forked from epics_driver_modules/motorBase
jsullivan-anl
ad1e2f3181
command response mode (ERRLVL 4). The original driver was designed to response mode (ERRLVL 1) which was the mode required for MX.
412 lines
11 KiB
C++
Executable File
412 lines
11 KiB
C++
Executable File
/*
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FILENAME... devPC6K.cc
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USAGE... Motor record device level support for Parker Compumotor drivers
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Version: $Revision: 1.2 $
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Modified By: $Author: sullivan $
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Last Modified: $Date: 2006-08-31 15:42:30 $
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*/
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/*
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* Original Author: Mark Rivers
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* Date: 10/20/97
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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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* .01 04-07-05 jps initialized from devMM4000.cc
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*/
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#include <string.h>
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#include <math.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "motordevCom.h"
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#include "drvPC6K.h"
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#include "epicsExport.h"
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#define STATIC static
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extern struct driver_table PC6K_access;
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/* ----------------Create the dsets for devPC6K----------------- */
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STATIC struct driver_table *drvtabptr;
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STATIC long PC6K_init(void *);
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STATIC long PC6K_init_record(void *);
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STATIC long PC6K_start_trans(struct motorRecord *);
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STATIC RTN_STATUS PC6K_build_trans(motor_cmnd, double *, struct motorRecord *);
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STATIC RTN_STATUS PC6K_end_trans(struct motorRecord *);
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struct motor_dset devPC6K =
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{
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{8, NULL, (DEVSUPFUN) PC6K_init, (DEVSUPFUN) PC6K_init_record, NULL},
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motor_update_values,
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PC6K_start_trans,
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PC6K_build_trans,
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PC6K_end_trans
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};
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extern "C" {epicsExportAddress(dset,devPC6K);}
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/* --------------------------- program data --------------------- */
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/* This table is used to define the command types */
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/* WARNING! this must match "motor_cmnd" in motor.h */
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static msg_types PC6K_table[] = {
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MOTION, /* MOVE_ABS */
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MOTION, /* MOVE_REL */
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MOTION, /* HOME_FOR */
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MOTION, /* HOME_REV */
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IMMEDIATE, /* LOAD_POS */
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IMMEDIATE, /* SET_VEL_BASE */
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IMMEDIATE, /* SET_VELOCITY */
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IMMEDIATE, /* SET_ACCEL */
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IMMEDIATE, /* GO */
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IMMEDIATE, /* SET_ENC_RATIO */
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INFO, /* GET_INFO */
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MOVE_TERM, /* STOP_AXIS */
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VELOCITY, /* JOG */
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IMMEDIATE, /* SET_PGAIN */
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IMMEDIATE, /* SET_IGAIN */
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IMMEDIATE, /* SET_DGAIN */
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IMMEDIATE, /* ENABLE_TORQUE */
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IMMEDIATE, /* DISABL_TORQUE */
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IMMEDIATE, /* PRIMITIVE */
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IMMEDIATE, /* SET_HIGH_LIMIT */
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IMMEDIATE, /* SET_LOW_LIMIT */
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VELOCITY /* JOG_VELOCITY */
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};
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static struct board_stat **PC6K_cards;
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/* --------------------------- program data --------------------- */
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/* initialize device support for PC6K stepper motor */
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STATIC long PC6K_init(void *arg)
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{
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long rtnval;
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int after = (int) arg;
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if (after == 0)
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{
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drvtabptr = &PC6K_access;
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(drvtabptr->init)();
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}
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rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PC6K_cards);
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return(rtnval);
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}
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/* initialize a record instance */
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STATIC long PC6K_init_record(void *arg)
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{
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struct motorRecord *mr = (struct motorRecord *) arg;
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return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PC6K_cards));
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}
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/* start building a transaction */
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STATIC long PC6K_start_trans(struct motorRecord *mr)
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{
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return(motor_start_trans_com(mr, PC6K_cards));
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}
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/* end building a transaction */
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STATIC RTN_STATUS PC6K_end_trans(struct motorRecord *mr)
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{
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return(motor_end_trans_com(mr, drvtabptr));
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}
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/* add a part to the transaction */
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STATIC RTN_STATUS PC6K_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
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{
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struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
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struct mess_node *motor_call;
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struct controller *brdptr;
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struct mess_info *motor_info;
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struct PC6KController *cntrl;
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char buff[110];
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int signal, axis, card, intval;
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int maxdigits;
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int cmndArg;
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double dval, cntrl_units;
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unsigned int size;
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bool sendMsg;
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RTN_STATUS rtnval;
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rtnval = OK;
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buff[0] = '\0';
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sendMsg = true;
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/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
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intval = (parms == NULL) ? 0 : NINT(parms[0]);
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dval = (parms == NULL) ? 0 : *parms;
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motor_start_trans_com(mr, PC6K_cards);
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motor_call = &(trans->motor_call);
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card = motor_call->card;
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signal = motor_call->signal;
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axis = signal+1; /* Motors start at 1 */
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motor_call->type = PC6K_table[command];
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brdptr = (*trans->tabptr->card_array)[card];
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if (brdptr == NULL)
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return(rtnval = ERROR);
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cntrl = (struct PC6KController *) brdptr->DevicePrivate;
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/* 6K Controllers expect Velocity and Acceleration settings in Revs/sec/sec */
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cntrl_units = dval * cntrl->drive_resolution[signal];
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maxdigits = cntrl->res_decpts[signal];
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if (PC6K_table[command] > motor_call->type)
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motor_call->type = PC6K_table[command];
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if (trans->state != BUILD_STATE)
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return(rtnval = ERROR);
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if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
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{
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strcat(motor_call->message, mr->init);
