forked from epics_driver_modules/motorBase
mp49
47 lines
1.7 KiB
C
47 lines
1.7 KiB
C
#ifndef DRV_MOTOR_ASYN_H
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#define DRV_MOTOR_ASYN_H
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#include "motor_interface.h"
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#include <limits.h>
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#define NMASKBITS (sizeof(int) * CHAR_BIT)
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#define BIT_ISSET(bit, n, mask) ( ((bit)/NMASKBITS < (n)) && \
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((mask)[(bit)/NMASKBITS] & (1 << ((bit) % NMASKBITS))) )
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#define BIT_SET(bit, mask, value) do { \
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(mask)[(bit)/NMASKBITS] &= ~(1 << ((bit) % NMASKBITS)); \
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if (value) { \
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(mask)[(bit)/NMASKBITS] |= (1 << ((bit) % NMASKBITS)); \
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} \
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} while (0);
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typedef enum {
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/* Parameters - these must match the definitions in motor_interface.h */
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motorPosition = motorAxisPosition,
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motorEncRatio = motorAxisEncoderRatio,
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motorResolution = motorAxisResolution,
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motorPgain = motorAxisPGain,
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motorIgain = motorAxisIGain,
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motorDgain = motorAxisDGain,
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motorHighLim = motorAxisHighLimit,
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motorLowLim = motorAxisLowLimit,
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motorSetClosedLoop = motorAxisClosedLoop,
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motorEncoderPosition = motorAxisEncoderPosn,
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motorDeferMoves = motorAxisDeferMoves,
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/* Not exposed by the driver */
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motorVelocity=100, motorVelBase, motorAccel,
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/* Commands */
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motorMoveRel, motorMoveAbs, motorMoveVel, motorHome, motorStop,
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/* Status readback */
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motorStatus, motorUpStatus,
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/* Status bits split out */
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motorStatusDirection=motorAxisDirection,
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motorStatusDone, motorStatusHighLimit, motorStatusAtHome,
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motorStatusSlip, motorStatusPowerOn, motorStatusFollowingError,
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motorStatusHome, motorStatusHasEncoder, motorStatusProblem,
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motorStatusMoving, motorStatusGainSupport, motorStatusCommsError,
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motorStatusLowLimit, motorStatusHomed, motorStatusLast
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} motorCommand;
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#endif
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