forked from epics_driver_modules/motorBase
MarkRivers
206 lines
9.8 KiB
C++
206 lines
9.8 KiB
C++
/* asynMotorDriver.h
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*
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* Mark Rivers
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*
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* This file defines the base class for an asynMotorDriver. It is the class
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* from which real motor drivers are derived. It derives from asynPortDriver.
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*/
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#ifndef asynMotorDriver_H
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#define asynMotorDriver_H
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#include <epicsEvent.h>
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#include <epicsTypes.h>
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/** Strings defining parameters for the driver.
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* These are the values passed to drvUserCreate.
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* The driver will place in pasynUser->reason an integer to be used when the
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* standard asyn interface methods are called. */
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#define motorMoveRelString "MOTOR_MOVE_REL"
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#define motorMoveAbsString "MOTOR_MOVE_ABS"
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#define motorMoveVelString "MOTOR_MOVE_VEL"
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#define motorHomeString "MOTOR_HOME"
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#define motorStopString "MOTOR_STOP_AXIS"
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#define motorVelocityString "MOTOR_VELOCITY"
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#define motorVelBaseString "MOTOR_VEL_BASE"
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#define motorAccelString "MOTOR_ACCEL"
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#define motorPositionString "MOTOR_POSITION"
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#define motorEncoderPositionString "MOTOR_ENCODER_POSITION"
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#define motorDeferMovesString "MOTOR_DEFER_MOVES"
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#define motorResolutionString "MOTOR_RESOLUTION"
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#define motorEncRatioString "MOTOR_ENC_RATIO"
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#define motorPgainString "MOTOR_PGAIN"
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#define motorIgainString "MOTOR_IGAIN"
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#define motorDgainString "MOTOR_DGAIN"
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#define motorHighLimitString "MOTOR_HIGH_LIMIT"
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#define motorLowLimitString "MOTOR_LOW_LIMIT"
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#define motorSetClosedLoopString "MOTOR_SET_CLOSED_LOOP"
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#define motorStatusString "MOTOR_STATUS"
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#define motorUpdateStatusString "MOTOR_UPDATE_STATUS"
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#define motorStatusDirectionString "MOTOR_STATUS_DIRECTION"
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#define motorStatusDoneString "MOTOR_STATUS_DONE"
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#define motorStatusHighLimitString "MOTOR_STATUS_HIGH_LIMIT"
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#define motorStatusAtHomeString "MOTOR_STATUS_AT_HOME"
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#define motorStatusSlipString "MOTOR_STATUS_SLIP"
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#define motorStatusPowerOnString "MOTOR_STATUS_POWERED"
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#define motorStatusFollowingErrorString "MOTOR_STATUS_FOLLOWING_ERROR"
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#define motorStatusHomeString "MOTOR_STATUS_HOME"
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#define motorStatusHasEncoderString "MOTOR_STATUS_HAS_ENCODER"
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#define motorStatusProblemString "MOTOR_STATUS_PROBLEM"
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#define motorStatusMovingString "MOTOR_STATUS_MOVING"
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#define motorStatusGainSupportString "MOTOR_STATUS_GAIN_SUPPORT"
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#define motorStatusCommsErrorString "MOTOR_STATUS_COMMS_ERROR"
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#define motorStatusLowLimitString "MOTOR_STATUS_LOW_LIMIT"
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#define motorStatusHomedString "MOTOR_STATUS_HOMED"
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/** The structure that is passed back to devMotorAsyn when the status changes. */
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typedef struct MotorStatus {
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double position; /**< Commanded motor position */
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double encoderPosition; /**< Actual encoder position */
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double velocity; /**< Actual velocity */
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epicsUInt32 status; /**< Word containing status bits (motion done, limits, etc.) */
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} MotorStatus;
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#ifdef __cplusplus
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#include <asynPortDriver.h>
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/** Class from which motor axis objects are derived. */
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class epicsShareFunc asynMotorAxis {
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public:
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/* This is the constructor for the class. */
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asynMotorAxis(class asynMotorController *pController, int axisNumber);
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virtual asynStatus setIntegerParam(int index, int value);
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virtual asynStatus setDoubleParam(int index, double value);
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virtual asynStatus callParamCallbacks();
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// These are pure virtual functions which derived classes must implement
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/** Move the motor to an absolute location or by a relative amount.
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* \param[in] position The absolute position to move to (if relative=0) or the relative distance to move
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* by (if relative=1). Units=steps.
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* \param[in] relative Flag indicating relative move (1) or absolute move (0).
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* \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
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* \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
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* \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
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virtual asynStatus move(double position, int relative, double minVelocity, double maxVelocity, double acceleration) = 0;
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/** Move the motor at a fixed velocity until told to stop.
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* \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
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* \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
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* \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
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virtual asynStatus moveVelocity(double minVelocity, double maxVelocity, double acceleration) = 0;
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/** Move the motor to the home position.
