lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

replace 8750 support with 87xx (supports 8750 and 8752)

Browse Source
This commit is contained in:
jsullivan-anl
2006-07-06 21:29:40 +00:00
parent bab310fc18
commit e5f4743c95
4 changed files with 1540 additions and 21 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/NewFocusSrc/devNewFocus.dbd
+3 -3
View File
@@ -1,6 +1,6 @@
# NewFocus PicoMotor Network Controller (PMNC) Device Driver support.
device(motor,VME_IO,devPMNC8750,"PMNC8750")
driver(drvPMNC8750)
device(motor,VME_IO,devPMNC87xx,"PMNC87xx")
driver(drvPMNC87xx)
registrar(NewFocusRegister)
variable(drvPMNC8750debug)
variable(drvPMNC87xxdebug)
motorApp/NewFocusSrc/devPMNC87xx.cc
+412
View File
@@ -0,0 +1,412 @@
/*
FILENAME... devPMNC87xx.cc
USAGE... Motor record device level support for NewFocus 8750 and 8752 Controller .
Version: 1.3
Modified By: sluiter
Last Modified: 2004/12/20 21:10:53
*/
/*
* Original Author: Mark Rivers
* Date: 10/16/97
* Current Author: Joe 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:
* -----------------
* .00 10-16-97 mlr initialized from devOms58
* .01 07-19-99 rls initialized from drvMM4000
* .02 04-21-01 rls Added jog velocity motor command.
* .03 05-22-03 rls Converted to R3.14.x.
* .04 06-20-06 jps initialized from drvPMNC8750
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPMNCCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PMNC87xx_access;
/* ----------------Create the dsets for devPMNC87xx----------------- */
/* static long report(); */
STATIC struct driver_table *drvtabptr;
STATIC long PMNC87xx_init(void *);
STATIC long PMNC87xx_init_record(void *);
STATIC long PMNC87xx_start_trans(struct motorRecord *);
STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PMNC87xx_end_trans(struct motorRecord *);
struct motor_dset devPMNC87xx =
{
{8, NULL, (DEVSUPFUN) PMNC87xx_init, (DEVSUPFUN) PMNC87xx_init_record, NULL},
motor_update_values,
PMNC87xx_start_trans,
PMNC87xx_build_trans,
PMNC87xx_end_trans
};
extern "C" {epicsExportAddress(dset,devPMNC87xx);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PMNC87xx_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 **PMNC87xx_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PMNC87xx stepper motor */
STATIC long PMNC87xx_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &PMNC87xx_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PMNC87xx_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PMNC87xx_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PMNC87xx_cards));
}
/* start building a transaction */
STATIC long PMNC87xx_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, PMNC87xx_cards));
}
/* end building a transaction */
STATIC RTN_STATUS PMNC87xx_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS PMNC87xx_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 mess_info *motor_info;
struct controller *brdptr;
struct PMNCcontroller *cntrl;
struct PMD_axis *paxisDef;
PMD_model dType;
char buff[110];
int axis, card;
int drive, motor;
unsigned int size;
int intval;
RTN_STATUS rtnval;
bool sendMsg;
rtnval = OK;
buff[0] = '\0';
sendMsg = true;
motor_start_trans_com(mr, PMNC87xx_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal;
motor_call->type = PMNC87xx_table[command];
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PMNCcontroller *) brdptr->DevicePrivate;
paxisDef = &cntrl->axisDef[axis];
drive = paxisDef->driverNum;
motor = paxisDef->motorNum;
dType = paxisDef->driverType;
if (PMNC87xx_table[command] > motor_call->type)
motor_call->type = PMNC87xx_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);
switch (command)
{
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
break;
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);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
default:
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
break;
}
motor_info = &((*drvtabptr->card_array)[card]->motor_info[axis]);
switch (command)
{
case MOVE_ABS:
if (dType == PMD8753)
sprintf(buff, "REL A%d=%d G", drive, intval-motor_info->position);
else
sprintf(buff, "ABS A%d=%d G", drive, intval);
break;
case MOVE_REL:
sprintf(buff, "REL A%d=%d G", drive, intval);
break;
case HOME_FOR:
// if (dType == PMD8751)
// sprintf(buff, "FIN A%d", drive);
// else
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case HOME_REV:
// if (dType == PMD8751)
// sprintf(buff, "RIN A%d", drive);
// else
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case LOAD_POS:
if (dType == PMD8753)
{
