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Moved device support

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This commit is contained in:
Marty Kraimer
1992-04-10 15:34:32 +00:00
parent afe5fdb26b
commit c29a868049
1 changed files with 60 additions and 58 deletions
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src/rec/recSteppermotor.c
+60 -58
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@@ -82,6 +82,7 @@
* .26 03-18-92 mrk move retry to callback
Make STOP stop even if retry>0
Make motor move whenever VAL field accessed
* .27 04-08-92 mrk break out device support
*/
#include <vxWorks.h>
@@ -141,9 +142,15 @@ struct rset steppermotorRSET={
get_control_double,
get_alarm_double };
/* because the driver does all the work just declare device support here*/
struct dset devSmCompumotor1830={4,NULL,NULL,NULL,NULL};
struct dset devSmOms6Axis={4,NULL,NULL,NULL,NULL};
struct smdset {
long number;
DEVSUPFUN dev_report;
DEVSUPFUN init;
DEVSUPFUN init_record;
DEVSUPFUN get_ioint_info;
DEVSUPFUN sm_command;
};
#define VELOCITY 0
#define POSITION 1
@@ -164,13 +171,28 @@ void sm_get_position();
static long init_record(psm)
struct steppermotorRecord *psm;
{
struct smdset *pdset;
long status;
if(!(pdset = (struct smdset *)(psm->dset))) {
recGblRecordError(S_dev_noDSET,psm,"sm: init_record");
return(S_dev_noDSET);
}
/* must have sm_command function defined */
if( (pdset->number < 5) || (pdset->sm_command == NULL) ) {
recGblRecordError(S_dev_missingSup,psm,"sm: init_record");
return(S_dev_missingSup);
}
if( pdset->init_record ) {
if((status=(*pdset->init_record)(psm,process))) return(status);
}
/* get the initial value if dol is a constant*/
if (psm->dol.type == CONSTANT ){
psm->udf = FALSE;
psm->val = psm->dol.value.value;
}
init_sm(psm);
return(0);
}
@@ -179,7 +201,14 @@ static long init_record(psm)
static long process(psm)
struct steppermotorRecord *psm;
{
struct smdset *pdset = (struct smdset *)(psm->dset);
long status;
if( (pdset==NULL) || (pdset->sm_command==NULL) ) {
psm->pact=TRUE;
recGblRecordError(S_dev_missingSup,psm,"sm_command");
return(S_dev_missingSup);
}
/* intialize the stepper motor record when the init bit is 0 */
/* the init is set when the readback returns */
if (psm->init <= 0){
@@ -206,7 +235,7 @@ static long process(psm)
psm->pact=FALSE;
return(0);
}
static long get_value(psm,pvdes)
struct steppermotorRecord *psm;
struct valueDes *pvdes;
@@ -237,7 +266,6 @@ static long special(paddr,after)
}
}
static long get_units(paddr,units)
struct dbAddr *paddr;
char *units;
@@ -260,7 +288,7 @@ static long get_precision(paddr,precision)
recGblGetPrec(paddr,precision);
return(0);
}
static long get_graphic_double(paddr,pgd)
struct dbAddr *paddr;
struct dbr_grDouble *pgd;
@@ -388,16 +416,13 @@ static void smcb_callback(psm_data,psm)
struct motor_data *psm_data;
struct steppermotorRecord *psm;
{
struct smdset *pdset = (struct smdset *)(psm->dset);
short stat,sevr,nsta,nsev;
int intAccept=interruptAccept;
short post_events;
double temp;
short card,channel;
short done_move=0;
card = psm->out.value.vmeio.card;
channel = psm->out.value.vmeio.signal;
if(intAccept) {
dbScanLock((struct dbCommon *)psm);
if(psm->pact) {
@@ -514,16 +539,10 @@ struct steppermotorRecord *psm;
if (psm->movn){
if (psm->posm){ /* moving in the positive direction */
if (psm->rbv > (psm->val + psm->rdbd))
