/* File: devMicos.cc */ /* Device Support Routines for Micos MoCo dc motor controller. */ /* * Original Author: Kurt Goetze * Date: 11-24-2003 * * Modification Log: * ----------------- * .00 11-24-2003 kag initialized from drvMCB4B.c * .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR". * .02 02-12-2004 rls copied from devMicos.c; ported to R3.14.x */ #define VERSION 2.00 #include #include "motorRecord.h" #include "motor.h" #include "motordevCom.h" #include "drvMicos.h" #include "epicsExport.h" /*----------------debugging-----------------*/ #ifdef __GNUG__ #ifdef DEBUG volatile int devMicosDebug = 0; #define Debug(l, f, args...) {if (l <= devMicosDebug) printf(f, ## args);} #else #define Debug(l, f, args...) #endif #else #define Debug() #endif /* Debugging levels: * devMicosDebug >= 3 Print new part of command and command string so far * at the end of Micos_build_trans */ extern struct driver_table Micos_access; /* ----------------Create the dsets for devMicos----------------- */ static struct driver_table *drvtabptr; static long Micos_init(void *); static long Micos_init_record(void *); static long Micos_start_trans(struct motorRecord *); static RTN_STATUS Micos_build_trans(motor_cmnd, double *, struct motorRecord *); static RTN_STATUS Micos_end_trans(struct motorRecord *); struct motor_dset devMicos = { {8, NULL, (DEVSUPFUN) Micos_init, (DEVSUPFUN) Micos_init_record, NULL}, motor_update_values, Micos_start_trans, Micos_build_trans, Micos_end_trans }; extern "C" {epicsExportAddress(dset,devMicos);} /* --------------------------- program data --------------------- */ /* This table is used to define the command types */ static msg_types Micos_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 */ }; static struct board_stat **Micos_cards; /* --------------------------- program data --------------------- */ /* initialize device support for Micos DC motor */ static long Micos_init(void *arg) { long rtnval; int after = (arg == 0) ? 0 : 1; Debug(5, "Micos_init: entry\n"); if (after == 0) { drvtabptr = &Micos_access; (drvtabptr->init)(); } rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &Micos_cards); Debug(5, "Micos_init: exit\n"); return(rtnval); } /* initialize a record instance */ static long Micos_init_record(void *arg) { struct motorRecord *mr = (struct motorRecord *) arg; long rtnval; Debug(5, "Micos_init_record: entry\n"); rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, Micos_cards); Debug(5, "Micos_init_record: exit\n"); return(rtnval); } /* start building a transaction */ static long Micos_start_trans(struct motorRecord *mr) { return(OK); } /* end building a transaction */ static RTN_STATUS Micos_end_trans(struct motorRecord *mr) { return(OK); } /* add a part to the transaction */ static RTN_STATUS Micos_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 MicosController *cntrl; char buff[30]; int axis, card; RTN_STATUS rtnval; double dval; /* placeholder for double values passed from motor record */ long ival; /* placeholder for ints passed from motor record */ rtnval = OK; buff[0] = '\0'; dval = parms[0]; ival = NINT(parms[0]); rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards); Debug(5, "Micos_build_trans: entry, motor_start_trans_com=%ld\n", rtnval); motor_call = &(trans->motor_call); motor_call->type = Micos_table[command]; card = motor_call->card; /* card is the group of drivers per unique serial port */ axis = motor_call->signal; /* axis is Micos address, up to 16 (0-15) per serial port */ /* Note: Each Micos driver drives _1_ motor */ brdptr = (*trans->tabptr->card_array)[card]; Debug(5, "Micos_build_trans: axis=%d, command=%d\n", axis, command); if (brdptr == NULL) return(rtnval = ERROR); cntrl = (struct MicosController *) brdptr->DevicePrivate; if (trans->state != BUILD_STATE) return(rtnval = ERROR); if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0) { strcpy(motor_call->message, mr->init); rtnval = motor_end_trans_com(mr, drvtabptr); rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards); motor_call->type = Micos_table[command]; } switch (command) { case MOVE_ABS: case MOVE_REL: case HOME_FOR: case HOME_REV: case JOG: if (strlen(mr->prem) != 0) { strcpy(motor_call->message, mr->prem); rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards); motor_call->type = Micos_table[command]; } if (strlen(mr->post) != 0) motor_call->postmsgptr = (char *) &mr->post; break; default: break; } switch (command) { case MOVE_ABS: sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, ival); break; case MOVE_REL: sprintf(motor_call->message, "%c%dmr%ld", CTLA, axis, ival); break; case HOME_FOR: sprintf(motor_call->message, "%c%dgh", CTLA, axis); break; case HOME_REV: sprintf(motor_call->message, "%c%dgh", CTLA, axis); break; case LOAD_POS: /* Micos allows you to define the zero position only */ if (dval == 0.0) sprintf(motor_call->message, "%c%ddh,ud", CTLA, axis); else rtnval = ERROR; break; case SET_VEL_BASE: trans->state = IDLE_STATE; break; /* Micos does not use base velocity */ case SET_VELOCITY: if (ival < 0) ival = 0; if (ival > 1000000) ival = 1000000; sprintf(motor_call->message, "%c%ddv%ld,ud", CTLA, axis, ival); break; case SET_ACCEL: /* dval is acceleration in steps/sec/sec */ if (ival < 0) ival = 0; if (ival > 1000000) ival = 1000000; sprintf(motor_call->message, "%c%dda%ld,ud", CTLA, axis, ival); break; case GO: /* * The Micos starts moving immediately on move commands, GO command * does nothing */ trans->state = IDLE_STATE; break; case SET_ENC_RATIO: /* * The Micos does not have the concept of encoder ratio, ignore this * command */ trans->state = IDLE_STATE; 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 STOP_AXIS: /* (decelerate to a) stop */ sprintf(motor_call->message, "%c%dab1", CTLA, axis); break; case JOG: /* * Micos does not have a jog command. Simulate with move absolute * to the appropriate software limit. The record will prevent JOG motion * beyond its soft limits */ if (dval > 0.) sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dhlm / mr->mres)); else sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dllm / mr->mres)); break; case SET_PGAIN: if (ival < 0) ival = 0; if (ival > 32767) ival = 32767; sprintf(motor_call->message, "%c%ddp%ld,ud", CTLA, axis, ival); break; case SET_IGAIN: if (ival < 0) ival = 0; if (ival > 32767) ival = 32767; sprintf(motor_call->message, "%c%ddi%ld,ud", CTLA, axis, ival); break; case SET_DGAIN: if (ival < 0) ival = 0; if (ival > 32767) ival = 32767; sprintf(motor_call->message, "%c%ddd%ld,ud", CTLA, axis, ival); break; case ENABLE_TORQUE: sprintf(motor_call->message, "%c%dmn", CTLA, axis); break; case DISABL_TORQUE: sprintf(motor_call->message, "%c%dmf", CTLA, axis); break; case SET_HIGH_LIMIT: case SET_LOW_LIMIT: trans->state = IDLE_STATE; break; default: rtnval = ERROR; } rtnval = motor_end_trans_com(mr, drvtabptr); Debug(5, "Micos_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval); return (rtnval); }