forked from epics_driver_modules/motorBase
dos2unix reformatting.
This commit is contained in:
Ron Sluiter
+392
-392
@@ -1,394 +1,394 @@
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/*
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* FILENAME... devEnsemble.cc
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* USAGE... Motor record device level support for Aerotech Ensemble.
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*
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* Version: $Revision: 1.8 $
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* Modified By: $Author: sluiter $
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* Last Modified: $Date: 2009-07-15 19:05:58 $
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*/
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/*
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||||
* Original Author: Chad Weimer
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* Date: 04/04/08
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* Current Author: Chad Weimer
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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||||
*
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* This software was produced under U.S. Government contracts:
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||||
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
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||||
* Initial development by:
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* The Controls and Automation Group (AT-8)
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* Ground Test Accelerator
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||||
* Accelerator Technology Division
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||||
* Los Alamos National Laboratory
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||||
*
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||||
* Co-developed with
|
||||
* The Controls and Computing Group
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||||
* Accelerator Systems Division
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||||
* Advanced Photon Source
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||||
* Argonne National Laboratory
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*
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* Modification Log:
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* -----------------
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* .01 04-01-08 caw initialized from devMM4000.cc (Newport)
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||||
* .02 11-20-08 rls - support homing in both directions.
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||||
* - disable LOAD_POS until ABORT command fixed.
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||||
* - SET_VELOCITY sets both default speed and home feedrate.
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||||
* .03 01-22-09 rls - enable LOAD_POS; ABORT command fixed with Ensemble
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* firmware 2.5.2.
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||||
* .04 05-01-09 rls - Fix for jog velocity not adjusted by
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* cntrl->drive_resolution.
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*/
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#include <string.h>
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#include <math.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "motordevCom.h"
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#include "drvEnsemble.h"
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#include "epicsExport.h"
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extern struct driver_table Ensemble_access;
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/* ----------------Create the dsets for devEnsemble----------------- */
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static struct driver_table *drvtabptr;
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static long Ensemble_init (void *);
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static long Ensemble_init_record (void *);
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static long Ensemble_start_trans (struct motorRecord *);
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static RTN_STATUS Ensemble_build_trans (motor_cmnd, double *,
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struct motorRecord *);
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static RTN_STATUS Ensemble_end_trans (struct motorRecord *);
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struct motor_dset devEnsemble =
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{
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{8, NULL, (DEVSUPFUN) Ensemble_init, (DEVSUPFUN) Ensemble_init_record, NULL},
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motor_update_values,
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Ensemble_start_trans,
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Ensemble_build_trans,
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Ensemble_end_trans
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};
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extern "C" {epicsExportAddress (dset, devEnsemble);}
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/* --------------------------- program data --------------------- */
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/*
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* This table is used to define the command types
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* WARNING! this must match "motor_cmnd" in motor.h
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*/
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static msg_types Ensemble_table[] = {
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MOTION, /* MOVE_ABS */
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MOTION, /* MOVE_REL */
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MOTION, /* HOME_FOR */
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MOTION, /* HOME_REV */
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IMMEDIATE, /* LOAD_POS */
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IMMEDIATE, /* SET_VEL_BASE */
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IMMEDIATE, /* SET_VELOCITY */
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IMMEDIATE, /* SET_ACCEL */
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IMMEDIATE, /* GO */
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IMMEDIATE, /* SET_ENC_RATIO */
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INFO, /* GET_INFO */
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MOVE_TERM, /* STOP_AXIS */
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VELOCITY, /* JOG */
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IMMEDIATE, /* SET_PGAIN */
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IMMEDIATE, /* SET_IGAIN */
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IMMEDIATE, /* SET_DGAIN */
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IMMEDIATE, /* ENABLE_TORQUE */
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IMMEDIATE, /* DISABL_TORQUE */
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IMMEDIATE, /* PRIMITIVE */
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IMMEDIATE, /* SET_HIGH_LIMIT */
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IMMEDIATE, /* SET_LOW_LIMIT */
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VELOCITY, /* JOG_VELOCITY */
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IMMEDIATE /* SET_RESOLUTION */
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};
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static struct board_stat **Ensemble_cards;
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/* --------------------------- program data --------------------- */
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// initialize device support for Ensemble
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static long Ensemble_init (void *arg)
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{
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long rtnval;
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int after = (arg == 0) ? 0 : 1;
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if (after == 0)
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{
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drvtabptr = &Ensemble_access;
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(drvtabptr->init)();
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}
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rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr,
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drvtabptr, &Ensemble_cards);
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return(rtnval);
