forked from epics_driver_modules/motorBase
Ron Sluiter
131 lines
3.3 KiB
C++
131 lines
3.3 KiB
C++
/*
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FILENAME... devOms58.c
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USAGE... Motor record device level support for OMS VME58.
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Version: $Revision: 1.7 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2008-03-14 20:19:06 $
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*/
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/*
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* Original Author: Jim Kowalkowski
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* Current Author: Joe Sullivan
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* Date: 11/14/94
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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* Copyright 1991, the Regents of the University of California,
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* and the University of Chicago Board of Governors.
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*
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* This software was produced under U.S. Government contracts:
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* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
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* Initial development by:
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* The Controls and Automation Group (AT-8)
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* Ground Test Accelerator
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* Accelerator Technology Division
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* Los Alamos National Laboratory
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*
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* Co-developed with
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* The Controls and Computing Group
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* Accelerator Systems Division
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* Advanced Photon Source
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* Argonne National Laboratory
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*
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* Modification Log:
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* -----------------
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* .01 01-18-93 jbk initialized
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* .02 11-14-94 jps copy devOMS.c and modify to point to vme58 driver
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* .03 03-19-96 tmm v1.10: modified encoder-ratio calculation
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* .04 06-20-96 jps allow for bumpless-reboot on position
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* .04a 02-19-97 tmm fixed for EPICS 3.13
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* .05 06-16-03 rls Converted to R3.14.x.
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*/
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#include <alarm.h>
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#include <callback.h>
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#include <dbDefs.h>
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#include <dbAccess.h>
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#include <dbCommon.h>
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#include <devSup.h>
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#include <drvSup.h>
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#include <recSup.h>
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#include <errlog.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "drvOms58.h"
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#include "devOmsCom.h"
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#include "epicsExport.h"
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extern int oms58_num_cards;
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extern struct driver_table oms58_access;
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/* ----------------Create the dsets for devOMS----------------- */
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static long oms_init(void *);
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static long oms_init_record(void *);
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static long oms_start_trans(struct motorRecord *);
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static RTN_STATUS oms_end_trans(struct motorRecord *);
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struct motor_dset devOms58 =
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{
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{8, NULL, oms_init, oms_init_record, NULL},
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motor_update_values,
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oms_start_trans,
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oms_build_trans,
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oms_end_trans
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};
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extern "C" {epicsExportAddress(dset,devOms58);}
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static struct board_stat **oms_cards;
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static const char errmsg[] = {"\n\n!!!ERROR!!! - Oms58 driver uninitialized.\n"};
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static long oms_init(void *arg)
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{
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int after = (arg == 0) ? 0 : 1;
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if (*(oms58_access.init_indicator) == NO)
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{
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errlogSevPrintf(errlogMinor, "%s", errmsg);
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return(ERROR);
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}
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else
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return(motor_init_com(after, oms58_num_cards, &oms58_access, &oms_cards));
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}
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static long oms_init_record(void *arg)
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{
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struct motorRecord *mr = (struct motorRecord *) arg;
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return(motor_init_record_com(mr, oms58_num_cards, &oms58_access, oms_cards));
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}
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static long oms_start_trans(struct motorRecord *mr)
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{
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struct motor_trans *trans;
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long rtnval;
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rtnval = motor_start_trans_com(mr, oms_cards);
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/* Initialize a STOP_AXIS command termination string pointer. */
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trans = (struct motor_trans *) mr->dpvt;
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trans->motor_call.termstring = " ID";
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return(rtnval);
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}
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static RTN_STATUS oms_end_trans(struct motorRecord *mr)
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{
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if (*(oms58_access.init_indicator) == NO)
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{
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errlogSevPrintf(errlogMinor, "%s", errmsg);
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return(ERROR);
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}
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else
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return(motor_end_trans_com(mr, &oms58_access));
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}
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