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* \param[in] minVelocity The initial velocity, often called the base velocity. Units=steps/sec.
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* \param[in] maxVelocity The maximum velocity, often called the slew velocity. Units=steps/sec.
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* \param[in] acceleration The acceleration value. Units=steps/sec/sec.
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* \param[in] forwards Flag indicating to move the motor in the forward direction(1) or reverse direction(0).
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* Some controllers need to be told the direction, others know which way to go to home. */
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virtual asynStatus home(double minVelocity, double maxVelocity, double acceleration, int forwards) = 0;
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/** Stop the motor.
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* \param[in] acceleration The acceleration value. Units=steps/sec/sec. */
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virtual asynStatus stop(double acceleration) = 0;
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/** Poll the axis.
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* This function should read the controller position, encoder position, and as many of the motorStatus flags
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* as the hardware supports. It should call setIntegerParam() and setDoubleParam() for each item that it polls,
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* and then call callParamCallbacks() at the end.
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* \param[out] moving A flag that the function must set indicating that the axis is moving (1) or done (0). */
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virtual asynStatus poll(int *moving) = 0;
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/** Set the current position of the motor.
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* \param[in] position The new absolute motor position that should be set in the hardware. Units=steps.*/
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virtual asynStatus setPosition(double position) = 0;
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protected:
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class asynMotorController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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int axisNo_; /**< Index number of this axis (0 - pC_->numAxes_-1) */
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asynUser *pasynUser_; /**< asynUser connected to this axis for asynTrace debugging */
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private:
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MotorStatus status_;
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int statusChanged_;
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friend class asynMotorController;
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};
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/** Class from which motor controller objects are derived. */
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class epicsShareFunc asynMotorController : public asynPortDriver {
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public:
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/* This is the constructor for the class. */
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asynMotorController(const char *portName, int numAxes, int numParams,
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int interfaceMask, int interruptMask,
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int asynFlags, int autoConnect, int priority, int stackSize);
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/* These are the methods that we override from asynPortDriver */
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virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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virtual asynStatus readGenericPointer(asynUser *pasynUser, void *pointer);
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/* These are the methods that are new to this class */
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virtual asynMotorAxis* getAxis(asynUser *pasynUser);
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virtual asynMotorAxis* getAxis(int axisNo);
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virtual asynStatus startPoller(double movingPollPeriod, double idlePollPeriod, int forcedFastPolls);
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virtual asynStatus wakeupPoller();
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virtual asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
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virtual asynStatus triggerProfile(asynUser *pasynUser);
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virtual asynStatus poll();
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void asynMotorPoller(); // This should be private but is called from C function
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protected:
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/** These are the index numbers for the parameters in the parameter library.
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* They are the values of pasynUser->reason in calls from device support */
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int motorMoveRel_;
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#define FIRST_MOTOR_PARAM motorMoveRel_
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int motorMoveAbs_;
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int motorMoveVel_;
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int motorHome_;
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int motorStop_;
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int motorVelocity_;
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int motorVelBase_;
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int motorAccel_;
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int motorPosition_;
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int motorEncoderPosition_;
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int motorDeferMoves_;
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int motorResolution_;
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int motorEncRatio_;
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int motorPgain_;
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int motorIgain_;
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int motorDgain_;
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int motorHighLimit_;
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int motorLowLimit_;
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int motorSetClosedLoop_;
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int motorStatus_;
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int motorUpdateStatus_;
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int motorStatusDirection_;
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int motorStatusDone_;
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int motorStatusHighLimit_;
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int motorStatusAtHome_;
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int motorStatusSlip_;
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int motorStatusPowerOn_;
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int motorStatusFollowingError_;
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int motorStatusHome_;
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int motorStatusHasEncoder_;
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int motorStatusProblem_;
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int motorStatusMoving_;
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int motorStatusGainSupport_;
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int motorStatusCommsError_;
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int motorStatusLowLimit_;
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int motorStatusHomed_;
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#define LAST_MOTOR_PARAM motorStatusHomed_
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int numAxes_; /**< Number of axes this controller supports */
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asynMotorAxis **pAxes_; /**< Array of pointers to axis objects */
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epicsEventId pollEventId_; /**< Event ID to wake up poller */
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double idlePollPeriod_; /**< The time between polls when no axes are moving */
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double movingPollPeriod_; /**< The time between polls when any axis is moving */
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int forcedFastPolls_; /**< The number of forced fast polls when the poller wakes up */
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friend class asynMotorAxis;
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};
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#define NUM_MOTOR_DRIVER_PARAMS (&LAST_MOTOR_PARAM - &FIRST_MOTOR_PARAM + 1)
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#endif /* _cplusplus */
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#endif /* asynMotorDriver_H */
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