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}
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// initialize a record instance
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static long Ensemble_init_record (void *arg)
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{
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struct motorRecord *mr = (struct motorRecord *) arg;
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return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
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drvtabptr, Ensemble_cards));
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}
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// start building a transaction
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static long Ensemble_start_trans (struct motorRecord *mr)
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{
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return(OK);
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//return (motor_start_trans_com(mr, Ensemble_cards));
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}
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// end building a transaction
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static RTN_STATUS Ensemble_end_trans (struct motorRecord * mr)
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{
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return(OK);
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//return (motor_end_trans_com(mr, drvtabptr));
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}
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// add a part to the transaction
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static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
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struct motorRecord * mr)
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{
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struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
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struct mess_node *motor_call;
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struct controller *brdptr;
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struct Ensemblecontroller *cntrl;
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char buff[BUFF_SIZE], temp[BUFF_SIZE];
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int axis, card, maxdigits;
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unsigned int size;
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double dval, cntrl_units;
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RTN_STATUS rtnval;
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bool send = true;
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rtnval = OK;
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buff[0] = '\0';
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// Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL).
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dval = (parms == NULL) ? 0.0 : *parms;
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motor_start_trans_com(mr, Ensemble_cards);
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motor_call = &(trans->motor_call);
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card = motor_call->card;
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axis = motor_call->signal;
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brdptr = (*trans->tabptr->card_array)[card];
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if (brdptr == NULL)
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return(rtnval = ERROR);
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cntrl = (struct Ensemblecontroller *) brdptr->DevicePrivate;
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cntrl_units = dval * cntrl->drive_resolution[axis];
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maxdigits = cntrl->res_decpts[axis];
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if (Ensemble_table[command] > motor_call->type)
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{
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motor_call->type = Ensemble_table[command];
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}
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if (trans->state != BUILD_STATE)
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{
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return(rtnval = ERROR);
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}
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switch (command)
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{
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case MOVE_ABS:
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case MOVE_REL:
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case HOME_FOR:
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case HOME_REV:
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case JOG:
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if (strlen(mr->prem) != 0)
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{
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sprintf(temp, "%s%c", mr->prem, ASCII_EOS_CHAR);
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strcat(motor_call->message, temp);
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}
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if (strlen(mr->post) != 0)
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{
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motor_call->postmsgptr = (char *) &mr->post;
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}
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break;
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default:
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break;
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}
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switch (command)
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{
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case MOVE_ABS:
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sprintf(buff, "MOVEABS @%d %.*f",
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axis, maxdigits, cntrl_units);
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break;
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case MOVE_REL:
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sprintf(buff, "MOVEINC @%d %.*f",
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axis, maxdigits, cntrl_units);
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break;
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case HOME_FOR:
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case HOME_REV:
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{
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epicsUInt32 hparam = cntrl->home_dparam[axis];
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if (command == HOME_FOR)
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hparam |= 0x00000001;
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else
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hparam &= 0xFFFFFFFE;
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cntrl->home_dparam[axis] = hparam;
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sprintf(buff, "SETPARM @%d, 106, %d", axis, hparam);
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strcpy(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
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sprintf(buff, "HOME @%d", axis);
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motor_call->type = Ensemble_table[command];
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}
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break;
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case LOAD_POS:
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sprintf(buff, "SETPOSCMD @%d, %.*f", axis, maxdigits, cntrl_units);
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break;
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case SET_VEL_BASE:
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send = false;
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break; // Ensemble does not use base velocity
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case SET_VELOCITY:
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sprintf(buff, "SETPARM @%d, 102, %.*f", //DefaultSpeed
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axis, maxdigits, cntrl_units);
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strcpy(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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/*
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* FILENAME... devEnsemble.cc
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* USAGE... Motor record device level support for Aerotech Ensemble.
