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New file for Parker/Compumotor

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MarkRivers
2005-12-21 22:58:25 +00:00
parent 08ef98ff19
commit 2f5976e897
8 changed files with 1714 additions and 0 deletions
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motorApp/PC6KSrc/Makefile
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# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
#USR_CXXFLAGS += -DDEBUG
OPT_CXXFLAGS =
DBD += devPC6K.dbd
LIBRARY_IOC = Parker
# Intelligent Motion Systems driver support.
SRCS += ParkerRegister.cc
SRCS += devPC6K.cc drvPC6K.cc
Parker_LIBS += motor asyn
Parker_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/PC6KSrc/ParkerRegister.cc
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/*
FILENAME... ParkerRegister.cc
USAGE... Register Parker/Compumotor motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-21 22:58:24 $
*/
/*****************************************************************
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 "ParkerRegister.h"
#include "epicsExport.h"
extern "C"
{
// Parker Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// Parker Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
// Parker File Upload Argument */
static const iocshArg upLoadArg0 = {"Controller Card#", iocshArgInt};
static const iocshArg upLoadArg1 = {"Upload File Path", iocshArgString};
static const iocshArg upLoadArg2 = {"Program Name <NULL=Immediate>", iocshArgString};
static const iocshArg * const ParkerSetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const ParkerConfigArgs[2] = {&configArg0, &configArg1};
static const iocshArg * const ParkerUpLoadArgs[3] = {&upLoadArg0, &upLoadArg1, &upLoadArg2};
static const iocshFuncDef setupPC6K = {"PC6KSetup",2, ParkerSetupArgs};
static const iocshFuncDef configPC6K = {"PC6KConfig", 2, ParkerConfigArgs};
static const iocshFuncDef upLoadPC6K = {"PC6KUpLoad", 3, ParkerUpLoadArgs};
static void setupPC6KCallFunc(const iocshArgBuf *args)
{
PC6KSetup(args[0].ival, args[1].ival);
}
static void configPC6KCallFunc(const iocshArgBuf *args)
{
PC6KConfig(args[0].ival, args[1].sval);
}
static void upLoadPC6KCallFunc(const iocshArgBuf *args)
{
PC6KUpLoad(args[0].ival, args[1].sval, args[2].sval);
}
static void ParkerRegister(void)
{
iocshRegister(&setupPC6K, setupPC6KCallFunc);
iocshRegister(&configPC6K, configPC6KCallFunc);
iocshRegister(&upLoadPC6K, upLoadPC6KCallFunc);
}
epicsExportRegistrar(ParkerRegister);
} // extern "C"
motorApp/PC6KSrc/ParkerRegister.h
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/*
FILENAME... ParkerRegister.h
USAGE... This file contains function prototypes for Parker 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 PC6KSetup(int, int);
extern RTN_STATUS PC6KConfig(int, const char *);
extern RTN_STATUS PC6KUpLoad(int, const char *, const char *);
motorApp/PC6KSrc/README
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Parker 6K8 Motor Controller Series
==============================================================================
Ethernet Configuration
----------------------------------
Default Ethernet Address: 192.168.10.30
Ascii Command Port: 5002
Note: This controller's ethernet port only accepts one server at a
time. If the RS232 is in use then the ethernet port is closed.
Controller Configuration
------------------------------------------
Disable Echo
ECHO0
Enable continuous command mode
COMEXEC1
---------------- Network Commands -------------------
NTADDRxx,xx,xx,xx = network IP
NTMASKxxx,xxx,xxx,xxx = network mask
NTFEN1 = network enable
Commands
------------------------------------------
REVISION
--------
TREV
*TREV92-016740-01-6.4.0 GEM6K GT6K-L8
(60 characters)
CONTINUOUS COMMAND MODE
------------------------
COMEXC1 = set on, required for status updates during motion.
