forked from epics_driver_modules/motorBase
Ron Sluiter
130 lines
3.3 KiB
C++
130 lines
3.3 KiB
C++
/*
|
|
FILENAME... devOms.cc
|
|
USAGE... Device level support for OMS VME8 and VME44 models.
|
|
|
|
Version: $Revision: 1.8 $
|
|
Modified By: $Author: sluiter $
|
|
Last Modified: $Date: 2008-03-14 20:19:06 $
|
|
*/
|
|
|
|
/*
|
|
* Original Author: Jim Kowalkowski
|
|
* Date: 01/18/93
|
|
* 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 01-18-93 jbk initialized
|
|
* ...
|
|
* .03 03-19-96 tmm v1.10: modified encoder-ratio calculation
|
|
* .04 11-26-96 jps allow for bumpless-reboot on position
|
|
* .04a 02-19-97 tmm fixed for EPICS 3.13
|
|
* .05 06-16-03 rls Converted to R3.14.x.
|
|
*/
|
|
|
|
|
|
#include <alarm.h>
|
|
#include <callback.h>
|
|
#include <dbDefs.h>
|
|
#include <dbAccess.h>
|
|
#include <dbCommon.h>
|
|
#include <devSup.h>
|
|
#include <drvSup.h>
|
|
#include <recSup.h>
|
|
#include <errlog.h>
|
|
|
|
#include "motorRecord.h"
|
|
#include "motor.h"
|
|
#include "drvOms.h"
|
|
#include "devOmsCom.h"
|
|
|
|
#include "epicsExport.h"
|
|
|
|
|
|
extern int oms44_num_cards;
|
|
extern struct driver_table oms_access;
|
|
|
|
/* ----------------Create the dsets for devOMS----------------- */
|
|
static long oms_init(void *);
|
|
static long oms_init_record(void *);
|
|
static long oms_start_trans(struct motorRecord *);
|
|
static RTN_STATUS oms_end_trans(struct motorRecord *);
|
|
|
|
struct motor_dset devOMS =
|
|
{
|
|
{8, NULL, oms_init, oms_init_record, NULL},
|
|
motor_update_values,
|
|
oms_start_trans,
|
|
oms_build_trans,
|
|
oms_end_trans
|
|
};
|
|
|
|
extern "C" {epicsExportAddress(dset,devOMS);}
|
|
|
|
static struct board_stat **oms_cards;
|
|
static const char errmsg[] = {"\n\n!!!ERROR!!! - Oms driver uninitialized.\n"};
|
|
|
|
static long oms_init(void *arg)
|
|
{
|
|
int after = (arg == 0) ? 0 : 1;
|
|
|
|
if (*(oms_access.init_indicator) == NO)
|
|
{
|
|
errlogSevPrintf(errlogMinor, "%s", errmsg);
|
|
return(ERROR);
|
|
}
|
|
else
|
|
return(motor_init_com(after, oms44_num_cards, &oms_access, &oms_cards));
|
|
}
|
|
|
|
static long oms_init_record(void *arg)
|
|
{
|
|
struct motorRecord *mr = (struct motorRecord *) arg;
|
|
return(motor_init_record_com(mr, oms44_num_cards, &oms_access, oms_cards));
|
|
}
|
|
|
|
static long oms_start_trans(struct motorRecord *mr)
|
|
{
|
|
struct motor_trans *trans;
|
|
long rtnval;
|
|
|
|
rtnval = motor_start_trans_com(mr, oms_cards);
|
|
/* Initialize a STOP_AXIS command termination string pointer. */
|
|
trans = (struct motor_trans *) mr->dpvt;
|
|
trans->motor_call.termstring = " ID";
|
|
return(rtnval);
|
|
}
|
|
|
|
static RTN_STATUS oms_end_trans(struct motorRecord *mr)
|
|
{
|
|
if (*(oms_access.init_indicator) == NO)
|
|
{
|
|
errlogSevPrintf(errlogMinor, "%s", errmsg);
|
|
return(ERROR);
|
|
}
|
|
else
|
|
return(motor_end_trans_com(mr, &oms_access));
|
|
}
|
|
|