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*
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* Version: $Revision: 1.8 $
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||||
* Modified By: $Author: sluiter $
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* Last Modified: $Date: 2009-07-15 19:05:58 $
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*/
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
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sprintf(buff, "SETPARM @%d, 107, %.*f", //HomeFeedRate
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axis, maxdigits, cntrl_units);
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/*
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* Original Author: Chad Weimer
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* Date: 04/04/08
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* Current Author: Chad Weimer
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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||||
*
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* 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.
|
||||
*
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||||
* Initial development by:
|
||||
* The Controls and Automation Group (AT-8)
|
||||
* Ground Test Accelerator
|
||||
* Accelerator Technology Division
|
||||
* Los Alamos National Laboratory
|
||||
*
|
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* Co-developed with
|
||||
* The Controls and Computing Group
|
||||
* Accelerator Systems Division
|
||||
* Advanced Photon Source
|
||||
* Argonne National Laboratory
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||||
*
|
||||
* Modification Log:
|
||||
* -----------------
|
||||
* .01 04-01-08 caw initialized from devMM4000.cc (Newport)
|
||||
* .02 11-20-08 rls - support homing in both directions.
|
||||
* - disable LOAD_POS until ABORT command fixed.
|
||||
* - SET_VELOCITY sets both default speed and home feedrate.
|
||||
* .03 01-22-09 rls - enable LOAD_POS; ABORT command fixed with Ensemble
|
||||
* firmware 2.5.2.
|
||||
* .04 05-01-09 rls - Fix for jog velocity not adjusted by
|
||||
* cntrl->drive_resolution.
|
||||
*/
|
||||
|
||||
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||||
#include <string.h>
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||||
#include <math.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "motordevCom.h"
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#include "drvEnsemble.h"
|
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#include "epicsExport.h"
|
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extern struct driver_table Ensemble_access;
|
||||
|
||||
/* ----------------Create the dsets for devEnsemble----------------- */
|
||||
static struct driver_table *drvtabptr;
|
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static long Ensemble_init (void *);
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static long Ensemble_init_record (void *);
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static long Ensemble_start_trans (struct motorRecord *);
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||||
static RTN_STATUS Ensemble_build_trans (motor_cmnd, double *,
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struct motorRecord *);
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static RTN_STATUS Ensemble_end_trans (struct motorRecord *);
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struct motor_dset devEnsemble =
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||||
{
|
||||
{8, NULL, (DEVSUPFUN) Ensemble_init, (DEVSUPFUN) Ensemble_init_record, NULL},
|
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motor_update_values,
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Ensemble_start_trans,
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Ensemble_build_trans,
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||||
Ensemble_end_trans
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};
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||||
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extern "C" {epicsExportAddress (dset, devEnsemble);}
|
||||
/* --------------------------- program data --------------------- */
|
||||
|
||||
/*
|
||||
* This table is used to define the command types
|
||||
* WARNING! this must match "motor_cmnd" in motor.h
|
||||
*/
|
||||