/* Setting local driver position because the controller cannot be set */
sprintf(buff, "CHL A%d=%d", drive, motor);
motor_info->position = intval;
}
else if (dType == PMD8751)
{
/* Closed loop driver - able to set position */
sprintf(buff, "POS %d=%d", drive, intval);
}
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_VEL_BASE:
if (dType == PMD8753)
{
if (abs(intval) > 1999)
intval = 1999;
/* Set VEL to maximum to eliminate MPV out-of-range error */
sprintf(buff, "VEL A%d %d=2000", drive, motor);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
sprintf(buff, "MPV A%d %d=%d", drive, motor, abs(intval));
}
else // if (dType == PMD8751)
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_VELOCITY:
if (abs(intval) > 2000)
intval = 2000;
sprintf(buff, "VEL A%d %d=%d", drive, motor, abs(intval));
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
*/
sprintf(buff, "ACC A%d %d=%d", drive, motor, intval);
break;
case GO:
// GO included in motion commands - fake command to get response
sprintf(buff, "CHL %d", drive);
break;
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case PRIMITIVE:
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, "HAL A%d", drive); /* Using the smooth stop command */
break;
case JOG:
if (dType == PMD8753)
{
if (intval >= 0)
sprintf(buff, "FOR A%d=%d G", drive, intval);
else
sprintf(buff, "REV A%d=%d G", drive, abs(intval));
}
else if (dType == PMD8751)
{
if (abs(intval) > 2000)
intval = 2000;
sprintf(buff, "VEL A%d %d=%d", drive, motor, abs(intval));
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
// Use Relative Move command for jogging
// because the 8751 does not indicate motion with (FOR and REV)
// ** BUG? **
if (intval >= 0)
sprintf(buff, "REL A%d=1000000 G",drive);
else
sprintf(buff, "REL A%d=-1000000 G",drive);
}
else
sendMsg = false;
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case ENABLE_TORQUE:
if (dType == PMD8751)
sprintf(buff, "SER A%d", drive);
else if (dType == PMD8753)
sprintf(buff, "MON A%d", drive);
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case DISABL_TORQUE:
if (dType == PMD8751)
sprintf(buff, "NOS A%d", drive);
else if (dType == PMD8753)
sprintf(buff, "MOF A%d", drive);
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
default:
sendMsg = false;
rtnval = ERROR;
}
if (sendMsg == true)
{
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PMNC87xx_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
}
return(rtnval);
}
motorApp/NewFocusSrc/drvPMNC87xx.cc
+971
View File
@@ -0,0 +1,971 @@
/*
FILENAME... drvPMNC87xx.cc
USAGE... Motor record driver level support for NewFocus PMNC87xx.
Version: 1.17
Modified By: sullivan
Last Modified: 2005/03/30 19:10:48
*/
/*
* Original Author: Mark Rivers
* Date: 06/28/06
* Current Author: Joe 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 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor positions at
* the end of a move.
* .05 04-18-00 rls PMNC87xx takes 2 to 5 seconds to respond to queries after
* hitting a hard travel limit. Adjusted GPIB and SERIAL
* timeouts accordingly. Deleted communication retries.
* Reworked travel limit processing so that direction
* status bit matches limit switch. Copied recv_mess()
* logic from drvMM4000.c. Use TPE command to determine
* if motor has an encoder.
* .06 10/02/01 rls - allow one retry after a communication error.
* - use motor status response bit-field.
* .07 05-22-03 rls - Converted to R3.14.2.
* .08 10/23/03 rls - recv_mess() eats the controller error response, outputs
* an error message and retries.
* .09 02/03/04 rls - Eliminate erroneous "Motor motion timeout ERROR".
* .10 07/09/04 rls - removed unused <driver>Setup() argument.
* .11 07/28/04 rls - "epicsExport" debug variable.
* .12 09/21/04 rls - support for 32axes/controller.
* .13 12/21/04 rls - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* - make debug variables always available.
* .14 01/11/06 jps - initialize from drvMM3000.cc
*
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "NewFocusRegister.h"
#include "drvPMNCCom.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define STATIC static
#define READ_RESOLUTION "VER"
#define READ_STATUS "STA %d"
#define READ_DIAG "DIAG %d"
#define READ_POS "POS %d"
#define READ_CHAN_SELECT "CHL %d"
#define STOP_ALL "STO"
#define INIT_ALL "INI"
#define MOTOR_ON "MON"
#define MOTOR_OFF "MOF"
#define JOY_ON "JON"
#define GET_IDENT "VER"
#define GET_MPV "MPV" /* Query Minimum Profile Velocity */
#define GET_DRT "DRT" /* Query Driver Types */
#define VER_STR "Version 1."
