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

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/* File: devMicos.cc */
/* Device Support Routines for Micos MoCo dc motor controller. */
/*
* Original Author: Kurt Goetze
* Date: 11-24-2003
*
* Modification Log:
* -----------------
* .00 11-24-2003 kag initialized from drvMCB4B.c
* .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR".
* .02 02-12-2004 rls copied from devMicos.c; ported to R3.14.x
*/
#define VERSION 2.00
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMicos.h"
#include "epicsExport.h"
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int devMicosDebug = 0;
#define Debug(l, f, args...) {if (l <= devMicosDebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* Debugging levels:
* devMicosDebug >= 3 Print new part of command and command string so far
* at the end of Micos_build_trans
*/
extern struct driver_table Micos_access;
/* ----------------Create the dsets for devMicos----------------- */
static struct driver_table *drvtabptr;
static long Micos_init(void *);
static long Micos_init_record(void *);
static long Micos_start_trans(struct motorRecord *);
static RTN_STATUS Micos_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS Micos_end_trans(struct motorRecord *);
struct motor_dset devMicos =
{
{8, NULL, (DEVSUPFUN) Micos_init, (DEVSUPFUN) Micos_init_record, NULL},
motor_update_values,
Micos_start_trans,
Micos_build_trans,
Micos_end_trans
};
extern "C" {epicsExportAddress(dset,devMicos);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types Micos_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 **Micos_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for Micos DC motor */
static long Micos_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
Debug(5, "Micos_init: entry\n");
if (after == 0)
{
drvtabptr = &Micos_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &Micos_cards);
Debug(5, "Micos_init: exit\n");
return(rtnval);
}
/* initialize a record instance */
static long Micos_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
Debug(5, "Micos_init_record: entry\n");
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, Micos_cards);
Debug(5, "Micos_init_record: exit\n");
return(rtnval);
}
/* start building a transaction */
static long Micos_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
static RTN_STATUS Micos_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS Micos_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 MicosController *cntrl;
char buff[30];
int axis, card;
RTN_STATUS rtnval;
double dval; /* placeholder for double values passed from motor record */
long ival; /* placeholder for ints passed from motor record */
rtnval = OK;
buff[0] = '\0';
dval = parms[0];
ival = NINT(parms[0]);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
Debug(5, "Micos_build_trans: entry, motor_start_trans_com=%ld\n", rtnval);
motor_call = &(trans->motor_call);
motor_call->type = Micos_table[command];
card = motor_call->card; /* card is the group of drivers per unique serial port */
axis = motor_call->signal; /* axis is Micos address, up to 16 (0-15) per serial port */
/* Note: Each Micos driver drives _1_ motor */
brdptr = (*trans->tabptr->card_array)[card];
Debug(5, "Micos_build_trans: axis=%d, command=%d\n", axis, command);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MicosController *) brdptr->DevicePrivate;
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcpy(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
motor_call->type = Micos_table[command];
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcpy(motor_call->message, mr->prem);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
motor_call->type = Micos_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, ival);
break;
case MOVE_REL:
sprintf(motor_call->message, "%c%dmr%ld", CTLA, axis, ival);
break;
case HOME_FOR:
sprintf(motor_call->message, "%c%dgh", CTLA, axis);
break;
case HOME_REV:
sprintf(motor_call->message, "%c%dgh", CTLA, axis);
break;
case LOAD_POS: /* Micos allows you to define the zero position only */
if (dval == 0.0)
sprintf(motor_call->message, "%c%ddh,ud", CTLA, axis);
else
rtnval = ERROR;
break;
case SET_VEL_BASE:
trans->state = IDLE_STATE;
break; /* Micos does not use base velocity */
case SET_VELOCITY:
if (ival < 0) ival = 0;
if (ival > 1000000) ival = 1000000;
sprintf(motor_call->message, "%c%ddv%ld,ud", CTLA, axis, ival);
break;
case SET_ACCEL:
/* dval is acceleration in steps/sec/sec */
if (ival < 0) ival = 0;
if (ival > 1000000) ival = 1000000;
sprintf(motor_call->message, "%c%dda%ld,ud", CTLA, axis, ival);
break;
case GO:
/*
* The Micos starts moving immediately on move commands, GO command
* does nothing
*/
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The Micos does not have the concept of encoder ratio, ignore this
* command
*/
trans->state = IDLE_STATE;
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: /* (decelerate to a) stop */
sprintf(motor_call->message, "%c%dab1", CTLA, axis);
break;
case JOG:
/*
* Micos does not have a jog command. Simulate with move absolute
* to the appropriate software limit. The record will prevent JOG motion
* beyond its soft limits
*/
if (dval > 0.)
sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dhlm / mr->mres));
else
sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dllm / mr->mres));
break;
case SET_PGAIN:
if (ival < 0) ival = 0;
if (ival > 32767) ival = 32767;
sprintf(motor_call->message, "%c%ddp%ld,ud", CTLA, axis, ival);
break;
case SET_IGAIN:
if (ival < 0) ival = 0;
if (ival > 32767) ival = 32767;
sprintf(motor_call->message, "%c%ddi%ld,ud", CTLA, axis, ival);
break;
case SET_DGAIN:
if (ival < 0) ival = 0;
if (ival > 32767) ival = 32767;
sprintf(motor_call->message, "%c%ddd%ld,ud", CTLA, axis, ival);
break;
case ENABLE_TORQUE:
sprintf(motor_call->message, "%c%dmn", CTLA, axis);
break;
case DISABL_TORQUE:
sprintf(motor_call->message, "%c%dmf", CTLA, axis);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE;
break;
default:
rtnval = ERROR;
}
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "Micos_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval);
return (rtnval);
}
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