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This commit is contained in:
Bob Zieman
1990-10-17 06:46:25 +00:00
parent 1dbd526476
commit 529a123544
11 changed files with 594 additions and 0 deletions
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157
src/drv/drvAb.c Normal file
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/* drvAb.c */
/* share/src/drv $Id$ */
/* drvAb.c - Driver Support Routines for Alleb Bradley */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
#include <ab_driver.h>
/* AllenBradley serial link and ai,ao,bi and bo cards */
extern struct ab_region *p6008s[]; /* AllenBradley serial io link */
extern short ab_link_to[AB_MAX_LINKS];
extern short ab_comm_to[AB_MAX_LINKS];
extern short ab_bad_response[AB_MAX_LINKS];
extern short ab_or_scaling_error[AB_MAX_LINKS][AB_MAX_ADAPTERS][AB_MAX_CARDS];
extern short ab_scaling_error[AB_MAX_LINKS][AB_MAX_ADAPTERS][AB_MAX_CARDS];
extern short ab_data_to[AB_MAX_LINKS][AB_MAX_ADAPTERS][AB_MAX_CARDS];
extern short ab_cmd_to[AB_MAX_LINKS][AB_MAX_ADAPTERS][AB_MAX_CARDS];
/* Allen-Bradley cards which have been addressed */
extern unsigned short ab_config[AB_MAX_LINKS][AB_MAX_ADAPTERS][AB_MAX_CARDS];
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvAb={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register short i,card,adapter;
/* report all of the Allen-Bradley Serial Links present */
for (i = 0; i < AB_MAX_LINKS; i++){
if (p6008s[i])
printf("AB-6008SV: Card %d\tcto: %d lto: %d badres: %d\n"
,i,ab_comm_to[i],ab_link_to[i],ab_bad_response[i]);
else continue;
/* report all cards to which the database has interfaced */
/* as there is no way to poll the Allen-Bradley IO to */
/* determine which card is there we assume that any interface */
/* which is successful implies the card type is correct */
/* since all binaries succeed and some analog inputs will */
/* succeed for either type this is a shakey basis */
for (adapter = 0; adapter < AB_MAX_ADAPTERS; adapter++){
for (card = 0; card < AB_MAX_CARDS; card++){
switch (ab_config[i][adapter][card] & AB_INTERFACE_TYPE){
case (AB_BI_INTERFACE):
printf("\tAdapter %d Card %d:\tBI",adapter,card);
break;
case (AB_BO_INTERFACE):
printf("\tAdapter %d Card %d:\tBO",adapter,card);
break;
case (AB_AI_INTERFACE):
if ((ab_config[i][adapter][card]&AB_CARD_TYPE)==AB1771IXE)
printf("\tAdapter %d Card %d:\tAB1771IXE\tcto: %d dto: %d sclerr: %d %d",
adapter,card,ab_cmd_to[i][adapter][card],
ab_data_to[i][adapter][card],
ab_scaling_error[i][adapter][card],
ab_or_scaling_error[i][adapter][card]);
else if ((ab_config[i][adapter][card] & AB_CARD_TYPE) == AB1771IL)
printf("\tAdapter %d Card %d:\tAB1771IL\tcto: %d dto: %d sclerr: %d %d",
adapter,card,ab_cmd_to[i][adapter][card],
ab_data_to[i][adapter][card],
ab_scaling_error[i][adapter][card],
ab_or_scaling_error[i][adapter][card]);
else if ((ab_config[i][adapter][card] & AB_CARD_TYPE) == AB1771IFE_SE)
printf("\tAdapter %d Card %d:\tAB1771IFE_SE\tcto: %d dto: %d sclerr: %d %d",
adapter,card,ab_cmd_to[i][adapter][card],
ab_data_to[i][adapter][card],
ab_scaling_error[i][adapter][card],
ab_or_scaling_error[i][adapter][card]);
else if ((ab_config[i][adapter][card] & AB_CARD_TYPE) == AB1771IFE_4to20MA)
printf("\tAdapter %d Card %d:\tAB1771IFE_4to20MA\tcto: %d dto: %d sclerr: %d %d",
adapter,card,ab_cmd_to[i][adapter][card],
ab_data_to[i][adapter][card],
ab_scaling_error[i][adapter][card],
ab_or_scaling_error[i][adapter][card]);
else if ((ab_config[i][adapter][card] & AB_CARD_TYPE) == AB1771IFE)
printf("\tAdapter %d Card %d:\tAB1771IFE\tcto: %d dto: %d sclerr: %d %d",
adapter,card,ab_cmd_to[i][adapter][card],
ab_data_to[i][adapter][card],
ab_scaling_error[i][adapter][card],
ab_or_scaling_error[i][adapter][card]);
break;
case (AB_AO_INTERFACE):
printf("\tAdapter %d Card %d:\tAB1771OFE\tcto: %d dto: %d",
adapter,card,ab_cmd_to[i][adapter][card],
ab_data_to[i][adapter][card]);
break;
default:
continue;
}
if ((ab_config[i][adapter][card] & AB_INIT_BIT) == 0)
printf(" NOT INITIALIZED\n");
else printf("\n");
}
}
}
}
/* forward reference for ioc_reboot */
int ioc_reboot();
static long init()
{
int status;
rebootHookAdd(ioc_reboot);
ab_driver_init();
return(0);
}
/* ioc_reboot - routine to call when IOC is rebooted with a control-x */
extern int abScanId;
short ab_disable=0;
int ioc_reboot(boot_type)
int boot_type;
{
short i;
static char wait_msg[] = {"I Hate to WAIT"};
register char *pmsg = &wait_msg[0];
/* Stop communication to the Allen-Bradley Scanner Cards */
if (abScanId != 0){
/* flag the analog output and binary IO routines to stop */
ab_disable = 1;
/* delete the scan task stops analog input communication */
taskDelete(abScanId);
/* this seems to be necessary for the AB card to stop talking */
printf("\nReboot: delay ");
for(i = 0; i <= 14; i++){
printf("%c",*(pmsg+i));
taskDelay(20);
}
}
}