#define PROMPT_EOS ">"
#define NL_EOS "\n"
#define CMND_EOS "\r"
/* Status byte bits */
#define M_AXIS_MOVING 0x01
#define M_MOTOR_POWER 0x02
#define M_MOTOR_DIRECTION 0x04
#define M_PLUS_LIMIT 0x08
#define M_MINUS_LIMIT 0x10
#define M_HOME_SIGNAL 0x20
#define BUFF_SIZE 100 /* Maximum length of string to/from PMNC87xx */
#define PMNC_TIMEOUT 3.0 /* Command timeout in sec. */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPMNC87xxdebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPMNC87xxdebug = 0;
extern "C" {epicsExportAddress(int, drvPMNC87xxdebug);}
/* --- Local data. --- */
int PMNC87xx_num_cards = 0;
int PMNC87xx_num_drivers = 0; /* Number of Drivers per Controller */
char nobuff[BUFF_SIZE]; /* Scratch buffer - noreply commands */
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int, char const *, char *);
STATIC int send_recv_mess(int, char const *, char *, char const *);
STATIC int set_status(int, int);
STATIC void start_status(int);
static long report(int);
static long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table PMNC87xx_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;
long (*report) (int);
long (*init) (void);
} drvPMNC87xx = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPMNC87xx);}
STATIC struct thread_args targs = {SCAN_RATE, &PMNC87xx_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PMNC87xx_num_cards <=0)
printf(" No PMNC87xx controllers configured.\n");
else
{
for (card = 0; card < PMNC87xx_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PMNC87xx controller %d connection failed.\n", card);
else
{
struct PMNCcontroller *cntrl;
cntrl = (struct PMNCcontroller *) brdptr->DevicePrivate;
printf(" PMNC87xx controller %d asyn port= %s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
break;
}
}
}
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 (PMNC87xx_num_cards <= 0)
{
Debug(1, "init(): PMNC87xx driver disabled. PMNC87xxSetup() 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()
************************************************************/
#define CHECKRTN \
if (recvRtn > 0) { \
cntrl->status = NORMAL; \
status.Bits.CNTRL_COMM_ERR = 0; \
} \
else { \
if (cntrl->status == NORMAL) { \
cntrl->status = RETRY; \
setReturn=0; \
} \
else { \
cntrl->status = COMM_ERR; \
status.Bits.CNTRL_COMM_ERR = 1; \
status.Bits.RA_PROBLEM = 1; \
setReturn = 1; \
} \
goto exit; \
}
STATIC int set_status(int card, int signal)
{
struct PMNCcontroller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char *pStr;
char buff[BUFF_SIZE];
MOTOR_STATUS mstat;
MOTOR_AUX_STATUS auxstat;
struct PMD_axis *signalDef;
int setReturn;
int recvRtn;
int driverID, motorID;
int recvDriver, recvStatus;
long motorData;
int selectMotor;
bool plusdir, ls_active = false;
msta_field status;
setReturn = 0;
cntrl = (struct PMNCcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
status.All = motor_info->status.All;
signalDef = &cntrl->axisDef[signal];
/* Get the motor information */
driverID = signalDef->driverNum;
motorID = signalDef->motorNum;
if (signalDef->driverType == PMD8753)
{
sprintf(buff, READ_CHAN_SELECT, driverID);
pStr = cntrl->chan_select_string[driverID];
recvRtn = send_recv_mess(card, buff, pStr, NULL);
CHECKRTN;
Debug(2, "start_status(): ChanSelect_string=%s\n", pStr);
selectMotor = atoi(pStr);
}
else
selectMotor = 0; /* PMD8751 only has one motor */
/* Set defaults in-case motor is not selected */
motorData = cntrl->last_position[signal];
mstat.All = 0;
auxstat.All = 0;
sprintf(buff, READ_STATUS, driverID);
pStr = cntrl->status_string[driverID];
/* STATUS command does not return a prompt - bug? */
recvRtn = send_recv_mess(card, buff, pStr, NL_EOS);
CHECKRTN;
Debug(2, "set_status(): Status_string=%s\n", pStr);
if (sscanf(pStr, "A%d=0x%x",&recvDriver, &recvStatus) == 2)
{
mstat.All = recvStatus;
Debug(5, "set_status(): drive %d - status byte = %x\n", recvDriver, recvStatus);
}
else
