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Removed NewFocusSrc; Added motorNewFocus submodule

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This commit is contained in:
kpetersn
2019-04-09 16:38:24 -05:00
parent ecbb008597
commit 2784be1ffb
19 changed files with 5 additions and 2570 deletions
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.gitmodules
+3
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@@ -55,3 +55,6 @@
[submodule "modules/motorMicos"]
path = modules/motorMicos
url = https://github.com/epics-motor/motorMicos.git
[submodule "modules/motorNewFocus"]
path = modules/motorNewFocus
url = https://github.com/epics-motor/motorNewFocus.git
iocBoot/iocNewFocus874x/Makefile
-6
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@@ -1,6 +0,0 @@
TOP = ../..
include $(TOP)/configure/CONFIG
ARCH = linux-x86_64
TARGETS += envPaths
include $(TOP)/configure/RULES.ioc
iocBoot/iocNewFocus874x/newfocus8742.asyn.motor.substitutions
-8
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@@ -1,8 +0,0 @@
file "$(MOTOR)/db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, C, S, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
{IOC:, 1, "X", "asynMotor", M0, 1, 0, 0, "X", counts, Pos, 100, 25, 1, 0, 0, 50, 1, 0, 0, 0, ""}
{IOC:, 2, "Y", "asynMotor", M0, 2, 0, 0, "Y", counts, Pos, 100, 25, 1, 0, 0, 50, 1, 0, 0, 0, ""}
}
iocBoot/iocNewFocus874x/newfocus8742.asyn.st.cmd.linux-x86
-67
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@@ -1,67 +0,0 @@
#!../../bin/linux-x86_64/picoctl
## You may have to change picoctl to something else
## everywhere it appears in this file
< envPaths
epicsEnvSet("EPICS_CA_AUTO_ADDR_LIST", "NO")
epicsEnvSet("EPICS_CA_ADDR_LIST", "10.28.0.255")
epicsEnvSet("Sys", "Sys")
epicsEnvSet("Port", "P0")
epicsEnvSet("ControllerPort", "M0")
epicsEnvSet("MC", "MC:10")
epicsEnvSet("CT", "CT")
epicsEnvSet("IOC_PREFIX", "$(CT){IOC:MC10}")
epicsEnvSet("MC_PREFIX", "$(CT){$(MC)}")
cd ${TOP}
## Register all support components
dbLoadDatabase "dbd/picoctl.dbd"
picoctl_registerRecordDeviceDriver pdbbase
# Setup IP port for 8742
drvAsynIPPortConfigure("$(Port)", "10.28.2.111:23")
asynOctetSetInputEos("$(Port)",0,"\r\n")
asynOctetSetOutputEos("$(Port)",0,"\r")
#db asyn debug traces
asynSetTraceMask("$(Port)",-1,0x1)
asynSetTraceIOMask("$(Port)",-1,0x1)
# New Focus Picomotor Network Controller (model 87xx) configuration parameters:
# (1) IP asyn port name (string)
# (2) Controller asyn port name (string)
# (3) Number of axes
# (4) Moving poll period (ms)
# (5) Idle poll period (ms)
nf874xCreateController("$(ControllerPort)", "$(Port)", 4, 200, 1000)
## Load record instances
dbLoadTemplate("iocBoot/iocNewFocus874x/newfocus8742.asyn.motor.substitutions")
dbLoadRecords("${ASYN}/db/asynRecord.db", "P=$(MC_PREFIX),R=Asyn,PORT=$(Port),ADDR=,OMAX=80,IMAX=80")
## autosave/restore machinery
save_restoreSet_Debug(0)
save_restoreSet_IncompleteSetsOk(1)
save_restoreSet_DatedBackupFiles(1)
set_savefile_path("${TOP}/as","/save")
set_requestfile_path("${TOP}/as","/req")
set_pass0_restoreFile("info_positions.sav")
set_pass0_restoreFile("info_settings.sav")
set_pass1_restoreFile("info_settings.sav")
iocInit()
## more autosave/restore machinery
cd ${TOP}/as/req
makeAutosaveFiles()
create_monitor_set("info_positions.req", 5 , "")
create_monitor_set("info_settings.req", 15 , "")
iocBoot/iocWithAsyn/st.cmd.Vx
-12
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@@ -44,18 +44,6 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")
#!IM483PLConfig(0, "a-Serial[0]")
#!drvIM483PLdebug=4
# New Focus Picomotor Network Controller (model 8750/2) (setup parameters:
# (1) maximum number of controllers in system
# (2) maximum number of drivers per controller (1 - 3)
# (3) motor task polling rate (min=1Hz,max=60Hz)
#!PMNC87xxSetup(1, 2, 10)
# New Focuc Picomotor Network Controller (model 8750/2) configuration parameters:
# (1) controller# being configured,
# (2) asyn port name (string)
#!PMNC87xxConfig(0, "serial2")
#!drvPMNC87xxdebug=4
# IMS MDrive driver setup parameters:
# (1) maximum number of controllers in system
iocsh/Newfocus_PMNC87xx.iocsh
-37
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@@ -1,37 +0,0 @@
# ### Newfocus_PMNC87xx.iocsh ###
#- ###################################################
#- PORT - Serial port for communications
#- CONTROLLER - Optional: Which controller is being configured
#- Default: 0
#-
#- NUM_AXES - Optional: Number of axes on this controller
#- Default: 1
#-
#- MAX_CONTROLLERS - Optional: Max number of controllers that will be configured
