/* FILENAME... devMDrive.cc USAGE... Motor record device level support for Intelligent Motion Systems, Inc. MDrive series of controllers. Version: $Revision: 1.7 $ Modified By: $Author: sluiter $ Last Modified: $Date: 2008-03-14 20:10:01 $ */ /* * Original Author: Ron Sluiter * Date: 03/21/03 * * 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 03/21/03 rls copied from devIM483PL.c * .02 05/15/03 rls R3.14 compatible. * .03 03/15/04 rls bug fix for LOAD_POS command with encoder. * .04 03/16/04 rls Protect against NULL "parms" argument in * MDrive_build_trans(). * .05 09/20/04 rls remove '?' command string padding. * .06 04/06/05 rls Bug fix for not setting accel = decel. */ #include #include "motorRecord.h" #include "motor.h" #include "motordevCom.h" #include "drvIM483.h" #include "epicsExport.h" #define STATIC static extern struct driver_table MDrive_access; /* ----------------Create the dsets for devMDrive----------------- */ STATIC struct driver_table *drvtabptr; STATIC long MDrive_init(void *); STATIC long MDrive_init_record(void *); STATIC long MDrive_start_trans(struct motorRecord *); STATIC RTN_STATUS MDrive_build_trans(motor_cmnd, double *, struct motorRecord *); STATIC RTN_STATUS MDrive_end_trans(struct motorRecord *); struct motor_dset devMDrive = { {8, NULL, (DEVSUPFUN) MDrive_init, (DEVSUPFUN) MDrive_init_record, NULL}, motor_update_values, MDrive_start_trans, MDrive_build_trans, MDrive_end_trans }; extern "C" {epicsExportAddress(dset,devMDrive);} /* --------------------------- program data --------------------- */ /* This table is used to define the command types */ /* WARNING! this must match "motor_cmnd" in motor.h */ static msg_types MDrive_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 **MDrive_cards; /* --------------------------- program data --------------------- */ /* initialize device support for MDrive stepper motor */ STATIC long MDrive_init(void *arg) { long rtnval; int after = (arg == 0) ? 0 : 1; if (after == 0) { drvtabptr = &MDrive_access; (drvtabptr->init)(); } rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MDrive_cards); return(rtnval); } /* initialize a record instance */ STATIC long MDrive_init_record(void *arg) { struct motorRecord *mr = (struct motorRecord *) arg; return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MDrive_cards)); } /* start building a transaction */ STATIC long MDrive_start_trans(struct motorRecord *mr) { return(OK); } /* end building a transaction */ STATIC RTN_STATUS MDrive_end_trans(struct motorRecord *mr) { return(OK); } /* add a part to the transaction */ STATIC RTN_STATUS MDrive_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 IM483controller *cntrl; char buff[110]; int axis, card, intval; unsigned int size; RTN_STATUS rtnval; bool send; msta_field msta; send = true; /* Default to send motor command. */ rtnval = OK; buff[0] = '\0'; /* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */ intval = (parms == NULL) ? 0 : NINT(parms[0]); msta.All = mr->msta; motor_start_trans_com(mr, MDrive_cards); motor_call = &(trans->motor_call); card = motor_call->card; axis = motor_call->signal + 1; brdptr = (*trans->tabptr->card_array)[card]; if (brdptr == NULL) return(rtnval = ERROR); cntrl = (struct IM483controller *) brdptr->DevicePrivate; if (MDrive_table[command] > motor_call->type) motor_call->type = MDrive_table[command]; if (trans->state != BUILD_STATE) return(rtnval = ERROR); if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0) { strcat(motor_call->message, " "); strcat(motor_call->message, mr->init); } switch (command) { 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); strcat(motor_call->message, " "); } if (strlen(mr->post) != 0) motor_call->postmsgptr = (char *) &mr->post; break; default: break; } switch (command) { case MOVE_ABS: sprintf(buff, "MA %d", intval); break; case MOVE_REL: sprintf(buff, "MR %d", intval); break; case HOME_FOR: sprintf(buff, " F1000 0"); break; case HOME_REV: sprintf(buff, " F1000 1"); break; case LOAD_POS: sprintf(buff, "P=%d", intval); if (msta.Bits.EA_PRESENT == 1) { /* Finish 1st message; MDrive can only handle one msg. */ strcpy(motor_call->message, buff); rtnval = motor_end_trans_com(mr, drvtabptr); rtnval = (RTN_STATUS) motor_start_trans_com(mr, MDrive_cards); intval = NINT(mr->dval / mr->eres); sprintf(buff, "C2=%d", intval); motor_call->type = MDrive_table[command]; } break; case SET_VEL_BASE: sprintf(buff, "VI %d", intval); break; case SET_VELOCITY: sprintf(buff, "VM %d", intval); break; case SET_ACCEL: sprintf(buff, "A=%d", intval); strcpy(motor_call->message, buff); rtnval = motor_end_trans_com(mr, drvtabptr); rtnval = (RTN_STATUS) motor_start_trans_com(mr, MDrive_cards); sprintf(buff, "D=A"); motor_call->type = MDrive_table[command]; break; case GO: /* The MDrive starts moving immediately on move commands, GO command * does nothing. */ send = 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, "SL 0"); break; case JOG_VELOCITY: case JOG: sprintf(buff, "SL=%d", intval); break; case SET_PGAIN: case SET_IGAIN: case SET_DGAIN: send = false; break; case ENABLE_TORQUE: sprintf(buff, "DE=1"); break; case DISABL_TORQUE: sprintf(buff, "DE=0"); break; case SET_HIGH_LIMIT: case SET_LOW_LIMIT: case SET_ENC_RATIO: trans->state = IDLE_STATE; /* No command sent to the controller. */ send = false; break; default: send = false; rtnval = ERROR; } size = strlen(buff); if (send == false) return(rtnval); else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE) errlogMessage("MDrive_build_trans(): buffer overflow.\n"); else { strcat(motor_call->message, buff); motor_end_trans_com(mr, drvtabptr); } return(rtnval); }