Debug(1, "set_status(): drive %d - INVALID status string %s\n", driverID, pStr);
if (signalDef->driverType == PMD8751)
{
sprintf(buff, READ_DIAG, driverID);
pStr = cntrl->aux_status_string[driverID];
recvRtn = send_recv_mess(card, buff, pStr, NULL);
CHECKRTN;
Debug(2, "set_status(): Aux Status_string=%s\n", pStr);
if (sscanf(pStr, "A%d=0x%x",&recvDriver, &recvStatus) == 2)
{
auxstat.All = recvStatus;
Debug(5, "set_status(): drive %d - status byte = %x\n", recvDriver, recvStatus);
}
else
Debug(1, "set_status(): drive %d - INVALID Aux Status string %s\n", driverID, pStr);
}
/* Check if set_status() motor is currently selected on driver */
if (selectMotor == motorID)
{
sprintf(buff, READ_POS, driverID);
pStr = cntrl->position_string[driverID];
recvRtn = send_recv_mess(card, buff, pStr, NULL);
CHECKRTN;
Debug(2, "set_status(): postion_string=%s\n", pStr);
if (sscanf(pStr, "A%d=%ld",&recvDriver, &motorData) == 2)
{
Debug(5, "set_status(): drive %d = Position:%ld\n", recvDriver, motorData);
}
else
Debug(1, "set_status(): drive %d - INVALID position string %s\n", driverID, pStr);
}
else
{
if (signalDef->driverType == PMD8753)
motorData = cntrl->last_position[signal] = 0;
Debug(5, "set_status(): NOT SELECTED drive %d, motor %d\n", driverID, motorID);
}
nodeptr = motor_info->motor_motion;
/* Interpret data and move it into global area */
if (signalDef->driverType == PMD8753) // Open-Loop Driver
{
/* Drive Enabled */
status.Bits.EA_POSITION = (mstat.Bits_8753.powerOn) ? 1: 0;
if (mstat.Bits_8753.inMotion == false)
status.Bits.RA_DONE = 1;
else if (selectMotor == motorID) // Moving only applies to selected motor
status.Bits.RA_DONE = 0;
/* Limit Switch Status - NOT AVAILABLE */
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
status.Bits.RA_HOME = 0;
/* encoder status - NOT AVAILABLE */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
}
else if (signalDef->driverType == PMD8751) // Closed-Loop Driver
{
// if (mstat.Bits_8751.moveDone == true && (mstat.Bits_8751.homing == false || motor_info->no_motion_count > 5))
if (mstat.Bits_8751.moveDone == true)
status.Bits.RA_DONE = 1;
else
status.Bits.RA_DONE = 0;
/* Drive Enabled */
status.Bits.EA_POSITION = (auxstat.Bits_8751.servoOn) ? 1: 0;
if (mstat.Bits_8751.powerOn && auxstat.Bits_8751.servoOn)
{
/* Limit Switch Status */
status.Bits.RA_PLUS_LS = ((mstat.Bits_8751.forLimit) ? 1: 0);
status.Bits.RA_MINUS_LS = ((mstat.Bits_8751.revLimit) ? 1: 0);
status.Bits.RA_HOME = ((mstat.Bits_8751.homing) ? 1: 0);
}
/* encoder status - NOT AVAILABLE */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
}
Debug(2, "set_status(): Axis:%d, New Pos: %ld, Last Pos: %ld", signal, motorData, cntrl->last_position[signal]);
if (motorData == cntrl->last_position[signal])
{
motor_info->no_motion_count++;
status.Bits.RA_DIRECTION = 1;
}
else
{
if (signalDef->driverType == PMD8751) // Closed-Loop Driver
motor_info->position = motorData;
else
motor_info->position += (motorData - cntrl->last_position[signal]);
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
if (signalDef->driverType == PMD8751) // Closed-Loop Driver
motor_info->encoder_position = (epicsInt32) motorData;
else
motor_info->encoder_position += (epicsInt32) (motorData - cntrl->last_position[signal]);
}
else
motor_info->encoder_position = 0;
/* Use sign of motor position (always relative) for direction */
if (signalDef->driverType == PMD8753)
status.Bits.RA_DIRECTION = (motorData >= 0) ? 1 : 0;
else if (signalDef->driverType == PMD8751)
status.Bits.RA_DIRECTION = ((motorData - cntrl->last_position[signal]) >= 0) ? 1 : 0;
cntrl->last_position[signal] = motorData;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
Debug(1, ", Pos: %d, Dir: %x\n", motor_info->position, plusdir);
/* Determine if move done because of limit switches */
if ((plusdir && status.Bits.RA_PLUS_LS) || (!plusdir && status.Bits.RA_MINUS_LS))
ls_active = true;
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
