forked from epics_driver_modules/motorBase
Ron Sluiter
310 lines
7.3 KiB
C++
310 lines
7.3 KiB
C++
/*
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FILENAME... devPIC862.cc
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USAGE... Motor record device level support for Physik Instrumente (PI)
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GmbH & Co. C-862 motor controller.
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*/
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/*
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* Original Author: Ron Sluiter
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* Current Author: Mohan Ramanathan
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* Date: 09/04/2006
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*
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* Modification Log:
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* -----------------
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* .00 09/05/2006 mr copied from devPIC848.cc
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* .01 09/25/2006 rls - strip trailing cmnd separator (",") from message.
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* - simulate jogging with absolute moves to soft limit.
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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 "drvPIC862.h"
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#include "epicsExport.h"
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extern struct driver_table PIC862_access;
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/* ----------------Create the dsets for devPIC862----------------- */
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static struct driver_table *drvtabptr;
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static long PIC862_init(void *);
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static long PIC862_init_record(void *);
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static long PIC862_start_trans(struct motorRecord *);
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static RTN_STATUS PIC862_build_trans(motor_cmnd, double *, struct motorRecord *);
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static RTN_STATUS PIC862_end_trans(struct motorRecord *);
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struct motor_dset devPIC862 =
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{
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{8, NULL, (DEVSUPFUN) PIC862_init, (DEVSUPFUN) PIC862_init_record, NULL},
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motor_update_values,
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PIC862_start_trans,
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PIC862_build_trans,
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PIC862_end_trans
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};
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extern "C" {epicsExportAddress(dset,devPIC862);}
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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 PIC862_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 **PIC862_cards;
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/* --------------------------- program data --------------------- */
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/* initialize device support for PIC862 servo motor */
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static long PIC862_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 = &PIC862_access;
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(drvtabptr->init)();
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}
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rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC862_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 PIC862_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, PIC862_cards));
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}
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/* start building a transaction */
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static long PIC862_start_trans(struct motorRecord *mr)
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{
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motor_start_trans_com(mr, PIC862_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 PIC862_end_trans(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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char *msgptr;
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int last;
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/* Remove trailing cmnd separator (",") from message. */
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motor_call = &(trans->motor_call);
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msgptr = motor_call->message;
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last = strlen(msgptr) - 1;
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if (msgptr[last] == ',')
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msgptr[last] = (char) NULL;
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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 PIC862_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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char buff[110];
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int card;
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unsigned int size;
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double dval;
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int 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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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_units = (int) dval;
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if (PIC862_table[command] > motor_call->type)
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motor_call->type = PIC862_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, "MA%d,", cntrl_units);
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break;
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case MOVE_REL:
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sprintf(buff, "MR%d,", cntrl_units);
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break;
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case HOME_FOR:
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sprintf(buff, "FE0");
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break;
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case HOME_REV:
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sprintf(buff, "FE1");
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break;
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case LOAD_POS:
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if (cntrl_units == 0.0)
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sprintf(buff, "DH");
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else
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rtnval = ERROR;
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break;
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case SET_VEL_BASE:
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send = false; /* DC motor; not base velocity. */
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break;
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case JOG_VELOCITY:
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case SET_VELOCITY:
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sprintf(buff, "SV%d,", cntrl_units);
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break;
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case SET_ACCEL:
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sprintf(buff, "SA%d,", cntrl_units);
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break;
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case ENABLE_TORQUE:
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sprintf(buff, "MN");
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break;
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case DISABL_TORQUE:
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sprintf(buff, "MF");
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break;
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case GO:
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/* The PIC862 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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sprintf(buff, "ST");
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break;
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case JOG:
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/*
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* C-862 does not have a jog command. Simulate with move absolute
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* to the appropriate software limit.
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*/
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sprintf(buff, "SV%d,", abs(cntrl_units));
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strcat(motor_call->message, buff);
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if (dval > 0.)
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sprintf(buff, "MA%d,", (int) (mr->dhlm / mr->mres));
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else
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sprintf(buff, "MA%d,", (int) (mr->dllm / mr->mres));
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break;
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case SET_PGAIN:
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cntrl_units = (int) (32767 * dval);
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sprintf(buff, "DP%d", cntrl_units);
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break;
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case SET_IGAIN:
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cntrl_units = (int) (32767 * dval);
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sprintf(buff, "DI%d", cntrl_units);
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break;
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case SET_DGAIN:
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cntrl_units = (int) (32767 * dval);
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sprintf(buff, "DD%d", cntrl_units);
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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("PIC862_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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}
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return(rtnval);
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}
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