****(No Reply)***
LIMIT SWITCH ENABE
-----------------------
LH3 - enable hardware LS
LH0 - disable hardware LS
ENABLE DRIVE
-------------
DRIVE1 - enable drive (must be renable after a dreset)
*****(No Reply when Set)*********
DRIVE <cr>
*DRIVE<state> 0 or 1
MOTION MODE
-------------
MA<0/1> - Set incremental or absolute mode
0 = incremental
1 = absolute
MC1 - Coninutous Mode (Jog)
MOTION PARAMETERS
------------------
A<accel> - set acceleration units/sec^2
A<cr>
*A#### - prints acceleration
V<vel> - velocity
D<distance> - set distance
GO - start motion
ie: motion
MA1: A20: V25: D25000: GO
Setting absolute postion
<#>PSET<nnnnn>
Velociy Feedback:
<#>TVEL - commanded velocity
<#>TVELA - actual
Position Feedback:
<#>TPC - commanded position
<resp> *1TPC+0
<#>TPE - encoder position
<resp> *1TPE+0
SCALING:
SCALE0/1 - disable/enable
SCLA - acceleration
SCLV - velocity
SCLD - distance
DRES - Drive Resolution (steps/rev) **** Stepper Only *****
ERES - Encoder Resolution (steps/rev)
DRESET - drive reset - enables new scaling factors
STATUS:
<#>TAS
*<#>TAS0000_0000_0000_0000_0000_0000_0000_0000 (32 bits)
^ bit 1 ^bit 32
*** Returns - *0 or *1
TAS.1 - in motion (commanded - will be off during settling time)
TAS.2 - direction is negative
TAS.5 - home successfull
TAS.13 - drive shutdown
TAS.14 - drive fault
TAS.15 - Plus Hardware Travel Limit
TAS.16 - Minus Hardware Travel Limit
TAS.17 - Plus Software TL (LSPOS)
TAS.18 - Minus Software TL (LSNEG)
TAS.24 - In Target Zone
ie.
1TAS
*1TAS0000_0000_0000_0000_0000_0000_000_00000
-------------------- Jog Method --------------
MC1 - Use continuous motion mode for jogging
---------------- Program Handling ------------
TDIR - list downloaded programs
DEL <filename> - delete program
DEF <filname) - create program
<line1>
<line2>
.
.
END - end of program creation
TPROG - transfer program contents
============== Build Info ======================
xxxApp/src
Makefile
--------
xxx_Common_LIBS += Parker
xxCommonInclude.dbd
-------------------
include "devPC6K.dbd"
============= IOC Boot info ======================
iocBoot/iocLinux
serial.cmd
----------
# serial 1 is a RS232 link to a Parker Gemini 6K Controller
drvAsynSerialPortConfigure("serial1", "/dev/ttyUSB0", 0, 0, 0)
asynOctetSetInputEos("serial1",0,">")
asynOctetSetOutputEos("serial1",0,"\r")
asynOctetConnect("serial1", "serial1")
# serial 3 is ETHERNET link to the Parker Gemini 6K Controller
drvAsynIPPortConfigure("serial3", "192.168.10.29:5002", 0, 0, 0)
asynOctetConnect("serial3", "serial3")
asynOctetSetInputEos("serial3",0,">")
asynOctetSetOutputEos("serial3",0,"\r")
.