// if (!plusdir)
// motor_info->velocity *= -1;
setReturn = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move processing. */
if ((status.Bits.RA_DONE || ls_active == true) )
{
if (signalDef->driverType == PMD8753)
{
cntrl->last_position[signal] = 0; /* Reset last position after each move */
if (selectMotor == motorID)
{
/* Clear position on selected motor */
sprintf(buff, "CHL A%d=%d", driverID, motorID);
send_recv_mess(card, buff, nobuff, NULL);
}
}
if (nodeptr != 0)
{
/* Allways turn joystick on after a move */
/* strcpy(buff, JOY_ON); */
if (nodeptr->postmsgptr != 0) /* Test for post move record string */
{
strcpy(buff, nodeptr->postmsgptr);
send_recv_mess(card, buff, nobuff, NULL);
}
nodeptr->postmsgptr = NULL;
}
}
exit:
motor_info->status.All = status.All;
return(setReturn);
}
/*****************************************************/
/* atomic write/read function */
/* PMNC87xx motor controller has a handshake */
/* with the return of the prompt '>' character */
/* send_recv_mess() */
/*****************************************************/
STATIC int send_recv_mess(int card, char const *send_com, char *recv_com, char const *eos)
{
struct PMNCcontroller *cntrl;
int size;
size_t nwrite;
size_t nread = 0;
asynStatus status;
int eomReason;
size = strlen(send_com);
recv_com[0] = '\0';
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPMNC87xx: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("drvPMNC87xx:send_recv_mess() - invalid card #%d\n", card);
return(ERROR);
}
Debug(2, "send_recv_mess(): message = %s\n", send_com);
cntrl = (struct PMNCcontroller *) motor_state[card]->DevicePrivate;
if (eos)
// Temporary Change to End-of-string
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,eos,strlen(eos));
/* Perform atomic write/read operation */
status = pasynOctetSyncIO->writeRead(cntrl->pasynUser, send_com, size,
recv_com, BUFF_SIZE-1,
PMNC_TIMEOUT, &nwrite, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
recv_com[0] = '\0';
nread = ERROR;
}
if (eos)
// Reset EOS to default
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,PROMPT_EOS,strlen(PROMPT_EOS));
Debug(2, "send_recv_mess(): recv message = \"%s\"\n", recv_com);
return(nread);
}
/*****************************************************/
/* send a message to the PMNC87xx board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct PMNCcontroller *cntrl;
int size;
size_t nwrite;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPMNC87xx: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("drvPMNC87xx:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
if (name != NULL)
{
errlogPrintf("drvPMNC87xx:send_mess() - invalid argument = %s\n", name);
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
cntrl = (struct PMNCcontroller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, com, size,
PMNC_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 = flush controller's output buffer; set timeout = 0.
* | !FLUSH = retrieve response into caller's buffer; set timeout.
* | 0 = read until '\n'
* | 1 = read until '>'
*
* LOGIC...
* Initialize:
* - receive timeout to zero
* - received string length to zero.
*
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
*
* SWITCH on port type.
* CASE port type is GPIB.
* BREAK.
* CASE port type is RS232.
* IF input "flag" indicates NOT flushing the input buffer.
* Set receive timeout nonzero.
* ENDIF
* Call pasynOctetSyncIO->read().
*
* NOTE: The PMNC87xx sometimes responds to an MS command with an error
* message (see PMNC87xx User's Manual Appendix A). This is an
* unconfirmed PMNC87xx bug. Retry read if this is a Hard Travel
* limit switch error. This effectively flushes the error message.
*
* IF input "com" buffer length is > 3 characters, AND, the 1st
* character is an "E" (Maybe this an unsolicited error
* message response?).
* Call pasynOctetSyncIO->read().
* ENDIF
* BREAK
* ENDSWITCH
*
* NORMAL RETURN.
