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motorBase/motorApp/NewportSrc/devMM4000.cc
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Ron Sluiter 7f10c327be Support individual axis power on/off for MM4005/6.
2008-09-09 18:22:12 +00:00

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/*
FILENAME... devMM4000.cc
USAGE... Motor record device level support for Newport MM4000.
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-09-09 18:22:12 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
*
* 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 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor
* positions at the end of a move.
* .05 04-21-01 rls Added jog velocity motor command.
* .06 05-19-03 rls Converted to R3.14.x.
* .07 07-07-08 rls Support individual axis power on/off for MM4005/6.
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMMCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table MM4000_access;
/* ----------------Create the dsets for devMM4000----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MM4000_init(void *);
STATIC long MM4000_init_record(void *);
STATIC long MM4000_start_trans(struct motorRecord *);
STATIC RTN_STATUS MM4000_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS MM4000_end_trans(struct motorRecord *);
struct motor_dset devMM4000 =
{
{8, NULL, (DEVSUPFUN) MM4000_init, (DEVSUPFUN) MM4000_init_record, NULL},
motor_update_values,
MM4000_start_trans,
MM4000_build_trans,
MM4000_end_trans
};
extern "C" {epicsExportAddress(dset,devMM4000);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MM4000_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 **MM4000_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MM4000 stepper motor */
STATIC long MM4000_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &MM4000_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MM4000_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MM4000_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MM4000_cards));
}
/* start building a transaction */
STATIC long MM4000_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, MM4000_cards));
}
/* end building a transaction */
STATIC RTN_STATUS MM4000_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS MM4000_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 mess_info *motor_info;
struct MMcontroller *cntrl;
char buff[110];
int axis, card, maxdigits;
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];
maxdigits = cntrl->res_decpts[axis - 1];
if (MM4000_table[command] > motor_call->type)
motor_call->type = MM4000_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;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%dPA%.*f;", axis, maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%dPR%.*f;", axis, maxdigits, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%dOR;", axis);
break;
case LOAD_POS:
if (cntrl->model == MM4000)
sprintf(buff, "%dSH%.*f;%dDH;%dSH%.*f", axis, maxdigits, cntrl_units,
axis, axis, maxdigits, cntrl->home_preset[axis - 1]);
break;
case SET_VEL_BASE:
break; /* MM4000 does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dVA%.*f;", axis, maxdigits, cntrl_units);
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
* Convert to user units/sec/sec
*/
sprintf(buff, "%dAC%.*f;", axis, maxdigits, cntrl_units);
break;
case GO:
/*
* The MM4000 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The MM4000 does not have the concept of encoder ratio, ignore this
* command
*/
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:
sprintf(buff, "%dST;", axis);
break;
case JOG:
/*
* MM4000 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. We can move to MM4000 soft limits.
* If the record soft limits are set tighter than the MM4000 limits
* the record will prevent JOG motion beyond its soft limits
*/
sprintf(buff, "%dVA%.*f;", axis, maxdigits, fabs(cntrl_units));
strcat(motor_call->message, buff);
if (dval > 0.)
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dhlm);
else
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dllm);
break;
case SET_PGAIN:
sprintf(buff, "%dKP%f;%dUF;", axis, dval, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%f;%dUF;", axis, dval, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%f;%dUF;", axis, dval, axis);
break;
case ENABLE_TORQUE:
if (cntrl->model == MM4000)
sprintf(buff, "MO;");
else
sprintf(buff, "%dMO;", axis);
break;
case DISABL_TORQUE:
if (cntrl->model == MM4000)
sprintf(buff, "MF;");
else
sprintf(buff, "%dMF;", axis);
break;
case SET_HIGH_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (cntrl_units > motor_info->high_limit)
{
mr->dhlm = motor_info->high_limit;
rtnval = ERROR;
}
break;
case SET_LOW_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (cntrl_units < motor_info->low_limit)
{
mr->dllm = motor_info->low_limit;
rtnval = ERROR;
}
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("MM4000_build_trans(): buffer overflow.\n");
else
strcat(motor_call->message, buff);
return(rtnval);
}
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