From 1178c2f1192f9c14182aedb1d6b87a535a0985d6 Mon Sep 17 00:00:00 2001
From: MarkRivers <rivers@cars.uchicago.edu>
Date: Wed, 30 Mar 2011 22:51:10 +0000
Subject: [PATCH] New file

---
 motorApp/NewportSrc/XPSMotorDriver.h | 121 +++++++++++++++++++++++++++
 1 file changed, 121 insertions(+)
 create mode 100644 motorApp/NewportSrc/XPSMotorDriver.h

diff --git a/motorApp/NewportSrc/XPSMotorDriver.h b/motorApp/NewportSrc/XPSMotorDriver.h
new file mode 100644
index 00000000..fc14a1c1
--- /dev/null
+++ b/motorApp/NewportSrc/XPSMotorDriver.h
@@ -0,0 +1,121 @@
+/*
+FILENAME...     XPSMotorDriver.cpp
+USAGE...        Newport XPS EPICS asyn motor device driver
+*/
+
+#include "asynMotorDriver.h"
+
+// drvInfo strings for extra parameters that the XPS controller supports
+#define XPSMinJerkString    "XPS_MIN_JERK"
+#define XPSMaxJerkString    "XPS_MAX_JERK"
+#define XPSStatusString     "XPS_STATUS"
+
+/** Struct that contains information about the XPS corrector loop.*/ 
+typedef struct
+{
+  bool ClosedLoopStatus;
+  double KP; /**< Main proportional term from PID loop.*/
+  double KI; /**< Main integral term from PID loop.*/
+  double KD; /**< Main differential term from PID loop.*/
+  double KS;
+  double IntegrationTime;
+  double DerivativeFilterCutOffFrequency;
+  double GKP;
+  double GKI;
+  double GKD;
+  double KForm;
+  double FeedForwardGainVelocity;
+  double FeedForwardGainAcceleration;
+  double Friction;
+} xpsCorrectorInfo_t;
+
+class XPSAxis : public asynMotorAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  XPSAxis(class XPSController *pController, int axisNo, const char *positionerName, double stepSize);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(int *moving);
+  asynStatus setPosition(double position);
+  
+private:
+  XPSController *pC_;
+  char *getXPSError(int status, char *buffer);
+  int isInGroup();
+  asynStatus setPID(const double * value, int pidoption);
+  asynStatus getPID();
+  asynStatus setPIDValue(const double * value, int pidoption); 
+
+  /* Wrapper functions for the verbose PositionerCorrector functions. */
+  asynStatus PositionerCorrectorPIPositionGetWrapper();
+  asynStatus PositionerCorrectorPIDFFVelocityGetWrapper();
+  asynStatus PositionerCorrectorPIDFFAccelerationGetWrapper();
+  asynStatus PositionerCorrectorPIDDualFFVoltageGetWrapper();
+  asynStatus PositionerCorrectorPIPositionSetWrapper();
+  asynStatus PositionerCorrectorPIDFFVelocitySetWrapper();
+  asynStatus PositionerCorrectorPIDFFAccelerationSetWrapper();
+  asynStatus PositionerCorrectorPIDDualFFVoltageSetWrapper();
+
+  int pollSocket_;
+  int moveSocket_;
+  double currentPosition_;
+  double currentVelocity_;
+  double velocity_;
+  double accel_;
+  double highLimit_;
+  double lowLimit_;
+  double stepSize_;
+  char *positionerName_;
+  char *groupName_;
+  int positionerError_;
+  int axisStatus_;
+  xpsCorrectorInfo_t xpsCorrectorInfo_;
+  double deferredPosition_;
+  int deferredMove_;
+  int deferredRelative_;
+
+friend class XPSController;
+};
+
+
+class XPSController : public asynMotorController {
+public:
+  XPSController(const char *portName, const char *IPAddress, int IPPort,
+                int numAxes, double movingPollPeriod, double idlePollPeriod);
+
+  /* These are the methods that we override from asynMotorDriver */
+  asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
+  asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
+  void report(FILE *fp, int level);
+  XPSAxis* getAxis(asynUser *pasynUser);
+  XPSAxis* getAxis(int axisNo);
+  asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
+  asynStatus triggerProfile(asynUser *pasynUser);
+
+  /* These are the methods that are new to this class */
+  /* Deferred moves functions.*/
+  asynStatus processDeferredMoves();
+  asynStatus processDeferredMovesInGroup(char * groupName);
+
+protected:
+  int XPSMinJerk_;
+#define FIRST_XPS_PARAM XPSMinJerk_
+  int XPSMaxJerk_;
+  int XPSStatus_;
+#define LAST_XPS_PARAM XPSStatus_
+
+#define NUM_XPS_PARAMS (&LAST_XPS_PARAM - &FIRST_XPS_PARAM + 1)
+
+private:
+  char *IPAddress_;
+  int IPPort_;
+  int pollSocket_;
+  char firmwareVersion_[100];
+  int movesDeferred_;
+    
+friend class XPSAxis;
+};
+