*/
STATIC int recv_mess(int card, char *com, int flag)
{
struct PMNCcontroller *cntrl;
double timeout = 0.;
int flush = 1;
size_t nread = 0;
int eomReason;
asynStatus status;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PMNCcontroller *) motor_state[card]->DevicePrivate;
if (flag != FLUSH) {
flush = 0;
timeout = PMNC_TIMEOUT;
}
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
if (flag == 0)
// Temporary Change to EOS to '\n'
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,NL_EOS,strlen(NL_EOS));
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
else
com[nread-1] = '\0';
if (flag == 0)
// Reset EOS to '\n'
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,PROMPT_EOS,strlen(PROMPT_EOS));
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return (nread);
}
/*****************************************************/
/* Setup system configuration */
/* PMNC87xxSetup() */
/*****************************************************/
RTN_STATUS
PMNC87xxSetup(int num_cards, /* maximum number of controllers in system. */
int num_drivers, /* maximum number of drivers per controller */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > PMNC87xx_NUM_CARDS)
PMNC87xx_num_cards = PMNC87xx_NUM_CARDS;
else
PMNC87xx_num_cards = num_cards;
if (num_drivers < 1 || num_drivers > PMNC87xx_NUM_DRIVERS)
PMNC87xx_num_drivers = PMNC87xx_NUM_DRIVERS;
else
PMNC87xx_num_drivers = num_drivers;
/* 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 PMNC87xxConfig 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(PMNC87xx_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PMNC87xx_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PMNC87xxConfig() */
/*****************************************************/
RTN_STATUS
PMNC87xxConfig(int card, /* card being configured */
const char *port, /* asyn port name */
int address) /* asyn address (GPIB) */
{
struct PMNCcontroller *cntrl;
if (card < 0 || card >= PMNC87xx_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PMNCcontroller));
cntrl = (struct PMNCcontroller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, port);
cntrl->asyn_address = address;
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 PMNCcontroller *cntrl;
struct PMD_axis *axisdef;
int card_index, motor_index;
char buff[BUFF_SIZE];
char *bufptr;
int total_axis = 0;
int driverIndex;
int rtnCnt;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PMNC87xx_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PMNC87xx_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct PMNCcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int retry = 0;
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,PROMPT_EOS,strlen(PROMPT_EOS));
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser,CMND_EOS,strlen(CMND_EOS));
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
do
{
rtnCnt = send_recv_mess(card_index, GET_IDENT, buff, NULL);
retry++;
/* Return value is length of response string */
} while(rtnCnt <= 0 && retry < 3);
}
if (success_rtn == asynSuccess && rtnCnt > 0)
{
strncpy(brdptr->ident, &buff[0], MAX_IDENT_LEN); /* Save Version info */ brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
send_recv_mess(card_index, STOP_ALL, nobuff, NULL); /* Stop all motors */
// send_recv_mess(card_index, INIT_ALL, nobuff, NULL); /* Initalize all devices - takes > 5 sec */
// send_recv_mess(card_index, MOTOR_ON, nobuff, NULL); /* Enable all motors */
/* Set Motion Master model indicator. */
bufptr = strstr(brdptr->ident, VER_STR);
if (bufptr == NULL)
{
errlogPrintf("drvPMNC87xx.c:motor_init() - unknown version = %s\n", brdptr->ident);
motor_state[card_index] = (struct controller *) NULL;
continue;
}
/* Check for known version - 1.x */
switch (*(bufptr + strlen(VER_STR)))
{
case '0':
cntrl->pmnc = PMNC8750;
break;
case '5':
case '6':
cntrl->pmnc = PMNC8752;
break;
default:
errlogPrintf("drvPMNC87xx:motor_init() - invalid model = %s\n", brdptr->ident);
return(ERROR);
break;
}
total_axis = 0;
driverIndex = 0;
axisdef = cntrl->axisDef;
if (cntrl->pmnc == PMNC8750)
{
/* Use indirect method to determine axis count - Only 8753 driver supported */
send_mess(card_index, GET_MPV, NULL);
/* Number of return strings will tell us how many axes this controller has */
/* Return format: A<driver#> M<motor#>=<parm> */
while (recv_mess(card_index, buff, 0))
{
sscanf(buff, "A%d M%d", &driverIndex, &motor_index);
axisdef[total_axis].driverType = PMD8753;
axisdef[total_axis].driverNum = driverIndex;
axisdef[total_axis].motorNum = motor_index;
brdptr->motor_info[total_axis].motor_motion = NULL;
Debug(3, "motor_init(): Next Axis %s\n", buff);
total_axis++;
}
}
else // PMNC8752
{
union {int All; PMD_model ID;} driver;
int addAxis, newAxis, tmpAxis;
/* Use direct driver type query (DRT) */
send_mess(card_index, GET_DRT, NULL);
/* Number of return strings will tell us how many axes this controller has */
/* Return format: A<driver#> <driveType> */
while (recv_mess(card_index, buff, 0))
{
sscanf(buff, "A%d=%d", &driverIndex, &driver.All);
if (driver.ID == PMD8753)
addAxis = 3;
else if (driver.ID == PMD8751)
addAxis = 1;
else
{
errlogPrintf("drvPMNC87xx:motor_init() - invalid driver = %d\n", driver.All);
return(ERROR);
}
Debug(3, "motor_init(): Next Driver %s\n", buff);
for (newAxis = 0, tmpAxis = total_axis; newAxis < addAxis; newAxis++, tmpAxis++)
{
axisdef[tmpAxis].driverType = driver.ID;
axisdef[tmpAxis].driverNum = driverIndex;
axisdef[tmpAxis].motorNum = newAxis;
brdptr->motor_info[tmpAxis].motor_motion = NULL;
}
total_axis += addAxis;
}
}
brdptr->total_axis = total_axis;
cntrl->total_drivers = driverIndex;
cntrl->status = NORMAL;
Debug(2, "motor_init(): Total Drivers %d\nTotal Axis=%d\n", driverIndex, brdptr->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 */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
// motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 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 *) "PMNC87xx_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
/*---------------------------------------------------------------------*/
motorApp/NewFocusSrc/drvPMNCCom.h
+154 -18
View File
@@ -4,14 +4,14 @@ USAGE... This file contains Newport Motion Master (MM) driver "include"
information that is specific to Motion Master models 3000/4000.
