forked from epics_driver_modules/motorBase
kmpeters
79 lines
1.9 KiB
C++
79 lines
1.9 KiB
C++
/*
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FILENAME... PIGCSPiezoController.cpp
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*************************************************************************
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* Copyright (c) 2011-2013 Physik Instrumente (PI) GmbH & Co. KG
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* This file is distributed subject to the EPICS Open License Agreement
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* found in the file LICENSE that is included with this distribution.
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*************************************************************************
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Version: $Revision$
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Modified By: $Author$
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Last Modified: $Date$
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HeadURL: $URL$
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Original Author: Steffen Rau
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Created: 15.12.2010
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*/
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#include "PIGCSPiezoController.h"
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#include "PIasynAxis.h"
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#include <math.h>
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#include <stdlib.h>
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#undef asynPrint
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#define asynPrint(user,reason,format...) 0
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asynStatus PIGCSPiezoController::getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl)
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{
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asynStatus status = getMoving(pAxis, moving);
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if (status != asynSuccess)
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{
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return status;
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}
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homing = 0;
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negLimit = 0;
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posLimit = 0;
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return status;
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}
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asynStatus PIGCSPiezoController::getReferencedState(PIasynAxis* pAxis)
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{
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pAxis->m_homed = 1;
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return asynSuccess;
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}
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asynStatus PIGCSPiezoController::initAxis(PIasynAxis* pAxis)
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{
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pAxis->m_movingStateMask = pow(2.0, pAxis->getAxisNo());
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return setServo(pAxis, 1);
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}
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/**
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* Currenty no Piezo controller supports "HLT".
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* use STP - which will stop all axes...
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*/
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asynStatus PIGCSPiezoController::haltAxis(PIasynAxis* pAxis)
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{
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asynStatus status = sendOnly("STP");
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if (status != asynSuccess)
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{
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return status;
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}
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int err = getGCSError();
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// controller will set error code to PI_CNTR_STOP (10)
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if (err != PI_CNTR_STOP)
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{
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asynPrint(m_pCurrentLogSink, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
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"PIGCSPiezoController::haltAxis() failed, GCS error %d", err);
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return asynError;
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}
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return status;
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}
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