#- Default: 1
#-
#- MAX_DRIVES - Optional: Max number of drives per controller
#- Default: 1
#-
#- POLL_RATE - Optional: Controller poll rate in hertz
#- Default: 10
#- ###################################################
#- NewFocus Picomotor driver setup parameters:
#- (1) maximum number of controllers in system
#- (2) maximum drives per controller
#- (3) motor task polling rate (min=1Hz, max=60Hz)
$(PMNC87XX_INIT_COMPLETE="") PMNC87xxSetup($(MAX_CONTROLLERS=1), $(MAX_DRIVES=1), $(POLL_RATE=10))
#- Serial port configuration
iocshLoad("$(IP)/iocsh/setSerialParams.iocsh", "PORT=$(PORT), BAUD=19200, BITS=8, STOP=1, PARITY=none")
asynOctetSetInputEos( "$(PORT)", -1, "\r")
asynOctetSetOutputEos("$(PORT)", -1, "\r")
#- NewFocus Picomotor driver configuration parameters:
#- (1) controller being configured
#- (2) asyn port name (string)
PMNC87xxConfig($(CONTROLLER=0), "$(PORT)")
epicsEnvSet("PMNC87XX_INIT_COMPLETE", "#")
modules/Makefile
+1
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@@ -18,6 +18,7 @@ SUBMODULES += motorMclennan
SUBMODULES += motorMicos
SUBMODULES += motorMicroMo
SUBMODULES += motorMicronix
SUBMODULES += motorNewFocus
SUBMODULES += motorNPoint
SUBMODULES += motorOriel
SUBMODULES += motorPiJena
modules/motorNewFocus
Submodule
+1
Submodule modules/motorNewFocus added at eb6d3f5938
motorApp/Makefile
-3
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@@ -30,9 +30,6 @@ PIGCS2Src_DEPEND_DIRS = MotorSrc
DIRS += PC6KSrc
PC6KSrc_DEPEND_DIRS = MotorSrc
DIRS += NewFocusSrc
NewFocusSrc_DEPEND_DIRS = MotorSrc
DIRS += AerotechSrc
AerotechSrc_DEPEND_DIRS = MotorSrc
motorApp/NewFocusSrc/874xMotorDriver.cpp
-349
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@@ -1,349 +0,0 @@
/*
FILENAME... 874xMotorDriver.cpp
USAGE... Motor driver support for the NewFocus 874x series motor controller
Based on ACRMotorDriver.cpp by:
Mark Rivers
March 4, 2011
== Modifications ==
2015-12-01 - Wayne Lewis - Modify for NewFocus 874x series
*/
/*
* TODO: Extend for 8743 closed loop functionality
*/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <iocsh.h>
#include <epicsThread.h>
#include <asynOctetSyncIO.h>
#include "asynMotorController.h"
#include "asynMotorAxis.h"
#include <epicsExport.h>
#include "874xMotorDriver.h"
static const char *driverName = "nf874xMotorDriver";
/** Creates a new nf874xController object.
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] nf874xPortName The name of the drvAsynIPPPort that was created previously to connect to the nf874x controller
* \param[in] numAxes The number of axes that this controller supports. Create one extra axis to allow for base 1 indexing of NewFocus controllers.
* \param[in] movingPollPeriod The time between polls when any axis is moving
* \param[in] idlePollPeriod The time between polls when no axis is moving
*/
nf874xController::nf874xController(const char *portName, const char *nf874xPortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
//: asynMotorController(portName, numAxes, NUM_nf874x_PARAMS,
: asynMotorController(portName, numAxes+1, 0,
asynUInt32DigitalMask,
asynUInt32DigitalMask,
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
{
int axis;
asynStatus status;
static const char *functionName = "nf874xController";
/* Connect to nf874x controller */
status = pasynOctetSyncIO->connect(nf874xPortName, 0, &pasynUserController_, NULL);
if (status) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s:%s: cannot connect to nf874x controller\n",
driverName, functionName);
}
epicsThreadSleep(0.5);
// Create the axis objects
// Axis 0 will remain unused. This allows consistent axis numbering with
// NewFocus convention.
for (axis=1; axis<=numAxes; axis++) {
new nf874xAxis(this, axis);
}
startPoller(movingPollPeriod, idlePollPeriod, 2);
}
/** Creates a new nf874xController object.
* Configuration command, called directly or from iocsh
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] nf874xPortName The name of the drvAsynIPPPort that was created previously to connect to the nf874x controller
* \param[in] numAxes The number of axes that this controller supports.
* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
*/
extern "C" int nf874xCreateController(const char *portName, const char *nf874xPortName, int numAxes,
int movingPollPeriod, int idlePollPeriod)
{
new nf874xController(portName, nf874xPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
return(asynSuccess);
}
/** Reports on status of the driver
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* If details > 0 then information is printed about each axis.
