motorBase/motorApp/OmsSrc/devOmsCom.c

/*
FILENAME...	devOmsCom.c
USAGE... Data and functions common to all OMS device level support.

Version:	$Revision: 1.1 $
Modified By:	$Author: sluiter $
Last Modified:	$Date: 2000-02-08 22:19:01 $
*/

/*
 *      Original Author: Jim Kowalkowski
 *      Current Author: Joe Sullivan
 *      Date: 11/14/94
 *
 *      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  01-18-93	jbk     initialized
 * .02  11-14-94	jps     copy devOMS.c and modify to point to vme58 driver
 * .03  03-19-96	tmm     v1.10: modified encoder-ratio calculation
 * .04  06-20-96	jps     allow for bumpless-reboot on position
 * .04a 02-19-97	tmm     fixed for EPICS 3.13
 */

#include	<vxWorks.h>
#include	<string.h>
#include	<logLib.h>
#include	<math.h>

#include	"motorRecord.h"
#include	"motor.h"
#include	"motordevCom.h"

/* Command set used by record support.  WARNING! this must match
   "motor_cmnds" in motor.h .
*/


struct motor_table
{
    unsigned char type;
    const char *command;
    int num_parms;
};

struct motor_table const oms_table[] =
{
    {MOTION, " MA", 1},		/* MOVE_ABS */
    {MOTION, " MR", 1},		/* MOVE_REL */
    {MOTION, " HM", 1},		/* HOME_FOR */
    {MOTION, " HR", 1},		/* HOME_REV */
    {IMMEDIATE, " LP", 1},	/* LOAD_POS */
    {IMMEDIATE, " VB", 1},	/* SET_VELO_BASE */
    {IMMEDIATE, " VL", 1},	/* SET_VELO */
    {IMMEDIATE, " AC", 1},	/* SET_ACCEL */
    {IMMEDIATE, " GD", 0},	/* jps: from GO to GD */
    {IMMEDIATE, " ER", 2},	/* SET_ENC_RATIO */
    {INFO, " ", 0},		/* GET_INFO */
    {MOVE_TERM, " ST", 0},	/* STOP_AXIS */
    {VELOCITY, " JG", 1},	/* JOG */
    {IMMEDIATE," KP", 1},	/* SET_PGAIN */
    {IMMEDIATE," KI", 1},	/* SET_IGAIN */
    {IMMEDIATE," KD", 1},	/* SET_DGAIN */
    {IMMEDIATE," HN", 0},	/* ENABLE_TORQUE */
    {IMMEDIATE," HF", 0},	/* DISABL_TORQUE */
    {IMMEDIATE,   "", 0},	/* PRIMITIVE */
    {IMMEDIATE,   "", 0},	/* SET_HIGH_LIMIT */
    {IMMEDIATE,   "", 0},	/* SET_LOW_LIMIT */
};


/* add a part to the transaction */
long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
    struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
    struct mess_node *motor_call;
    char buffer[40];
    unsigned char cmnd_type;
    long rtnind;

    rtnind = OK;
    motor_call = &trans->motor_call;

    cmnd_type = oms_table[command].type;
    if (cmnd_type > motor_call->type)
	motor_call->type = cmnd_type;
    
    /* concatenate onto the dpvt message field */
    if (trans->state == BUILD_STATE) 
    {
	if ((command == PRIMITIVE) && (mr->init != NULL) &&
	    (strlen(mr->init) != 0))
	{
	    extern struct driver_table oms58_access;
	    /* Test for a "device directive" in the Initialization string. */
	    if ((mr->init[0] == '@') && (trans->tabptr == &oms58_access))
	    {
		char *end = strrchr(&mr->init[1], '@');
		if (end != NULL)
		{
                    struct driver_table *tabptr = trans->tabptr;
		    int size = (end - &mr->init[0]) + 1;
		    strncpy(buffer, mr->init, size);
		    buffer[size] = NULL;
		    if (strcmp(buffer, "@DPM_ON@") == 0)
		    {
			int response, bitselect;
			char respbuf[10];

			(*tabptr->getmsg)(motor_call->card, respbuf, -1);
			(*tabptr->sendmsg)(motor_call->card, "RB\r",
					   (char) NULL);
			(*tabptr->getmsg)(motor_call->card, respbuf, 1);
			if (sscanf(respbuf, "%x", &response) == 0)
			    response = 0;	/* Force an error. */
			bitselect = (1 << motor_call->signal);
			if ((response & bitselect) == 0)
			    trans->dpm = ON;
			else
			    logMsg((char *) "Invalid VME58 configuration; RB = 0x%x\n",
				   response, 0, 0, 0, 0 ,0);
		    }
		    end++;
		    strcpy(buffer, end);
		}
		else
		    strcpy(buffer, mr->init);
	    }
	    else
		strcpy(buffer, mr->init);

	    strcat(motor_call->message, " ");
	    strcat(motor_call->message, buffer);
	}
	else
	{
	    int first_one, itera;

	    if (command == SET_HIGH_LIMIT || command == SET_LOW_LIMIT)
                trans->state = IDLE_STATE;	/* No command sent to the controller. */
	    else
	    {
		/* Silently enforce minimum range on KP command. */
		if (command == SET_PGAIN && *parms < 0.00005)
		{
		    *parms = 0.00005;
		    mr->pcof = 0.00005;
		    rtnind = ERROR;
		}
    
		if (cmnd_type == MOTION || cmnd_type == VELOCITY)
		{
		    if (strlen(mr->prem) != 0)
		    {
			strcat(motor_call->message, mr->prem);
			strcat(motor_call->message, " ");
		    }
		    if (strlen(mr->post) != 0)
			motor_call->postmsgptr = (char *) &mr->post;
		}
		/* put in command */
		strcat(motor_call->message, oms_table[command].command);
       
		/* put in parameters */
		for (first_one = YES, itera = 0; itera < oms_table[command].num_parms;
		     itera++)
		{
		    if (first_one == YES)
			first_one = NO;
		    else
			strcat(motor_call->message, ",");
	
		    if (command == SET_PGAIN || command == SET_IGAIN ||
			command == SET_DGAIN)
		    {
			*parms *= 1999.9;
			sprintf(buffer, "%.1f", parms[itera]);
		    }
		    else if (command == SET_VELOCITY)	/* OMS errors if VB = VL. */
		    {
			long vbase = NINT(mr->vbas / fabs(mr->res));
			long vel = NINT(parms[itera]);

			if (vel <= vbase)
			    vel = vbase + 1;
			sprintf(buffer, "%ld", vel);
		    }
		    else
			sprintf(buffer, "%ld", NINT(parms[itera]));
		    strcat(motor_call->message, buffer);
		}
	    }
	}
    }
    else
	rtnind = ERROR;
    return(rtnind);
}