forked from epics_driver_modules/motorBase
Ron Sluiter
382 lines
8.8 KiB
C++
382 lines
8.8 KiB
C++
/*
|
|
* FILENAME... devSoloist.cc
|
|
* USAGE... Motor record device level support for Aerotech Soloist.
|
|
*
|
|
* Version: $Revision$
|
|
* Modified By: $Author$
|
|
* Last Modified: $Date$
|
|
* HeadURL: $URL$
|
|
*
|
|
*/
|
|
|
|
/*
|
|
* Original Author: Hong Fung
|
|
* Date: 04/29/09
|
|
* Current Author: Aerotech, Inc.
|
|
*
|
|
* 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 04-29-09 hcf - initialized from devEnsemble.cc (Aerotech)
|
|
* .02 07-07-09 cjb - merged fixes from Ensemble code (devEnsemble.cc) in R6-4-4; removed support for setting gains
|
|
*/
|
|
|
|
#include <stdio.h>
|
|
#include <string.h>
|
|
#include <math.h>
|
|
#include "motorRecord.h"
|
|
#include "motor.h"
|
|
#include "motordevCom.h"
|
|
#include "drvSoloist.h"
|
|
#include "epicsExport.h"
|
|
|
|
extern struct driver_table Soloist_access;
|
|
|
|
/* ----------------Create the dsets for devSoloist----------------- */
|
|
static struct driver_table *drvtabptr;
|
|
static long Soloist_init (void *);
|
|
static long Soloist_init_record (void *);
|
|
static long Soloist_start_trans (struct motorRecord *);
|
|
static RTN_STATUS Soloist_build_trans (motor_cmnd, double *,
|
|
struct motorRecord *);
|
|
static RTN_STATUS Soloist_end_trans (struct motorRecord *);
|
|
|
|
struct motor_dset devSoloist =
|
|
{
|
|
{8, NULL, (DEVSUPFUN) Soloist_init, (DEVSUPFUN) Soloist_init_record, NULL},
|
|
motor_update_values,
|
|
Soloist_start_trans,
|
|
Soloist_build_trans,
|
|
Soloist_end_trans
|
|
};
|
|
|
|
extern "C" {epicsExportAddress (dset, devSoloist);}
|
|
/* --------------------------- program data --------------------- */
|
|
|
|
/*
|
|
* This table is used to define the command types
|
|
* WARNING! this must match "motor_cmnd" in motor.h
|
|
*/
|
|
|
|
static msg_types Soloist_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 */
|
|
IMMEDIATE /* SET_RESOLUTION */
|
|
};
|
|
|
|
|
|
static struct board_stat **Soloist_cards;
|
|
|
|
/* --------------------------- program data --------------------- */
|
|
|
|
|
|
// initialize device support for Soloist
|
|
static long Soloist_init (void *arg)
|
|
{
|
|
long rtnval;
|
|
int after = (arg == 0) ? 0 : 1;
|
|
|
|
if (after == 0)
|
|
{
|
|
drvtabptr = &Soloist_access;
|
|
(drvtabptr->init)();
|
|
}
|
|
|
|
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr,
|
|
drvtabptr, &Soloist_cards);
|
|
return (rtnval);
|
|
}
|
|
|
|
|
|
// initialize a record instance
|
|
static long Soloist_init_record (void *arg)
|
|
{
|
|
struct motorRecord *mr = (struct motorRecord *) arg;
|
|
return (motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, Soloist_cards));
|
|
}
|
|
|
|
|
|
// start building a transaction
|
|
static long Soloist_start_trans (struct motorRecord *mr)
|
|
{
|
|
return (OK);
|
|
//return (motor_start_trans_com(mr, Soloist_cards));
|
|
}
|
|
|
|
|
|
// end building a transaction
|
|
static RTN_STATUS Soloist_end_trans (struct motorRecord * mr)
|
|
{
|
|
return (OK);
|
|
//return (motor_end_trans_com(mr, drvtabptr));
|
|
}
|
|
|
|
|
|
// add a part to the transaction
|
|
static RTN_STATUS Soloist_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 Soloistcontroller *cntrl;
|
|
char buff[BUFF_SIZE], temp[BUFF_SIZE];
|
|
int axis, card, maxdigits;
|
|
unsigned int size;
|
|
double dval, cntrl_units;
|
|
RTN_STATUS rtnval;
|
|
bool send = true;
|
|
|
|
rtnval = OK;
|
|
buff[0] = '\0';
|
|
|
|
// Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL).