# Parker/Compumotor - Gemini 6K driver setup parameters:
# (1) maximum number of controllers in system
# (2) motor task polling rate (min=1Hz, max=60Hz)
PC6KSetup(2, 60)
# Parker/Compumotor - Gemini 6K driver configuration parameters:
# (1) controller being configured
# (2) asyn port name (string)
PC6KConfig(0, "serial1")
PC6KConfig(1, "serial3")
motor.substitutions
-------------------
Set the DTYPE column to "PC6K"
============== IOC Runtime Info (Post iocInit) ========================
# PC5KUpLoad(Controller #, <source file name>, <dest. file name (OPTIONAL)>)
### Send setup files to 6K8
PC6KUpLoad(0,"6k_setup","setup")
### Set startup file to setup
PC6KUpLoad(0,"startp")
motorApp/PC6KSrc/devPC6K.cc
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/*
FILENAME... devPC6K.cc
USAGE... Motor record device level support for Parker Compumotor drivers
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-21 22:58:24 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
*
* 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 04-07-05 jps initialized from devMM4000.cc
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPC6K.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PC6K_access;
/* ----------------Create the dsets for devPC6K----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long PC6K_init(void *);
STATIC long PC6K_init_record(void *);
STATIC long PC6K_start_trans(struct motorRecord *);
STATIC RTN_STATUS PC6K_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PC6K_end_trans(struct motorRecord *);
struct motor_dset devPC6K =
{
{8, NULL, (DEVSUPFUN) PC6K_init, (DEVSUPFUN) PC6K_init_record, NULL},
motor_update_values,
PC6K_start_trans,
PC6K_build_trans,
PC6K_end_trans
};
extern "C" {epicsExportAddress(dset,devPC6K);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PC6K_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 **PC6K_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PC6K stepper motor */
STATIC long PC6K_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &PC6K_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PC6K_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PC6K_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PC6K_cards));
}
/* start building a transaction */
STATIC long PC6K_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, PC6K_cards));
}
/* end building a transaction */
STATIC RTN_STATUS PC6K_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS PC6K_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 mess_info *motor_info;
struct PC6KController *cntrl;
char buff[110];
int signal, axis, card, intval;
int maxdigits;
double dval, cntrl_units;
unsigned int size;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
dval = (parms == NULL) ? 0 : *parms;
motor_call = &(trans->motor_call);
card = motor_call->card;
signal = motor_call->signal;
axis = signal+1; /* Motors start at 1 */
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PC6KController *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[signal];
maxdigits = cntrl->res_decpts[signal];
if (PC6K_table[command] > motor_call->type)
motor_call->type = PC6K_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);
strcat(motor_call->message, PC6K_OUT_EOS);
}
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, "%dMA1:%dMC0:%dD%d:", axis, axis, axis, intval);
break;
case MOVE_REL:
sprintf(buff, "%dMA0:%dMC0:%dD%d:", axis, axis, axis, intval);
break;
case HOME_FOR:
sprintf(buff, "%dHOM0:", axis);
break;
case HOME_REV:
sprintf(buff, "%dHOM1:", axis);
break;
case LOAD_POS:
/* The Feedback position follows the Reference set position */
sprintf(buff, "%dPSET%d:", axis, intval);
break;
case SET_VEL_BASE:
break; /* PC6K does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dV%.*f:", axis, maxdigits, cntrl_units);
break;
case SET_ACCEL:
/* Set Accel, Avg Accel, Decel, Avg Decel - assume avg to be 1/2 accel */
sprintf(buff, "%dA%.*f:%dAA%.*f:%dAD%.*f:%dADA%.*f:",
axis, maxdigits, cntrl_units,
axis, maxdigits, cntrl_units/2,
axis, maxdigits, cntrl_units,
axis, maxdigits, cntrl_units/2);
break;
case GO:
sprintf(buff, "%dGO:", axis);
break;
case SET_ENC_RATIO:
// sprintf(buff, "%dERES%d:%dDRESET:", axis, intval, axis);
break;
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, "!%dK:", axis);
break;
case JOG:
if (intval > 0)
sprintf(buff, "%dMC1:%dV%.*f:%dD+:%dGO:", axis, axis, maxdigits, cntrl_units, axis, axis);
else
sprintf(buff, "%dMC1:%dV%.*f:%dD-:%dGO:", axis, axis, maxdigits, cntrl_units, axis, axis);
break;
case SET_PGAIN:
sprintf(buff, "%dSGP%d:", axis, intval);
break;
case SET_IGAIN:
sprintf(buff, "%dSGI%d:", axis, intval);
break;
case SET_DGAIN:
sprintf(buff, "%dSGV%d:", axis, intval); /* Velocity Gain */
break;
case ENABLE_TORQUE:
sprintf(buff, "%dDRIVE1:", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "%dDRIVE0:", axis);
break;
case SET_HIGH_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[signal];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (motor_info->high_limit > motor_info->low_limit &&
intval > motor_info->high_limit)
{
mr->dhlm = motor_info->high_limit * mr->mres;
rtnval = ERROR;
}
break;
case SET_LOW_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[signal];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (motor_info->low_limit < motor_info->high_limit &&
intval < motor_info->low_limit)
{
mr->dllm = motor_info->low_limit * mr->mres;
rtnval = ERROR;
}
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PC6K_build_trans(): buffer overflow.\n");
else
strcat(motor_call->message, buff);
return(rtnval);
}
motorApp/PC6KSrc/devPC6K.dbd
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# Parker/Compumtor Device Driver support.