42
src/drv/drvAt5Vxi.c Normal file
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/* drvAt5Vxi.c */
/* share/src/drv $Id$ */
/* drvAt5Vxi.c - Driver Support Routines for At5Vxi */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvAt5Vxi={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register int i;
vxi_io_report();
}
static long init()
{
int status;
at5vxi_init();
return(0);
}

43
src/drv/drvCompuSm.c Normal file
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/* drvCompuSm.c */
/* share/src/drv $Id$ */
/* drvCompuSm.c - Driver Support Routines for CompuSm */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
#include <compu_sm_driver.h>
extern struct compumotor *pcompu_motors[]; /* stepper motor - CM1830 */
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvCompuSm={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register int i;
for (i = 0; i < MAX_COMPU_MOTORS; i++)
if (pcompu_motors[i]) fprintf(fp,"SM: CM1830: card %d\n",i);
}
static long init()
{
int status;
return(0);
}

41
src/drv/drvDvx.c Normal file
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/* drvDvx.c */
/* share/src/drv $Id$ */
/* drvDvx.c - Driver Support Routines for Dvx */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
#include <dvx_driver.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvDvx={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register int i;
fprintf(fp,"dvx report not implemented\n");
}
static long init()
{
int status;
return(0);
}

41
src/drv/drvJgvtr1.c Normal file
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/* drvJgvtr1.c */
/* share/src/drv $Id$ */
/* drvJgvtr1.c - Driver Support Routines for Jgvtr1 */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvJgvtr1={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register int i;
jgvtr1_io_report();
return(0);
}
static long init()
{
int status;
return(0);
}

