lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity
Files
2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/NewFocusSrc/devPMNC87xx.cc
T
Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

427 lines
11 KiB
C++
Raw Blame History

/*
FILENAME... devPMNC87xx.cc
USAGE... Motor record device level support for NewFocus 8750 and 8752 Controller .
Version: 1.3
Modified By: sluiter
Last Modified: 2004/12/20 21:10:53
*/
/*
* Original Author: Mark Rivers
* Date: 10/16/97
* Current Author: Joe Sullivan
*
* 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:
* -----------------
* .00 10-16-97 mlr initialized from devOms58
* .01 07-19-99 rls initialized from drvMM4000
* .02 04-21-01 rls Added jog velocity motor command.
* .03 05-22-03 rls Converted to R3.14.x.
* .04 06-20-06 jps initialized from drvPMNC8750
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPMNCCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PMNC87xx_access;
/* ----------------Create the dsets for devPMNC87xx----------------- */
/* static long report(); */
STATIC struct driver_table *drvtabptr;
STATIC long PMNC87xx_init(void *);
STATIC long PMNC87xx_init_record(void *);
STATIC long PMNC87xx_start_trans(struct motorRecord *);
STATIC RTN_STATUS PMNC87xx_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PMNC87xx_end_trans(struct motorRecord *);
struct motor_dset devPMNC87xx =
{
{8, NULL, (DEVSUPFUN) PMNC87xx_init, (DEVSUPFUN) PMNC87xx_init_record, NULL},
motor_update_values,
PMNC87xx_start_trans,
PMNC87xx_build_trans,
PMNC87xx_end_trans
};
extern "C" {epicsExportAddress(dset,devPMNC87xx);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PMNC87xx_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 */
};
static struct board_stat **PMNC87xx_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PMNC87xx stepper motor */
STATIC long PMNC87xx_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &PMNC87xx_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PMNC87xx_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PMNC87xx_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PMNC87xx_cards));
}
/* start building a transaction */
STATIC long PMNC87xx_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, PMNC87xx_cards));
}
/* end building a transaction */
STATIC RTN_STATUS PMNC87xx_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS PMNC87xx_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 mess_info *motor_info;
struct controller *brdptr;
struct PMNCcontroller *cntrl;
struct PMD_axis *paxisDef;
PMD_model dType;
char buff[110];
int axis, card;
int drive, motor;
unsigned int size;
int intval, velval;
RTN_STATUS rtnval;
bool sendMsg;
rtnval = OK;
buff[0] = '\0';
sendMsg = true;
motor_start_trans_com(mr, PMNC87xx_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal;
motor_call->type = PMNC87xx_table[command];
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PMNCcontroller *) brdptr->DevicePrivate;
paxisDef = &cntrl->axisDef[axis];
drive = paxisDef->driverNum;
motor = paxisDef->motorNum;
dType = paxisDef->driverType;
if (PMNC87xx_table[command] > motor_call->type)
motor_call->type = PMNC87xx_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);
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);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
default:
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
break;
}
motor_info = &((*drvtabptr->card_array)[card]->motor_info[axis]);
switch (command)
{
case MOVE_ABS:
if (dType == PMD8753)
sprintf(buff, "REL A%d=%d", drive, intval-motor_info->position);
else
sprintf(buff, "ABS A%d=%d", drive, intval);
break;
case MOVE_REL:
sprintf(buff, "REL A%d=%d", drive, intval);
break;
case HOME_FOR:
// if (dType == PMD8751)
// sprintf(buff, "FIN A%d", drive);
// else
// trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case HOME_REV:
// if (dType == PMD8751)
// sprintf(buff, "RIN A%d", drive);
// else
// trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case LOAD_POS:
if (dType == PMD8753)
{
/* Setting local driver position because the controller cannot be set */
sprintf(buff, "CHL A%d=%d", drive, motor);
motor_info->position = intval;
motor_info->encoder_position = intval;
cntrl->last_position[axis] = 0; // Used to accumulate position history
}
else if (dType == PMD8751)
{
/* Closed loop driver - able to set position */
sprintf(buff, "POS %d=%d", drive, intval);
}
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_VEL_BASE:
if (dType == PMD8753)
{
if (abs(intval) >= MAX_VELOCITY)
intval = MAX_VELOCITY-1;
/* Set VEL to maximum to eliminate MPV out-of-range error */
sprintf(buff, "VEL A%d %d=%d", drive, motor, MAX_VELOCITY);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
sprintf(buff, "MPV A%d %d=%d", drive, motor, abs(intval));
}
else // if (dType == PMD8751)
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_VELOCITY:
if (abs(intval) > MAX_VELOCITY)
intval = MAX_VELOCITY;
sprintf(buff, "VEL A%d %d=%d", drive, motor, abs(intval));
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
*/
if (intval < MIN_ACCEL)
intval = MIN_ACCEL;
else if (intval > MAX_ACCEL)
intval = MAX_ACCEL;
sprintf(buff, "ACC A%d %d=%d", drive, motor, intval);
break;
case GO:
sprintf(buff, "GO A%d", drive);
break;
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case PRIMITIVE:
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, "HAL A%d", drive); /* Using the smooth stop command */
break;
case JOG:
if (abs(intval) > MAX_VELOCITY)
velval = MAX_VELOCITY;
else
velval = abs(intval);
if (dType == PMD8753)
{
if (intval >= 0)
sprintf(buff, "FOR A%d=%d", drive, velval);
else
sprintf(buff, "REV A%d=%d", drive, velval);
}
else if (dType == PMD8751)
{
sprintf(buff, "VEL A%d %d=%d", drive, motor, velval);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
// Use Relative Move command for jogging
// because the 8751 does not indicate motion with (FOR and REV)
// ** BUG? **
if (intval >= 0)
sprintf(buff, "REL A%d=1000000",drive);
else
sprintf(buff, "REL A%d=-1000000",drive);
}
else
{
sendMsg = false;
break;
}
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PMNC87xx_cards);
motor_call->type = PMNC87xx_table[command];
sprintf(buff, "GO A%d", drive);
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
case ENABLE_TORQUE:
if (dType == PMD8751)
sprintf(buff, "SER A%d", drive);
else if (dType == PMD8753)
sprintf(buff, "MON A%d", drive);
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case DISABL_TORQUE:
if (dType == PMD8751)
sprintf(buff, "NOS A%d", drive);
else if (dType == PMD8753)
sprintf(buff, "MOF A%d", drive);
else
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
}
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
sendMsg = false;
break;
default:
sendMsg = false;
rtnval = ERROR;
}
if (sendMsg == true)
{
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PMNC87xx_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
}
return(rtnval);
}
View Git Blame Copy Permalink