Version: 1.10
Modified By: rivers
Modified By: sullivan
Last Modified: 2004/08/17 21:28:22
*/
/*
* Original Author: Mark Rivers
* Current Author: Mark Rivers
* Date: 10/16/97
* Current Author: Joe Sullivan
* Date: 06/28/06
*
* Experimental Physics and Industrial Control System (EPICS)
*
@@ -43,23 +43,54 @@ Last Modified: 2004/08/17 21:28:22
#ifndef INCdrvPMNCComh
#define INCdrvPMNCComh 1
#include "motor.h"
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
/* Picomotor Network Controllers */
enum PMNC_model
{
PMNC8750
PMNC8750,
PMNC8752
};
/* Picomotor Drivers - use DRT Command to determine */
enum PMD_model
{
PMD8753=1, // 3 channel open-loop
PMD8751=2 // 1 channel closed-loop
};
/* Picomotor Driver 8751 Fault Codes (POWER OFF) */
enum PMD8751_FAULTS
{
ENCODER=2,
MOTORSHORT=1,
NOMOTOR=0,
OVERHEAT=3
};
#ifndef __cplusplus
typedef enum PMNC_model PMNC_model;
typedef enum PMD_model PMD_model;
#endif
#define PMNC8750_NUM_CARDS 3 /* Maximum number of controllers */
#define PMNC8750_NUM_DRIVERS 3 /* Maximum number of drivers per controller */
#define PMNC8750_NUM_MOTORS 3 /* Maximum number of motors per driver */
#define PMNC87xx_NUM_CARDS 10 /* Maximum number of controllers */
#define PMNC87xx_NUM_DRIVERS 10 /* Maximum number of drivers per controller */
#define PMNC8753_NUM_MOTORS 3 /* Maximum number of motors per driver */
#define PMNC8751_NUM_MOTORS 1 /* Maximum number of motors per driver */
/* Per axis definition */
struct PMD_axis
{
PMD_model driverType;
int driverNum;
int motorNum;
};
/* Motion Master specific data is stored in this structure. */
struct PMNCcontroller
@@ -68,13 +99,13 @@ struct PMNCcontroller
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
/* String containing status of selected motors */
char status_string[PMNC8750_NUM_DRIVERS+2][25];
/* String containing position of motors */
char position_string[PMNC8750_NUM_DRIVERS][25];
/* String containing selected channel */
char chan_select_string[PMNC8750_NUM_DRIVERS][25];
PMNC_model model; /* New Focus Model Info */
char aux_status_string[PMNC87xx_NUM_DRIVERS+1][25];
char status_string[PMNC87xx_NUM_DRIVERS+1][25];
char position_string[PMNC87xx_NUM_DRIVERS+1][25];
char chan_select_string[PMNC87xx_NUM_DRIVERS+1][25];
PMNC_model pmnc; /* Controller Type */
struct PMD_axis axisDef[MAX_AXIS]; /* Axis definition - New Focus Driver Model and Number */
long last_position[MAX_AXIS]; /* Track last incremtal position to noMotion status */
int total_drivers; /* Count number of drivers connected to controller */
CommStatus status; /* Controller communication status. */
@@ -85,6 +116,7 @@ struct PMNCcontroller
typedef union
{
epicsUInt8 All;
/* 8753 Driver Status */
struct
{
#ifdef MSB_First
@@ -94,12 +126,12 @@ typedef union
bool atVelocity :1; /* Set if commanded velocity is reached */
bool motorSelected :1; /* Set if valid motor selected */
bool powerOn :1; /* Motor power 1 - ON; 0 - OFF. */
bool checksumError :1; /* CheckSum Error */
bool chksumError :1; /* CheckSum Error */
bool inMotion :1; /* In-motion indicator. */
#else
bool inMotion :1; /* In-motion indicator. */
bool checksumError :1; /* CheckSum Error */
bool cksumError :1; /* CheckSum Error */
bool powerOn :1; /* Motor power 1 - ON; 0 - OFF. */
bool motorSelected :1; /* Set if valid motor selected */
bool atVelocity :1; /* Set if commanded velocity is reached */
@@ -107,9 +139,113 @@ typedef union
bool positionMode :1; /* Set if moving in position mode */
bool bit7 :1; /* Bit #7 N/A. */
#endif
} Bits;
} Bits_8753;
/* 8751 Driver Status - SERVO ON and POWER ON */
struct
{
#ifdef MSB_First
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