device(motor,VME_IO,devPC6K,"PC6K")
driver(drvPC6K)
registrar(ParkerRegister)
#variable(drvPC6Kdebug)
motorApp/PC6KSrc/drvPC6K.cc
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/*
FILENAME... drvPC6K.cc
USAGE... Motor record driver level support for Parker Computmotor
6K Series motor controllers
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-21 22:58:24 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
* Current Author: J. 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:
* -----------------
* .01 04-08-05 jps initialized from drvMM4000.cc
*/
#include <string.h>
#include <ctype.h> /* isascii functions */
#include <math.h>
#include <stdio.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "ParkerRegister.h"
#include "drvPC6K.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define CMD_STATUS "TAS"
#define CMD_POS "TPC"
#define CMD_EA_POS "TPE"
#define CMD_VEL "TVELA"
#define CMD_DRIVE "DRIVE"
#define CMD_HIGHLS "LSPOS" /* Software travel limit */
#define CMD_LOWLS "LSNEG"
#define CMD_ERES "ERES"
#define CMD_DRES "DRES"
#define CMD_SCLA "SCLA"
#define CMD_SCLV "SCLV"
#define CMD_SCLD "SCLD"
#define CMD_SCALE "SCALE"
#define CMD_AXSDEF "AXSDEF" /* Axis definition xxxx_xxxx , 0=stepper, 1=servo */
#define STOP_ALL "!K"
#define MOTOR_ON "%dDRIVE1"
#define COMEXEC_ENA "COMEXC1" /* Continuous command mode ON */
#define GET_IDENT "TREV"
#define REPLY_CHAR '*'
#define PC6K_NUM_CARDS 16
#define BUFF_SIZE 120 /* Maximum length of string to/from PC6K */
#define TIMEOUT 1.0 /* Command timeout in sec. */
/* Delay after START_MOTION before a status update is possible
* *** Limitation of Parker 6K controller ***
*/
#define MOTION_DELAY 0.05
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPC6Kdebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPC6Kdebug = 0;
extern "C" {epicsExportAddress(int, drvPC6Kdebug);}
/* --- Local data. --- */
int PC6K_num_cards = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvPC6KReadbackDelay = 0.;
/* NOTICE !!!! Command order must match drvPC6K.h/PC6K_query_types !!!! */
static char *queryCmnds[]= {CMD_STATUS, CMD_POS, CMD_EA_POS, CMD_VEL, CMD_DRIVE};
#define QUERY_NUM (sizeof(queryCmnds)/sizeof(char *))
/*----------------functions-----------------*/
static int recv_mess(int card, char *com, int flag);
static RTN_STATUS send_mess(int card, char const *, char *name);
static int send_recv_mess(int card, char const *send_com, char *recv_com);
static int send_recv_mess(int card, char const *send_com, char *recv_com,
char const *temp_eos);
static int set_status(int card, int signal);
static long report(int level);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table PC6K_access =
{
motor_init,
motor_send,
motor_free,
motor_card_info,
motor_axis_info,
&mess_queue,
&queue_lock,
&free_list,
&freelist_lock,
&motor_sem,
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
set_status,
query_done,
NULL,
&initialized,
NULL
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvPC6K = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPC6K);}
static struct thread_args targs = {SCAN_RATE, &PC6K_access, MOTION_DELAY};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PC6K_num_cards <=0)
printf(" No PC6K controllers configured.\n");
else
{
for (card = 0; card < PC6K_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PC6K controller %d connection failed.\n", card);
else
{
struct PC6KController *cntrl;
cntrl = (struct PC6KController *) brdptr->DevicePrivate;
printf(" PC6K controller %d, port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
}
}
}
return(OK);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (PC6K_num_cards <= 0)
{
Debug(1, "init(): PC6K driver disabled. PC6KSetup() missing from startup script.\n");
}
return((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/*********************************************************
