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Moved to devIM483SM.cc

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Ron Sluiter
2003-05-05 18:54:55 +00:00
parent 9dd27138c1
commit 1f64a7cf50
1 changed files with 0 additions and 340 deletions
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motorApp/ImsSrc/devIM483SM.c
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/*
FILENAME... devIM483SM.c
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-07-05 19:21:13 $
*/
/*
* Original Author: Ron Sluiter
* Date: 02/10/2000
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 02/10/00 rls copied from devMM4000.c
* .02 05/16/01 rls Added support for changing jog velocity while jogging.
* .03 03/01/02 rls eliminated "ASCII record separator (IS2) = /x1E".
* .04 04/15/02 rls Must support PRIMITIVE in build_trans() for INIT field to
* work.
*/
#include <vxWorks.h>
#include <stdioLib.h>
#include <string.h>
#include <semLib.h> /* jps: include for init_record wait */
#include <logLib.h>
#ifdef __cplusplus
extern "C" {
#include <epicsDynLink.h>
}
#else
#include <epicsDynLink.h>
#endif
#include <sysSymTbl.h> /* for sysSymTbl*/
#include <alarm.h>
#include <callback.h>
#include <dbDefs.h>
#include <dbAccess.h>
#include <dbCommon.h>
#include <fast_lock.h>
#include <recSup.h>
#include <devSup.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvIM483.h"
#define STATIC static
/* ----------------Create the dsets for devIM483SM----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long IM483SM_init(int);
STATIC long IM483SM_init_record(struct motorRecord *);
STATIC long IM483SM_start_trans(struct motorRecord *);
STATIC long IM483SM_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC long IM483SM_end_trans(struct motorRecord *);
struct motor_dset devIM483SM =
{
{8, NULL, IM483SM_init, IM483SM_init_record, NULL},
motor_update_values,
IM483SM_start_trans,
IM483SM_build_trans,
IM483SM_end_trans
};
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static int IM483SM_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOG_VELOCITY */
};
static struct board_stat **IM483SM_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for IM483SM stepper motor */
STATIC long IM483SM_init(int after)
{
SYM_TYPE type;
long rtnval;
if (after == 0)
{
rtnval = symFindByNameEPICS(sysSymTbl, "_IM483SM_access",
(char **) &drvtabptr, &type);
if (rtnval != OK)
return(rtnval);
/*
IF before DB initialization.
Initialize IM483SM driver (i.e., call init()). See comment in
drvIM483SM.c init().
ENDIF
*/
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &IM483SM_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long IM483SM_init_record(struct motorRecord *mr)
{
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, IM483SM_cards));
}
/* start building a transaction */
STATIC long IM483SM_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
STATIC long IM483SM_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
STATIC long IM483SM_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct IM483controller *cntrl;
char buff[110];
int axis, card, maxdigits, size;
double dval, cntrl_units;
long rtnval;
BOOLEAN send;
send = ON; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
dval = *parms;
motor_start_trans_com(mr, IM483SM_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
cntrl_units = dval;
maxdigits = 2;
if (IM483SM_table[command] > motor_call->type)
motor_call->type = IM483SM_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
strcat(motor_call->message, mr->init);
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "R%.*f", maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%+.*f", maxdigits, cntrl_units);
break;
case HOME_FOR:
sprintf(buff, "F1000 0");
break;
case HOME_REV:
sprintf(buff, "F1000 1");
break;
case LOAD_POS:
if (cntrl_units == 0.0)
sprintf(buff, "O");
else
{
send = OFF;
rtnval = ERROR;
}
break;
case SET_VEL_BASE:
sprintf(buff, "I%.*f;", maxdigits, cntrl_units);
break;
case SET_VELOCITY:
sprintf(buff, "V%.*f;", maxdigits, cntrl_units);
break;
case SET_ACCEL:
/* ????? MAKE SENSE OF ACCELERATION PARAMETER ??????*/
send = OFF;
break;
case GO:
/* The IM483 starts moving immediately on move commands, GO command
* does nothing. */
send = OFF;
break;
case PRIMITIVE:
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(buff, "@ 0");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "M%.*f;", maxdigits, cntrl_units);
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
send = OFF;
break;
case ENABLE_TORQUE:
sprintf(buff, "MO;");
break;
case DISABL_TORQUE:
sprintf(buff, "MF;");
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = OFF;
break;
default:
send = OFF;
rtnval = ERROR;
}
size = strlen(buff);
if (send == OFF)
return(rtnval);
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
logMsg((char *) "IM483SM_build_trans(): buffer overflow.\n", 0, 0, 0, 0, 0, 0);
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}