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Reformatted; tabs -> spaces.

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This commit is contained in:
Ron Sluiter
2008-11-14 15:23:00 +00:00
parent f8afb15c7d
commit c582ec320f
1 changed files with 228 additions and 228 deletions
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motorApp/AerotechSrc/devEnsemble.cc
+228 -228
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@@ -54,16 +54,16 @@ static long Ensemble_init (void *);
static long Ensemble_init_record (void *);
static long Ensemble_start_trans (struct motorRecord *);
static RTN_STATUS Ensemble_build_trans (motor_cmnd, double *,
struct motorRecord *);
struct motorRecord *);
static RTN_STATUS Ensemble_end_trans (struct motorRecord *);
struct motor_dset devEnsemble =
{
{8, NULL, (DEVSUPFUN) Ensemble_init, (DEVSUPFUN) Ensemble_init_record, NULL},
motor_update_values,
Ensemble_start_trans,
Ensemble_build_trans,
Ensemble_end_trans
{8, NULL, (DEVSUPFUN) Ensemble_init, (DEVSUPFUN) Ensemble_init_record, NULL},
motor_update_values,
Ensemble_start_trans,
Ensemble_build_trans,
Ensemble_end_trans
};
extern "C" {epicsExportAddress (dset, devEnsemble);}
@@ -75,29 +75,29 @@ extern "C" {epicsExportAddress (dset, devEnsemble);}
*/
static msg_types Ensemble_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 */
IMMEDIATE /* SET_RESOLUTION */
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 */
IMMEDIATE /* SET_RESOLUTION */
};
@@ -109,260 +109,260 @@ static struct board_stat **Ensemble_cards;
// initialize device support for Ensemble
static long Ensemble_init (void *arg)
{
long rtnval;
int after = (int) arg;
long rtnval;
int after = (int) arg;
if(after == 0)
{
drvtabptr = &Ensemble_access;
(drvtabptr->init)();
}
if (after == 0)
{
drvtabptr = &Ensemble_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr,
drvtabptr, &Ensemble_cards);
return (rtnval);
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));
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));
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));
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 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 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;
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct mess_info *motor_info;
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';
rtnval = OK;
buff[0] = '\0';
// Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL).
dval = (parms == NULL) ? 0.0 : *parms;
// 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_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);
}
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];
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];
}
if (Ensemble_table[command] > motor_call->type)
{
motor_call->type = Ensemble_table[command];
}
if(trans->state != BUILD_STATE)
{
return (rtnval = ERROR);
}
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:
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;
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;
default:
break;
}
case HOME_FOR:
case HOME_REV:
sprintf(buff, "HOME @%d", axis);
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 LOAD_POS:
sprintf(buff, "MOVEABS @%d %*.f%cWAIT MOVEDONE @%d%cSETPOSCMD @%d, 0",
axis, maxdigits, cntrl_units, ASCII_EOS_CHAR, axis, ASCII_EOS_CHAR, axis);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "HOME @%d", axis);
break;
case SET_VEL_BASE:
send = false;
break; // Ensemble does not use base velocity
case LOAD_POS:
sprintf(buff, "MOVEABS @%d %*.f%cWAIT MOVEDONE @%d%cSETPOSCMD @%d, 0",
axis, maxdigits, cntrl_units, ASCII_EOS_CHAR, axis, ASCII_EOS_CHAR, axis);
break;
case SET_VELOCITY:
sprintf(buff, "SETPARM @%d, 102, %.*f", //DefaultSpeed
axis, maxdigits, cntrl_units);
break;
case SET_VEL_BASE:
send = false;
break; // Ensemble does not use base velocity
case SET_ACCEL:
sprintf(buff, "SETPARM @%d, 103, %.*f", //DefaultRampRate
axis, maxdigits, cntrl_units);
break;
case SET_VELOCITY:
sprintf(buff, "SETPARM @%d, 102, %.*f", //DefaultSpeed
axis, maxdigits, cntrl_units);
break;
case GO:
/*
* The Ensemble starts moving immediately on move commands, GO command
* does nothing
*/
send = false;
break;
case SET_ACCEL:
sprintf(buff, "SETPARM @%d, 103, %.*f", //DefaultRampRate
axis, maxdigits, cntrl_units);
break;
case SET_ENC_RATIO:
//sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
// axis, maxdigits, cntrl_units);
send = false;
break;
case GO:
/*
* The Ensemble starts moving immediately on move commands, GO command
* does nothing
*/
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 SET_ENC_RATIO:
//sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
// axis, maxdigits, cntrl_units);
send = false;
break;
case STOP_AXIS:
sprintf(buff, "ABORT @%d", 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 JOG_VELOCITY:
case JOG:
sprintf(buff, "FREERUN @%d %.*f", axis, maxdigits, dval > 0. ? mr->jvel : mr->jvel * -1);
break;
case STOP_AXIS:
sprintf(buff, "ABORT @%d", axis);
break;
case SET_PGAIN:
sprintf(buff, "SETPARM @%d, 8, %.*f", //GainKp
axis, maxdigits, dval);
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "FREERUN @%d %.*f", axis, maxdigits, dval > 0. ? mr->jvel : mr->jvel * -1);
break;
case SET_IGAIN:
sprintf(buff, "SETPARM @%d, 7, %.*f", //GainKi
axis, maxdigits, dval);
break;
case SET_PGAIN:
sprintf(buff, "SETPARM @%d, 8, %.*f", //GainKp
axis, maxdigits, dval);
break;
case SET_DGAIN:
sprintf(buff, "SETPARM @%d, 12, %.*f", //GainKpi
axis, maxdigits, dval); // which gain??
break;
case SET_IGAIN:
sprintf(buff, "SETPARM @%d, 7, %.*f", //GainKi
axis, maxdigits, dval);
break;
case ENABLE_TORQUE:
sprintf(buff, "ENABLE @%d", axis);
break;
case SET_DGAIN:
sprintf(buff, "SETPARM @%d, 12, %.*f", //GainKpi
axis, maxdigits, dval); // which gain??
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 ENABLE_TORQUE:
sprintf(buff, "ENABLE @%d", axis);
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.
case DISABL_TORQUE:
sprintf(buff, "DISABLE @%d", axis);
break;
//if(cntrl_units > motor_info->high_limit)
//{
// mr->dhlm = motor_info->high_limit;
// rtnval = ERROR;
//}
//send = false;
break;
case PRIMITIVE:
if (mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
}
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.
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->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;
//if(cntrl_units > motor_info->high_limit)
//{
// mr->dhlm = motor_info->high_limit;
// rtnval = ERROR;
//}
//send = false;
break;
default:
send = false;
rtnval = ERROR;
}
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(send)
{
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);
}
}
//if(cntrl_units < motor_info->low_limit)
//{
// mr->dllm = motor_info->low_limit;
// rtnval = ERROR;
//}
//send = false;
break;
return (rtnval);
case SET_RESOLUTION:
sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
axis, maxdigits, 1 / cntrl_units);
break;
default:
send = false;
rtnval = ERROR;
}
if (send)
{
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);
}