41
src/drv/drvMz8310.c Normal file
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/* drvMz8310.c */
/* share/src/drv $Id$ */
/* drvMz8310.c - Driver Support Routines for Mz8310 */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvMz8310={
2,
report,
init};
static long report(fp)
FILE *fp;
{
int card;
for(card=0; card<tm_num_cards[MZ8310]; card++)
mz8310_io_report(card);
}
static long init()
{
int status;
return(0);
}

44
src/drv/drvOms.c Normal file
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/* drvOms.c */
/* share/src/drv $Id$ */
/* drvOms.c - Driver Support Routines for Oms */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
#include <oms_sm_driver.h>
extern struct vmex_motor *oms_motor_present[]; /* stepper motor - OMS */
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvOms={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register int i;
for (i = 0; i < MAX_OMS_CARDS; i++)
if (oms_motor_present[i]) printf("SM: OMS: card %d\n",i);
}
static long init()
{
int status;
ai_init();
return(0);
}

39
src/drv/drvStc.c Normal file
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/* drvStc.c */
/* share/src/drv $Id$ */
/* drvStc.c - Driver Support Routines for Stc */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvStc={
2,
report,
init};
static long report(fp)
FILE *fp;
{
return(0);
}
static long init()
{
int status;
return(0);
}

42
src/drv/drvTime.c Normal file
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/* drvTime.c */
/* share/src/drv $Id$ */
/* drvTime.c - Driver Support Routines for Time */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvTime={
2,
report,
init};
static long report(fp)
FILE *fp;
{
register int i;
time_io_report();
return(0);
}
static long init()
{
int status;
time_driver_init();
return(0);
}

37
src/drv/drvXy566.c Normal file
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/* drvXy566.c */
/* share/src/drv $Id$ */
/* drvXy566.c - Driver Support Routines for xy566 */
#include <vxWorks.h>
#include <stdioLib.h>
#include <dbDefs.h>
#include <drvSup.h>
#include <module_types.h>
/* If any of the following does not exist replace it with #define <> NULL */
int report();
int init();
struct {
long number;
DRVSUPFUN report;
DRVSUPFUN init
} drvXy566={
2,
report,
init};
static long report(fp)
FILE *fp;
{
xy566_io_report();
return(0);
}
static int init()
{
return(0);
}

67
src/drv/steppermotor.h Normal file
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/* steppermotor.h */
/* share/src/drv $Id$ */
/*
* steppermotor.h
*
* header file to support database library interface to motor drivers
*
* Author: Bob Dalesio
* Date: 12-11-89
* @(#)ai_driver.h 1.1 9/22/88
*
* Control System Software for the GTA Project
*
* Copyright 1988, 1989, the Regents of the University of California.
*
* This software was produced under a U.S. Government contract
* (W-7405-ENG-36) at the Los Alamos National Laboratory, which is
* operated by the University of California for the U.S. Department
* of Energy.
*
* Developed by the Controls and Automation Group (AT-8)
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Direct inqueries to:
* Bob Dalesio, AT-8, Mail Stop H820
* Los Alamos National Laboratory
* Los Alamos, New Mexico 87545
* Phone: (505) 667-3414
* E-mail: dalesio@luke.lanl.gov
*
* Modification Log:
* -----------------
*/
/* readback data passed to the database library routine from the motor driver */
struct motor_data{
short cw_limit;
short ccw_limit;
short moving;
short direction;
short constant_velocity;
long velocity;
long encoder_position;
long motor_position;
long accel;
};
/*
* Sets values for the database library based on the value flag:
* 0 - set the mode of the motor (position/velocity)
* 1 - set the velocity of the motor
* 2 - set the poistion of the motor
* 3 - start motor rotating
* 4 - set the callback routine for a motor
*/
#define SM_MODE 0
#define SM_VELOCITY 1
#define SM_MOVE 2
#define SM_MOTION 3
#define SM_CALLBACK 4
#define SM_SET_HOME 5
#define SM_ENCODER_RATIO 6
#define SM_MOTOR_RESOLUTION 7
#define SM_READ 8