|
|
dval = (parms == NULL) ? 0.0 : *parms;
|
|
|
|
motor_start_trans_com(mr, Soloist_cards);
|
|
|
|
motor_call = &(trans->motor_call);
|
|
card = motor_call->card;
|
|
axis = motor_call->signal;
|
|
brdptr = (*trans->tabptr->card_array)[card];
|
|
if (brdptr == NULL)
|
|
{
|
|
return (rtnval = ERROR);
|
|
}
|
|
|
|
cntrl = (struct Soloistcontroller *) brdptr->DevicePrivate;
|
|
cntrl_units = dval * cntrl->drive_resolution[axis];
|
|
maxdigits = cntrl->res_decpts[axis];
|
|
|
|
if (Soloist_table[command] > motor_call->type)
|
|
{
|
|
motor_call->type = Soloist_table[command];
|
|
}
|
|
|
|
if (trans->state != BUILD_STATE)
|
|
{
|
|
return (rtnval = ERROR);
|
|
}
|
|
|
|
switch(command)
|
|
{
|
|
case MOVE_ABS:
|
|
case MOVE_REL:
|
|
case HOME_FOR:
|
|
case HOME_REV:
|
|
case JOG:
|
|
if (strlen(mr->prem) != 0)
|
|
{
|
|
sprintf(temp, "%s%c", mr->prem, ASCII_EOS_CHAR);
|
|
strcat(motor_call->message, temp);
|
|
}
|
|
if (strlen(mr->post) != 0)
|
|
{
|
|
motor_call->postmsgptr = (char *) &mr->post;
|
|
}
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
|
|
switch(command)
|
|
{
|
|
case MOVE_ABS:
|
|
sprintf(buff, "MOVEABS D%.*f",
|
|
maxdigits, cntrl_units);
|
|
break;
|
|
case MOVE_REL:
|
|
sprintf(buff, "MOVEINC D%.*f",
|
|
maxdigits, cntrl_units);
|
|
break;
|
|
|
|
case HOME_FOR:
|
|
case HOME_REV:
|
|
{
|
|
epicsUInt32 hparam = cntrl->home_dparam[axis];
|
|
if (command == HOME_FOR)
|
|
hparam |= 0x00000001;
|
|
else
|
|
hparam &= 0xFFFFFFFE;
|
|
cntrl->home_dparam[axis] = hparam;
|
|
|
|
sprintf(buff, "SETPARM 106, %d", hparam);
|
|
strcpy(motor_call->message, buff);
|
|
rtnval = motor_end_trans_com(mr, drvtabptr);
|
|
|
|
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Soloist_cards);
|
|
sprintf(buff, "HOME");
|
|
motor_call->type = Soloist_table[command];
|
|
break;
|
|
}
|
|
case LOAD_POS:
|
|
sprintf(buff, "SETPOSCMD %.*f", maxdigits, cntrl_units);
|
|
break;
|
|
|
|
case SET_VEL_BASE:
|
|
send = false;
|
|
break; // Soloist does not use base velocity
|
|
|
|
case SET_VELOCITY:
|
|
sprintf(buff, "SETPARM 102, %.*f", //DefaultSpeed
|
|
maxdigits, cntrl_units);
|
|
strcpy(motor_call->message, buff);
|
|
rtnval = motor_end_trans_com(mr, drvtabptr);
|
|
|
|
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Soloist_cards);
|
|
sprintf(buff, "SETPARM 107, %.*f", //HomeFeedRate
|
|
maxdigits, cntrl_units);
|
|
motor_call->type = Soloist_table[command];
|
|
break;
|
|
|
|
case SET_ACCEL:
|
|
sprintf(buff, "SETPARM 103, %.*f", //DefaultRampRate
|
|
maxdigits, cntrl_units);
|
|
break;
|
|
|
|
case GO:
|
|
/*
|
|
* The Soloist starts moving immediately on move commands, GO command
|
|
* does nothing
|
|
*/
|
|
send = false;
|
|
break;
|
|
|
|
case SET_ENC_RATIO:
|
|
//sprintf(buff, "SETPARM 3, %.*f", //PosScaleFactor
|
|
// maxdigits, cntrl_units);
|
|
send = false;
|
|
break;
|
|
|
|
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
|
|
*/
|
|
break;
|
|
|
|
case STOP_AXIS:
|
|
sprintf(buff, "ABORT");
|
|
break;
|
|
|
|
case JOG_VELOCITY:
|
|
case JOG:
|
|
sprintf(buff, "FREERUN F %.*f", maxdigits, cntrl_units);
|
|
break;
|
|
|
|
case SET_PGAIN:
|
|
case SET_IGAIN:
|
|
case SET_DGAIN:
|
|
send = false;
|
|
break;
|
|
|
|
case ENABLE_TORQUE:
|
|
sprintf(buff, "ENABLE");
|
|
break;
|
|
|
|
case DISABL_TORQUE:
|
|
sprintf(buff, "DISABLE");
|
|
break;
|
|
|
|
case PRIMITIVE:
|
|
if (mr->init != NULL && strlen(mr->init) != 0)
|
|
{
|
|
strcat(motor_call->message, mr->init);
|
|
}
|
|
break;
|
|
|
|
case SET_HIGH_LIMIT:
|
|
sprintf(buff, "SETPARM 48, %.*f", maxdigits, cntrl_units); //ThresholdSoftCW
|
|
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
|
|
//trans->state = IDLE_STATE; // No command sent to the controller.
|
|
|
|
//if (cntrl_units > motor_info->high_limit)
|
|
//{
|
|
// mr->dhlm = motor_info->high_limit;
|
|
// rtnval = ERROR;
|
|
//}
|
|
//send = false;
|
|
break;
|
|
|
|
case SET_LOW_LIMIT:
|
|
sprintf(buff, "SETPARM 47, %.*f", maxdigits, cntrl_units); //ThresholdSoftCCW
|
|
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
|
|
//trans->state = IDLE_STATE; // No command sent to the controller.
|
|
|
|
//if (cntrl_units < motor_info->low_limit)
|
|
//{
|
|
// mr->dllm = motor_info->low_limit;
|
|
// rtnval = ERROR;
|
|
//}
|
|
//send = false;
|
|
break;
|
|
|
|
case SET_RESOLUTION:
|
|
sprintf(buff, "SETPARM 3, %.*f", //PosScaleFactor
|
|
maxdigits, 1 / cntrl_units);
|
|
break;
|
|
|
|
default:
|
|
send = false;
|
|
rtnval = ERROR;
|
|
}
|
|
|
|
// printf("debug: case %d cmd=%s\n", command, buff);
|
|
if (send == true)
|
|
{
|
|
size = strlen (buff);
|
|
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
|
|
{
|
|
errlogMessage("Soloist_build_trans(): buffer overflow.\n");
|
|
}
|
|
else
|
|
{
|
|
strcat(motor_call->message, buff);
|
|
motor_end_trans_com(mr, drvtabptr);
|
|
}
|
|
}
|
|
|
|
return (rtnval);
|
|
}
|