* After printing controller-specific information calls asynMotorController::report()
*/
void nf874xController::report(FILE *fp, int level)
{
fprintf(fp, "nf874x motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
// Call the base class method
asynMotorController::report(fp, level);
}
/** Returns a pointer to an nf874xMotorAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] pasynUser asynUser structure that encodes the axis index number. */
nf874xAxis* nf874xController::getAxis(asynUser *pasynUser)
{
return static_cast<nf874xAxis*>(asynMotorController::getAxis(pasynUser));
}
/** Returns a pointer to an nf874xMotorAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] axisNo Axis index number. */
nf874xAxis* nf874xController::getAxis(int axisNo)
{
return static_cast<nf874xAxis*>(asynMotorController::getAxis(axisNo));
}
/** Called when asyn clients call pasynInt32->write().
* Extracts the function and axis number from pasynUser.
* Sets the value in the parameter library.
* For all other functions it calls asynMotorController::writeInt32.
* Calls any registered callbacks for this pasynUser->reason and address.
* \param[in] pasynUser asynUser structure that encodes the reason and address.
* \param[in] value Value to write. */
asynStatus nf874xController::writeInt32(asynUser *pasynUser, epicsInt32 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
nf874xAxis *pAxis = getAxis(pasynUser);
static const char *functionName = "writeInt32";
/* Set the parameter and readback in the parameter library. This may be overwritten when we read back the
* status at the end, but that's OK */
status = setIntegerParam(pAxis->axisNo_, function, value);
status = asynMotorController::writeInt32(pasynUser, value);
/* Do callbacks so higher layers see any changes */
callParamCallbacks(pAxis->axisNo_);
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%d\n",
driverName, functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, value=%d\n",
driverName, functionName, function, value);
return status;
}
/** Called when asyn clients call pasynFloat64->write().
* Extracts the function and axis number from pasynUser.
* Sets the value in the parameter library.
* Calls any registered callbacks for this pasynUser->reason and address.
* For all other functions it calls asynMotorController::writeFloat64.
* \param[in] pasynUser asynUser structure that encodes the reason and address.
* \param[in] value Value to write. */
asynStatus nf874xController::writeFloat64(asynUser *pasynUser, epicsFloat64 value)
{
int function = pasynUser->reason;
asynStatus status = asynSuccess;
nf874xAxis *pAxis = getAxis(pasynUser);
static const char *functionName = "writeFloat64";
/* Set the parameter and readback in the parameter library. */
status = setDoubleParam(pAxis->axisNo_, function, value);
status = asynMotorController::writeFloat64(pasynUser, value);
/* Do callbacks so higher layers see any changes */
pAxis->callParamCallbacks();
if (status)
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"%s:%s: error, status=%d function=%d, value=%f\n",
driverName, functionName, status, function, value);
else
asynPrint(pasynUser, ASYN_TRACEIO_DRIVER,
"%s:%s: function=%d, value=%f\n",
driverName, functionName, function, value);
return status;
}
// These are the nf874xAxis methods
/** Creates a new nf874xAxis object.
* \param[in] pC Pointer to the nf874xController to which this axis belongs.
* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
*
* Initializes register numbers, etc.
*/
nf874xAxis::nf874xAxis(nf874xController *pC, int axisNo)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
sprintf(axisName_, "%d", axisNo);
}
/** Reports on status of the driver
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* If details > 0 then information is printed about each axis.
* After printing controller-specific information calls asynMotorController::report()
*/
void nf874xAxis::report(FILE *fp, int level)
{
if (level > 0) {
fprintf(fp, " axis %d\n", axisNo_ );
}
// Call the base class method
asynMotorAxis::report(fp, level);
}
asynStatus nf874xAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
sprintf(pC_->outString_, "%s AC %f", axisName_, acceleration);
status = pC_->writeController();
sprintf(pC_->outString_, "%s VA %f", axisName_, maxVelocity);
status = pC_->writeController();
if (relative) {
sprintf(pC_->outString_, "%s PR %f", axisName_, position);
status = pC_->writeController();
} else {
sprintf(pC_->outString_, "%s PA %f", axisName_, position);
status = pC_->writeController();
}
return status;
}
asynStatus nf874xAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
sprintf(pC_->outString_, "%s AC %f", axisName_, acceleration);
status = pC_->writeController();
sprintf(pC_->outString_, "%s VA %f", axisName_, acceleration);
status = pC_->writeController();
sprintf(pC_->outString_, "%s DH", axisName_);
status = pC_->writeController();
return status;
}
asynStatus nf874xAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
double speed=maxVelocity;
int forwards=1;
if (speed < 0) {
speed = -speed;
forwards = 0;
}
sprintf(pC_->outString_, "%s AC %f", axisName_, acceleration);
status = pC_->writeController();
sprintf(pC_->outString_, "%s VA %f", axisName_, speed);
status = pC_->writeController();
sprintf(pC_->outString_, "%s MV %s", axisName_, forwards ? "+" : "-");
status = pC_->writeController();
return status;
}
asynStatus nf874xAxis::stop(double acceleration )
{
asynStatus status;
sprintf(pC_->outString_, "%s ST", axisName_);
status = pC_->writeController();
return status;
}
asynStatus nf874xAxis::setPosition(double position)
{
asynStatus status;
sprintf(pC_->outString_, "%s DH %f", axisName_, position);
status = pC_->writeController();
return status;
}
/** Polls the axis.
