forked from epics_driver_modules/motorBase
Ron Sluiter
173 lines
5.6 KiB
C
173 lines
5.6 KiB
C
/* File: drvPIC862.h */
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/* Device Driver Support definitions for motor */
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/*
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* Original Author: Ron Sluiter
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* Current Author: Mohan Ramanathan
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* Date: 09/04/2006
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*
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* Modification Log:
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* -----------------
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* .00 09/05/2006 mr copied from drvPIC848.h
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* .01 09/25/2006 rls COMM_TIMEOUT must be a float.
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* .02 09/26/2006 rsl bit fields must be padded out to 16 bit words for
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* WRS compiler.
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*/
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#ifndef INCdrvPIC862h
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#define INCdrvPIC862h 1
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#include "motordrvCom.h"
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#include "asynDriver.h"
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#include "asynDriver.h"
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#include "asynOctetSyncIO.h"
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#define COMM_TIMEOUT 2.0 /* Timeout in seconds. */
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struct PIC862controller
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{
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asynUser *pasynUser; /* asynUser structure */
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int asyn_address; /* Use for GPIB or other address with asyn */
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CommStatus status; /* Controller communication status. */
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char asyn_port[80]; /* asyn port name */
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};
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/* LM629 Status bits */
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typedef union
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{
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epicsUInt16 All;
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struct
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{
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#ifdef MSB_First
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unsigned int na8 :8; /* NA8. */
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unsigned int motor_off :1; /* 7 - Motor loop OFF. */
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unsigned int breakpt :1; /* 6 - Breakpoint reached flag. */
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unsigned int max_pos_err :1; /* 5 - Maximum position error is exceeded. */
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unsigned int max_pos_lmt :1; /* 4 - Maximum position Limit exceeded. */
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unsigned int index :1; /* 3 - Index pulse received flag. */
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unsigned int trty_done :1; /* 2 - Trajectory Complete. */
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unsigned int cmnd_err :1; /* 1 - Command error flag. */
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unsigned int busy :1; /* 0 - Busy. */
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#else
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unsigned int busy :1; /* 0 - Busy. */
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unsigned int cmnd_err :1; /* 1 - Command error flag. */
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unsigned int trty_done :1; /* 2 - Trajectory Complete. */
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unsigned int index :1; /* 3 - Index pulse received flag. */
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unsigned int max_pos_lmt :1; /* 4 - Maximum position Limit exceeded. */
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unsigned int max_pos_err :1; /* 5 - Maximum position error is exceeded. */
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unsigned int breakpt :1; /* 6 - Breakpoint reached flag. */
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unsigned int motor_off :1; /* 7 - Motor loop OFF. */
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unsigned int na8 :8; /* NA8. */
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#endif
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} Bits;
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} C862_Status_Reg1;
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/* Internal operation flags */
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typedef union
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{
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epicsUInt16 All;
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struct
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{
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#ifdef MSB_First
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unsigned int na8 :8; /* NA8. */
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unsigned int brd_addr :1; /* 7 - Board Addressed. */
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unsigned int num_mode :1; /* 6 - Number mode in Effect. */
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unsigned int ldzero_dis :1; /* 3 - Leading Zero Suppression disabled. */
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unsigned int macro_act :1; /* 4 - Macro Command called. */
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unsigned int ldzero_act :1; /* 3 - Leading Zero Suppression active. */
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unsigned int cmnd_err :1; /* 2 - Command error flag. */
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unsigned int wait_prgs :1; /* 1 - Wait in Progress. */
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unsigned int echo_on :1; /* 0 - Echo ON. */
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#else
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unsigned int echo_on :1; /* 0 - Echo ON. */
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unsigned int wait_prgs :1; /* 1 - Wait in Progress. */
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unsigned int cmnd_err :1; /* 2 - Command error flag. */
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unsigned int ldzero_act :1; /* 3 - Leading Zero Suppression active. */
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unsigned int macro_act :1; /* 4 - Macro Command called. */
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unsigned int ldzero_dis :1; /* 3 - Leading Zero Suppression disabled. */
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unsigned int num_mode :1; /* 6 - Number mode in Effect. */
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unsigned int brd_addr :1; /* 7 - Board Addressed. */
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unsigned int na8 :8; /* NA8. */
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#endif
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} Bits;
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} C862_Status_Reg2;
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/* Motor loop flags */
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typedef union
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{
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epicsUInt16 All;
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struct
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{
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#ifdef MSB_First
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unsigned int na8 :8; /* NA8. */
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unsigned int int_comm :1; /* 7 - Command error flag. */
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unsigned int move_err_ex :1; /* 6 - Move Error Excess flag. */
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unsigned int na34 :2;
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unsigned int move_err :1; /* 3 - Move Error */
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unsigned int mvdir_pol :1; /* 2 - Move driection polarity. */
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unsigned int na30 :2;
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#else
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unsigned int na30 :2;
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unsigned int mvdir_pol :1; /* 2 - Move driection polarity. */
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unsigned int move_err :1; /* 3 - Move Error */
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unsigned int na34 :2;
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unsigned int move_err_ex :1; /* 6 - Move Error Excess flag. */
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unsigned int int_comm :1; /* 7 - Command error flag. */
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unsigned int na8 :8; /* NA8. */
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#endif
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} Bits;
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} C862_Status_Reg3;
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/* Signal lines status */
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typedef union
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{
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epicsUInt16 All;
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struct
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{
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#ifdef MSB_First
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unsigned int na44 :12;
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unsigned int brake_on :1; /* 3 - Brake ON. */
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unsigned int find_prgs :1; /* 2 - Find Edge Operation in Progress. */
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unsigned int lmt_high :1; /* 1 - Limit Switch Active Stet HIGH */
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unsigned int lmt_on :1; /* 0 - Limit Swicth ON flag. */
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#else
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unsigned int lmt_on :1; /* 0 - Limit Swicth ON flag. */
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unsigned int lmt_high :1; /* 1 - Limit Switch Active Stet HIGH */
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unsigned int find_prgs :1; /* 2 - Find Edge Operation in Progress. */
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unsigned int brake_on :1; /* 3 - Brake ON. */
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unsigned int na44 :12;
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#endif
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} Bits;
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} C862_Status_Reg4;
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/* Signal lines inputs */
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typedef union
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{
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epicsUInt16 All;
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struct
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{
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#ifdef MSB_First
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unsigned int na54 :12;
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unsigned int minus_ls :1; /* 3 - Negative limit signal flag. */
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unsigned int plus_ls :1; /* 2 - Positive limit signal flag. */
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unsigned int index :1; /* 1 - Reference signal flag */
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unsigned int na50 :1;
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#else
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unsigned int na50 :1;
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unsigned int index :1; /* 1 - Reference signal flag */
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unsigned int plus_ls :1; /* 2 - Positive limit signal flag. */
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unsigned int minus_ls :1; /* 3 - Negative limit signal flag. */
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unsigned int na54 :12;
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#endif
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} Bits;
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} C862_Status_Reg5;
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/* Function prototypes. */
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extern RTN_STATUS PIC862Setup(int, int);
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extern RTN_STATUS PIC862Config(int, const char *, int);
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#endif /* INCdrvPIC862h */
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