Binary-Coalescence/motorDSM
2
0
Fork 0
mirror of https://github.com/Binary-Coalescence/motorDSM.git synced 2025-08-04 21:55:40 -05:00
Code Issues Packages Projects Releases Wiki Activity

Converted MSTA #define's to bit field.

Browse Source
This commit is contained in:
Ron Sluiter
2003-12-12 21:40:27 +00:00
parent 1b7f232ada
commit d82cc7926f
1 changed files with 19 additions and 22 deletions
Download Patch File Download Diff File Expand all files Collapse all files

41
acsApp/src/drvMCB4B.cc
View File

@@ -183,9 +183,11 @@ STATIC int set_status(int card, int signal)
long motorData; long motorData;
char buff[BUFF_SIZE]; char buff[BUFF_SIZE];
bool ls_active = false; bool ls_active = false;
msta_field status;
motor_info = &(motor_state[card]->motor_info[signal]); motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion; nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
/* Request the moving status of this motor */ /* Request the moving status of this motor */
sprintf(command, "#%02dX", signal); sprintf(command, "#%02dX", signal);
@@ -193,34 +195,31 @@ STATIC int set_status(int card, int signal)
recv_mess(card, response, WAIT); recv_mess(card, response, WAIT);
/* The response string is of the form "#01X=1" */ /* The response string is of the form "#01X=1" */
if (response[5] == '1') status.Bits.RA_DONE = (response[5] == '1') ? 0 : 1;
motor_info->status &= ~RA_DONE;
else {
motor_info->status |= RA_DONE;
}
/* Request the limit status of this motor */ /* Request the limit status of this motor */
sprintf(command, "#%02dE", signal); sprintf(command, "#%02dE", signal);
send_mess(card, command, 0); send_mess(card, command, 0);
recv_mess(card, response, WAIT); recv_mess(card, response, WAIT);
/* The response string is of the form "#01E=1" */ /* The response string is of the form "#01E=1" */
motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS); status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
if (response[5] == '1') { if (response[5] == '1') {
motor_info->status |= RA_PLUS_LS; status.Bits.RA_PLUS_LS = 1;
motor_info->status |= RA_DIRECTION; status.Bits.RA_DIRECTION = 1;
ls_active = true; ls_active = true;
} }
if (response[6] == '1') { if (response[6] == '1') {
motor_info->status |= RA_MINUS_LS; status.Bits.RA_MINUS_LS = 1;
motor_info->status &= ~RA_DIRECTION; status.Bits.RA_DIRECTION = 0;
ls_active = true; ls_active = true;
} }
/* encoder status */ /* encoder status */
motor_info->status &= ~EA_SLIP; status.Bits.EA_SLIP = 0;
motor_info->status &= ~EA_POSITION; status.Bits.EA_POSITION = 0;
motor_info->status &= ~EA_SLIP_STALL; status.Bits.EA_SLIP_STALL = 0;
motor_info->status &= ~EA_HOME; status.Bits.EA_HOME = 0;
/* Request the position of this motor */ /* Request the position of this motor */
sprintf(command, "#%02dP", signal); sprintf(command, "#%02dP", signal);
@@ -233,10 +232,7 @@ STATIC int set_status(int card, int signal)
motor_info->no_motion_count++; motor_info->no_motion_count++;
else else
{ {
if (motorData >= motor_info->position) status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
motor_info->position = motorData; motor_info->position = motorData;
motor_info->encoder_position = motorData; motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0; motor_info->no_motion_count = 0;
@@ -247,14 +243,14 @@ STATIC int set_status(int card, int signal)
motor_info->velocity = 0; motor_info->velocity = 0;
if (!(motor_info->status & RA_DIRECTION)) if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1; motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true || rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0; status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */ /* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 && if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0) nodeptr->postmsgptr != 0)
{ {
strcpy(buff, nodeptr->postmsgptr); strcpy(buff, nodeptr->postmsgptr);
@@ -265,6 +261,7 @@ STATIC int set_status(int card, int signal)
nodeptr->postmsgptr = NULL; nodeptr->postmsgptr = NULL;
} }
motor_info->status.All = status.All;
return (rtn_state); return (rtn_state);
} }
@@ -499,7 +496,7 @@ STATIC int motor_init()
send_mess(card_index, buff, 0); send_mess(card_index, buff, 0);
recv_mess(card_index, buff, WAIT); /* Throw away response */ recv_mess(card_index, buff, WAIT); /* Throw away response */
strcpy(brdptr->ident, "MCB-4B"); strcpy(brdptr->ident, "MCB-4B");
motor_info->status = 0; motor_info->status.All = 0;
motor_info->no_motion_count = 0; motor_info->no_motion_count = 0;
motor_info->encoder_position = 0; motor_info->encoder_position = 0;
motor_info->position = 0; motor_info->position = 0;