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motorBase/motorApp/PiJenaSrc/devPIJEDS.cc
T
Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

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/*
FILENAME... devPIJEDS.cc
USAGE... Motor record device level support for Physik Instrumente (PI)
GmbH & Co. E-516 motor controller.
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:20:03 $
*/
/*
* Original Author: Joe Sullivan
* Date: 6/07
*
* 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 01/29/06 jps - copied from devPIE710.cc
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPIJEDS.h"
#include "epicsExport.h"
extern struct driver_table PIJEDS_access;
/* ----------------Create the dsets for devPIJEDS----------------- */
static struct driver_table *drvtabptr;
static long PIJEDS_init(void *);
static long PIJEDS_init_record(void *);
static long PIJEDS_start_trans(struct motorRecord *);
static RTN_STATUS PIJEDS_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS PIJEDS_end_trans(struct motorRecord *);
struct motor_dset devPIJEDS =
{
{8, NULL, (DEVSUPFUN) PIJEDS_init, (DEVSUPFUN) PIJEDS_init_record, NULL},
motor_update_values,
PIJEDS_start_trans,
PIJEDS_build_trans,
PIJEDS_end_trans
};
extern "C" {epicsExportAddress(dset,devPIJEDS);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PIJEDS_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 **PIJEDS_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PIJEDS stepper motor */
static long PIJEDS_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &PIJEDS_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIJEDS_cards);
return(rtnval);
}
/* initialize a record instance */
static long PIJEDS_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
/* Disable change of direction testing in record support */
/* This is a closed-loop device */
mr->ntm = menuYesNoNO;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIJEDS_cards));
}
/* start building a transaction */
static long PIJEDS_start_trans(struct motorRecord *mr)
{
motor_start_trans_com(mr, PIJEDS_cards);
return(OK);
}
/* end building a transaction */
static RTN_STATUS PIJEDS_end_trans(struct motorRecord *mr)
{
motor_end_trans_com(mr, drvtabptr);
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS PIJEDS_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 PIJEDScontroller *cntrl;
char buff[110];
int card, maxdigits;
unsigned int size;
double dval, cntrl_units, res;
RTN_STATUS rtnval;
bool send;
send = true; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIJEDS_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
motor_call->type = PIJEDS_table[command];
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PIJEDScontroller *) brdptr->DevicePrivate;
res = cntrl->drive_resolution[motor_call->signal];
cntrl_units = dval;
maxdigits = EDS_MAX_RES;
if (PIJEDS_table[command] > motor_call->type)
motor_call->type = PIJEDS_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);
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);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIJEDS_cards);
motor_call->type = PIJEDS_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "set,#,%.*f", maxdigits, (cntrl_units * res));
break;
case MOVE_REL:
send = false;
break;
case HOME_FOR:
case HOME_REV:
send = false;
break;
case LOAD_POS:
send = false;
break;
case SET_VEL_BASE:
send = false; /* DC motor; not base velocity. */
break;
case SET_VELOCITY:
sprintf(buff, "sr,#,%.*f", maxdigits, (cntrl_units * res));
break;
case ENABLE_TORQUE:
strcpy(buff, "cl,#,1");
break;
case DISABL_TORQUE:
strcpy(buff, "cl,#,0");
break;
case SET_ACCEL:
/* The PIJEDS does not support acceleration commands. */
send = false;
break;
case GO:
/* The PIJEDS starts moving immediately on move commands
* Must send a command for driver expects a response */
strcpy(buff, "stat,#");
break;
case PRIMITIVE:
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 */
send=false;
break;
case STOP_AXIS:
/* No stop command available - use move relative 0 */
send = false;
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "sr,#,%.*f", maxdigits, (cntrl_units * res));
break;
case SET_PGAIN:
send = false;
break;
case SET_IGAIN:
send = false;
break;
case SET_DGAIN:
send = false;
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = false;
break;
default:
send = false;
rtnval = ERROR;
}
size = strlen(buff);
if (send == false)
return(rtnval);
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PIJEDS_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
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