* Read the status and position of all motors on a card
* start_status(int card)
* if card == -1 then start all cards
*********************************************************/
// static void start_status(int card)
//{
//}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
static int set_status(int card, int signal)
{
struct PC6KController *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char send_buff[80];
char *strstrRtn[QUERY_NUM];
char *recvStr;
double vel;
int rtn_state;
int recvCnt;
int motorData;
int motor;
unsigned int qindex;
bool recvRetry, recvNext;
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
status.All = motor_info->status.All;
motor = signal+1;
/* LOOP: send all status queries and check for valid response
* EXIT LOOP: if communication timeout or invalid response
* but allow one retry;
*/
qindex = 0;
recvRetry = recvNext = false;
do
{
strstrRtn[qindex] = NULL;
sprintf(send_buff, "%d%s", motor, queryCmnds[qindex]);
if ((recvCnt = send_recv_mess(card, send_buff, cntrl->recv_string[qindex])) &&
(cntrl->recv_string[qindex][0] == REPLY_CHAR))
{
strstrRtn[qindex] = &cntrl->recv_string[qindex][1];
recvRetry = false;
recvNext = (++qindex >= QUERY_NUM) ? false : true;
}
else
{
recvNext = false;
recvRetry = (recvRetry ? false : true);
}
} while (recvRetry || recvNext);
/* Check for normal look termination - all queries successful */
if (qindex >= QUERY_NUM)
cntrl->status = NORMAL;
else
{
if (cntrl->status == NORMAL)
{
epicsThreadSleep(MOTION_DELAY);
cntrl->status = RETRY;
}
else
cntrl->status = COMM_ERR;
}
if (cntrl->status != NORMAL)
{
if (cntrl->status == COMM_ERR)
{
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
else
{
rtn_state = 0;
goto exit;
}
}
else
status.Bits.CNTRL_COMM_ERR = 0;
nodeptr = motor_info->motor_motion;
/*
* Parse the status/fault string
*/
recvStr = strstrRtn[QSTATUS];
Debug(5, "set_status(): status = %s\n", recvStr);
status.Bits.RA_DIRECTION = (recvStr[TAS_NEG] == '0') ? 1 : 0;
status.Bits.RA_HOME = (recvStr[TAS_HOME] == '1') ? 1 : 0;
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
status.Bits.RA_DONE = (recvStr[TAS_INMOTION] == '0') ? 1 : 0;
/* Set Travel limit switch status bits. */
if ((recvStr[TAS_HPLUSTL] == '0' && recvStr[TAS_SPLUSTL] == '0') ||
status.Bits.RA_HOME)
status.Bits.RA_PLUS_LS = 0;
else
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
if ((recvStr[TAS_HMINUSTL] == '0' && recvStr[TAS_SMINUSTL] == '0') ||
status.Bits.RA_HOME)
status.Bits.RA_MINUS_LS = 0;
else
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
/* Position maintence enabled */
recvStr = strstrRtn[QDRIVE];
status.Bits.EA_POSITION = (*recvStr == '1') ? 1: 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
/*
* Parse motor position
*/
recvStr = strstrRtn[QPOS];
motorData = (int) atof(recvStr);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->position = motorData;
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
recvStr = strstrRtn[QEA_POS];
motor_info->encoder_position = atoi(recvStr);
}
else
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
}
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
recvStr = strstrRtn[QVEL];
vel = atof(recvStr);
motor_info->velocity = (int)vel;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strncpy(send_buff, nodeptr->postmsgptr, 80);
send_mess(card, send_buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send_receive a message to the PC6K board */
/* send_recv_mess() */
/*****************************************************/
static int send_recv_mess(int card, char const *send_com, char *recv_com)
{
return(send_recv_mess(card, send_com, recv_com, NULL));
}
static int send_recv_mess(int card, char const *send_com, char *recv_com,
const char *temp_eos)
{
struct PC6KController *cntrl;
int size;
int nwrite;
int nread = 0;
double timeout = 0.;
asynStatus status;
int eomReason;
size = strlen(send_com);
