/* FILENAME... devMDT695.cc USAGE... Motor record device level support for ThorLabs Piezo Control Module (MDT695) Version: $Revision: 1.2 $ Modified By: $Author: sluiter $ Last Modified: $Date: 2008-03-14 20:23:45 $ */ /* * Original Author: Joe Sullivan * Date: 9/27/2006 * * 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 09-27-06 jps initialized from devEMC18011.cc */ #include #include #include "motorRecord.h" #include "motor.h" #include "motordevCom.h" #include "drvMDT695.h" #include "epicsExport.h" #define STATIC static extern struct driver_table MDT695_access; /* ----------------Create the dsets for devMDT695----------------- */ STATIC struct driver_table *drvtabptr; STATIC long MDT695_init(void *); STATIC long MDT695_init_record(void *); STATIC long MDT695_start_trans(struct motorRecord *); STATIC RTN_STATUS MDT695_build_trans(motor_cmnd, double *, struct motorRecord *); STATIC RTN_STATUS MDT695_end_trans(struct motorRecord *); struct motor_dset devMDT695 = { {8, NULL, (DEVSUPFUN) MDT695_init, (DEVSUPFUN) MDT695_init_record, NULL}, motor_update_values, MDT695_start_trans, MDT695_build_trans, MDT695_end_trans }; extern "C" {epicsExportAddress(dset,devMDT695);} /* --------------------------- program data --------------------- */ /* This table is used to define the command types */ /* WARNING! this must match "motor_cmnd" in motor.h */ static msg_types MDT695_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 **MDT695_cards; /* --------------------------- program data --------------------- */ /* initialize device support for MDT695 stepper motor */ STATIC long MDT695_init(void *arg) { long rtnval; int after = (arg == 0) ? 0 : 1; if (after == 0) { drvtabptr = &MDT695_access; (drvtabptr->init)(); } rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MDT695_cards); return(rtnval); } /* initialize a record instance */ STATIC long MDT695_init_record(void *arg) { struct motorRecord *mr = (struct motorRecord *) arg; /* Disable change of direction testing in record support */ /* This device does it's own backlash correction */ mr->ntm = menuYesNoNO; return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MDT695_cards)); } /* start building a transaction */ STATIC long MDT695_start_trans(struct motorRecord *mr) { return(motor_start_trans_com(mr, MDT695_cards)); } /* end building a transaction */ STATIC RTN_STATUS MDT695_end_trans(struct motorRecord *mr) { return(motor_end_trans_com(mr, drvtabptr)); } /* add a part to the transaction */ STATIC RTN_STATUS MDT695_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 mess_info *motor_info; struct MDT695Controller *cntrl; char buff[110]; int signal, card, intval; double dval, cntrl_units; unsigned int size; bool sendMsg; RTN_STATUS rtnval; rtnval = OK; buff[0] = '\0'; sendMsg = true; /* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */ intval = (parms == NULL) ? 0 : NINT(parms[0]); dval = (parms == NULL) ? 0 : *parms; motor_call = &(trans->motor_call); card = motor_call->card; signal = motor_call->signal; brdptr = (*trans->tabptr->card_array)[card]; if (brdptr == NULL) return(rtnval = ERROR); cntrl = (struct MDT695Controller *) brdptr->DevicePrivate; /* 6K Controllers expect Velocity and Acceleration settings in Revs/sec/sec */ cntrl_units = dval * cntrl->drive_resolution; if (MDT695_table[command] > motor_call->type) motor_call->type = MDT695_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, MDT695_OUT_EOS); } 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, MDT695_OUT_EOS); } if (strlen(mr->post) != 0) motor_call->postmsgptr = (char *) &mr->post; break; default: break; } /* ThorLabs Piezo driver - voltage set command only */ switch (command) { case MOVE_REL: // No relative move available break; case MOVE_ABS: sprintf(buff, "#V%.*f", 1, cntrl_units); break; case HOME_FOR: case HOME_REV: break; case LOAD_POS: break; case SET_VEL_BASE: break; /* MDT695 does not use base velocity */ case SET_VELOCITY: break; case SET_ACCEL: break; case GO: break; case SET_ENC_RATIO: rtnval = ERROR; 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: break; case JOG: break; case SET_PGAIN: case SET_IGAIN: case SET_DGAIN: rtnval = ERROR; break; case ENABLE_TORQUE: case DISABL_TORQUE: rtnval = ERROR; break; case SET_HIGH_LIMIT: case SET_LOW_LIMIT: rtnval = ERROR; break; default: rtnval = ERROR; } size = strlen(buff); if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE) errlogMessage("MDT695_build_trans(): buffer overflow.\n"); else { strcat(motor_call->message, buff); } return(rtnval); }