|
||||
static msg_types Ensemble_table[] = {
|
||||
MOTION, /* MOVE_ABS */
|
||||
MOTION, /* MOVE_REL */
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||||
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 */
|
||||
IMMEDIATE /* SET_RESOLUTION */
|
||||
};
|
||||
|
||||
|
||||
static struct board_stat **Ensemble_cards;
|
||||
|
||||
/* --------------------------- program data --------------------- */
|
||||
|
||||
|
||||
// initialize device support for Ensemble
|
||||
static long Ensemble_init (void *arg)
|
||||
{
|
||||
long rtnval;
|
||||
int after = (arg == 0) ? 0 : 1;
|
||||
|
||||
if (after == 0)
|
||||
{
|
||||
drvtabptr = &Ensemble_access;
|
||||
(drvtabptr->init)();
|
||||
}
|
||||
|
||||
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr,
|
||||
drvtabptr, &Ensemble_cards);
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
|
||||
// initialize a record instance
|
||||
static long Ensemble_init_record (void *arg)
|
||||
{
|
||||
struct motorRecord *mr = (struct motorRecord *) arg;
|
||||
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
|
||||
drvtabptr, Ensemble_cards));
|
||||
}
|
||||
|
||||
|
||||
// start building a transaction
|
||||
static long Ensemble_start_trans (struct motorRecord *mr)
|
||||
{
|
||||
return(OK);
|
||||
//return (motor_start_trans_com(mr, Ensemble_cards));
|
||||
}
|
||||
|
||||
|
||||
// end building a transaction
|
||||
static RTN_STATUS Ensemble_end_trans (struct motorRecord * mr)
|
||||
{
|
||||
return(OK);
|
||||
//return (motor_end_trans_com(mr, drvtabptr));
|
||||
}
|
||||
|
||||
|
||||
// add a part to the transaction
|
||||
static RTN_STATUS Ensemble_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 Ensemblecontroller *cntrl;
|
||||
char buff[BUFF_SIZE], temp[BUFF_SIZE];
|
||||
int axis, card, maxdigits;
|
||||
unsigned int size;
|
||||
double dval, cntrl_units;
|
||||
RTN_STATUS rtnval;
|
||||
bool send = true;
|
||||
|
||||
rtnval = OK;
|
||||
buff[0] = '\0';
|
||||
|
||||
// Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL).
|
||||
dval = (parms == NULL) ? 0.0 : *parms;
|
||||
|
||||
motor_start_trans_com(mr, Ensemble_cards);
|
||||
|
||||
motor_call = &(trans->motor_call);
|
||||
card = motor_call->card;
|
||||
axis = motor_call->signal;
|
||||
brdptr = (*trans->tabptr->card_array)[card];
|
||||
if (brdptr == NULL)
|
||||
return(rtnval = ERROR);
|
||||
|
||||
cntrl = (struct Ensemblecontroller *) brdptr->DevicePrivate;
|
||||
cntrl_units = dval * cntrl->drive_resolution[axis];
|
||||
maxdigits = cntrl->res_decpts[axis];
|
||||
|
||||
if (Ensemble_table[command] > motor_call->type)
|
||||
{
|
||||
motor_call->type = Ensemble_table[command];
|
||||
break;
|
||||
|
||||
case SET_ACCEL:
|
||||
sprintf(buff, "SETPARM @%d, 103, %.*f", //DefaultRampRate
|
||||
axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
|
||||
case GO:
|
||||
/*
|
||||
* The Ensemble starts moving immediately on move commands, GO command
|
||||
* does nothing
|
||||
*/
|
||||
send = false;
|
||||
break;
|
||||
|
||||
case SET_ENC_RATIO:
|
||||
//sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
|
||||
// axis, maxdigits, cntrl_units);
|
||||
send = false;
|
||||
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, "ABORT @%d", axis);
|
||||
break;
|
||||
|
||||
case JOG_VELOCITY:
|
||||
case JOG:
|
||||
sprintf(buff, "FREERUN @%d %.*f", axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
|
||||
case SET_PGAIN:
|
||||
sprintf(buff, "SETPARM @%d, 8, %.*f", //GainKp
|
||||
axis, maxdigits, dval);
|
||||
break;
|
||||
|
||||
case SET_IGAIN:
|
||||
sprintf(buff, "SETPARM @%d, 7, %.*f", //GainKi
|
||||
axis, maxdigits, dval);
|
||||
break;
|
||||
|
||||
case SET_DGAIN:
|
||||
sprintf(buff, "SETPARM @%d, 12, %.*f", //GainKpi
|
||||
axis, maxdigits, dval); // which gain??
|
||||
break;
|
||||
|
||||
case ENABLE_TORQUE:
|
||||
sprintf(buff, "ENABLE @%d", axis);
|
||||
break;
|
||||
|
||||
case DISABL_TORQUE:
|
||||
sprintf(buff, "DISABLE @%d", axis);
|
||||
break;
|
||||
|
||||
case PRIMITIVE:
|
||||
if (mr->init != NULL && strlen(mr->init) != 0)
|
||||
{
|
||||
strcat(motor_call->message, mr->init);
|
||||
}
|
||||
break;
|
||||
|
||||
case SET_HIGH_LIMIT:
|
||||
sprintf(buff, "SETPARM(@%d, 48, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCW
|
||||
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
|
||||
//trans->state = IDLE_STATE; // No command sent to the controller.