* This function reads the controller position, encoder position, the limit status, the moving status,
* and the drive power-on status. It does not current detect following error, etc. but this could be
* added.
* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
* and then calls callParamCallbacks() at the end.
* \param[out] moving A flag that is set indicating that the axis is moving (1) or done (0). */
asynStatus nf874xAxis::poll(bool *moving)
{
int done;
asynStatus comStatus;
// Read the current encoder position
sprintf(pC_->outString_, "%s TP?", axisName_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
encoderPosition_ = atof(pC_->inString_);
setDoubleParam(pC_->motorEncoderPosition_,encoderPosition_);
// Read the current theoretical position
setDoubleParam(pC_->motorPosition_, encoderPosition_);
// Read the current moving status
sprintf(pC_->outString_, "%s MD?", axisName_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
done = atoi(pC_->inString_);
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
}
/** Code for iocsh registration */
static const iocshArg nf874xCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg nf874xCreateControllerArg1 = {"nf874x port name", iocshArgString};
static const iocshArg nf874xCreateControllerArg2 = {"Number of axes", iocshArgInt};
static const iocshArg nf874xCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg nf874xCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg * const nf874xCreateControllerArgs[] = {&nf874xCreateControllerArg0,
&nf874xCreateControllerArg1,
&nf874xCreateControllerArg2,
&nf874xCreateControllerArg3,
&nf874xCreateControllerArg4};
static const iocshFuncDef nf874xCreateControllerDef = {"nf874xCreateController", 5, nf874xCreateControllerArgs};
static void nf874xCreateContollerCallFunc(const iocshArgBuf *args)
{
nf874xCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
}
static void nf874xMotorRegister(void)
{
iocshRegister(&nf874xCreateControllerDef, nf874xCreateContollerCallFunc);
}
extern "C" {
epicsExportRegistrar(nf874xMotorRegister);
}
motorApp/NewFocusSrc/874xMotorDriver.h
-50
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@@ -1,50 +0,0 @@
/*
FILENAME... 874xMotorDriver.h
USAGE... Motor driver support for the NewFocus 874x series of controllers
Based on ACRMotorDriver.h by:
Mark Rivers
March 28, 2011
== Modifications ==
2015-12-01 - Wayne Lewis - Modify for NewFocus 874x controllers
*/
#include "asynMotorController.h"
#include "asynMotorAxis.h"
class epicsShareClass nf874xAxis : public asynMotorAxis
{
public:
/* These are the methods we override from the base class */
nf874xAxis(class nf874xController *pC, int axis);
void report(FILE *fp, int level);
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(bool *moving);
asynStatus setPosition(double position);
private:
nf874xController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
* Abbreviated because it is used very frequently */
char axisName_[10]; /**< Name of each axis, used in commands to nf874x controller */
double encoderPosition_; /**< Cached copy of the encoder position */
friend class nf874xController;
};
class epicsShareClass nf874xController : public asynMotorController {
public:
nf874xController(const char *portName, const char *nf874xPortName, 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);
nf874xAxis* getAxis(asynUser *pasynUser);
nf874xAxis* getAxis(int axisNo);
friend class nf874xAxis;
};
motorApp/NewFocusSrc/Makefile
-26
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@@ -1,26 +0,0 @@
# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# Both the following line, and a line in the *.dbd file,
# must be uncommented to use diagnostic debugging messages.
# USR_CXXFLAGS += -DDEBUG
# OPT_CXXFLAGS = -g -O0
DBD += devNewFocus.dbd
LIBRARY_IOC = NewFocus
NewFocus_SRCS += NewFocusRegister.cc
# PMNC87xx (i.e., PMNC87xx) device driver.
NewFocus_SRCS += devPMNC87xx.cc drvPMNC87xx.cc
# NewFocus 874x driver
NewFocus_SRCS += 874xMotorDriver.cpp
NewFocus_LIBS += motor asyn
NewFocus_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/NewFocusSrc/NewFocusRegister.cc
-68
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@@ -1,68 +0,0 @@
/*
FILENAME... NewFocusRegister.cc
USAGE... Register NewFocus motor device driver shell commands.
Version: 1.6
Modified By: rivers
Last Modified: 2004/07/28 20:24:01
*/
/*****************************************************************
COPYRIGHT NOTIFICATION
*****************************************************************
(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
This software was developed under a United States Government license
described on the COPYRIGHT_UniversityOfChicago file included as part
of this distribution.
