forked from epics_driver_modules/motorBase
Ron Sluiter
189 lines
6.3 KiB
C
189 lines
6.3 KiB
C
/*
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FILENAME... motor.h
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USAGE... Definitions and structures common to all levels of motorRecord
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support (i.e., record, device and driver).
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Version: $Revision: 1.10 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2003-12-12 21:36:37 $
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*/
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/*
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* Current Author: Ron Sluiter
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* Date: 12/22/98
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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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*
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* .01 10-21-02 rls - Convert to R3.14.x and C++.
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* .02 12-12-03 rls - Added MAX_SCAN_RATE.
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* - Converted MSTA #define's to bit field.
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*/
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#ifndef INCmotorh
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#define INCmotorh 1
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#include <stdio.h>
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#include <dbScan.h>
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#include <devSup.h>
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/* Maximum message size of all supported devices; see drv[device].h for maximum
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message size for each device. */
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#define MAX_MSG_SIZE 300
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#if defined(OK)
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#undef OK
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#endif
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#if defined(ERROR)
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#undef ERROR
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#endif
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typedef enum RTN_VALUES {OK = 0, ERROR = 1} RTN_STATUS;
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typedef enum CALLBACK_VALUES {NOTHING_DONE = 0, CALLBACK_DATA = 1} CALLBACK_VALUE;
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#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5) /* Nearest integer. */
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/* Motor Record Command Set. !WARNING! this enumeration must match ALL of the
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following;
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- "oms_table" in devOmsCom.c
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- "MM4000_table" in devMM4000.c
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*/
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enum motor_cmnd {
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MOVE_ABS, /* Absolute Move. */
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MOVE_REL, /* Relative Move. */
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HOME_FOR, /* Home Forward. */
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HOME_REV, /* Home Reverse. */
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LOAD_POS, /* Load Zero Position. */
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SET_VEL_BASE, /* Set Minimum Velocity. */
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SET_VELOCITY, /* Set Jog and Trajectory Velocity. */
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SET_ACCEL, /* Set Acceleration. */
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GO, /* Start previously programmed move. */
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SET_ENC_RATIO, /* Set Encoder Ratio. */
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GET_INFO, /* Update Motor Status. */
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STOP_AXIS, /* Stop Axis Motion. */
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JOG, /* Momentary Jog. */
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SET_PGAIN, /* Set Proportional Gain. */
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SET_IGAIN, /* Set Integral Gain. */
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SET_DGAIN, /* Set Derivative Gain. */
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ENABLE_TORQUE, /* Enable Servo Closed-Loop Control. */
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DISABL_TORQUE, /* Disable Servo Closed-Loop Control. */
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PRIMITIVE, /* Primitive Controller command. */
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SET_HIGH_LIMIT, /* Set High Travel Limit. */
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SET_LOW_LIMIT, /* Set Low Travel Limit. */
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JOG_VELOCITY /* Change Jog velocity. */
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};
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/* -------------------------------------------------- */
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/* driver and device support parameters */
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#define MAX_SCAN_RATE 60 /* Maximum polling rate in HZ. */
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#define SCAN_RATE 6 /* Default polling rate in HZ. */
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#define MAX_COUNT 50000 /*19000*/ /* timeout value */
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#define MAX_AXIS 10 /* max number of axis per board */
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#define NO 0
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#define YES 1
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// Define, from top to bottom, how bit fields are packed.
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// This works for SunPro,
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#if #cpu(i386) && !#cpu(sparc)
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#define LSB_First (TRUE) // LSB is packed first.
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#else
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#define MSB_First (TRUE) // MSB is packed first.
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#endif
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/* -------------------------------------------------- */
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/* axis and encoder status for return to requester */
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typedef union
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{
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unsigned long All;
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struct
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{
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#ifdef MSB_First
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unsigned int na :18;/* N/A bits */
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unsigned int RA_MINUS_LS :1; /* minus limit switch has been hit */
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unsigned int CNTRL_COMM_ERR :1; /* Controller communication error. */
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unsigned int GAIN_SUPPORT :1; /* Motor supports closed-loop position control. */
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unsigned int RA_MOVING :1; /* non-zero velocity present */
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unsigned int RA_PROBLEM :1; /* driver stopped polling */
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unsigned int EA_PRESENT :1; /* encoder is present */
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unsigned int EA_HOME :1; /* encoder home signal on */
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unsigned int EA_SLIP_STALL :1; /* slip/stall detected */
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unsigned int EA_POSITION :1; /* position maintenence enabled */
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unsigned int EA_SLIP :1; /* encoder slip enabled */
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unsigned int RA_HOME :1; /* The home signal is on */
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unsigned int RA_PLUS_LS :1; /* plus limit switch has been hit */
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unsigned int RA_DONE :1; /* a motion is complete */
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unsigned int RA_DIRECTION :1; /* (last) 0=Negative, 1=Positive */
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#else
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unsigned int RA_DIRECTION :1; /* (last) 0=Negative, 1=Positive */
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unsigned int RA_DONE :1; /* a motion is complete */
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unsigned int RA_PLUS_LS :1; /* plus limit switch has been hit */
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unsigned int RA_HOME :1; /* The home signal is on */
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unsigned int EA_SLIP :1; /* encoder slip enabled */
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unsigned int EA_POSITION :1; /* position maintenence enabled */
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unsigned int EA_SLIP_STALL :1; /* slip/stall detected */
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unsigned int EA_HOME :1; /* encoder home signal on */
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unsigned int EA_PRESENT :1; /* encoder is present */
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unsigned int RA_PROBLEM :1; /* driver stopped polling */
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unsigned int RA_MOVING :1; /* non-zero velocity present */
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unsigned int GAIN_SUPPORT :1; /* Motor supports closed-loop position control. */
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unsigned int CNTRL_COMM_ERR :1; /* Controller communication error. */
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unsigned int RA_MINUS_LS :1; /* minus limit switch has been hit */
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unsigned int na :18;/* N/A bits */
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#endif
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} Bits;
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} msta_field;
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/*
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The RA_PROBLEM status bit indicates that the driver has stopped the polling
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because it believes that the motor is not really moving. Under normal
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operation, the controller will tell the driver when the motor is done
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moving. This is a safety precaution and should normally be treated like a
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RA_DONE.
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*/
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/* device support entry table */
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struct motor_dset
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{
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struct dset base;
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CALLBACK_VALUE (*update_values) (struct motorRecord *);
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long (*start_trans) (struct motorRecord *);
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RTN_STATUS (*build_trans) (motor_cmnd, double *, struct motorRecord *);
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RTN_STATUS (*end_trans) (struct motorRecord *);
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};
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/* All db_post_events() calls set both VALUE and LOG bits. */
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#define DBE_VAL_LOG (unsigned int) (DBE_VALUE | DBE_LOG)
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#endif /* INCmotorh */
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