|
||||
|
||||
//if(cntrl_units > motor_info->high_limit)
|
||||
//{
|
||||
// mr->dhlm = motor_info->high_limit;
|
||||
// rtnval = ERROR;
|
||||
//}
|
||||
//send = false;
|
||||
break;
|
||||
|
||||
case SET_LOW_LIMIT:
|
||||
sprintf(buff, "SETPARM(@%d, 47, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCCW
|
||||
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
|
||||
//trans->state = IDLE_STATE; // No command sent to the controller.
|
||||
|
||||
//if(cntrl_units < motor_info->low_limit)
|
||||
//{
|
||||
// mr->dllm = motor_info->low_limit;
|
||||
// rtnval = ERROR;
|
||||
//}
|
||||
//send = false;
|
||||
break;
|
||||
|
||||
case SET_RESOLUTION:
|
||||
sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
|
||||
axis, maxdigits, 1 / cntrl_units);
|
||||
break;
|
||||
|
||||
default:
|
||||
send = false;
|
||||
rtnval = ERROR;
|
||||
}
|
||||
|
||||
if (send == true)
|
||||
{
|
||||
size = strlen (buff);
|
||||
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
|
||||
{
|
||||
errlogMessage("Ensemble_build_trans(): buffer overflow.\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
strcat(motor_call->message, buff);
|
||||
motor_end_trans_com(mr, drvtabptr);
|
||||
}
|
||||
}
|
||||
|
||||
return(rtnval);
|
||||
}
|
||||
}
|
||||
|
||||
if (trans->state != BUILD_STATE)
|
||||
{
|
||||
return(rtnval = ERROR);
|
||||
}
|
||||
|
||||
switch (command)
|
||||
{
|
||||
case MOVE_ABS:
|
||||
case MOVE_REL:
|
||||
case HOME_FOR:
|
||||
case HOME_REV:
|
||||
case JOG:
|
||||
if (strlen(mr->prem) != 0)
|
||||
{
|
||||
sprintf(temp, "%s%c", mr->prem, ASCII_EOS_CHAR);
|
||||
strcat(motor_call->message, temp);
|
||||
}
|
||||
if (strlen(mr->post) != 0)
|
||||
{
|
||||
motor_call->postmsgptr = (char *) &mr->post;
|
||||
}
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
switch (command)
|
||||
{
|
||||
case MOVE_ABS:
|
||||
sprintf(buff, "MOVEABS @%d %.*f",
|
||||
axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
case MOVE_REL:
|
||||
sprintf(buff, "MOVEINC @%d %.*f",
|
||||
axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
|
||||
case HOME_FOR:
|
||||
case HOME_REV:
|
||||
{
|
||||
epicsUInt32 hparam = cntrl->home_dparam[axis];
|
||||
if (command == HOME_FOR)
|
||||
hparam |= 0x00000001;
|
||||
else
|
||||
hparam &= 0xFFFFFFFE;
|
||||
cntrl->home_dparam[axis] = hparam;
|
||||
|
||||
sprintf(buff, "SETPARM @%d, 106, %d", axis, hparam);
|
||||
strcpy(motor_call->message, buff);
|
||||
rtnval = motor_end_trans_com(mr, drvtabptr);
|
||||
|
||||
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
|
||||
sprintf(buff, "HOME @%d", axis);
|
||||
motor_call->type = Ensemble_table[command];
|
||||
}
|
||||
break;
|
||||
|
||||
case LOAD_POS:
|
||||
sprintf(buff, "SETPOSCMD @%d, %.*f", axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
|
||||
case SET_VEL_BASE:
|
||||
send = false;
|
||||
break; // Ensemble does not use base velocity
|
||||
|
||||
case SET_VELOCITY:
|
||||
sprintf(buff, "SETPARM @%d, 102, %.*f", //DefaultSpeed
|
||||
axis, maxdigits, cntrl_units);
|
||||
strcpy(motor_call->message, buff);
|
||||
rtnval = motor_end_trans_com(mr, drvtabptr);
|
||||
|
||||
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
