lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity
Files
2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/AerotechSrc/devEnsemble.cc
T
Ron Sluiter 7a4144a355 Fix for wrong jog velocity.
2009-05-01 18:11:51 +00:00

396 lines
11 KiB
C++
Raw Blame History

/*
* FILENAME... devEnsemble.cc
* USAGE... Motor record device level support for Aerotech Ensemble.
*
* Version: $Revision: 1.7 $
* Modified By: $Author: sluiter $
* Last Modified: $Date: 2009-05-01 18:11:51 $
*/
/*
* Original Author: Chad Weimer
* Date: 04/04/08
* Current Author: Chad Weimer
*
* 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 04-01-08 caw initialized from devMM4000.cc (Newport)
* .02 11-20-08 rls - support homing in both directions.
* - disable LOAD_POS until ABORT command fixed.
* - SET_VELOCITY sets both default speed and home feedrate.
* .03 01-22-09 rls - enable LOAD_POS; ABORT command fixed with Ensemble
* firmware 2.5.2.
* .04 05-01-09 rls - Fix for jog velocity not adjusted by
* cntrl->drive_resolution.
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvEnsemble.h"
#include "epicsExport.h"
extern struct driver_table Ensemble_access;
/* ----------------Create the dsets for devEnsemble----------------- */
static struct driver_table *drvtabptr;
static long Ensemble_init (void *);
static long Ensemble_init_record (void *);
static long Ensemble_start_trans (struct motorRecord *);
static RTN_STATUS Ensemble_build_trans (motor_cmnd, double *,
struct motorRecord *);
static RTN_STATUS Ensemble_end_trans (struct motorRecord *);
struct motor_dset devEnsemble =
{
{8, NULL, (DEVSUPFUN) Ensemble_init, (DEVSUPFUN) Ensemble_init_record, NULL},
motor_update_values,
Ensemble_start_trans,
Ensemble_build_trans,
Ensemble_end_trans
};
extern "C" {epicsExportAddress (dset, devEnsemble);}
/* --------------------------- program data --------------------- */
/*
* This table is used to define the command types
* WARNING! this must match "motor_cmnd" in motor.h
*/
static msg_types Ensemble_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 */
IMMEDIATE /* SET_RESOLUTION */
};
static struct board_stat **Ensemble_cards;
/* --------------------------- program data --------------------- */
// initialize device support for Ensemble
static long Ensemble_init (void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &Ensemble_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr,
drvtabptr, &Ensemble_cards);
return(rtnval);
}
// initialize a record instance
static long Ensemble_init_record (void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, Ensemble_cards));
}
// start building a transaction
static long Ensemble_start_trans (struct motorRecord *mr)
{
return(OK);
//return (motor_start_trans_com(mr, Ensemble_cards));
}
// end building a transaction
static RTN_STATUS Ensemble_end_trans (struct motorRecord * mr)
{
return(OK);
//return (motor_end_trans_com(mr, drvtabptr));
}
// add a part to the transaction
static RTN_STATUS Ensemble_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 Ensemblecontroller *cntrl;
char buff[BUFF_SIZE], temp[BUFF_SIZE];
int axis, card, maxdigits;
unsigned int size;
double dval, cntrl_units;
RTN_STATUS rtnval;
bool send = true;
rtnval = OK;
buff[0] = '\0';
// Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL).
dval = (parms == NULL) ? 0.0 : *parms;
motor_start_trans_com(mr, Ensemble_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct Ensemblecontroller *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[axis];
maxdigits = cntrl->res_decpts[axis];
if (Ensemble_table[command] > motor_call->type)
{
motor_call->type = Ensemble_table[command];
}
if (trans->state != BUILD_STATE)
{
return(rtnval = ERROR);
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
sprintf(temp, "%s%c", mr->prem, ASCII_EOS_CHAR);
strcat(motor_call->message, temp);
}
if (strlen(mr->post) != 0)
{
motor_call->postmsgptr = (char *) &mr->post;
}
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "MOVEABS @%d %.*f",
axis, maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "MOVEINC @%d %.*f",
axis, maxdigits, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
{
epicsUInt32 hparam = cntrl->home_dparam[axis];
if (command == HOME_FOR)
hparam |= 0x00000001;
else
hparam &= 0xFFFFFFFE;
cntrl->home_dparam[axis] = hparam;
sprintf(buff, "SETPARM @%d, 106, %d", axis, hparam);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
sprintf(buff, "HOME @%d", axis);
motor_call->type = Ensemble_table[command];
}
break;
case LOAD_POS:
sprintf(buff, "SETPOSCMD @%d, %.*f", axis, maxdigits, cntrl_units);
break;
case SET_VEL_BASE:
send = false;
break; // Ensemble does not use base velocity
case SET_VELOCITY:
sprintf(buff, "SETPARM @%d, 102, %.*f", //DefaultSpeed
axis, maxdigits, cntrl_units);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
sprintf(buff, "SETPARM @%d, 107, %.*f", //HomeFeedRate
axis, maxdigits, cntrl_units);
motor_call->type = Ensemble_table[command];
break;
case SET_ACCEL:
sprintf(buff, "SETPARM @%d, 103, %.*f", //DefaultRampRate
axis, maxdigits, cntrl_units);
break;
case GO:
/*
* The Ensemble starts moving immediately on move commands, GO command
* does nothing
*/
send = false;
break;
case SET_ENC_RATIO:
//sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
// axis, maxdigits, cntrl_units);
send = false;
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:
sprintf(buff, "ABORT @%d", axis);
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "FREERUN @%d %.*f", axis, maxdigits, cntrl_units);
break;
case SET_PGAIN:
sprintf(buff, "SETPARM @%d, 8, %.*f", //GainKp
axis, maxdigits, dval);
break;
case SET_IGAIN:
sprintf(buff, "SETPARM @%d, 7, %.*f", //GainKi
axis, maxdigits, dval);
break;
case SET_DGAIN:
sprintf(buff, "SETPARM @%d, 12, %.*f", //GainKpi
axis, maxdigits, dval); // which gain??
break;
case ENABLE_TORQUE:
sprintf(buff, "ENABLE @%d", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "DISABLE @%d", axis);
break;
case PRIMITIVE:
if (mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
}
break;
case SET_HIGH_LIMIT:
sprintf(buff, "SETPARM(@%d, 48, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCW
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
//trans->state = IDLE_STATE; // No command sent to the controller.
//if(cntrl_units > motor_info->high_limit)
//{
// mr->dhlm = motor_info->high_limit;
// rtnval = ERROR;
//}
//send = false;
break;
case SET_LOW_LIMIT:
sprintf(buff, "SETPARM(@%d, 47, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCCW
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
//trans->state = IDLE_STATE; // No command sent to the controller.
//if(cntrl_units < motor_info->low_limit)
//{
// mr->dllm = motor_info->low_limit;
// rtnval = ERROR;
//}
//send = false;
break;
case SET_RESOLUTION:
sprintf(buff, "SETPARM @%d, 3, %.*f", //PosScaleFactor
axis, maxdigits, 1 / cntrl_units);
break;
default:
send = false;
rtnval = ERROR;
}
if (send == true)
{
size = strlen (buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
{
errlogMessage("Ensemble_build_trans(): buffer overflow.\n");
}
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
}
return(rtnval);
}
View Git Blame Copy Permalink