recv_com[0] = '\0';
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPC6K.c:send_recv_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvPC6K.c:send_recv_mess() - invalid card #%d\n", card);
return(ERROR);
}
Debug(2, "send_recv_mess(): message = %s\n", send_com);
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
/* Enable temporary changes to EOS - ie: program creation "-" */
if (temp_eos != NULL && strlen(temp_eos))
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,temp_eos,strlen(temp_eos));
timeout = TIMEOUT;
/* flush any junk at input port - should not be any data available */
// pasynOctetSyncIO->flush(cntrl->pasynUser); this is done by asyn
/* Perform atomic write/read operation */
status = pasynOctetSyncIO->writeRead(cntrl->pasynUser, send_com, strlen(send_com),
recv_com, PC6K_MSG_SIZE,
TIMEOUT, &nwrite, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
recv_com[0] = '\0';
nread = 0;
}
Debug(2, "send_recv_mess(): recv message = \"%s\"\n", recv_com);
/* Return to standard EOS */
if (temp_eos != NULL && strlen(temp_eos))
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
PC6K_IN_EOS,strlen(PC6K_IN_EOS));
return(nread);
}
/*****************************************************/
/* send a message to the PC6K board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct PC6KController *cntrl;
int size;
int nwrite;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPC6K.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvPC6K.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
if (name != NULL)
{
errlogPrintf("drvPC6K.c:send_mess() - invalid argument = %s\n", name);
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
/* flush any junk at input port - should not be any data available */
// pasynOctetSyncIO->flush(cntrl->pasynUser);
pasynOctetSyncIO->write(cntrl->pasynUser, com, strlen(com),
TIMEOUT, &nwrite);
return(OK);
}
/*
* FUNCTION... recv_mess(int card, char *com, int flag)
*
* INPUT ARGUMENTS...
* card - controller card # (0,1,...).
* *com - caller's response buffer.
* flag | FLUSH = this flag is ignored - the receive buffer is flushed
* on every write (see write_mess())
* LOGIC...
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
* NORMAL RETURN.
*/
static int recv_mess(int card, char *com, int flag)
{
struct PC6KController *cntrl;
double timeout = 0.;
int nread = 0;
asynStatus status;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
timeout = TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if (nread > 0)
Debug(2, "recv_mess(): message = \"%s\"\n", com);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* PC6KSetup() */
/*****************************************************/
RTN_STATUS
PC6KSetup(int num_cards, /* maximum number of controllers in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > PC6K_NUM_CARDS)
PC6K_num_cards = PC6K_NUM_CARDS;
else
PC6K_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before PC6KConfig is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
motor_state = (struct controller **) malloc(PC6K_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PC6K_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PC6KConfig() */
/*****************************************************/
RTN_STATUS
PC6KConfig(int card, /* card being configured */
const char *name) /* asyn port name */
{
struct PC6KController *cntrl;
if (card < 0 || card >= PC6K_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PC6KController));
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
return(OK);
}
/*****************************************************/
/* Upload file to Controller */
/* PC6KConfig() */
/*****************************************************/
RTN_STATUS
PC6KUpLoad(int card, /* Controller Number */
const char *file, /* full path to upload file */
const char *progName) /* PC6K program name - NULL=execute */
{
FILE *fd;