|
||||
sprintf(buff, "SETPARM @%d, 107, %.*f", //HomeFeedRate
|
||||
axis, maxdigits, cntrl_units);
|
||||
motor_call->type = Ensemble_table[command];
|
||||
break;
|
||||
|
||||
case SET_ACCEL:
|
||||
sprintf(buff, "SETPARM @%d, 103, %.*f", //DefaultRampRate
|
||||
axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
|
||||
case GO:
|
||||
/*
|
||||
* The Ensemble starts moving immediately on move commands, GO command
|
||||
* does nothing
|
||||
*/
|
||||
send = false;
|
||||
break;
|
||||
|
||||
case SET_ENC_RATIO:
|
||||
//sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
|
||||
// axis, maxdigits, cntrl_units);
|
||||
send = false;
|
||||
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, "ABORT @%d", axis);
|
||||
break;
|
||||
|
||||
case JOG_VELOCITY:
|
||||
case JOG:
|
||||
sprintf(buff, "FREERUN @%d %.*f", axis, maxdigits, cntrl_units);
|
||||
break;
|
||||
|
||||
case SET_PGAIN:
|
||||
sprintf(buff, "SETPARM @%d, 8, %.*f", //GainKp
|
||||
axis, maxdigits, dval);
|
||||
break;
|
||||
|
||||
case SET_IGAIN:
|
||||
sprintf(buff, "SETPARM @%d, 7, %.*f", //GainKi
|
||||
axis, maxdigits, dval);
|
||||
break;
|
||||
|
||||
case SET_DGAIN:
|
||||
sprintf(buff, "SETPARM @%d, 12, %.*f", //GainKpi
|
||||
axis, maxdigits, dval); // which gain??
|
||||
break;
|
||||
|
||||
case ENABLE_TORQUE:
|
||||
sprintf(buff, "ENABLE @%d", axis);
|
||||
break;
|
||||
|
||||
case DISABL_TORQUE:
|
||||
sprintf(buff, "DISABLE @%d", axis);
|
||||
break;
|
||||
|
||||
case PRIMITIVE:
|
||||
if (mr->init != NULL && strlen(mr->init) != 0)
|
||||
{
|
||||
strcat(motor_call->message, mr->init);
|
||||
}
|
||||
break;
|
||||
|
||||
case SET_HIGH_LIMIT:
|
||||
sprintf(buff, "SETPARM(@%d, 48, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCW
|
||||
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
|
||||
//trans->state = IDLE_STATE; // No command sent to the controller.
|
||||
|
||||
//if(cntrl_units > motor_info->high_limit)
|
||||
//{
|
||||
// mr->dhlm = motor_info->high_limit;
|
||||
// rtnval = ERROR;
|
||||
//}
|
||||
//send = false;
|
||||
break;
|
||||
|
||||
case SET_LOW_LIMIT:
|
||||
sprintf(buff, "SETPARM(@%d, 47, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCCW
|
||||
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
|
||||
//trans->state = IDLE_STATE; // No command sent to the controller.
|
||||
|
||||
//if(cntrl_units < motor_info->low_limit)
|
||||
//{
|
||||
// mr->dllm = motor_info->low_limit;
|
||||
// rtnval = ERROR;
|
||||
//}
|
||||
//send = false;
|
||||
break;
|
||||
|
||||
case SET_RESOLUTION:
|
||||
sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
|
||||
axis, maxdigits, 1 / cntrl_units);
|
||||
break;
|
||||
|
||||
default:
|
||||
send = false;
|
||||
rtnval = ERROR;
|
||||
}
|
||||
|
||||
if (send == true)
|
||||
{
|
||||
size = strlen (buff);
|
||||
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
|
||||
{
|
||||
errlogMessage("Ensemble_build_trans(): buffer overflow.\n");
|
||||
}
|
||||
else
|
||||
{
|
||||
strcat(motor_call->message, buff);
|
||||
motor_end_trans_com(mr, drvtabptr);
|
||||
}
|
||||
}
|
||||
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
Reference in New Issue
Block a user