forked from epics_driver_modules/motorBase
MarkRivers
223 lines
9.4 KiB
C++
223 lines
9.4 KiB
C++
/********************************************************************************/
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/* H H Y Y TTTTT EEEEE CCC HYTEC ELECTRONICS LTD */
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/* H H Y Y T E C 5 Cradock Road, */
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/* HHHHH Y T EEE C Reading, Berks. Tel: 0118 9757770 */
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/* H H Y T E C RG2 0JT Fax: 0118 9757566 */
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/* H H Y T EEEEE CCC Web: www.hytec-electronics.co.uk */
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/********************************************************************************/
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/********************************************************************************/
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/* _____________________________________________________________________ */
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/* | H Y T E C 8 6 0 1 S T E P M O T E R A s y n D r i v e r | */
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/* --------------------------------------------------------------------- */
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/* */
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/* Source file name :- HytecMotorDriver.c */
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/* */
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/* Initial creation date :- 29-Mar-2011 */
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/* */
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/* Original Developers :- Jim Chen. Hytec Electronics Ltd */
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/* */
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/********************************************************************************/
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/* */
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/* Description :- This is the "model 3" asyn motor driver for Hytec 8601 */
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/* Stepper Motor IP module. The code is based on original */
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/* Hytec drvHy8601asyn.c driver and also Mark Rivers' */
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/* ACRMotorDriver. */
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/* */
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/* */
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/* (C)2011 Hytec Electronics Ltd. */
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/* */
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/********************************************************************************/
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/* */
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/* Revision history: (comment and initial revisions) */
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/* */
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/* vers. revised modified by date */
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/* ----- ----------- ---------------- --------------- */
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/* 2.0 Continued version Jim Chen 29/03/2011 */
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/* The main contents of this driver are the same as the original */
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/* Hytec drvHy8601asyn.c driver but in "model 3" form as defined */
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/* by Mark Rivers. Hence it starts from version 2.0. */
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/* 2.1 New interfaces Jim Chen 04/04/2011 */
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/* This version follows the asyn motor model 3 latest interface */
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/* changes that include: */
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/* a).New asynMotorAxis base class */
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/* b).Moves the axis specific functions from the motor controller */
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/* class to individual axis class */
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/* c).Changes asynMotorDriver.cpp to asynMotorController.cpp. */
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/* 2.2 Bugs fix Jim Chen 14/04/2011 */
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/* Fixed setPosition bug */
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/* Added firmware version parameter */
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/* */
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/********************************************************************************/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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static const char *driverName = "HytecMotorDriver";
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/* CSR Register bit definitions */
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#define CSR_HOMESTOP 0x8000
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#define CSR_INTEN 0x4000
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#define CSR_DONE 0x2000
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#define CSR_CRASHSTOP 0x1000
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#define CSR_DIRECTION 0x0800
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#define CSR_AUX2 0x0400
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#define CSR_AUX1 0x0200
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#define CSR_ENCODUSE 0x0100
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#define CSR_ENCODDET 0x0080
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#define CSR_JOG 0x0040
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#define CSR_GO 0x0020
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#define CSR_DRVSTAT 0x0010
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#define CSR_HOMELMT 0x0008
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#define CSR_MAXLMT 0x0004
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#define CSR_MINLMT 0x0002
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#define CSR_RESET 0x0001
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/* New Hardware Register Map */
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#define REG_STEPCNTLO 0x00
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#define REG_STEPCNTHI 0x02
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#define REG_CURRPOSLO 0x04
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#define REG_CURRPOSHI 0x06
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#define REG_STARTSTOPSPD 0x08
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#define REG_HIGHSPD 0x0A
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#define REG_RAMPRATE 0x0C
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#define REG_CSR 0x0E
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#define REG_INTMASK 0x10
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#define REG_INTVECTOR 0x12
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#define REG_INTREQUEST 0x14
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#define REG_CURRENTSPD 0x16
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#define REG_SPARE1 0x18
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#define REG_SPARE2 0x1A
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#define REG_SPARE3 0x1C
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#define REG_SPARE4 0x1E
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#define PROM_MODEL 0x8601
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#define PROM_OFFS 0x80
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#define REG_BANK_OFFS 0x00
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#define REG_BANK_SZ 0x20
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#define INT_LMT (CSR_MINLMT | CSR_MAXLMT | CSR_HOMELMT)
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#define INT_SRCS (CSR_RESET | INT_LMT | CSR_DRVSTAT | CSR_DONE)
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/* define a mask to enable all sources of interrupts */
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#define ALL_INTS (INT_SRCS | CSR_INTEN)
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#define DONE_INT (CSR_DONE) /* the only interrupt suggested to use. JC 12-Nov-2009 */
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#define HY8601_NUM_AXES 4
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#define IP_DETECT_STR "VITA4 "
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#define GET_REG(base,reg) (*(volatile epicsUInt16 *)((base)+(reg)))
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#define SET_REG(base,reg,val) do { *(volatile epicsUInt16 *)((base)+(reg)) = (val);} while(0)
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#define CSR_SET(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) |= (bit);} while(0)
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/* Please NOTE, The DONE bit is cleared by either ORing an "1" or ANDing an "1" (if it is already "1") to it.