bool forLimit :1; /* Set OFF if forward limit reached */
bool revLimit :1; /* Set OFF if reverse limit reached */
bool posError :1; /* Set ON if position error limit exceeded */
bool powerOn :1; /* Motor Power Indicator */
bool noMotor :1; /* Set ON if Missing Motor. */
bool cksumError :1; /* CheckSum Error */
bool moveDone :1; /* Set ON if Done. */
#else
bool moveDone :1; /* In-motion indicator. */
bool chksumError :1; /* CheckSum Error */
bool noMotor :1; /* Set ON if Missing Motor. */
bool powerOn :1; /* Motor power indicator 1 - ON; 0 - OFF. */
bool posError :1; /* Set ON if position error limit exceeded */
bool revLimit :1; /* Set OFF if reverse limit reached */
bool forLimit :1; /* Set OFF if forward limit reached */
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
#endif
} Bits_8751;
/* 8751 Driver Status - SERVO OFF */
struct
{
#ifdef MSB_First
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
bool overheat :1; /* Set OFF if motor overheated */
bool stopIN :1; /* Set OFF if External STOP input ACTIVE */
bool posError :1; /* Set ON if position error limit exceeded */
bool powerOn :1; /* Set ON if valid motor selected */
bool noMotor :1; /* Set ON if Missing Motor. */
bool cksumError :1; /* CheckSum Error */
bool moveDone :1; /* Set ON if Done. */
#else
bool moveDone :1; /* In-motion indicator. */
bool chksumError :1; /* CheckSum Error */
bool noMotor :1; /* Set ON if Missing Motor. */
bool powerOn :1; /* Motor power indicator */
bool posError :1; /* Set ON if position error limit exceeded */
bool stopIN :1; /* Set OFF if External STOP input ACTIVE */
bool overheat :1; /* Set OFF if motor overheated */
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
#endif
} Bits_8751_NOS;
/* 8751 Driver Status - SERVO ON and POWER OFF */
struct
{
#ifdef MSB_First
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
bool fault :2; /* Driver Power Faults - See PMD8751_FAULTS */
bool posError :1; /* Set ON if position error limit exceeded */
bool powerOn :1; /* Set ON if valid motor selected */
bool noMotor :1; /* Set ON if Missing Motor. */
bool cksumError :1; /* CheckSum Error */
bool moveDone :1; /* Set ON if Done. */
#else
bool moveDone :1; /* In-motion indicator. */
bool chksumError :1; /* CheckSum Error */
bool noMotor :1; /* Set ON if Missing Motor. */
bool powerOn :1; /* Motor power indicator */
bool posError :1; /* Set ON if position error limit exceeded */
bool fault :2; /* Driver Power Faults - See PMD8751_FAULTS */
bool homing :1; /* Set ON if homing in progress (FIN, RIN) */
#endif
} Bits_8751_FAULT;
} MOTOR_STATUS;
/* Driver Aux Status response for PMNC. */
typedef union
{
epicsUInt8 All;
/* 8751 Driver Aux Status - DIAG Command */
struct
{
#ifdef MSB_First
bool bit7 :1; /* Bit #7 N/A. */
bool bit6 :1; /* Bit #6 N/A. */
bool servoOverRun :1; /* Set if servo process time overrun (>.512msec) */
bool slewDone :1; /* Set when trapesoidal slew time over */
bool accelDone :1; /* Set when trapesoidal accell time over */
bool servoOn :1; /* Set if servo mode ON - else OpenLoop */
bool posWrap :1; /* Set on 32 bit overflow (position) */
bool diagBit :1; /* Used to encode error diagnostics */
#else
bool diagBit :1; /* Used to encode error diagnostics */
bool posWrap :1; /* Set on 32 bit overflow (position) */
bool servoOn :1; /* Set if servo mode ON - else OpenLoop */
bool accelDone :1; /* Set when trapesoidal accell time over */
bool slewDone :1; /* Set when trapesoidal slew time over */
bool servoOverRun :1; /* Set if servo process time overrun (>.512msec) */
bool bit6 :1; /* Bit #6 N/A. */
bool bit7 :1; /* Bit #7 N/A. */
#endif
} Bits_8751;
} MOTOR_AUX_STATUS;
#endif /* INCdrvPMNCComh */