**********************************************************************/
#include <iocsh.h>
#include "NewFocusRegister.h"
#include "epicsExport.h"
extern "C"
{
// NewFocus Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Max. drivers per controller count", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// NewFocus Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg configArg2 = {"asyn address (GPIB)", iocshArgInt};
static const iocshArg * const NewFocusSetupArgs[3] = {&setupArg0,
&setupArg1,
&setupArg2};
static const iocshArg * const NewFocusConfigArgs[3] = {&configArg0,
&configArg1,
&configArg2};
static const iocshFuncDef setupPMNC87xx = {"PMNC87xxSetup", 3, NewFocusSetupArgs};
static const iocshFuncDef configPMNC87xx = {"PMNC87xxConfig", 3, NewFocusConfigArgs};
static void setupPMNC87xxCallFunc(const iocshArgBuf *args)
{
PMNC87xxSetup(args[0].ival, args[1].ival, args[2].ival);
}
static void configPMNC87xxCallFunc(const iocshArgBuf *args)
{
PMNC87xxConfig(args[0].ival, args[1].sval, args[2].ival);
}
static void NewFocusRegister(void)
{
iocshRegister(&setupPMNC87xx, setupPMNC87xxCallFunc);
iocshRegister(&configPMNC87xx, configPMNC87xxCallFunc);
}
epicsExportRegistrar(NewFocusRegister);
} // extern "C"
motorApp/NewFocusSrc/NewFocusRegister.h
-45
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@@ -1,45 +0,0 @@
/*
FILENAME... NewportRegister.h
USAGE... This file contains function prototypes for Newport IOC shell commands.
Version: 1.4
Modified By: rivers
Last Modified: 2004/07/28 18:45:16
*/
/*
* Original Author: Ron Sluiter
* Date: 05/19/03
*
* 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:
* -----------------
*/
#include "motor.h"
#include "motordrvCom.h"
/* Function prototypes. */
extern RTN_STATUS PMNC87xxSetup(int, int, int);
extern RTN_STATUS PMNC87xxConfig(int, const char *, int);
motorApp/NewFocusSrc/README
-116
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@@ -1,116 +0,0 @@
NewFocus PicoMotor Controller (87xx)
===================================
This motorRecord driver supports the NewFocus 8750 and 8752
PicoMotor Network Controllers.
8750 - RS232 @ 19200Baud (8data, No Parity, 1stop)
8752 - RS232 @ 19200Baud or Ethernet (port 23)
Support Motor Drivers (daisychained)
8753 - 3 Channel Open-loop
8751 - 1 Channel Closed-loop
Motor Resolution:
Standard Picomotor - ~30nm
Tiny Picomotor - ~100nm
Serial Port Config
===================
DB9: Male
Tx - Pin 2
Rx - Pin 3
Null-Modem (swap 2-3) required for IP-Octal breakout module
Baud: 19200 (eight data bits, one stop bit, and no parity)
**** EXAMPLE CONFIGURATION FOR VXWORKS TARGETS ****
Ethernet Config (8752 Only)
============================
Commands sent using RS232 port
EHCO ComA ON Turn echo on RS232 port (Computer)
IPMODE (STAT, DHCP) - IP Mode (Static IP, Use DHCP Server)
IPADDR IP Setting
NETMASK Network Mask
MACADDR MAC Address
GATEWAY Network Gateway
SAV Save Configuration Settings
After setting up ethernet parameters and SAV(ing) reset the controller.
The IPMODE and IPADDR do not take effect untill after a reboot.
Example:
>IPMODE=STAT
>IPADDR=164.54.9.33
>NETMASK=255.255.252.0
>GATEWAY=164.54.8.1
>SAV
<power cycle>
Other Info
===================================
Test Versions:
VER<cmnd>
8750 - Version 1.0.13
8752 - Version 1.5.0, 1.6.0
8752 - Version 1.5.4 (NO '>' on STA command - use '/n' for input EOS)
Detect driver types
DRT Driver Type (8752 Only)
1 = 3 channel open loop (8753)
2 = 1 channel closed loop (8751)
EPICS SETUP
============
xxxApp/src/Makefile
-------------------
xxx_vxWorks_LIBS += NewFocus
xxxApp/src/xxxCommonInclude.dbd
--------------------------------
include "devNewFocus.dbd"
iocBoot/iocxxx/serial.cmd
---------------------------
tyGSAsynInit("serial1", "UART_0", 1, 19200,'N',1,8,'N',">","\r") /* NewFocus Pico Motor */
.
# Setup IP port for 8752
drvAsynIPPortConfigure("serial3", "164.54.9.33:23", 0, 0, 0)
asynOctetSetInputEos("serial3",0,">")
asynOctetSetOutputEos("serial3",0,"\r")
.
.
# New Focus Picomotor Network Controller (model 87xx) (setup parameters:
# (1) maximum number of controllers in system
# (2) maximum number of drivers per controller (1 - 3)
# (3) motor task polling rate (min=1Hz,max=60Hz)
#drvPMNC87xxdebug=0
PMNC87xxSetup(1, 2, 10)
# New Focuc Picomotor Network Controller (model 87xx) configuration parameters:
# (1) controller# being configured,
# (2) asyn port name (string)
PMNC87xxConfig(0, "serial1")
iocBoot/iocxxx/motor.substitutions
----------------------------------
{xxx:, 1, m$(N), "PMNC87xx", 0, 0, "motor $(N)", degrees, Pos, 10, 0., 1., 0, 1, .2, 1e-3, 3, 100, -100, ""}
{xxx:, 2 m$(N), "PMNC87xx", 0, 1, "motor $(N)", degrees, Pos, 60, 0., 1.5, 0, 1, .2, 1e-3, 3, 100, -100, ""}
{xxx:, 3, m$(N), "PMNC87xx", 0, 2, "motor $(N)", degrees, Pos, 60, 0., 1., 0, 1, .2, 1e-3, 3, 100, -100, ""}