sm_driver(psm->dtyp,
psm->out.value.vmeio.card,
psm->out.value.vmeio.signal,
SM_MOTION,0);
(*pdset->sm_command)(psm,SM_MOTION,0,0);
}else{ /* moving in the negative direction */
if (psm->rbv < (psm->val + psm->rdbd) )
sm_driver(psm->dtyp,
psm->out.value.vmeio.card,
psm->out.value.vmeio.signal,
SM_MOTION,0);
(*pdset->sm_command)(psm,SM_MOTION,0,0);
}
}
if(!psm->movn) {
@@ -549,7 +568,7 @@ struct steppermotorRecord *psm;
/* move motor */
if (sm_driver(psm->dtyp,card,channel,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
if ((*pdset->sm_command)(psm,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
} else {
psm->movn = 1;
@@ -594,14 +613,10 @@ struct steppermotorRecord *psm;
static void init_sm(psm)
struct steppermotorRecord *psm;
{
struct smdset *pdset = (struct smdset *)(psm->dset);
int acceleration,velocity;
short card,channel;
short status=0;
/* the motor number is the card number */
card = psm->out.value.vmeio.card;
channel = psm->out.value.vmeio.signal;
/* check supported hardware */
if (psm->out.type != VME_IO){
psm->init = 1;
@@ -616,22 +631,22 @@ struct steppermotorRecord *psm;
/* initialize the motor */
/* set mode - first command checks card present */
if (sm_driver(psm->dtyp,card,channel,SM_MODE,psm->mode,0) < 0){
if ((*pdset->sm_command)(psm,SM_MODE,psm->mode,0) < 0){
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
psm->init = 1;
return;
}
/* set encoder/motor ratio */
sm_driver(psm->dtyp,card,channel,SM_ENCODER_RATIO,psm->mres,psm->eres);
(*pdset->sm_command)(psm,SM_ENCODER_RATIO,psm->mres,psm->eres);
/* set the velocity */
sm_driver(psm->dtyp,card,channel,SM_VELOCITY,velocity,acceleration);
(*pdset->sm_command)(psm,SM_VELOCITY,velocity,acceleration);
psm->lvel = psm->velo;
psm->lacc = psm->accl;
/* set the callback routine */
sm_driver(psm->dtyp,card,channel,SM_CALLBACK,smcb_callback,psm);
(*pdset->sm_command)(psm,SM_CALLBACK,smcb_callback,psm);
/* initialize the limit values */
psm->mcw = psm->mccw = -1;
@@ -640,14 +655,14 @@ struct steppermotorRecord *psm;
if (psm->mode == POSITION){
if (psm->ialg != 0){
if (psm->ialg == POSITIVE_LIMIT){
status = sm_driver(psm->dtyp,card,channel,SM_MOVE,0x0fffffff,0);
status = (*pdset->sm_command)(psm,SM_MOVE,0x0fffffff,0);
}else if (psm->ialg == NEGATIVE_LIMIT){
status = sm_driver(psm->dtyp,card,channel,SM_MOVE,-0x0fffffff,0);
status = (*pdset->sm_command)(psm,SM_MOVE,-0x0fffffff,0);
}
psm->sthm = 1;
/* force a read of the position and status */
}else{
status = sm_driver(psm->dtyp,card,channel,SM_READ,0,0);
status = (*pdset->sm_command)(psm,SM_READ,0,0);
}
if (status < 0){
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
@@ -655,8 +670,6 @@ struct steppermotorRecord *psm;
}
psm->init = -1;
}else if (psm->mode == VELOCITY){
/* get the velocity */
/* get_velocity(motor,smcb_velocity_req);*/
psm->velo = 0;
psm->init = 1;
}
@@ -672,19 +685,16 @@ struct steppermotorRecord *psm;
static void positional_sm(psm)
struct steppermotorRecord *psm;
{
short card,channel;
struct smdset *pdset = (struct smdset *)(psm->dset);
int acceleration,velocity;
/* only VME stepper motor cards supported */
if (psm->out.type != VME_IO) return;
/* the motor number is the card number */
card = psm->out.value.vmeio.card;
channel = psm->out.value.vmeio.signal;
/* emergency stop */
if (psm->stop){
sm_driver(psm->dtyp,card,channel,SM_MOTION,0,0);
