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2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/NewportSrc/devESP300.cc
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Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

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/*
FILENAME... devESP300.cc
USAGE... Motor record device level support for Newport ESP300.
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:17:14 $
*/
/*
* Original Author: Ron Sluiter
* Date: 02/19/03
* Current Author: Ron Sluiter
*
* 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:
* -----------------
* .01 05-23-03 rls Converted to R3.14.x.
* .02 10-28-03 rls User must set MRES to drive resolution.
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMMCom.h"
#include "epicsExport.h"
extern struct driver_table ESP300_access;
/* ----------------Create the dsets for devESP300----------------- */
/* static long report(); */
static struct driver_table *drvtabptr;
static long ESP300_init(void *);
static long ESP300_init_record(void *);
static long ESP300_start_trans(struct motorRecord *);
static RTN_STATUS ESP300_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS ESP300_end_trans(struct motorRecord *);
struct motor_dset devESP300 =
{
{8, NULL, (DEVSUPFUN) ESP300_init, (DEVSUPFUN) ESP300_init_record, NULL},
motor_update_values,
ESP300_start_trans,
ESP300_build_trans,
ESP300_end_trans
};
extern "C" {epicsExportAddress(dset,devESP300);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types ESP300_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 **ESP300_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for ESP300 stepper motor */
static long ESP300_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &ESP300_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &ESP300_cards);
return(rtnval);
}
/* initialize a record instance */
static long ESP300_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, ESP300_cards);
return(rtnval);
}
/* start building a transaction */
static long ESP300_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, ESP300_cards));
}
/* end building a transaction */
static RTN_STATUS ESP300_end_trans(struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
char *msgptr;
int last;
/* Remove trailing ';'s from message. */
motor_call = &(trans->motor_call);
msgptr = motor_call->message;
last = strlen(msgptr) - 1;
if (msgptr[last] == ';')
msgptr[last] = (char) NULL;
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
static RTN_STATUS ESP300_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 MMcontroller *cntrl;
char buff[80];
int axis, card;
unsigned int size;
double dval, cntrl_units;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
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 MMcontroller *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[axis - 1];
if (ESP300_table[command] > motor_call->type)
motor_call->type = ESP300_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;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%.2dPA%f;", axis, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%.2dPR%f;", axis, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%.2dOR;", axis);
break;
case LOAD_POS:
sprintf(buff, "%.2dDH%f", axis, cntrl_units);
break;
case SET_VEL_BASE:
sprintf(buff, "%.2dVB%f;", axis, cntrl_units);
break;
case SET_VELOCITY:
sprintf(buff, "%.2dVA%f;", axis, cntrl_units);
break;
case SET_ACCEL:
sprintf(buff, "%.2dAC%f;", axis, cntrl_units);
break;
case GO:
/*
* The ESP300 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
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, "%.2dST;", axis);
break;
case JOG:
sprintf(buff, "%.2dVA%f;", axis, fabs(cntrl_units));
strcat(motor_call->message, buff);
if (cntrl_units > 0)
sprintf(buff, "%.2dMV+;", axis);
else
sprintf(buff, "%.2dMV-;", axis);
break;
case SET_PGAIN:
sprintf(buff, "%dKP%f;%dUF;", axis, cntrl_units, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%f;%dUF;", axis, cntrl_units, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%f;%dUF;", axis, cntrl_units, axis);
break;
case ENABLE_TORQUE:
sprintf(buff, "%.2dMO;", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "%.2dMF;", axis);
break;
case SET_HIGH_LIMIT:
sprintf(buff, "%.2dSR%f;", axis, cntrl_units);
break;
case SET_LOW_LIMIT:
sprintf(buff, "%.2dSL%f;", axis, cntrl_units);
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("ESP300_build_trans(): buffer overflow.\n");
else
strcat(motor_call->message, buff);
return(rtnval);
}
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