motorApp/NewFocusSrc/devNewFocus.dbd
-9
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@@ -1,9 +0,0 @@
# NewFocus PicoMotor Network Controller (PMNC) Device Driver support.
device(motor,VME_IO,devPMNC87xx,"PMNC87xx")
driver(drvPMNC87xx)
registrar(NewFocusRegister)
variable(drvPMNC87xxdebug)
# NewFocus 874x controller support
registrar(nf874xMotorRegister)
motorApp/NewFocusSrc/devPMNC87xx.cc
-427
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@@ -1,427 +0,0 @@
/*
FILENAME... devPMNC87xx.cc
USAGE... Motor record device level support for NewFocus 8750 and 8752 Controller .
Version: 1.3
Modified By: sluiter
Last Modified: 2004/12/20 21:10:53
*/
/*
* Original Author: Mark Rivers
* Date: 10/16/97
* Current Author: Joe Sullivan
*
* 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:
* -----------------
* .00 10-16-97 mlr initialized from devOms58
* .01 07-19-99 rls initialized from drvMM4000
* .02 04-21-01 rls Added jog velocity motor command.
* .03 05-22-03 rls Converted to R3.14.x.
* .04 06-20-06 jps initialized from drvPMNC8750
*/
#include <string.h>
#include <stdlib.h>
#include <errlog.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPMNCCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PMNC87xx_access;
/* ----------------Create the dsets for devPMNC87xx----------------- */
/* static long report(); */
STATIC struct driver_table *drvtabptr;
STATIC long PMNC87xx_init(int);
STATIC long PMNC87xx_init_record(void *);
STATIC long PMNC87xx_start_trans(struct motorRecord *);
STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PMNC87xx_end_trans(struct motorRecord *);
struct motor_dset devPMNC87xx =
{
{8, NULL, (DEVSUPFUN) PMNC87xx_init, (DEVSUPFUN) PMNC87xx_init_record, NULL},
motor_update_values,
PMNC87xx_start_trans,
PMNC87xx_build_trans,
PMNC87xx_end_trans
};
extern "C" {epicsExportAddress(dset,devPMNC87xx);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PMNC87xx_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 **PMNC87xx_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PMNC87xx stepper motor */
STATIC long PMNC87xx_init(int after)
{
long rtnval;
if (!after)
{
drvtabptr = &PMNC87xx_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PMNC87xx_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PMNC87xx_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PMNC87xx_cards));
}
/* start building a transaction */
STATIC long PMNC87xx_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, PMNC87xx_cards));
}
/* end building a transaction */
STATIC RTN_STATUS PMNC87xx_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS PMNC87xx_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 mess_info *motor_info;
struct controller *brdptr;
struct PMNCcontroller *cntrl;
struct PMD_axis *paxisDef;
PMD_model dType;
char buff[110];
int axis, card;
int drive, motor;
unsigned int size;
int intval, velval;
RTN_STATUS rtnval;
bool sendMsg;
rtnval = OK;
buff[0] = '\0';
sendMsg = true;
motor_start_trans_com(mr, PMNC87xx_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal;
motor_call->type = PMNC87xx_table[command];
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PMNCcontroller *) brdptr->DevicePrivate;
paxisDef = &cntrl->axisDef[axis];
drive = paxisDef->driverNum;
motor = paxisDef->motorNum;
dType = paxisDef->driverType;
if (PMNC87xx_table[command] > motor_call->type)
motor_call->type = PMNC87xx_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);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
default:
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
break;
}
motor_info = &((*drvtabptr->card_array)[card]->motor_info[axis]);
switch (command)
{
case MOVE_ABS:
if (dType == PMD8753)
sprintf(buff, "REL A%d=%d", drive, intval-motor_info->position);
else
sprintf(buff, "ABS A%d=%d", drive, intval);
break;
case MOVE_REL:
sprintf(buff, "REL A%d=%d", drive, intval);
break;
case HOME_FOR:
// if (dType == PMD8751)
// sprintf(buff, "FIN A%d", drive);
// else
// trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case HOME_REV:
// if (dType == PMD8751)
// sprintf(buff, "RIN A%d", drive);
// else
// trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case LOAD_POS:
if (dType == PMD8753)
{
/* Setting local driver position because the controller cannot be set */
sprintf(buff, "CHL A%d=%d", drive, motor);
motor_info->position = intval;
motor_info->encoder_position = intval;
cntrl->last_position[axis] = 0; // Used to accumulate position history
}
else if (dType == PMD8751)
{
/* Closed loop driver - able to set position */
sprintf(buff, "POS %d=%d", drive, intval);
}
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_VEL_BASE:
if (dType == PMD8753)
{
if (abs(intval) >= MAX_VELOCITY)
intval = MAX_VELOCITY-1;
/* Set VEL to maximum to eliminate MPV out-of-range error */
