forked from epics_driver_modules/motorBase
David Kline
111 lines
2.8 KiB
C
111 lines
2.8 KiB
C
/*
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FILENAME... drvOmsPC68Com.h
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USAGE... This file contains information common to all OMS PC68/78 controllers.
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Version: $Revision: 1.2 $
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Modified By: $Author: dkline $
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Last Modified: $Date: 2007-02-13 13:02:27 $
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*/
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/*
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* Original Author: Brian Tieman
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* Current Author: Ron Sluiter
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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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*/
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#ifndef INCdrvOmsPC68Comh
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#define INCdrvOmsPC68Comh 1
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#include "motor.h"
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#include "motordrvCom.h"
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#include "asynDriver.h"
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#include "asynOctet.h"
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/* status register */
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#define STAT_IRQ 0x80
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#define STAT_TRANS_BUF_EMPTY 0x40
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#define STAT_INPUT_BUF_FULL 0x20
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#define STAT_DONE 0x10
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#define STAT_OVERTRAVEL 0x08
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#define STAT_ENCODER_REQ 0x04
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#define STAT_UNUSED 0x02
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#define STAT_ERROR 0x01
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#define STAT_ERROR_MSK 0x0F
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/* done flag register */
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#define DONE_X 0x01
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#define DONE_Y 0x02
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#define DONE_Z 0x04
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#define DONE_T 0x08
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#define DONE_U 0x10
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#define DONE_V 0x20
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#define DONE_R 0x40
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#define DONE_S 0x80
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/* OmsPC68 specific data is stored in this structure. */
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struct OmsPC68controller
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{
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int card;
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int errcnt;
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char asyn_port[80]; /* asyn port name */
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CommStatus status; /* Controller communication status. */
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asynUser* pasynUser;
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asynOctet* pasynOctet;
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void* octetPvt;
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void* registrarPvt;
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};
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struct encoder_status
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{
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char slip_enable;
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char pos_enable;
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char slip_detect;
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char pos_dead;
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char axis_home;
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char unused;
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};
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#define ECHO_OFF "EF"
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#define AXIS_STOP "ST"
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#define GET_IDENT "WY"
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#define ERROR_CLEAR "IC"
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#define STOP_ALL "AA SA"
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#define ALL_POS "AA RP"
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#define ALL_INFO "QA RP RE EA"
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#define AXIS_INFO "QA RP"
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#define ENCODER_QUERY "EA"
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#define DONE_QUERY "RA"
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#define PID_QUERY "?KP"
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/* Function prototypes. */
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extern RTN_STATUS OmsPC68Setup(int, int);
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extern RTN_STATUS OmsPC68Config(int, const char *);
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#endif /* INCdrvOmsPC68Comh */
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