forked from epics_driver_modules/motorBase
MarkRivers
75 lines
3.0 KiB
C++
75 lines
3.0 KiB
C++
//! Description : This is the "model 3" asyn motor driver for IMS MDrivePlus.
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//! Based on HytecMotorDriver.h.
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//! @ImsMDrivePlus.h
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#ifndef ImsMDrivePlusMotorController_H
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#define ImsMDrivePlusMotorController_H
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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#include "ImsMDrivePlusMotorAxis.h"
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////////////////////////////////////
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// ImsMDrivePlusMotorController class
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//! derived from asynMotorController class
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////////////////////////////////////
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class ImsMDrivePlusMotorController : public asynMotorController
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{
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public:
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/////////////////////////////////////////
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// Override asynMotorController functions
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/////////////////////////////////////////
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ImsMDrivePlusMotorController(const char *motorPortName, const char *IOPortName, const char *deviceName, double movingPollPeriod, double idlePollPeriod);
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ImsMDrivePlusMotorAxis* getAxis(asynUser *pasynUser);
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ImsMDrivePlusMotorAxis* getAxis(int axisNo);
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//void report(FILE *fp, int level);
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asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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/////////////////////////////////////////
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// IMS specific functions
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/////////////////////////////////////////
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asynStatus writeReadController(const char *output, char *input, size_t maxChars, size_t *nread, double timeout);
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asynStatus writeController(const char *output, double timeout);
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protected:
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ImsMDrivePlusMotorAxis **pAxes_; // Array of pointers to axis objects
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///////////////////////////////////////////
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// IMS MDrivePlus controller function codes
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///////////////////////////////////////////
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//! extra parameters that the ImsMDrivePlus controller supports
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int ImsMDrivePlusLoadMCode_; //! Load MCode string, NOT SUPPORTED YET
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int ImsMDrivePlusClearMCode_; //! Clear program buffer, NOT SUPPORTED YET
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int ImsMDrivePlusSaveToNVM_; //! Store current user variables and flags to nonvolatile ram
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#define FIRST_IMS_PARAM ImsMDrivePlusLoadMCode_
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#define LAST_IMS_PARAM ImsMDrivePlusSaveToNVM_
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#define NUM_IMS_PARAMS (&LAST_IMS_PARAM - &FIRST_IMS_PARAM + 1)
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private:
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// drvInfo strings for extra parameters that the ImsMDrivePlus controller supports
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#define ImsMDrivePlusLoadMCodeControlString "IMS_LOADMCODE" // NOT SUPPORTED YET
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#define ImsMDrivePlusClearMCodeControlString "IMS_CLEARMCODE" // NOT SUPPORTED YET
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#define ImsMDrivePlusSaveToNVMControlString "IMS_SAVETONVM"
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asynUser *pAsynUserIMS;
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char motorName[MAX_NAME_LEN];
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char deviceName[MAX_NAME_LEN];
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int homeSwitchInput;
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int posLimitSwitchInput;
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int negLimitSwitchInput;
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void initController(const char *devName, double movingPollPeriod, double idlePollPeriod);
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int readHomeAndLimitConfig(); // read home, positive limit, and neg limit switch configuration from controller (S1-S4 settings)
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friend class ImsMDrivePlusMotorAxis;
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};
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//! iocsh function to create controller object
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//! NOTE: drvAsynIPPortConfigure() must be called first
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//extern "C" int ImsMDrivePlusCreateController(const char *motorPortName, const char *IOPortName, char *devName, double movingPollPeriod, double idlePollPeriod);
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#endif // ImsMDrivePlusMotorController_H
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