sprintf(buff, "VEL A%d %d=%d", drive, motor, MAX_VELOCITY);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
sprintf(buff, "MPV A%d %d=%d", drive, motor, abs(intval));
}
else // if (dType == PMD8751)
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_VELOCITY:
if (abs(intval) > MAX_VELOCITY)
intval = MAX_VELOCITY;
sprintf(buff, "VEL A%d %d=%d", drive, motor, abs(intval));
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
*/
if (intval < MIN_ACCEL)
intval = MIN_ACCEL;
else if (intval > MAX_ACCEL)
intval = MAX_ACCEL;
sprintf(buff, "ACC A%d %d=%d", drive, motor, intval);
break;
case GO:
sprintf(buff, "GO A%d", drive);
break;
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
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, "HAL A%d", drive); /* Using the smooth stop command */
break;
case JOG:
if (abs(intval) > MAX_VELOCITY)
velval = MAX_VELOCITY;
else
velval = abs(intval);
if (dType == PMD8753)
{
if (intval >= 0)
sprintf(buff, "FOR A%d=%d", drive, velval);
else
sprintf(buff, "REV A%d=%d", drive, velval);
}
else if (dType == PMD8751)
{
sprintf(buff, "VEL A%d %d=%d", drive, motor, velval);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
// Use Relative Move command for jogging
// because the 8751 does not indicate motion with (FOR and REV)
// ** BUG? **
if (intval >= 0)
sprintf(buff, "REL A%d=1000000",drive);
else
sprintf(buff, "REL A%d=-1000000",drive);
}
else
{
sendMsg = false;
break;
}
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
sprintf(buff, "GO A%d", drive);
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case ENABLE_TORQUE:
if (dType == PMD8751)
sprintf(buff, "SER A%d", drive);
else if (dType == PMD8753)
sprintf(buff, "MON A%d", drive);
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case DISABL_TORQUE:
if (dType == PMD8751)
sprintf(buff, "NOS A%d", drive);
else if (dType == PMD8753)
sprintf(buff, "MOF A%d", drive);
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
default:
sendMsg = false;
rtnval = ERROR;
}
if (sendMsg == true)
{
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PMNC87xx_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
}
return(rtnval);
}
motorApp/NewFocusSrc/drvPMNC87xx.cc
-1089
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File diff suppressed because it is too large Load Diff
motorApp/NewFocusSrc/drvPMNCCom.h
-258
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@@ -1,258 +0,0 @@
/*
FILENAME... drvPMNCCom.h
USAGE... This file contains Newport Motion Master (MM) driver "include"
information that is specific to Motion Master models 3000/4000.
Version: 1.10
Modified By: sullivan
Last Modified: 2004/08/17 21:28:22
*/
/*
* Original Author: Mark Rivers
* Current Author: Joe Sullivan
* Date: 06/28/06
*
* 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 01-18-93 mlr initialized from drvOms58
* .02 06-16-03 rls Converted to R3.14.x.
*/
#ifndef INCdrvPMNCComh
#define INCdrvPMNCComh 1
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
/* Motor Characteristics - in steps */
#define MAX_VELOCITY 2000
#define MIN_ACCEL 16
#define MAX_ACCEL 32000
/* Picomotor Network Controllers */
enum PMNC_model
{
PMNC8750,
PMNC8752
};
/* Picomotor Drivers - use DRT Command to determine */
enum PMD_model
{
PMD8753=1, // 3 channel open-loop
PMD8751=2 // 1 channel closed-loop
};
/* Picomotor Driver 8751 Fault Codes (POWER OFF) */
enum PMD8751_FAULTS
{
ENCODER=2,
MOTORSHORT=1,
NOMOTOR=0,
OVERHEAT=3
};
#ifndef __cplusplus
typedef enum PMNC_model PMNC_model;
typedef enum PMD_model PMD_model;
#endif
#define PMNC87xx_NUM_CARDS 10 /* Maximum number of controllers */
#define PMNC87xx_NUM_DRIVERS 10 /* Maximum number of drivers per controller */
#define PMNC8753_NUM_MOTORS 3 /* Maximum number of motors per driver */
#define PMNC8751_NUM_MOTORS 1 /* Maximum number of motors per driver */
/* Per axis definition */
struct PMD_axis
{
PMD_model driverType;
int driverNum;
int motorNum;
};
/* Motion Master specific data is stored in this structure. */
struct PMNCcontroller
{
asynUser *pasynUser; /* For RS-232 */
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
char aux_status_string[PMNC87xx_NUM_DRIVERS+1][25];
char status_string[PMNC87xx_NUM_DRIVERS+1][25];
char position_string[PMNC87xx_NUM_DRIVERS+1][25];
char chan_select_string[PMNC87xx_NUM_DRIVERS+1][25];
PMNC_model pmnc; /* Controller Type */
bool changeEOS; /* Flag for controller version that does not terminate the
* STA command correctly */
struct PMD_axis axisDef[MAX_AXIS]; /* Axis definition - New Focus Driver Model and Number */
long last_position[MAX_AXIS]; /* Track last incremtal position to noMotion status */
int total_drivers; /* Count number of drivers connected to controller */
CommStatus status; /* Controller communication status. */