(*pdset->sm_command)(psm,SM_MOTION,0,0);
psm->stop = 0;
psm->rcnt=psm->rtry+1;
if (psm->mlis.count) db_post_events(psm,&psm->stop,DBE_VALUE|DBE_LOG);
@@ -699,7 +709,7 @@ struct steppermotorRecord *psm;
if ((psm->velo != psm->lvel) || (psm->lacc != psm->accl)){
acceleration = (1/psm->accl) * psm->velo * psm->mres;
velocity = psm->velo * psm->mres;
sm_driver(psm->dtyp,card,channel,SM_VELOCITY,velocity,acceleration);
(*pdset->sm_command)(psm,SM_VELOCITY,velocity,acceleration);
psm->lvel = psm->velo;
psm->lacc = psm->accl;
}
@@ -712,7 +722,7 @@ struct steppermotorRecord *psm;
psm->rbv = 0;
psm->rrbv = 0;
psm->ival = 0; /* resets initial offset */
sm_driver(psm->dtyp,card,channel,SM_SET_HOME,0,0);
(*pdset->sm_command)(psm,SM_SET_HOME,0,0);
if(psm->mlis.count) {
db_post_events(psm,&psm->rbv,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->val,DBE_VALUE|DBE_LOG);
@@ -755,7 +765,7 @@ struct steppermotorRecord *psm;
}
/* move motor */
psm->movn = 1;
if (sm_driver(psm->dtyp,card,channel,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
if ((*pdset->sm_command)(psm,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
psm->movn=0;
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
}
@@ -772,12 +782,9 @@ struct steppermotorRecord *psm;
static void velocity_sm(psm)
struct steppermotorRecord *psm;
{
struct smdset *pdset = (struct smdset *)(psm->dset);
float chng_vel;
int acceleration,velocity;
short card,channel;
/* only VME stepper motor cards supported */
if (psm->out.type != VME_IO) return;
/* fetch the desired value if there is a database link */
if (psm->dol.type == DB_LINK && psm->omsl == CLOSED_LOOP){
@@ -791,9 +798,6 @@ struct steppermotorRecord *psm;
} else psm->udf=FALSE;
}
/* the motor number is the card number */
card = psm->out.value.vmeio.card;
channel = psm->out.value.vmeio.signal;
/* Motor not at desired velocity */
if ((psm->mlst == psm->val) && (psm->val != psm->rbv) && (psm->cvel)) {
@@ -819,10 +823,10 @@ struct steppermotorRecord *psm;
velocity = ((psm->val >= 0) ? psm->rval : -psm->rval);
/* motor commands */
sm_driver(psm->dtyp,card,channel,SM_VELOCITY,velocity,acceleration);
(*pdset->sm_command)(psm,SM_VELOCITY,velocity,acceleration);
/*the last arg of next call is check for direction */
if(sm_driver(psm->dtyp,card,channel,SM_MOTION,1,(psm->val < 0))){
if((*pdset->sm_command)(psm,SM_MOTION,1,(psm->val < 0))){
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
return;
}
@@ -832,7 +836,7 @@ struct steppermotorRecord *psm;
/* trust it will stop - to read velocity here will not */
/* work as the motor takes more time to stop than the */
/* request for velocity takes to return */
sm_driver(psm->dtyp,card,channel,SM_MOTION,0,0);
(*pdset->sm_command)(psm,SM_MOTION,0,0);
psm->rbv = 0;
psm->rrbv = 0;
psm->cvel = 0;
@@ -855,8 +859,9 @@ static void sm_get_position(psm,moving)
struct steppermotorRecord *psm;
short moving;
{
short reset;
float new_pos,delta;
struct smdset *pdset = (struct smdset *)(psm->dset);
short reset;
float new_pos,delta;
/* get readback position */
if (psm->rdbl.type == DB_LINK){
@@ -885,10 +890,7 @@ short moving;
/* readback position at initialization */
if ((psm->init <= 0) && (moving == 0)){
if (psm->sthm){
sm_driver(psm->dtyp,
psm->out.value.vmeio.card,
psm->out.value.vmeio.signal,
SM_SET_HOME,0,0);
(*pdset->sm_command)(psm,SM_SET_HOME,0,0);
psm->sthm = 0;
return;
}