forked from epics_driver_modules/motorBase
MarkRivers
114 lines
4.0 KiB
C
114 lines
4.0 KiB
C
/*
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FILENAME... drvPI.h
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USAGE... This file contains driver "include" information that is specific to
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Physik Instrumente (PI) GmbH & Co. motor controller driver support.
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Version: $Revision: 1.3 $
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Modified By: $Author: rivers $
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Last Modified: $Date: 2004-08-17 21:29:52 $
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*/
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/*
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* Original Author: Ron Sluiter
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* Date: 12/17/03
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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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*
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*
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* Modification Log:
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* -----------------
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* .01 12/17/03 rls - copied from drvIM483.h
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* .02 07/12/04 rls - Converted from MPF to asyn.
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*/
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#ifndef INCdrvPIh
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#define INCdrvPIh 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 "asynOctetSyncIO.h"
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#define COMM_TIMEOUT 2 /* Timeout in seconds. */
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/* PIC844 specific data is stored in this structure. */
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struct PIC844controller
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{
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asynUser *pasynUser; /* For RS-232 */
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int asyn_address; /* Use for GPIB or other address with asyn */
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char asyn_port[80]; /* asyn port name */
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CommStatus status; /* Controller communication status. */
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};
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/* Motion Condition register */
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typedef union
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{
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unsigned short All;
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struct
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{
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#ifdef MSB_First
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unsigned int axis4ML :1; /* Axis#4 Minus Limit Switch */
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unsigned int axis3ML :1; /* Axis#3 Minus Limit Switch */
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unsigned int axis2ML :1; /* Axis#2 Minus Limit Switch */
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unsigned int axis1ML :1; /* Axis#1 Minus Limit Switch */
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unsigned int axis4PL :1; /* Axis#4 Plus Limit Switch */
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unsigned int axis3PL :1; /* Axis#3 Plus Limit Switch */
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unsigned int axis2PL :1; /* Axis#2 Plus Limit Switch */
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unsigned int axis1PL :1; /* Axis#1 Plus Limit Switch */
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unsigned int axis4ME :1; /* Axis#4 Motion-Error */
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unsigned int axis3ME :1; /* Axis#3 Motion-Error */
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unsigned int axis2ME :1; /* Axis#2 Motion-Error */
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unsigned int axis1ME :1; /* Axis#1 Motion-Error */
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unsigned int axis4IM :1; /* Axis#4 in motion */
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unsigned int axis3IM :1; /* Axis#3 in motion */
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unsigned int axis2IM :1; /* Axis#2 in motion */
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unsigned int axis1IM :1; /* Axis#1 in motion */
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#else
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unsigned int axis1IM :1; /* Axis#1 in motion */
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unsigned int axis2IM :1; /* Axis#2 in motion */
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unsigned int axis3IM :1; /* Axis#3 in motion */
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unsigned int axis4IM :1; /* Axis#4 in motion */
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unsigned int axis1ME :1; /* Axis#1 Motion-Error */
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unsigned int axis2ME :1; /* Axis#2 Motion-Error */
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unsigned int axis3ME :1; /* Axis#3 Motion-Error */
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unsigned int axis4ME :1; /* Axis#4 Motion-Error */
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unsigned int axis1PL :1; /* Axis#1 Plus Limit Switch */
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unsigned int axis2PL :1; /* Axis#2 Plus Limit Switch */
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unsigned int axis3PL :1; /* Axis#3 Plus Limit Switch */
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unsigned int axis4PL :1; /* Axis#4 Plus Limit Switch */
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unsigned int axis1ML :1; /* Axis#1 Minus Limit Switch */
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unsigned int axis2ML :1; /* Axis#2 Minus Limit Switch */
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unsigned int axis3ML :1; /* Axis#3 Minus Limit Switch */
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unsigned int axis4ML :1; /* Axis#4 Minus Limit Switch */
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#endif
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} Bits;
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} C844_Cond_Reg;
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/* Function prototypes. */
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extern RTN_STATUS PIC844Setup(int, int);
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extern RTN_STATUS PIC844Config(int, const char *, int);
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#endif /* INCdrvPIh */
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