};
/* Motor status response for PMNC. */
typedef union
{
epicsUInt8 All;
/* 8753 Driver Status */
struct
{
#ifdef MSB_First
bool bit7 :1; /* Bit #7 N/A. */
bool positionMode :1; /* Set if moving in position mode */
bool velocityMode :1; /* Set if moving in velocity mode */
bool atVelocity :1; /* Set if commanded velocity is reached */
bool motorSelected :1; /* Set if valid motor selected */
bool powerOn :1; /* Motor power 1 - ON; 0 - OFF. */
bool chksumError :1; /* CheckSum Error */
bool inMotion :1; /* In-motion indicator. */
#else
bool inMotion :1; /* In-motion indicator. */
bool cksumError :1; /* CheckSum Error */
bool powerOn :1; /* Motor power 1 - ON; 0 - OFF. */
bool motorSelected :1; /* Set if valid motor selected */
bool atVelocity :1; /* Set if commanded velocity is reached */
bool velocityMode :1; /* Set if moving in velocity mode */
bool positionMode :1; /* Set if moving in position mode */
bool bit7 :1; /* Bit #7 N/A. */
#endif
} Bits_8753;
/* 8751 Driver Status - SERVO ON and POWER ON */
struct
{
#ifdef MSB_First
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
bool forLimit :1; /* Set OFF if forward limit reached */
bool revLimit :1; /* Set OFF if reverse limit reached */
bool posError :1; /* Set ON if position error limit exceeded */
bool powerOn :1; /* Motor Power Indicator */
bool noMotor :1; /* Set ON if Missing Motor. */
bool cksumError :1; /* CheckSum Error */
bool moveDone :1; /* Set ON if Done. */
#else
bool moveDone :1; /* In-motion indicator. */
bool chksumError :1; /* CheckSum Error */
bool noMotor :1; /* Set ON if Missing Motor. */
bool powerOn :1; /* Motor power indicator 1 - ON; 0 - OFF. */
bool posError :1; /* Set ON if position error limit exceeded */
bool revLimit :1; /* Set OFF if reverse limit reached */
bool forLimit :1; /* Set OFF if forward limit reached */
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
#endif
} Bits_8751;
/* 8751 Driver Status - SERVO OFF */
struct
{
#ifdef MSB_First
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
bool overheat :1; /* Set OFF if motor overheated */
bool stopIN :1; /* Set OFF if External STOP input ACTIVE */
bool posError :1; /* Set ON if position error limit exceeded */
bool powerOn :1; /* Set ON if valid motor selected */
bool noMotor :1; /* Set ON if Missing Motor. */
bool cksumError :1; /* CheckSum Error */
bool moveDone :1; /* Set ON if Done. */
#else
bool moveDone :1; /* In-motion indicator. */
bool chksumError :1; /* CheckSum Error */
bool noMotor :1; /* Set ON if Missing Motor. */
bool powerOn :1; /* Motor power indicator */
bool posError :1; /* Set ON if position error limit exceeded */
bool stopIN :1; /* Set OFF if External STOP input ACTIVE */
bool overheat :1; /* Set OFF if motor overheated */
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
#endif
} Bits_8751_NOS;
/* 8751 Driver Status - SERVO ON and POWER OFF */
struct
{
#ifdef MSB_First
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
bool fault :2; /* Driver Power Faults - See PMD8751_FAULTS */
bool posError :1; /* Set ON if position error limit exceeded */
bool powerOn :1; /* Set ON if valid motor selected */
bool noMotor :1; /* Set ON if Missing Motor. */
bool cksumError :1; /* CheckSum Error */
bool moveDone :1; /* Set ON if Done. */
#else
bool moveDone :1; /* In-motion indicator. */
bool chksumError :1; /* CheckSum Error */
bool noMotor :1; /* Set ON if Missing Motor. */
bool powerOn :1; /* Motor power indicator */
bool posError :1; /* Set ON if position error limit exceeded */
bool fault :2; /* Driver Power Faults - See PMD8751_FAULTS */
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
#endif
} Bits_8751_FAULT;
} MOTOR_STATUS;
/* Driver Aux Status response for PMNC. */
typedef union
{
epicsUInt8 All;
/* 8751 Driver Aux Status - DIAG Command */
struct
{
#ifdef MSB_First
bool bit7 :1; /* Bit #7 N/A. */
bool bit6 :1; /* Bit #6 N/A. */
bool servoOverRun :1; /* Set if servo process time overrun (>.512msec) */
bool slewDone :1; /* Set when trapesoidal slew time over */
bool accelDone :1; /* Set when trapesoidal accell time over */
bool servoOn :1; /* Set if servo mode ON - else OpenLoop */
bool posWrap :1; /* Set on 32 bit overflow (position) */
bool diagBit :1; /* Used to encode error diagnostics */
#else
bool diagBit :1; /* Used to encode error diagnostics */
bool posWrap :1; /* Set on 32 bit overflow (position) */
bool servoOn :1; /* Set if servo mode ON - else OpenLoop */
bool accelDone :1; /* Set when trapesoidal accell time over */
bool slewDone :1; /* Set when trapesoidal slew time over */
bool servoOverRun :1; /* Set if servo process time overrun (>.512msec) */
bool bit6 :1; /* Bit #6 N/A. */
bool bit7 :1; /* Bit #7 N/A. */
#endif
} Bits_8751;
} MOTOR_AUX_STATUS;
#endif /* INCdrvPMNCComh */