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- Procedure for new motor record device drivers
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- Procedures for adding new motor controller support to motor record
-
-
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- - Select a supported controller that most closely matches the characteristics
-of the new controller. If the new controller is simply a different model
-of a supported controller family (e.g. Oregon Micro Systems or Newport's Motion
-Master), then, of course, chose a model from the controller family that most
-closely matches the characteristics of the new controller. Otherwise,
-select a supported controller based on other characteristics, such as; communication
-interface (i.e., VME, RS232, GPIB), controller features (e.g., encoder support,
-DC servo support, etc.), etc. In what follows this will be called the
- source controller or source device driver.
-
-
- - When I added MM3000 device support I selected the MM4000 because it
-is simply a different Newport model.
- - When I added IM483 device support I selected the MM4000 because it
-has a serial communication option.
-
-
- - Chose an appropriate device name for the new controller. Copy
-the relevant files from the selected source controller, to the new,
- destination, controller, giving the new files appropriate names
-using the new device name. (See motor_files.html for a list of all
-motor record source code files.)
-
-
- - When I added MM3000 device support I copied the following files:
-
-
- - devMM4000.c -> devMM3000.c
- - drvMM4000.h -> drvMMCom.h
- - drvMM4000.c -> drvMM3000.c
-
-
- - When I added IM483 device support I copied the following files:
-
-
- - devMM4000.c -> devIM483.c
- - drvMMCom.h -> drvIM483.h
- - drvMM4000.c -> drvIM483.c
-
-
-
-
- - Modify all the new files by cleaning up the obvious header information
-(e.g. filename, usage, etc.). Delete the old Modification Log
-entries and add a single new entry that notes which source file you copied
-to start this file.
- - Modify the new driver include file (e.g., drvOms.h, drvMMCom.h, drvIM483.h,
-etc.) first.
-
-
- - Fix the multiple inclusion protection; i.e.,
-
-
- - #ifndef INCfilenameh
- - #define INCfilenameh 1
- - #endif /* INCfilenameh */
-
-
- - Delete everything in the driver include file that is specific to the
-old controller. If a device specific data area is needed for this controller,
-then that structure definition should appear in this file (see the MMcontroller
-structure in drvMMCom.h or IM483controller structure in drvIM483.h).
-
-
- - Modify the device source code file (e.g., devOms.c, devMM4000.c, devIM483.c,
-etc.) next.
-
-
- - Do a global find and replace on the file; replacing the source
-root name with the destination root name; e.g., MM4000 to IM483.
- - Find the <device>_build_trans() function. Unless the source
-controller you chose was from the same family of controllers, the command
-primitives for the new controller will not match those of the source controller.
-Hence, each of the switch case statements in <device>_build_trans()
-will have to be;
-
-
- - Evaluated, as to be whether or not the new controller can support the
-associated motor command.
- - If the new controller supports the motor command, find the command
-primitive for the motor command and modify the switch case code to
-output the correct command primitive.
-
-
- - Check that the command line terminator function argument located
-in the <device>_end_trans() function is correct.
- - Determine whether or not the destination motor controller supports
-multiple commands on the same command line. For example, the Oregon
-Micro Systems (OMS) motor controllers allow the velocity base, slew velocity,
-acceleration and target position all on the same command line (e.g.,
-AX VB200 VL4000 AC4444 MA-38866 GD ID). The Newport Motion Master
-(i.e, MM3000, MM4000, MM4005) and PM500 controllers also support multiple
-commands. On the other hand, multiple commands are not supported by
-the Intelligent Motion Systems (IMS) IM483 motor controller.
-
-
- - If multiple commands on the same command line is supported,
-then the functions <device>_start_trans(), <device>_end_trans()
-and <device>_build_trans() in the destination device code should look
-like those found in any of the Newport device files; i.e., devPM500.c, devMM4000.c
-or devMM3000.c. In addition, determine the command seperation ASCII
-character for the destination motor controller and append this ASCII character
-to the end of each command primitive.
- - If multiple commands on the same command line is not
- supported, then the functions <device>_start_trans(),
-<device>_end_trans() and <device>_build_trans() in the should
-look like those found in any of the IMS device files; i.e., devIM483SM.c
-or devIM483PL.c.
-
-
-
-
-
- - Modify the driver source code file (e.g., drvOms.c, drvMM4000.c, drvIM483.c,
-etc.) next.
-
-
- - Do a global find and replace on the file; replacing the source
-root name with the destination root name; e.g., MM4000 to IM483.
- - Locate each call to send_mess() that passes a string constant argument,
-either explicitly or through a preprocessor macro name. Modify either
-the string constant or the macro definition for the new controller.
- - Determine whether or not the destination motor controller echos commands
-and whether or not this feature can be disabled. If echoing cannot
-be disabled, then set the brdptr->cmnd_response = ON in motor_init().
-
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