forked from epics_driver_modules/motorBase
Added Soloist and 'asyn motor' Ensemble version.
This commit is contained in:
Ron Sluiter
Executable
+380
@@ -0,0 +1,380 @@
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/*
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* FILENAME... devSoloist.cc
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* USAGE... Motor record device level support for Aerotech Soloist.
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*
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* Version: 1.1
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* Modified By: cbonnell
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* Last Modified: 2009/07/07 01:46:08 PM
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*/
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/*
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* Original Author: Hong Fung
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* Date: 04/29/09
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* Current Author: Aerotech, Inc.
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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
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* 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 04-29-09 hcf - initialized from devEnsemble.cc (Aerotech)
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* .02 07-07-09 cjb - merged fixes from Ensemble code (devEnsemble.cc) in R6-4-4; removed support for setting gains
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*/
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#include <stdio.h>
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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 "drvSoloist.h"
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#include "epicsExport.h"
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extern struct driver_table Soloist_access;
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/* ----------------Create the dsets for devSoloist----------------- */
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static struct driver_table *drvtabptr;
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static long Soloist_init (void *);
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static long Soloist_init_record (void *);
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static long Soloist_start_trans (struct motorRecord *);
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static RTN_STATUS Soloist_build_trans (motor_cmnd, double *,
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struct motorRecord *);
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static RTN_STATUS Soloist_end_trans (struct motorRecord *);
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struct motor_dset devSoloist =
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{
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{8, NULL, (DEVSUPFUN) Soloist_init, (DEVSUPFUN) Soloist_init_record, NULL},
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motor_update_values,
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Soloist_start_trans,
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Soloist_build_trans,
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Soloist_end_trans
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};
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extern "C" {epicsExportAddress (dset, devSoloist);}
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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 Soloist_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 **Soloist_cards;
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/* --------------------------- program data --------------------- */
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// initialize device support for Soloist
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static long Soloist_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 = &Soloist_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, &Soloist_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 Soloist_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, drvtabptr, Soloist_cards));
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}
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// start building a transaction
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static long Soloist_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, Soloist_cards));
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}
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// end building a transaction
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static RTN_STATUS Soloist_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 Soloist_build_trans (motor_cmnd command, double *parms, 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 mess_info *motor_info;
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struct Soloistcontroller *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, Soloist_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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{
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return (rtnval = ERROR);
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}
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cntrl = (struct Soloistcontroller *) 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 (Soloist_table[command] > motor_call->type)
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{
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motor_call->type = Soloist_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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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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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 106, %d", 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, Soloist_cards);
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sprintf(buff, "HOME");
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motor_call->type = Soloist_table[command];
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break;
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}
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case LOAD_POS:
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sprintf(buff, "SETPOSCMD %.*f", 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; // Soloist does not use base velocity
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case SET_VELOCITY:
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sprintf(buff, "SETPARM 102, %.*f", //DefaultSpeed
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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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rtnval = (RTN_STATUS) motor_start_trans_com(mr, Soloist_cards);
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sprintf(buff, "SETPARM 107, %.*f", //HomeFeedRate
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maxdigits, cntrl_units);
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motor_call->type = Soloist_table[command];
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break;
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case SET_ACCEL:
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sprintf(buff, "SETPARM 103, %.*f", //DefaultRampRate
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maxdigits, cntrl_units);
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break;
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case GO:
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/*
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* The Soloist starts moving immediately on move commands, GO command
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* does nothing
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*/
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send = false;
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break;
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case SET_ENC_RATIO:
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//sprintf(buff, "SETPARM 3, %.*f", //PosScaleFactor
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// maxdigits, cntrl_units);
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send = false;
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break;
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case GET_INFO:
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/*
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* These commands are not actually done by sending a message, but
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* rather they will indirectly cause the driver to read the status
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* of all motors
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*/
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break;
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case STOP_AXIS:
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sprintf(buff, "ABORT");
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break;
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case JOG_VELOCITY:
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case JOG:
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sprintf(buff, "FREERUN F %.*f", maxdigits, cntrl_units);
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break;
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case SET_PGAIN:
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case SET_IGAIN:
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case SET_DGAIN:
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send = false;
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break;
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case ENABLE_TORQUE:
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sprintf(buff, "ENABLE");
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break;
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case DISABL_TORQUE:
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sprintf(buff, "DISABLE");
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break;
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case PRIMITIVE:
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if (mr->init != NULL && strlen(mr->init) != 0)
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{
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strcat(motor_call->message, mr->init);
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}
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break;
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case SET_HIGH_LIMIT:
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sprintf(buff, "SETPARM 48, %.*f", maxdigits, cntrl_units); //ThresholdSoftCW
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//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
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//trans->state = IDLE_STATE; // No command sent to the controller.
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//if (cntrl_units > motor_info->high_limit)
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//{
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// mr->dhlm = motor_info->high_limit;
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// rtnval = ERROR;
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//}
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//send = false;
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break;
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case SET_LOW_LIMIT:
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sprintf(buff, "SETPARM 47, %.*f", maxdigits, cntrl_units); //ThresholdSoftCCW
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//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
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//trans->state = IDLE_STATE; // No command sent to the controller.
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//if (cntrl_units < motor_info->low_limit)
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//{
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// mr->dllm = motor_info->low_limit;
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// rtnval = ERROR;
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//}
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//send = false;
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break;
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case SET_RESOLUTION:
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sprintf(buff, "SETPARM 3, %.*f", //PosScaleFactor
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maxdigits, 1 / cntrl_units);
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break;
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default:
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send = false;
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rtnval = ERROR;
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}
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// printf("debug: case %d cmd=%s\n", command, buff);
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if (send == true)
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{
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size = strlen (buff);
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if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
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{
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errlogMessage("Soloist_build_trans(): buffer overflow.\n");
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}
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else
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{
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strcat(motor_call->message, buff);
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motor_end_trans_com(mr, drvtabptr);
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}
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}
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return (rtnval);
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}
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