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This commit is contained in:
Ron Sluiter
2011-01-21 20:37:56 +00:00
parent 47530f2938
commit 09a6cbecdf
5 changed files with 1289 additions and 1289 deletions
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motorApp/HytecSrc/Hy8601Main.cpp
+23 -23
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@@ -1,23 +1,23 @@
/* Hy8601Main.cpp */
/* Author: Marty Kraimer Date: 17MAR2000 */
#include <stddef.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include "epicsExit.h"
#include "epicsThread.h"
#include "iocsh.h"
int main(int argc,char *argv[])
{
if(argc>=2) {
iocsh(argv[1]);
epicsThreadSleep(.2);
}
iocsh(NULL);
epicsExit(0);
return(0);
}
/* Hy8601Main.cpp */
/* Author: Marty Kraimer Date: 17MAR2000 */
#include <stddef.h>
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include "epicsExit.h"
#include "epicsThread.h"
#include "iocsh.h"
int main(int argc,char *argv[])
{
if(argc>=2) {
iocsh(argv[1]);
epicsThreadSleep(.2);
}
iocsh(NULL);
epicsExit(0);
return(0);
}
motorApp/HytecSrc/drvHy8601Asyn.c
+1135 -1135
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motorApp/HytecSrc/drvHy8601Asyn.dbd
+7 -7
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@@ -1,7 +1,7 @@
# Database Definition
registrar(Hy8601AsynRegister)
driver(drvHy8601Asyn)
#registrar(xy9660Registrar)
registrar(Hy8002Registrar)
# Database Definition
registrar(Hy8601AsynRegister)
driver(drvHy8601Asyn)
#registrar(xy9660Registrar)
registrar(Hy8002Registrar)
motorApp/HytecSrc/drvHy8601Asyn.h
+79 -79
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@@ -1,79 +1,79 @@
#ifndef DRV_HY8601_H
#define DRV_HY8601_H
#ifdef __cplusplus
extern "C" {
#endif
#define DEVICE_NAME "drvHy8601Asyn"
/* CSR Register bit definitions */
#define CSR_HOMESTOP 0x8000
#define CSR_INTEN 0x4000
#define CSR_DONE 0x2000
#define CSR_CRASHSTOP 0x1000
#define CSR_DIRECTION 0x0800
#define CSR_AUX2 0x0400
#define CSR_AUX1 0x0200
#define CSR_ENCODUSE 0x0100
#define CSR_ENCODDET 0x0080
#define CSR_JOG 0x0040
#define CSR_GO 0x0020
#define CSR_DRVSTAT 0x0010
#define CSR_HOMELMT 0x0008
#define CSR_MAXLMT 0x0004
#define CSR_MINLMT 0x0002
#define CSR_RESET 0x0001
/* New Hardware Register Map */
#define REG_STEPCNTLO 0x00
#define REG_STEPCNTHI 0x02
#define REG_CURRPOSLO 0x04
#define REG_CURRPOSHI 0x06
#define REG_STARTSTOPSPD 0x08
#define REG_HIGHSPD 0x0A
#define REG_RAMPRATE 0x0C
#define REG_CSR 0x0E
#define REG_INTMASK 0x10
#define REG_INTVECTOR 0x12
#define REG_INTREQUEST 0x14
#define REG_CURRENTSPD 0x16
#define REG_SPARE1 0x18
#define REG_SPARE2 0x1A
#define REG_SPARE3 0x1C
#define REG_SPARE4 0x1E
#define PROM_MODEL 0x8601
#define PROM_OFFS 0x80
#define REG_BANK_OFFS 0x00
#define REG_BANK_SZ 0x20
#define INT_LMT (CSR_MINLMT | CSR_MAXLMT | CSR_HOMELMT)
#define INT_SRCS (CSR_RESET | INT_LMT | CSR_DRVSTAT | CSR_DONE)
/* define a mask to enable all sources of interrupts */
#define ALL_INTS (INT_SRCS | CSR_INTEN)
#define DONE_INT (CSR_DONE) /* the only interrupt suggested to use. JC 12-Nov-2009 */
#define HY8601_NUM_AXES 4
#define IP_DETECT_STR "VITA4 "
#define GET_REG(base,reg) (*(volatile epicsUInt16 *)((base)+(reg)))
#define SET_REG(base,reg,val) do { *(volatile epicsUInt16 *)((base)+(reg)) = (val);} while(0)
#define CSR_SET(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) |= (bit);} while(0)
#define CSR_CLR(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) &= ~(bit);} while(0)
int drvHy8601AsynCreate( char *port, int addr, int card, int nAxes );
int Hy8601Configure(int cardnum,
int ip_carrier,
int ipslot,
int vector,
int useencoder,
int limitmode);
#ifdef __cplusplus
}
#endif
#endif
#ifndef DRV_HY8601_H
#define DRV_HY8601_H
#ifdef __cplusplus
extern "C" {
#endif
#define DEVICE_NAME "drvHy8601Asyn"
/* CSR Register bit definitions */
#define CSR_HOMESTOP 0x8000
#define CSR_INTEN 0x4000
#define CSR_DONE 0x2000
#define CSR_CRASHSTOP 0x1000
#define CSR_DIRECTION 0x0800
#define CSR_AUX2 0x0400
#define CSR_AUX1 0x0200
#define CSR_ENCODUSE 0x0100
#define CSR_ENCODDET 0x0080
#define CSR_JOG 0x0040
#define CSR_GO 0x0020
#define CSR_DRVSTAT 0x0010
#define CSR_HOMELMT 0x0008
#define CSR_MAXLMT 0x0004
#define CSR_MINLMT 0x0002
#define CSR_RESET 0x0001
/* New Hardware Register Map */
#define REG_STEPCNTLO 0x00
