forked from epics_driver_modules/motorBase
MarkRivers
131 lines
5.5 KiB
C++
131 lines
5.5 KiB
C++
/* asynMotorDriver.h
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*
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* Mark Rivers
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*
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* This file defines the base class for an asynMotorDriver. It is the class
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* from which real motor drivers are derived. It derives from asynPortDriver.
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*/
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#ifndef asynMotorDriver_H
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#define asynMotorDriver_H
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#include <epicsTypes.h>
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#define motorMoveRelString "MOTOR_MOVE_REL"
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#define motorMoveAbsString "MOTOR_MOVE_ABS"
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#define motorMoveVelString "MOTOR_MOVE_VEL"
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#define motorHomeString "MOTOR_HOME"
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#define motorStopString "MOTOR_STOP_AXIS"
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#define motorVelocityString "MOTOR_VELOCITY"
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#define motorVelBaseString "MOTOR_VEL_BASE"
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#define motorAccelString "MOTOR_ACCEL"
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#define motorPositionString "MOTOR_POSITION"
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#define motorEncoderPositionString "MOTOR_ENCODER_POSITION"
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#define motorDeferMovesString "MOTOR_DEFER_MOVES"
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#define motorResolutionString "MOTOR_RESOLUTION"
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#define motorEncRatioString "MOTOR_ENC_RATIO"
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#define motorPgainString "MOTOR_PGAIN"
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#define motorIgainString "MOTOR_IGAIN"
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#define motorDgainString "MOTOR_DGAIN"
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#define motorHighLimString "MOTOR_HIGH_LIMIT"
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#define motorLowLimString "MOTOR_LOW_LIMIT"
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#define motorSetClosedLoopString "MOTOR_SET_CLOSED_LOOP"
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#define motorStatusString "MOTOR_STATUS"
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#define motorUpdateStatusString "MOTOR_UPDATE_STATUS"
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#define motorStatusDirectionString "MOTOR_STATUS_DIRECTION"
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#define motorStatusDoneString "MOTOR_STATUS_DONE"
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#define motorStatusHighLimitString "MOTOR_STATUS_HIGHLIMIT"
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#define motorStatusAtHomeString "MOTOR_STATUS_ATHOME"
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#define motorStatusSlipString "MOTOR_STATUS_SLIP"
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#define motorStatusPowerOnString "MOTOR_STATUS_POWERED"
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#define motorStatusFollowingErrorString "MOTOR_STATUS_FOLLOWINGERROR"
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#define motorStatusHomeString "MOTOR_STATUS_HOME"
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#define motorStatusHasEncoderString "MOTOR_STATUS_HASENCODER"
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#define motorStatusProblemString "MOTOR_STATUS_PROBLEM"
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#define motorStatusMovingString "MOTOR_STATUS_MOVING"
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#define motorStatusGainSupportString "MOTOR_STATUS_GAINSUPPORT"
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#define motorStatusCommsErrorString "MOTOR_STATUS_COMMSERROR"
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#define motorStatusLowLimitString "MOTOR_STATUS_LOWLIMIT"
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#define motorStatusHomedString "MOTOR_STATUS_HOMED"
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typedef struct MotorStatus {
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double position;
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double encoder_posn;
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double velocity;
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epicsUInt32 status;
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} MotorStatus;
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#ifdef __cplusplus
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#include <asynPortDriver.h>
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/** Class from which motor drivers are directly derived. */
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class epicsShareFunc asynMotorDriver : public asynPortDriver {
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public:
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/* This is the constructor for the class. */
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asynMotorDriver(const char *portName, int maxAxes, int numParams,
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int interfaceMask, int interruptMask,
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int asynFlags, int autoConnect, int priority, int stackSize);
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/* These are the methods that we override from asynPortDriver */
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virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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virtual asynStatus readGenericPointer(asynUser *pasynUser, void *pointer);
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virtual asynStatus setIntegerParam(int list, int index, int value);
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virtual asynStatus setDoubleParam(int list, int index, double value);
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virtual asynStatus callParamCallbacks(int addr);
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/* These are the methods that are new to this class */
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virtual asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
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virtual asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
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virtual asynStatus homeAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration, int forwards);
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virtual asynStatus stopAxis(asynUser *pasynUser, double acceleration);
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virtual asynStatus profileMove(asynUser *pasynUser, int npoints, double positions[], double times[], int relative, int trigger);
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virtual asynStatus triggerProfile(asynUser *pasynUser);
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protected:
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int motorMoveRel;
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#define FIRST_MOTOR_PARAM motorMoveRel
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int motorMoveAbs;
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int motorMoveVel;
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int motorHome;
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int motorStop;
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int motorVelocity;
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int motorVelBase;
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int motorAccel;
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int motorPosition;
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int motorEncoderPosition;
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int motorDeferMoves;
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int motorResolution;
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int motorEncRatio;
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int motorPgain;
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int motorIgain;
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int motorDgain;
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int motorHighLim;
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int motorLowLim;
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int motorSetClosedLoop;
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int motorStatus;
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int motorUpdateStatus;
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int motorStatusDirection;
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int motorStatusDone;
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int motorStatusHighLimit;
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int motorStatusAtHome;
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int motorStatusSlip;
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int motorStatusPowerOn;
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int motorStatusFollowingError;
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int motorStatusHome;
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int motorStatusHasEncoder;
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int motorStatusProblem;
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int motorStatusMoving;
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int motorStatusGainSupport;
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int motorStatusCommsError;
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int motorStatusLowLimit;
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int motorStatusHomed;
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#define LAST_MOTOR_PARAM motorStatusHomed
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private:
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MotorStatus *axisStatus;
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int *axisStatusChanged;
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};
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#define NUM_MOTOR_DRIVER_PARAMS (&LAST_MOTOR_PARAM - &FIRST_MOTOR_PARAM + 1)
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#endif /* _cplusplus */
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#endif /* asynMotorDriver_H */
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