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strcat(motor_call->message, PC6K_OUT_EOS);
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}
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switch (command)
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{
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case MOVE_ABS:
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case MOVE_REL:
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case HOME_FOR:
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case HOME_REV:
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case JOG:
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if (strlen(mr->prem) != 0)
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{
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strcat(motor_call->message, mr->prem);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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}
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if (strlen(mr->post) != 0)
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motor_call->postmsgptr = (char *) &mr->post;
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break;
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default:
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break;
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}
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/* Parker 6K controllers do not support multiple commands per line */
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switch (command)
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{
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case MOVE_ABS:
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case MOVE_REL:
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{
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cmndArg = (command == MOVE_ABS) ? 1 : 0;
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sprintf(buff, "%dMA%d", axis, cmndArg);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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sprintf(buff, "%dMC0", axis);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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sprintf(buff, "%dD%d", axis, intval);
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}
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break;
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case HOME_FOR:
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sprintf(buff, "%dHOM0", axis);
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break;
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case HOME_REV:
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sprintf(buff, "%dHOM1", axis);
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break;
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case LOAD_POS:
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/* The Feedback position follows the Reference set position */
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sprintf(buff, "%dPSET%d", axis, intval);
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break;
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case SET_VEL_BASE:
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sendMsg = false;
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break; /* PC6K does not use base velocity */
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case SET_VELOCITY:
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// sprintf(buff, "%dV%.*f", axis, maxdigits, cntrl_units);
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sprintf(buff, "%dV%d", axis, intval);
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break;
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case SET_ACCEL:
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/* Set Accel, Avg Accel, Decel, Avg Decel - assume avg to be 1/2 accel */
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// sprintf(buff, "%dA%.*f", axis, maxdigits, cntrl_units);
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sprintf(buff, "%dA%d", axis, intval);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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// sprintf(buff, "%dAA%.*f", axis, maxdigits, cntrl_units/2);
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sprintf(buff, "%dAA%d", axis, intval/2);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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// sprintf(buff, "%dAD%.*f", axis, maxdigits, cntrl_units);
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sprintf(buff, "%dAD%d", axis, intval);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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// sprintf(buff, "%dADA%.*f", axis, maxdigits, cntrl_units/2);
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sprintf(buff, "%dADA%d", axis, intval/2);
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break;
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case GO:
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sprintf(buff, "%dGO", axis);
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break;
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case SET_ENC_RATIO:
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// sprintf(buff, "%dERES%d:%dDRESET:", axis, intval, axis);
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sendMsg = false;
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break;
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case GET_INFO:
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/* These commands are not actually done by sending a message, but
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rather they will indirectly cause the driver to read the status
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of all motors */
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sendMsg = false;
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break;
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case STOP_AXIS:
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sprintf(buff, "!%dS", axis);
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break;
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case JOG:
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sprintf(buff, "%dMC1", axis);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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// sprintf(buff, "%dV%.*f", axis, maxdigits, cntrl_units);
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sprintf(buff, "%dV%d", axis, intval);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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if (intval >= 0)
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sprintf(buff, "%dD+", axis);
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else
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sprintf(buff, "%dD-", axis);
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strcat(motor_call->message, buff);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
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motor_call->type = PC6K_table[command];
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sprintf(buff, "%dGO", axis);
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break;
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case SET_PGAIN:
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sprintf(buff, "%dSGP%d", axis, intval);
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break;
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case SET_IGAIN:
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sprintf(buff, "%dSGI%d", axis, intval);
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break;
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case SET_DGAIN:
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sprintf(buff, "%dSGV%d", axis, intval); /* Velocity Gain */
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break;
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case ENABLE_TORQUE:
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sprintf(buff, "%dDRIVE1", axis);
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break;
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case DISABL_TORQUE:
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sprintf(buff, "%dDRIVE0", axis);
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break;
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case SET_HIGH_LIMIT:
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motor_info = &(*trans->tabptr->card_array)[card]->motor_info[signal];
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trans->state = IDLE_STATE; /* No command sent to the controller. */
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if (motor_info->high_limit > motor_info->low_limit &&
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intval > motor_info->high_limit)
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{
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mr->dhlm = motor_info->high_limit * mr->mres;
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rtnval = ERROR;
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}
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sendMsg = false;
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break;
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case SET_LOW_LIMIT:
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motor_info = &(*trans->tabptr->card_array)[card]->motor_info[signal];
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trans->state = IDLE_STATE; /* No command sent to the controller. */
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if (motor_info->low_limit < motor_info->high_limit &&
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intval < motor_info->low_limit)
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{
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mr->dllm = motor_info->low_limit * mr->mres;
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rtnval = ERROR;
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}
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sendMsg = false;
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break;
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default:
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sendMsg = false;
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rtnval = ERROR;
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}
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if (sendMsg == true)
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{
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size = strlen(buff);
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if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
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errlogMessage("PC6K_build_trans(): buffer overflow.\n");
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else
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{
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strcat(motor_call->message, buff);
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motor_end_trans_com(mr, drvtabptr);
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}
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}
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return(rtnval);
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}
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