char nextLine[BUFF_SIZE], replyBuff[BUFF_SIZE];
// char eos_str[] = "-";
// char *eos_ptr = NULL;
int recvCnt, i, lineLen;
if (card < 0 || card >= total_cards)
{
printf("{PC6KUpLoad: Controller does not exist - %d\n",card);
return(ERROR);
}
if (motor_state[card] == NULL)
{
printf("PC6KUpLoad: Controller is not configured - %d\n",card);
return(ERROR);
}
if ((fd=fopen(file, "r")) == NULL)
{
printf("PC6KUpLoad: File does not exist - %s\n",file);
return(ERROR);
}
if (progName && strlen(progName))
{
/* Copy file into PC6K Program */
sprintf(nextLine, "DEL %s", progName);
// recvCnt = send_recv_mess(card, nextLine, replyBuff);
send_mess(card, nextLine, (char) NULL);
// eos_ptr = eos_str;
sprintf(nextLine, "DEF %s", progName);
// recvCnt = send_recv_mess(card, nextLine, replyBuff, eos_ptr);
// recvCnt = send_recv_mess(card, nextLine, replyBuff);
send_mess(card, nextLine, (char) NULL);
}
while (fgets(nextLine, BUFF_SIZE, fd) != NULL)
{
/* Clear control characters */
for (i = 0, lineLen = strlen(nextLine); i < lineLen; i++)
if (!isprint(nextLine[i]))
nextLine[i] = ' ';
// recvCnt = send_recv_mess(card, nextLine, replyBuff, eos_ptr);
// recvCnt = send_recv_mess(card, nextLine, replyBuff);
send_mess(card, nextLine, (char) NULL);
}
fclose(fd);
if (progName && strlen(progName))
/* End PC6K Program */
// recvCnt = send_recv_mess(card, "END", replyBuff);
send_mess(card, "END", (char) NULL);
return(OK);
}
/*****************************************************/
/* initialize all software and hardware */
/* This is called from the initialization routine in */
/* device support. */
/* motor_init() */
/*****************************************************/
static int motor_init()
{
struct controller *brdptr;
struct PC6KController *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
char send_buff[80];
int total_axis = 0;
int recvCnt, retryCnt;
int digits;
bool nextAxis;
bool cardFound = false;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PC6K_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PC6K_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct PC6KController *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
PC6K_IN_EOS,strlen(PC6K_IN_EOS));
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser,
PC6K_OUT_EOS,strlen(PC6K_OUT_EOS));
/* Send a message to the board, see if it exists */
retryCnt = 0;
do
{
/* Return value is length of received string */
recvCnt = send_recv_mess(card_index, GET_IDENT, buff);
/* Check for valid response -- if not retry */
if ((recvCnt > 0) && (buff[0] == REPLY_CHAR) && strstr(buff,"6K"))
cardFound = true;
} while(!cardFound && ++retryCnt < 3);
}
if (cardFound)
{
strcpy(brdptr->ident, buff); /* Save Controller ID */
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
/* Stop all motors */
send_mess(card_index, STOP_ALL, (char) NULL);
// All stop requires a delay before the controller starts responding
// again - handshake on some command
retryCnt = 0;
do {
recvCnt = send_recv_mess(card_index, CMD_DRIVE, buff);
} while (!recvCnt && ++retryCnt < 3);
send_mess(card_index, COMEXEC_ENA, (char) NULL); /* Enable continuous commands */
/* The find how many axes this controller has */
total_axis = 0;
do {
brdptr->motor_info[total_axis].motor_motion = NULL;
sprintf(send_buff, "%d%s", total_axis+1, CMD_POS);
recvCnt = send_recv_mess(card_index, send_buff, buff);
nextAxis = (recvCnt > 0 && (buff[0] == REPLY_CHAR)) ? true : false;
if (nextAxis)
total_axis++;
}
while (nextAxis);
brdptr->total_axis = total_axis;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
/* Encoder Enable - both STEPPER and DC motors have encoder support */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
/* Determine if motor type = servo */
sprintf(send_buff, "%d%s", motor_index+1, CMD_AXSDEF);
if (send_recv_mess(card_index, send_buff, buff) > 0 &&
(buff[0] == REPLY_CHAR) &&
