||||
int MCB4B_num_cards = 0;
|
||||
|
||||
@@ -131,7 +131,7 @@ static long report(int level)
|
||||
if (motor_state[card]) {
|
||||
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
|
||||
printf(" MCB4B controller %d, port=%s, id: %s \n",
|
||||
card, cntrl->port,
|
||||
card, cntrl->port,
|
||||
motor_state[card]->ident);
|
||||
}
|
||||
}
|
||||
@@ -215,21 +215,21 @@ STATIC int set_status(int card, int signal)
|
||||
status.Bits.RA_PLUS_LS = 0;
|
||||
status.Bits.RA_MINUS_LS = 0;
|
||||
if (response[5] == '1') {
|
||||
status.Bits.RA_PLUS_LS = 1;
|
||||
status.Bits.RA_DIRECTION = 1;
|
||||
ls_active = true;
|
||||
status.Bits.RA_PLUS_LS = 1;
|
||||
status.Bits.RA_DIRECTION = 1;
|
||||
ls_active = true;
|
||||
}
|
||||
if (response[6] == '1') {
|
||||
status.Bits.RA_MINUS_LS = 1;
|
||||
status.Bits.RA_DIRECTION = 0;
|
||||
ls_active = true;
|
||||
status.Bits.RA_MINUS_LS = 1;
|
||||
status.Bits.RA_DIRECTION = 0;
|
||||
ls_active = true;
|
||||
}
|
||||
|
||||
/* encoder status */
|
||||
status.Bits.EA_SLIP = 0;
|
||||
status.Bits.EA_SLIP = 0;
|
||||
status.Bits.EA_POSITION = 0;
|
||||
status.Bits.EA_SLIP_STALL = 0;
|
||||
status.Bits.EA_HOME = 0;
|
||||
status.Bits.EA_HOME = 0;
|
||||
|
||||
/* Request the position of this motor */
|
||||
sprintf(command, "#%02dP", signal);
|
||||
@@ -240,12 +240,12 @@ STATIC int set_status(int card, int signal)
|
||||
|
||||
if (motorData == motor_info->position)
|
||||
{
|
||||
if (nodeptr != 0) /* Increment counter only if motor is moving. */
|
||||
motor_info->no_motion_count++;
|
||||
if (nodeptr != 0) /* Increment counter only if motor is moving. */
|
||||
motor_info->no_motion_count++;
|
||||
}
|
||||
else
|
||||
{
|
||||
status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
|
||||
status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
|
||||
motor_info->position = motorData;
|
||||
motor_info->encoder_position = motorData;
|
||||
motor_info->no_motion_count = 0;
|
||||
@@ -260,11 +260,10 @@ STATIC int set_status(int card, int signal)
|
||||
motor_info->velocity *= -1;
|
||||
|
||||
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
|
||||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
|
||||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
|
||||
|
||||
/* Test for post-move string. */
|
||||
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
|
||||
nodeptr->postmsgptr != 0)
|
||||
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && nodeptr->postmsgptr != 0)
|
||||
{
|
||||
send_mess(card, nodeptr->postmsgptr, (char) NULL);
|
||||
/* The MCB4B always sends back a response, read it and discard */
|
||||
@@ -284,7 +283,7 @@ STATIC int set_status(int card, int signal)
|
||||
STATIC RTN_STATUS send_mess(int card, const char *com, char *name)
|
||||
{
|
||||
struct MCB4Bcontroller *cntrl;
|
||||
int nwrite;
|
||||
size_t nwrite;
|
||||
|
||||
/* Check that card exists */
|
||||
if (!motor_state[card])
|
||||
@@ -313,7 +312,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, char *name)
|
||||
STATIC int recv_mess(int card, char *com, int flag)
|
||||
{
|
||||
double timeout;
|
||||
int nread=0;
|
||||
size_t nread=0;
|
||||
asynStatus status;
|
||||
struct MCB4Bcontroller *cntrl;
|
||||
int flush;
|
||||
