lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity
Files
7cd511c1942cc8afd96de8fa907501b7cbeed67f
motorBase/motorApp/PiSrc/devPIC630.cc
T
Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

328 lines
9.4 KiB
C++
Raw Blame History

/* File: devPIC630.cc */
/* Device Support Routines for motor */
/*
* Original Author: Kurt Goetze
* Date: 02-07-2005
*
* Modification Log:
* -----------------
* .00 02-07-2005 kag initialized from devMicos.c
*/
/* Notes regarding the motor record / PI C-630:
* 1. JogF and JogR are implemented as moves to the corresponding soft limit.
* 2. HomeF and HomeR will simply move the positioner to the "0" position.
* 3. The only position you may "set" is 0. Others will be ignored.
*
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPIC630.h"
#include "epicsExport.h"
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int devPIC630debug = 0;
#define Debug(L, FMT, V...) { if(L <= devPIC630debug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#else
#define Debug(L, FMT, V...)
#endif
#else
#define Debug()
#endif
/* Debugging levels:
* devPIC630debug >= 3 Print new part of command and command string so far
* at the end of PIC630_build_trans
*/
extern struct driver_table PIC630_access;
/* ----------------Create the dsets for devPIC630----------------- */
static struct driver_table *drvtabptr;
static long PIC630_init(void *);
static long PIC630_init_record(void *);
static long PIC630_start_trans(struct motorRecord *);
static RTN_STATUS PIC630_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS PIC630_end_trans(struct motorRecord *);
struct motor_dset devPIC630 =
{
{8, NULL, (DEVSUPFUN) PIC630_init, (DEVSUPFUN) PIC630_init_record, NULL},
motor_update_values,
PIC630_start_trans,
PIC630_build_trans,
PIC630_end_trans
};
extern "C" {epicsExportAddress(dset,devPIC630);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types PIC630_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 */
};
static struct board_stat **PIC630_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PIC630 stepper motor */
static long PIC630_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
Debug(5, "PIC630_init: entry\n");
if (after == 0)
{
drvtabptr = &PIC630_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC630_cards);
Debug(5, "PIC630_init: exit\n");
return(rtnval);
}
/* initialize a record instance */
static long PIC630_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIC630_cards));
}
/* start building a transaction */
static long PIC630_start_trans(struct motorRecord *mr)
{
motor_start_trans_com(mr, PIC630_cards);
return(OK);
}
/* end building a transaction */
static RTN_STATUS PIC630_end_trans(struct motorRecord *mr)
{
motor_end_trans_com(mr, drvtabptr);
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS PIC630_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 PIC630Controller *cntrl;
char buff[30];
int axis, card;
RTN_STATUS rtnval;
bool send;
double dval; /* placeholder for double values passed from motor record */
long ival; /* placeholder for ints passed from motor record */
send = true; /* default to send motor command */
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
ival = NINT(dval);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
Debug(5, "PIC630_build_trans: entry, motor_start_trans_com=%d\n", rtnval);
motor_call = &(trans->motor_call);
motor_call->type = PIC630_table[command];
card = motor_call->card; /* card is the group of drivers per unique serial port */
axis = motor_call->signal; /* axis is PIC630 address, up to 9 (1-9) per serial port */
axis++; /* Note: Each PIC630 driver drives up to 3 motors */
brdptr = (*trans->tabptr->card_array)[card];
Debug(5, "PIC630_build_trans: axis=%d, command=%d\n", axis, command);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PIC630Controller *) brdptr->DevicePrivate;
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcpy(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
motor_call->type = PIC630_table[command];
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcpy(motor_call->message, mr->prem);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
motor_call->type = PIC630_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(motor_call->message, "%dMA%ld", axis, ival);
break;
case MOVE_REL:
sprintf(motor_call->message, "%dMR%ld", axis, ival);
break;
case HOME_FOR:
sprintf(motor_call->message, "%dMA0", axis);
break;
case HOME_REV:
sprintf(motor_call->message, "%dMA0", axis);
break;
case LOAD_POS: /* PIC630 allows you to define the zero position only */
if (dval == 0.0)
sprintf(motor_call->message, "%dDH", axis);
else
rtnval = ERROR;
break;
case SET_VEL_BASE:
send = false;
trans->state = IDLE_STATE;
break; /* PIC630 does not use base velocity */
case SET_VELOCITY:
if (ival < 1) ival = 1;
if (ival > 200000) ival = 200000;
sprintf(motor_call->message, "%dSV%ld", axis, ival);
break;
case SET_ACCEL:
/* dval is acceleration in steps/sec/sec */
if (ival < 0) ival = 0;
if (ival > 500000) ival = 500000;
sprintf(motor_call->message, "%dSA%ld", axis, ival);
break;
case GO:
/*
* The PIC630 starts moving immediately on move commands, GO command
* does nothing
*/
send = false;
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The PIC630 does not have the concept of encoder ratio, ignore this
* command
*/
send = false;
trans->state = IDLE_STATE;
break;
case GET_INFO:
/* ? what is this for ? */
break;
case STOP_AXIS: /* (decelerate to a) stop */
sprintf(motor_call->message, "%dST", axis);
break;
case JOG:
/*
* PIC630 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. The record will prevent JOG motion
* beyond its soft limits
* First we send the Jog velocity...
*/
ival = (long) fabs((double) ival);
if (ival < 1) ival = 1;
if (ival > 200000) ival = 200000;
sprintf(motor_call->message, "%dSV%ld", axis, ival);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
motor_call->type = PIC630_table[command];
if (dval > 0.) /* jog pos */
sprintf(motor_call->message, "%dMA%ld", axis, (long)(mr->dhlm / mr->mres));
else /* jog neg */
sprintf(motor_call->message, "%dMA%ld", axis, (long)(mr->dllm / mr->mres));
break;
case SET_PGAIN:
break;
case SET_IGAIN:
break;
case SET_DGAIN:
break;
case ENABLE_TORQUE:
break;
case DISABL_TORQUE:
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE;
break;
default:
send = false;
rtnval = ERROR;
}
if (send == false)
return(rtnval);
else
{
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "PIC630_send_msg: motor_end_trans_com status=%d, exit\n", rtnval);
return(rtnval);
}
}
View Git Blame Copy Permalink