(buff[1] == '1'))
cntrl->type[motor_index] = DC;
else
cntrl->type[motor_index] = STEPPER;
/* Determin drive resolution */
if (cntrl->type[motor_index] == DC)
sprintf(send_buff, "%d%s", motor_index+1, CMD_ERES);
else
sprintf(send_buff, "%d%s", motor_index+1, CMD_DRES);
if (send_recv_mess(card_index, send_buff, buff) > 0 && (buff[0] == REPLY_CHAR))
cntrl->drive_resolution[motor_index] = 1.0 / atof(&buff[1]);
digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
if (digits < 1)
digits = 1;
cntrl->res_decpts[motor_index] = digits;
/* Determine low limit */
sprintf(send_buff, "%d%s", motor_index+1, CMD_LOWLS);
if (send_recv_mess(card_index, send_buff, buff) > 0 && (buff[0] == REPLY_CHAR))
motor_info->low_limit = atof(&buff[1]);
/* Determine high limit */
sprintf(send_buff, "%d%s", motor_index+1, CMD_HIGHLS);
if (send_recv_mess(card_index, send_buff, buff) > 0 && (buff[0] == REPLY_CHAR))
motor_info->high_limit = atof(&buff[1]);
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;
mess_queue.head = (struct mess_node *) NULL;
mess_queue.tail = (struct mess_node *) NULL;
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
// epicsThreadCreate((char *) "PC6K_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadCreate((char *) "PC6K_motor",
epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
motorApp/PC6KSrc/drvPC6K.h
Executable
+122
View File
@@ -0,0 +1,122 @@
/*
FILENAME... drvPC6K.h
USAGE... This file contains Parker Compumotor driver "include"
information that is specific to the 6K series serial controller
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-12-21 22:58:25 $
*/
/*
* Original Author: Mark Rivers
* Current Author: J. Sullivan
* Date: 10/16/97
*
* 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 06-20-05 jps initialized from drvSPiiPlus.h
*/
#ifndef INCdrvPC6Kh
#define INCdrvPC6Kh 1
#include "motor.h"
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#define PC6K_MSG_SIZE 120
#define PC6K_STATUS_RETRY 10
/* End-of-string defines */
#define PC6K_OUT_EOS "\n" /* Command */
#define PC6K_IN_EOS "\n" /* Reply */
enum PC6K_query_types {QSTATUS, QPOS, QEA_POS, QVEL, QDRIVE};
enum PC6K_model
{
PC6K8,
PCGem6K
};
enum PC6K_motor_type
{
UNUSED,
STEPPER,
DC
};
#ifndef __cplusplus
typedef enum PC6K_model PC6K_model;
typedef enum PC6K_motor_type PC6K_motor_type;
#endif
/* Motion Master specific data is stored in this structure. */
struct PC6KController
{
asynUser *pasynUser; /* For RS-232 */
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
char recv_string[sizeof(PC6K_query_types)][PC6K_MSG_SIZE]; /* Query result strings */
double home_preset[MAX_AXIS]; /* Controller's home preset position (XF command). */
PC6K_model model; /* Motion Master Model. */
PC6K_motor_type type[8]; /* For 6K8 only; Motor type array. */
/* Controller resolution array
* Units are in [Controller EGU's / Record RAW units].
*/
double drive_resolution[MAX_AXIS];
int res_decpts[MAX_AXIS]; /* Drive resolution significant dec. pts. */
CommStatus status; /* Controller communication status. */
int status_retry; /* This controller needs multiple retry after GO */
};
/* Motor status bits for PC6K - TAS command.
*
* cmd: <#>TAS
* rsp: *<#>TAS0000_0000_0000_0000_0000_0000_0000_0000 (32 bits)
* ^ bit 1 ^bit 32
*/
/* Adjusted bit number (-1) from manual - start counting from 0) */
#define TAS_INMOTION 0
#define TAS_NEG 1
#define TAS_HOME 4+1 /* Home Sucessfull */
#define TAS_DRIVEDOWN 12+3 /* Drive Shutdown */
#define TAS_DRIVEFAULT 13+3 /* Drive Fault Occurred */
#define TAS_HPLUSTL 14+3 /* Hardware Plus Travel Limit */
#define TAS_HMINUSTL 15+3 /* Hardware Minus Travel Limit */
#define TAS_SPLUSTL 16+4 /* Software Plus Travel Limit */
#define TAS_SMINUSTL 17+4 /* Software Minus Travel Limit */
#define TAS_POSERROR 22+5 /* Position Error */
#define TAS_INTARGET 23+5 /* In Target Zone */
#endif /* INCdrvPC6Kh */