@@ -338,11 +337,12 @@ STATIC int recv_mess(int card, char *com, int flag)
|
||||
timeout = TIMEOUT;
|
||||
}
|
||||
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
|
||||
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
|
||||
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
|
||||
timeout, &nread, &eomReason);
|
||||
|
||||
if (nread < 1) com[0] = '\0';
|
||||
|
||||
if (nread < 1)
|
||||
com[0] = '\0';
|
||||
|
||||
if (nread > 0) {
|
||||
Debug(2, "recv_mess: card %d, message = \"%s\"\n",\
|
||||
card, com);
|
||||
@@ -367,7 +367,7 @@ STATIC int recv_mess(int card, char *com, int flag)
|
||||
/* MCB4BSetup() */
|
||||
/*****************************************************/
|
||||
RTN_STATUS
|
||||
MCB4BSetup(int num_cards, /* maximum number of controllers in system */
|
||||
MCB4BSetup(int num_cards, /* maximum number of controllers in system */
|
||||
int scan_rate) /* polling rate - 1/60 sec units */
|
||||
{
|
||||
int itera;
|
||||
@@ -379,9 +379,9 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */
|
||||
|
||||
/* Set motor polling task rate */
|
||||
if (scan_rate >= 1 && scan_rate <= 60)
|
||||
targs.motor_scan_rate = scan_rate;
|
||||
targs.motor_scan_rate = scan_rate;
|
||||
else
|
||||
targs.motor_scan_rate = SCAN_RATE;
|
||||
targs.motor_scan_rate = SCAN_RATE;
|
||||
|
||||
/*
|
||||
* Allocate space for motor_state structure pointers. Note this must be done
|
||||
@@ -404,8 +404,8 @@ MCB4BSetup(int num_cards, /* maximum number of controllers in system */
|
||||
/* MCB4BConfig() */
|
||||
/*****************************************************/
|
||||
RTN_STATUS
|
||||
MCB4BConfig(int card, /* card being configured */
|
||||
const char *name) /* port name for asyn */
|
||||
MCB4BConfig(int card, /* card being configured */
|
||||
const char *name) /* port name for asyn */
|
||||
{
|
||||
struct MCB4Bcontroller *cntrl;
|
||||
|
||||
@@ -457,8 +457,7 @@ STATIC int motor_init()
|
||||
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
|
||||
|
||||
/* Initialize communications channel */
|
||||
|
||||
success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL);
|
||||
success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL);
|
||||
Debug(1, "motor_init, return from pasynOctetSyncIO->connect for port %s = %d, pasynUser=%p\n",\
|
||||
cntrl->port, success_rtn, cntrl->pasynUser);
|
||||
|
||||
@@ -498,7 +497,7 @@ STATIC int motor_init()
|
||||
/* send_mess(card_index, buff, 0); */
|
||||
/* Stop motor */
|
||||
sprintf(buff,"#%02dQ", motor_index);
|
||||
send_mess(card_index, buff, 0);
|
||||
send_mess(card_index, buff, 0);
|
||||
recv_mess(card_index, buff, WAIT); /* Throw away response */
|
||||
strcpy(brdptr->ident, "MCB-4B");
|
||||
motor_info->status.All = 0;
|
||||
@@ -523,8 +522,8 @@ STATIC int motor_init()
|
||||
|
||||
Debug(3, "motor_init: spawning motor task\n");
|
||||
|
||||
epicsThreadCreate((char *) "tMCB4B", epicsThreadPriorityMedium,
|
||||
epicsThreadGetStackSize(epicsThreadStackMedium),
|
||||
epicsThreadCreate((char *) "tMCB4B", epicsThreadPriorityMedium,
|
||||
epicsThreadGetStackSize(epicsThreadStackMedium),
|
||||
(EPICSTHREADFUNC) motor_task, (void *) &targs);
|
||||
|
||||
return(OK);
|
||||
|
||||
Reference in New Issue
Block a user