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2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/MclennanSrc/devPM304.cc
T
Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

330 lines
8.6 KiB
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/* File: devPM304.cc */
/* Version: 2.00 */
/* Date Last Modified: 09/29/99 */
/* Device Support Routines for motor */
/*
* Original Author: Mark Rivers
* Date: 11/20/98
*
* Modification Log:
* -----------------
* .00 11-20-99 mlr initialized from devMM4000.c
* .01 09-29-99 mlr Version 2.0, compatible with V4.04 of
* motorRecord
* .02 10-26-99 mlr Version 2.01, minor fixes for V4.0 of
* motorRecord
* .03 02-11-03 mlr Version 3.0, added support for PM600 model.
* Added SD for decceleration.
* .04 05/27/03 rls R3.14 conversion.
* ...
*/
#define VERSION 3.00
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPM304.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PM304_access;
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
#ifdef __GNUG__
#ifdef DEBUG
volatile int devPM304Debug = 0;
#define Debug(L, FMT, V...) { if(L <= devPM304Debug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#else
#define Debug(L, FMT, V...)
#endif
#else
#define Debug()
#endif
/* Debugging levels:
* devPM304Debug >= 3 Print new part of command and command string so far
* at the end of PM304_build_trans
*/
/* ----------------Create the dsets for devPM304----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long PM304_init(void *);
STATIC long PM304_init_record(void *);
STATIC long PM304_start_trans(struct motorRecord *);
STATIC RTN_STATUS PM304_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PM304_end_trans(struct motorRecord *);
struct motor_dset devPM304 =
{
{8, NULL, (DEVSUPFUN) PM304_init, (DEVSUPFUN) PM304_init_record, NULL},
motor_update_values,
PM304_start_trans,
PM304_build_trans,
PM304_end_trans
};
extern "C" {epicsExportAddress(dset,devPM304);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types PM304_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 */
};
static struct board_stat **PM304_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PM304 stepper motor */
STATIC long PM304_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &PM304_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PM304_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PM304_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, PM304_cards);
return(rtnval);
}
/* start building a transaction */
STATIC long PM304_start_trans(struct motorRecord *mr)
{
long rtnval;
rtnval = motor_start_trans_com(mr, PM304_cards);
return(rtnval);
}
/* end building a transaction */
STATIC RTN_STATUS PM304_end_trans(struct motorRecord *mr)
{
RTN_STATUS rtnval;
rtnval = motor_end_trans_com(mr, drvtabptr);
return(rtnval);
}
/* add a part to the transaction */
STATIC RTN_STATUS PM304_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 PM304controller *cntrl;
char buff[30];
int axis, card;
RTN_STATUS rtnval;
double dval;
long ival;
rtnval = OK;
buff[0] = '\0';
dval = parms[0];
ival = NINT(parms[0]);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PM304controller *) brdptr->DevicePrivate;
if (PM304_table[command] > motor_call->type)
motor_call->type = PM304_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
strcat(motor_call->message, "\r");
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%dMA%ld;", axis, ival);
break;
case MOVE_REL:
sprintf(buff, "%dMR%ld;", axis, ival);
break;
case HOME_FOR:
if (cntrl->model == MODEL_PM304){
sprintf(buff, "%dIX;", axis);
} else {
sprintf(buff, "%dHD;", axis);
}
break;
case HOME_REV:
if (cntrl->model == MODEL_PM304){
sprintf(buff, "%dIX-1;", axis);
} else {
sprintf(buff, "%dHD-1;", axis);
}
break;
case LOAD_POS:
if (cntrl->use_encoder[axis-1]){
sprintf(buff, "%dAP%ld;", axis, ival);
} else {
sprintf(buff, "%dCP%ld;", axis, ival);
}
break;
case SET_VEL_BASE:
break; /* PM304 does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dSV%ld;", axis, ival);
break;
case SET_ACCEL:
sprintf(buff, "%dSA%ld;", axis, ival);
strcat(motor_call->message, buff);
sprintf(buff, "%dSD%ld;", axis, ival);
break;
case GO:
/*
* The PM304 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The PM304 does not have the concept of encoder ratio, ignore this
* command
*/
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, "%dST;", axis);
break;
case JOG:
if (cntrl->model == MODEL_PM304) {
sprintf(buff, "%dSV%ld;", axis, ival);
strcat(motor_call->message, buff);
if (ival > 0) {
/* This is a positive move in PM304 coordinates */
sprintf(buff, "%dCV1;", axis);
} else {
/* This is a negative move in PM304 coordinates */
sprintf(buff, "%dCV-1;", axis);
}
} else {
sprintf(buff, "%dCV%ld;", axis, ival);
}
break;
case SET_PGAIN:
sprintf(buff, "%dKP%ld;", axis, ival);
break;
case SET_IGAIN:
sprintf(buff, "%dKS%ld;", axis, ival);
break;
case SET_DGAIN:
sprintf(buff, "%dKV%ld;", axis, ival);
break;
case ENABLE_TORQUE:
sprintf(buff, "%dRS;", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "%dAB;", axis);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
/* The PM304 internal soft limits are very difficult to retrieve, not
* implemented yet */
break;
default:
rtnval = ERROR;
}
strcat(motor_call->message, buff);
Debug(3, "PM304_build_trans: buff=%s, motor_call->message=%s\n", buff, motor_call->message);
return (rtnval);
}
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