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* Yet neither ORing nor ANDing it with "0" would affect it. As such, clearing any other bit in the CSR with
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* the AND operation need to be very careful so that it doesn't knock down the DONE bit. This is why in the
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* following macro after inverting the bit in the CSR, we clear the DONE bit to the inversion result in order
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* not to affect the DONE bit. */
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#define CSR_CLR(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) &= ((~(bit)) & 0xDFFF);} while(0)
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#define HytecPowerControlString "HYTEC_POWER"
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#define HytecBrakeControlString "HYTEC_BRAKE"
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#define HytecFirmwareString "HYTEC_FWVERSION"
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#define HytecMoveAllString "HYTEC_MOVEALL"
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class HytecMotorAxis : public asynMotorAxis
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{
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public:
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HytecMotorAxis(class HytecMotorController *pC, int axis, double ratio, int vector);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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int getVector();
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volatile char * getChanbase();
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//the following are called from non-member function so they are here
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private:
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asynStatus InitialiseAxis();
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HytecMotorController *pC_;
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volatile char *chanbase;
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int vector;
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int useencoder;
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double encoderRatio; /**< (double) Number of encoder counts in one motor count (encoder counts/motor counts) */
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double resolution; /**< (double) Number of motor units per engineering unit */
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double softLowLimit; /**< (double) Low soft limit in motor units ???? Shouldn't these two in engineering unit? */
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double softHighLimit; /**< (double) High soft limit in motor units ???? */
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double absPosition;
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double desiredMove;
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int times; /* to remember the the done bit set the first time */
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int absAskingPosition;
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friend class HytecMotorController;
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};
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class HytecMotorController : asynMotorController
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{
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public:
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HytecMotorController(const char *portName, int numAxes, double movingPollPeriod,
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double idlePollPeriod, int cardnum, int ip_carrier, int ipslot,
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int vector, int useencoder, double encoderRatio0, double encoderRatio1,
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double encoderRatio2, double encoderRatio3);
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// These are the methods that we override from asynMotorDriver
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asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
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asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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void report(FILE *fp, int level);
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HytecMotorAxis* getAxis(asynUser *pasynUser);
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HytecMotorAxis* getAxis(int axisNo);
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//the following are called from non-member function so they are here
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void drvHy8601GetAxisStatus( HytecMotorAxis *pAxis, int csr_data );
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int getNumAxes();
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int getIPCarrier();
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int getIPSlot();
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epicsMessageQueueId getINTMsgQID();
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void increaseMsgSent();
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void increaseMsgFail();
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protected:
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// New function codes
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int HytecPowerControl_;
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#define FIRST_HYTEC_PARAM HytecPowerControl_
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int HytecBrakeControl_;
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int HytecFWVersion_;
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int HytecMoveAll_;
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#define LAST_HYTEC_PARAM HytecMoveAll_
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#define NUM_HYTEC_PARAMS (&LAST_HYTEC_PARAM - &FIRST_HYTEC_PARAM + 1)
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private:
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asynStatus SetupCard();
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int checkprom(char *pr,int expmodel);
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int numAxes;
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epicsMessageQueueId intMsgQId;
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int messagesSent; // for report
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int messagesFailed; // for report
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int ip_carrier;
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int ipslot;
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asynUser *pasynUser;
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int card;
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int vector;
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int useencoder;
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volatile char *regbase;
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epicsThreadId motorThread;
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friend class HytecMotorAxis;
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};
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