forked from epics_driver_modules/motorBase
jsullivan-anl
8c9053a842
Configured at startup via SPiiPlusConfig(0, "<asyn port>", "<command mode>") Where command mode = "BUF","CON" or "DIR" (see README file)
179 lines
5.7 KiB
C
179 lines
5.7 KiB
C
/*
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FILENAME... drvSPiiPlus.h
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USAGE... This file contains ACS Tech80 driver "include"
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information that is specific to the SPiiPlus serial controller
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Version: $Revision: 1.2 $
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Modified By: $Author: sullivan $
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Last Modified: $Date: 2008-05-21 21:18:53 $
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*/
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/*
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* Original Author: Mark Rivers
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* Current Author: J. Sullivan
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* Date: 10/16/97
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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*
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* This software was produced under U.S. Government contracts:
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* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
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* Initial development by:
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* The Controls and Automation Group (AT-8)
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* Ground Test Accelerator
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* Accelerator Technology Division
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* Los Alamos National Laboratory
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*
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* Co-developed with
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* The Controls and Computing Group
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* Accelerator Systems Division
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* Advanced Photon Source
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* Argonne National Laboratory
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*
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* Modification Log:
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* -----------------
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* .01 04-07-05 jps initialized from drvMM4000.cc
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* .02 10-31-07 jps added command mode switch (BUFFER/DIRECT)
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*/
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#ifndef INCdrvSPiiPlush
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#define INCdrvSPiiPlush 1
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#include "motor.h"
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#include "motordrvCom.h"
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#include "asynDriver.h"
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#include "asynOctetSyncIO.h"
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#define ACS_MSG_SIZE 120
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// ACS Motion Commands -
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// These definitions must match the native ACS programming
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#define OP_ABS_MOVE 1
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#define OP_REL_MOVE 2
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#define OP_JOG_MOVE 3
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#define OP_HOME_F 4
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#define OP_HOME_R 5
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#define QUERY_CNT 7
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enum QUERY_TYPES {QSTATUS, QFAULT, QPOS, QEA_POS, QVEL, QHOME, QDONE};
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// Query Command Strings
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#define QSTATUS_CMND "?D/MST(%d)"
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#define QFAULT_CMND "?D/FAULT(%d)"
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#define QPOS_CMND "?APOS(%d)"
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#define QEA_POS_CMND "?FPOS(%d)"
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#define QEA_POS_KIN_CMND "?FPOS%s" // Read reverse kinimatic position ('CONNECT' mode)
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#define QVEL_CMND "?FVEL(%d)"
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#define QHOME_CMND "?opReq(%d)"
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#define QDONE_CMND "?Done(%d)"
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/* Controller command interface modes
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* BUFFER - motion initiated by executing ACSPL buffers (ie: Nanomotion stages)
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* CONNECT - ACSPL 'CONNECT' command is being used (kinematics) (ie: Alio Hexapod)
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* DIRECT - direct access to physical motors via command interpreter
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*/
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#define MODE_CNT 3
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enum CMND_MODES {BUFFER, CONNECT, DIRECT};
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#define BUFFER_STR "BUF"
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#define CONNECT_STR "CON"
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#define DIRECT_STR "DIR"
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/* Motion Master specific data is stored in this structure. */
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struct SPiiPlusController
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{
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asynUser *pasynUser; /* For RS-232 */
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int asyn_address; /* Use for GPIB or other address with asyn */
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enum CMND_MODES cmndMode; /* Controller command interface mode */
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char asyn_port[80]; /* asyn port name */
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char recv_string[QUERY_CNT][ACS_MSG_SIZE]; /* Query result strings */
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double home_preset[MAX_AXIS]; /* Controller's home preset position (XF command). */
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CommStatus status; /* Controller communication status. */
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};
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/* Motor status response for SPiiPlus . */
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typedef union
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{
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epicsUInt8 All;
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struct
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{
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#ifdef MSB_First
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bool bit7 :1; /* Bit #7 N/A. */
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bool inaccel :1; /* Motor is accelerating */
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bool inmotion :1; /* Motor in-motion */
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bool inposition :1; /* Motor in position */
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bool bit3 :1; /* Bit #3 N/A */
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bool bit2 :1; /* Bit #2 N/A */
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bool openloop :1; /* Motor in open-loop (torque control) mode */
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bool enabled :1; /* Motor Enabled */
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#else
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bool enabled :1; /* Motor Enabled */
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bool openloop :1; /* Motor in open-loop (torque control) mode */
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bool bit2 :1; /* Bit #2 N/A */
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bool bit3 :1; /* Bit #3 N/A */
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bool inposition :1; /* Motor in position */
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bool inmotion :1; /* Motor in-motion */
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bool inaccel :1; /* Motor is accelerating */
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bool bit7 :1; /* Bit #7 N/A. */
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#endif
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} Bits;
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} MOTOR_STATUS;
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/*
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* Motor fault flags for SPiiPlus
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* (See page 8-4 in SPiiPlus ACSPL Programmers Guide)
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*/
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typedef union
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{
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epicsUInt32 All;
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struct
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{
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#ifdef MSB_First
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bool bit31 :1; /* Bit #31 N/A */
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bool misc_faults :6; /* Misc. Faults */
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bool bits21_24 :4; /* Bits #21 - #24 N/A */
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bool hssinc :1; /* HSSI Not Connected */
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bool bits19 :1; /* Bits #9 N/A */
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bool bits18 :1; /* Bits #18 N/A */
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bool sp :1; /* Servo Processor Alarm */
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bool limit_error :3; /* Limit Error (Vel, Accel, Current) */
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bool pos_error :2; /* Position Error */
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bool enc_error :5; /* Encoder or Drive error */
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bool sll :1; /* Software Left Limit */
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bool srl :1; /* Software Right Limit */
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bool bits2_4 :3; /* Bits #2 - #4 N/A */
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bool rl :1; /* Left Limit */
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bool ll :1; /* Right Limit */
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#else
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bool ll :1; /* Right Limit */
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bool rl :1; /* Left Limit */
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bool bits2_4 :3; /* Bits #2 - #4 N/A */
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bool srl :1; /* Software Right Limit */
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bool sll :1; /* Software Left Limit */
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bool enc_error :5; /* Encoder or Drive error */
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bool pos_error :2; /* Position Error */
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bool limit_error :3; /* Limit Error (Vel, Accel, Current) */
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bool sp :1; /* Servo Processor Alarm */
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bool bits18 :1; /* Bits #18 N/A */
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bool bits19 :1; /* Bits #9 N/A */
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bool hssinc :1; /* HSSI Not Connected */
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bool bits21_24 :4; /* Bits #21 - #24 N/A */
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bool misc_faults :6; /* Misc. Faults */
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bool bit31 :1; /* Bit #31 N/A */
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#endif
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} Bits;
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} MOTOR_FAULTS;
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#endif /* INCdrvSPiiPlush */
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