forked from epics_driver_modules/motorBase
MarkRivers
126 lines
4.3 KiB
C
126 lines
4.3 KiB
C
/*
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FILENAME... drvMVP2001.h
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USAGE... This file contains driver "include" information that is specific to
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the MicroMo MVP 2001 B02 (Linear, RS-485).
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Version: $Revision: 1.5 $
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Modified By: $Author: rivers $
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Last Modified: $Date: 2004-08-17 21:29:32 $
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*/
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/*
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* Original Author: Kevin Peterson
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* Date: 08/27/2002
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*
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* Illinois Open Source License
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* University of Illinois
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* Open Source License
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*
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*
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* Copyright (c) 2004, UNICAT. All rights reserved.
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*
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*
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* Developed by:
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*
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* UNICAT, Advanced Photon Source, Argonne National Laboratory
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*
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* Frederick Seitz Materials Research Laboratory,
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* University of Illinois at Urbana-Champaign
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*
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* http://www.uni.aps.anl.gov
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*
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* Permission is hereby granted, free of charge, to any person obtaining a
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* copy of this software and associated documentation files (the
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* "Software"), to deal with the Software without restriction, including
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* without limitation the rights to use, copy, modify, merge, publish,
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* distribute, sublicense, and/or sell copies of the Software, and to
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* permit persons to whom the Software is furnished to do so, subject to
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* the following conditions:
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*
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*
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* Redistributions of source code must retain the above copyright notice,
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* this list of conditions and the following disclaimers.
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*
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*
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* Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimers in the
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* documentation and/or other materials provided with the distribution.
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*
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*
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* Neither the names of UNICAT, Frederick Seitz Materials Research
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* Laboratory, University of Illinois at Urbana-Champaign,
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* nor the names of its contributors may be used to endorse or promote
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* products derived from this Software without specific prior written
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* permission.
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*
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*
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* THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS
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* OR IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF
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* MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT.
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* IN NO EVENT SHALL THE CONTRIBUTORS OR COPYRIGHT HOLDERS BE LIABLE FOR
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* ANY CLAIM, DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT,
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* TORT OR OTHERWISE, ARISING FROM, OUT OF OR IN CONNECTION WITH THE
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* SOFTWARE OR THE USE OR OTHER DEALINGS WITH THE SOFTWARE.
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*
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*
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* Modification Log:
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* -----------------
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* .01 08/27/2002 kmp copied from drvIM483.h (rev 1.1, mod .01) and
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* customized for the MVP2001.
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* .02 07/12/2004 rls Converted from MPF to asyn.
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*
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*/
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#ifndef INCdrvMVP2001h
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#define INCdrvMVP2001h 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 COMM_TIMEOUT 2 /* Command timeout in seconds. */
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/* MVP2001 (chain) specific data is stored in this structure. */
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struct MVPcontroller
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{
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asynUser *pasynUser; /* For RS-232 */
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char asyn_port[80]; /* asyn port name */
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int maxCurrent[MAX_AXIS]; /* Maximum current (in mA) */
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int encoderCpr[MAX_AXIS]; /* Encoder counts per revolution */
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CommStatus status; /* Controller communication status. */
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};
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/* Motor status response for MVP2001. */
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typedef union
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{
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epicsUInt16 All;
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struct
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{
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bool minusLS :1; /* negative limit switch hit */
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bool extEvent2 :1; /* external event #2 */
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bool plusLS :1; /* positive limit switch hit */
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bool extEvent1 :1; /* external event #1 */
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bool emergencyStop :1; /* emergency stop flag is active */
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bool localMode :1; /* 1:local mode - 0:remote mode */
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bool softLimit :1; /* soft-limit has been reached */
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bool NOT_power :1; /* motor power 0 - ON; 1 - OFF. */
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bool offTraj :1; /* off traj (more than FD com. value) */
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bool devicenetErr :1; /* error in devicenet message packets */
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bool devicenet :1; /* devicenet connection active */
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bool trajComplete :1; /* 1=traj (set by T com.) is complete */
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bool aiState :1; /* ANM mode not used--always 1 */
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bool operatingMode :1; /* 1:Velocity - 0:Position */
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bool inPosition :1; /* in-position indicator */
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bool inMotion :1; /* in-motion indicator */
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} Bits;
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} MOTOR_STATUS;
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/* Function prototypes. */
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extern RTN_STATUS MVP2001Setup(int, int);
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extern RTN_STATUS MVP2001Config(int, const char *);
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#endif /* INCdrvMVP2001h */
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