forked from epics_driver_modules/motorBase
Ron Sluiter
305 lines
7.3 KiB
C++
305 lines
7.3 KiB
C++
/*
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FILENAME... devPIC662.cc
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USAGE... Motor record device level support for Physik Instrumente (PI)
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GmbH & Co. C-844 motor controller.
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Version: $Revision: 1.2 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2008-03-14 20:21:36 $
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*/
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/*
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* Original Author: Ron Sluiter
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* Date: 12/17/03
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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 03/08/06 jps - copied from devPI.cc
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*/
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#include <string.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 "epicsExport.h"
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#include "drvPIC662.h"
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extern struct driver_table PIC662_access;
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/* ----------------Create the dsets for devPIC662----------------- */
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static struct driver_table *drvtabptr;
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static long PIC662_init(void *);
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static long PIC662_init_record(void *);
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static long PIC662_start_trans(struct motorRecord *);
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static RTN_STATUS PIC662_build_trans(motor_cmnd, double *, struct motorRecord *);
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static RTN_STATUS PIC662_end_trans(struct motorRecord *);
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struct motor_dset devPIC662 =
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{
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{8, NULL, (DEVSUPFUN) PIC662_init, (DEVSUPFUN) PIC662_init_record, NULL},
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motor_update_values,
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PIC662_start_trans,
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PIC662_build_trans,
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PIC662_end_trans
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};
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extern "C" {epicsExportAddress(dset,devPIC662);}
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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 PIC662_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 **PIC662_cards;
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/* --------------------------- program data --------------------- */
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/* initialize device support for PIC662 stepper motor */
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static long PIC662_init(void *arg)
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{
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long rtnval;
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int after = (arg == 0) ? 0 : 1;
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if (after == 0)
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{
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drvtabptr = &PIC662_access;
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(drvtabptr->init)();
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}
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rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC662_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 PIC662_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, PIC662_cards));
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}
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/* start building a transaction */
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static long PIC662_start_trans(struct motorRecord *mr)
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{
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motor_start_trans_com(mr, PIC662_cards);
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return(OK);
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}
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/* end building a transaction */
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static RTN_STATUS PIC662_end_trans(struct motorRecord *mr)
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{
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motor_end_trans_com(mr, drvtabptr);
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return(OK);
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}
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/* add a part to the transaction */
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static RTN_STATUS PIC662_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 PIC662controller *cntrl;
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char buff[110];
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int axis, card, maxdigits;
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unsigned int size;
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double dval, cntrl_units;
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RTN_STATUS rtnval;
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bool send;
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send = true; /* Default to send motor command. */
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rtnval = OK;
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buff[0] = '\0';
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/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
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dval = (parms == NULL) ? 0.0 : *parms;
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motor_call = &(trans->motor_call);
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card = motor_call->card;
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axis = motor_call->signal + 1;
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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 PIC662controller *) brdptr->DevicePrivate;
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maxdigits = cntrl->res_decpts;
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cntrl_units = dval * cntrl->drive_resolution;
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if (PIC662_table[command] > motor_call->type)
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motor_call->type = PIC662_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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strcat(motor_call->message, mr->init);
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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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strcat(motor_call->message, ";");
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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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switch (command)
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{
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case MOVE_ABS:
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sprintf(buff, "DEV:CONT REM\nPOS %.*f", maxdigits, cntrl_units);
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break;
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case MOVE_REL:
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sprintf(buff, "DEV:CONT REM\nPOS:REL %.*f", maxdigits, cntrl_units);
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break;
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case HOME_FOR:
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case HOME_REV:
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send = false;
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break;
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case LOAD_POS:
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send = false; /* Can't Load a Position */
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break;
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case SET_VEL_BASE:
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break;
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case SET_VELOCITY:
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send = false; /* DC motor; not base velocity. */
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break;
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case SET_ACCEL:
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send = false; /* DC motor; not base velocity. */
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break;
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case GO:
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/* The PIC662 starts moving immediately on move commands, GO command
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* does nothing. */
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send = false;
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break;
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case PRIMITIVE:
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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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break;
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case STOP_AXIS:
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// Force device polling to stop.
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// There is no HALT command to the motor controller
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cntrl->stop_status = true;
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send = false;
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break;
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case JOG_VELOCITY:
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case JOG:
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send = false;
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break;
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case SET_PGAIN:
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send = false;
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break;
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case SET_IGAIN:
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send = false;
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break;
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case SET_DGAIN:
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send = false;
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break;
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case ENABLE_TORQUE:
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send = false;
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break;
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case DISABL_TORQUE:
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send = false;
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break;
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case SET_HIGH_LIMIT:
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case SET_LOW_LIMIT:
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case SET_ENC_RATIO:
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trans->state = IDLE_STATE; /* No command sent to the controller. */
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send = false;
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break;
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default:
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send = false;
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rtnval = ERROR;
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}
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size = strlen(buff);
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if (send == false)
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return(rtnval);
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else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
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errlogMessage("PIC662_build_trans(): buffer overflow.\n");
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else
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strcat(motor_call->message, buff);
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return(rtnval);
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}
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