/* FILENAME... devMM3000.cc USAGE... Motor record device level support for Newport MM3000. Version: $Revision: 1.4 $ Modified By: $Author: sluiter $ Last Modified: $Date: 2008-03-14 20:17:14 $ */ /* * Original Author: Mark Rivers * Date: 10/16/97 * Current Author: Ron Sluiter * * 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. */ #include #include "motorRecord.h" #include "motor.h" #include "motordevCom.h" #include "drvMMCom.h" #include "epicsExport.h" #define STATIC static extern struct driver_table MM3000_access; /* ----------------Create the dsets for devMM3000----------------- */ /* static long report(); */ STATIC struct driver_table *drvtabptr; STATIC long MM3000_init(void *); STATIC long MM3000_init_record(void *); STATIC long MM3000_start_trans(struct motorRecord *); STATIC RTN_STATUS MM3000_build_trans(motor_cmnd, double *, struct motorRecord *); STATIC RTN_STATUS MM3000_end_trans(struct motorRecord *); struct motor_dset devMM3000 = { {8, NULL, (DEVSUPFUN) MM3000_init, (DEVSUPFUN) MM3000_init_record, NULL}, motor_update_values, MM3000_start_trans, MM3000_build_trans, MM3000_end_trans }; extern "C" {epicsExportAddress(dset,devMM3000);} /* --------------------------- program data --------------------- */ /* This table is used to define the command types */ /* WARNING! this must match "motor_cmnd" in motor.h */ static msg_types MM3000_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 **MM3000_cards; /* --------------------------- program data --------------------- */ /* initialize device support for MM3000 stepper motor */ STATIC long MM3000_init(void *arg) { long rtnval; int after = (arg == 0) ? 0 : 1; if (after == 0) { drvtabptr = &MM3000_access; (drvtabptr->init)(); } rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MM3000_cards); return(rtnval); } /* initialize a record instance */ STATIC long MM3000_init_record(void *arg) { struct motorRecord *mr = (struct motorRecord *) arg; return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MM3000_cards)); } /* start building a transaction */ STATIC long MM3000_start_trans(struct motorRecord *mr) { return(motor_start_trans_com(mr, MM3000_cards)); } /* end building a transaction */ STATIC RTN_STATUS MM3000_end_trans(struct motorRecord *mr) { struct motor_trans *trans = (struct motor_trans *) mr->dpvt; struct mess_node *motor_call; char *msgptr; int last; /* Remove trailing ';'s from message. */ motor_call = &(trans->motor_call); msgptr = motor_call->message; last = strlen(msgptr) - 1; if (msgptr[last] == ';') msgptr[last] = (char) NULL; return(motor_end_trans_com(mr, drvtabptr)); } /* add a part to the transaction */ STATIC RTN_STATUS MM3000_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 MMcontroller *cntrl; char buff[30]; int axis, card; unsigned int size; int intval; RTN_STATUS rtnval; rtnval = OK; buff[0] = '\0'; 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 MMcontroller *) brdptr->DevicePrivate; if (MM3000_table[command] > motor_call->type) motor_call->type = MM3000_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); strcat(motor_call->message, "\r"); } switch (command) { case SET_PGAIN: case SET_IGAIN: case SET_DGAIN: { double temp_dbl; temp_dbl = parms[0] * 32767.0; intval = NINT(temp_dbl); 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); strcat(motor_call->message, ";"); } 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; } switch (command) { case MOVE_ABS: sprintf(buff, "%dPA%d;", axis, intval); break; case MOVE_REL: sprintf(buff, "%dPR%d;", axis, intval); break; case HOME_FOR: case HOME_REV: sprintf(buff, "%dOR1;", axis); break; case LOAD_POS: if (*parms == 0.0) sprintf(buff, "%dDH", axis); else rtnval = ERROR; break; case SET_VEL_BASE: if (cntrl->type[axis - 1] == STEPPER) { if (intval < 100) intval = 100; sprintf(buff, "%dVB%d;", axis, intval); } break; case SET_VELOCITY: if (cntrl->type[axis - 1] == STEPPER && intval < 100) intval = 100; sprintf(buff, "%dVA%d;", axis, intval); break; case SET_ACCEL: /* * The value passed is in steps/sec/sec. * Convert to user units/sec/sec */ if (cntrl->type[axis - 1] == STEPPER && intval < 15000) intval = 15000; if (cntrl->type[axis - 1] == DC && intval < 250) intval = 250; sprintf(buff, "%dAC%d;", axis, intval); break; case GO: /* * The MM3000 starts moving immediately on move commands, GO command * does nothing */ break; case SET_ENC_RATIO: /* MM3000 valid encoder ratio values < 10,000. */ while (parms[0] > 10000.0 || parms[1] > 10000.0) { parms[0] /= 10; parms[1] /= 10; } if (cntrl->type[axis - 1] == STEPPER) sprintf(buff, "%dER%d:%d", axis, (int) parms[0], (int) parms[1]); 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: sprintf(buff, "%dST;", axis); break; case JOG: /* * MM3000 does not have a jog command. Simulate with move absolute * to the appropriate software limit. We can move to MM3000 soft limits. * If the record soft limits are set tighter than the MM3000 limits * the record will prevent JOG motion beyond its soft limits */ sprintf(buff, "%dVA%d;", axis, abs(intval)); strcat(motor_call->message, buff); if (intval > 0) sprintf(buff, "%dPA%d;", axis, (int) (mr->dhlm / mr->mres)); else sprintf(buff, "%dPA%d;", axis, (int) (mr->dllm / mr->mres)); break; case SET_PGAIN: sprintf(buff, "%dKP%d;%dUF;", axis, intval, axis); break; case SET_IGAIN: sprintf(buff, "%dKI%d;%dUF;", axis, intval, axis); break; case SET_DGAIN: sprintf(buff, "%dKD%d;%dUF;", axis, intval, axis); break; case ENABLE_TORQUE: sprintf(buff, "MO;"); break; case DISABL_TORQUE: sprintf(buff, "MF;"); break; case SET_HIGH_LIMIT: case SET_LOW_LIMIT: sprintf(buff, "%dSL%d;", axis, intval); break; default: rtnval = ERROR; } size = strlen(buff); if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE) errlogMessage("MM3000_build_trans(): buffer overflow.\n"); else strcat(motor_call->message, buff); return(rtnval); }