#define REG_STEPCNTHI 0x02
#define REG_CURRPOSLO 0x04
#define REG_CURRPOSHI 0x06
#define REG_STARTSTOPSPD 0x08
#define REG_HIGHSPD 0x0A
#define REG_RAMPRATE 0x0C
#define REG_CSR 0x0E
#define REG_INTMASK 0x10
#define REG_INTVECTOR 0x12
#define REG_INTREQUEST 0x14
#define REG_CURRENTSPD 0x16
#define REG_SPARE1 0x18
#define REG_SPARE2 0x1A
#define REG_SPARE3 0x1C
#define REG_SPARE4 0x1E
#define PROM_MODEL 0x8601
#define PROM_OFFS 0x80
#define REG_BANK_OFFS 0x00
#define REG_BANK_SZ 0x20
#define INT_LMT (CSR_MINLMT | CSR_MAXLMT | CSR_HOMELMT)
#define INT_SRCS (CSR_RESET | INT_LMT | CSR_DRVSTAT | CSR_DONE)
/* define a mask to enable all sources of interrupts */
#define ALL_INTS (INT_SRCS | CSR_INTEN)
#define DONE_INT (CSR_DONE) /* the only interrupt suggested to use. JC 12-Nov-2009 */
#define HY8601_NUM_AXES 4
#define IP_DETECT_STR "VITA4 "
#define GET_REG(base,reg) (*(volatile epicsUInt16 *)((base)+(reg)))
#define SET_REG(base,reg,val) do { *(volatile epicsUInt16 *)((base)+(reg)) = (val);} while(0)
#define CSR_SET(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) |= (bit);} while(0)
#define CSR_CLR(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) &= ~(bit);} while(0)
int drvHy8601AsynCreate( char *port, int addr, int card, int nAxes );
int Hy8601Configure(int cardnum,
int ip_carrier,
int ipslot,
int vector,
int useencoder,
int limitmode);
#ifdef __cplusplus
}
#endif
#endif
motorApp/HytecSrc/registrarHy8601Asyn.c
+45 -45
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@@ -1,45 +1,45 @@
/* This is the EPICS dependent code for the Hytec 8601 Step motor driver.
* By making this separate file for the EPICS dependent code the driver itself
* only needs libCom from EPICS for OS-independence (i.e. it is then possible to create
* module tests without needing to load the entire EPICS libraries!)
*/
#include <iocsh.h>
#include <drvSup.h>
#include <epicsExport.h>
#include "drvHy8601Asyn.h"
/* Code for iocsh registration */
/* Hy8601Config */
static const iocshArg Hy8601ConfigArg0 = {"cardnum", iocshArgInt};
static const iocshArg Hy8601ConfigArg1 = {"carrier", iocshArgInt};
static const iocshArg Hy8601ConfigArg2 = {"ipslot", iocshArgInt};
static const iocshArg Hy8601ConfigArg3 = {"vector", iocshArgInt};
static const iocshArg Hy8601ConfigArg4 = {"useencoder", iocshArgInt};
static const iocshArg Hy8601ConfigArg5 = {"limitmode", iocshArgInt};
static const iocshArg * const Hy8601ConfigArgs[] = {&Hy8601ConfigArg0,
&Hy8601ConfigArg1,
&Hy8601ConfigArg2,
&Hy8601ConfigArg3,
&Hy8601ConfigArg4,
&Hy8601ConfigArg5};
static const iocshFuncDef configHy8601 = {"Hy8601AsynConfig", 6, Hy8601ConfigArgs};
static void configHy8601CallFunc(const iocshArgBuf *args)
{
Hy8601Configure(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static void Hy8601AsynRegister(void)
{
iocshRegister(&configHy8601, configHy8601CallFunc);
}
epicsExportRegistrar(Hy8601AsynRegister);
/* This is the EPICS dependent code for the Hytec 8601 Step motor driver.
* By making this separate file for the EPICS dependent code the driver itself
* only needs libCom from EPICS for OS-independence (i.e. it is then possible to create
* module tests without needing to load the entire EPICS libraries!)
*/
#include <iocsh.h>
#include <drvSup.h>
#include <epicsExport.h>
#include "drvHy8601Asyn.h"
/* Code for iocsh registration */
/* Hy8601Config */
static const iocshArg Hy8601ConfigArg0 = {"cardnum", iocshArgInt};
static const iocshArg Hy8601ConfigArg1 = {"carrier", iocshArgInt};
static const iocshArg Hy8601ConfigArg2 = {"ipslot", iocshArgInt};
static const iocshArg Hy8601ConfigArg3 = {"vector", iocshArgInt};
static const iocshArg Hy8601ConfigArg4 = {"useencoder", iocshArgInt};
static const iocshArg Hy8601ConfigArg5 = {"limitmode", iocshArgInt};
static const iocshArg * const Hy8601ConfigArgs[] = {&Hy8601ConfigArg0,
&Hy8601ConfigArg1,
&Hy8601ConfigArg2,
&Hy8601ConfigArg3,
&Hy8601ConfigArg4,
&Hy8601ConfigArg5};
static const iocshFuncDef configHy8601 = {"Hy8601AsynConfig", 6, Hy8601ConfigArgs};
static void configHy8601CallFunc(const iocshArgBuf *args)
{
Hy8601Configure(args[0].sval, args[1].ival, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static void Hy8601AsynRegister(void)
{
iocshRegister(&configHy8601, configHy8601CallFunc);
}
epicsExportRegistrar(Hy8601AsynRegister);