forked from epics_driver_modules/motorBase
timmmooney
418 lines
13 KiB
C
418 lines
13 KiB
C
/* EnsembleTrajectoryScan.h
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*
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* This file is included in EnsembleTrajectoryScan.st.
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*/
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/* State codes for Build, Read and Execute. Careful, these must match the
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* corresponding MBBI records, but there is no way to check this */
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#define BUILD_STATE_DONE 0
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#define BUILD_STATE_BUSY 1
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#define READ_STATE_DONE 0
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#define READ_STATE_BUSY 1
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#define EXECUTE_STATE_DONE 0
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#define EXECUTE_STATE_MOVE_START 1
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#define EXECUTE_STATE_EXECUTING 2
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#define EXECUTE_STATE_FLYBACK 3
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/* Status codes for Build, Execute and Read */
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#define STATUS_UNDEFINED 0
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#define STATUS_SUCCESS 1
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#define STATUS_FAILURE 2
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#define STATUS_ABORT 3
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#define STATUS_TIMEOUT 4
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#define STATUS_WARNING 5
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/* Time modes */
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#define TIME_MODE_TOTAL 0
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#define TIME_MODE_PER_ELEMENT 1
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/* Move modes */
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#define MOVE_MODE_RELATIVE 0
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#define MOVE_MODE_ABSOLUTE 1
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#define MOVE_MODE_HYBRID 2
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/* The maximum number of axes per controller. If this is changed from 8
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* then many assign statements in this file must be changed */
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#define MAX_AXES 8
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#define MSGSIZE 40
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/* Define PVs */
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int debugLevel; assign debugLevel to "{P}{R}DebugLevel.VAL";
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monitor debugLevel;
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int numAxes; assign numAxes to "{P}{R}NumAxes.VAL";
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monitor numAxes;
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int nelements; assign nelements to "{P}{R}Nelements.VAL";
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monitor nelements;
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int npulses; assign npulses to "{P}{R}Npulses.VAL";
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monitor npulses;
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int startPulses; assign startPulses to "{P}{R}StartPulses.VAL";
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monitor startPulses;
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int endPulses; assign endPulses to "{P}{R}EndPulses.VAL";
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monitor endPulses;
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int nactual; assign nactual to "{P}{R}Nactual.VAL";
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int moveMode; assign moveMode to "{P}{R}MoveMode.VAL";
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monitor moveMode;
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double time; assign time to "{P}{R}Time.VAL";
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monitor time;
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double timeScale; assign timeScale to "{P}{R}TimeScale.VAL";
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monitor timeScale;
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int timeMode; assign timeMode to "{P}{R}TimeMode.VAL";
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monitor timeMode;
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double accel; assign accel to "{P}{R}Accel.VAL";
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monitor accel;
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int build; assign build to "{P}{R}Build.VAL";
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monitor build;
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int buildState; assign buildState to "{P}{R}BuildState.VAL";
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int buildStatus; assign buildStatus to "{P}{R}BuildStatus.VAL";
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string buildMessage;assign buildMessage to "{P}{R}BuildMessage.VAL";
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int simMode; assign simMode to "{P}{R}SimMode.VAL";
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monitor simMode;
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int execute; assign execute to "{P}{R}Execute.VAL";
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monitor execute;
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int execState; assign execState to "{P}{R}ExecState.VAL";
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monitor execState;
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int execStatus; assign execStatus to "{P}{R}ExecStatus.VAL";
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string execMessage; assign execMessage to "{P}{R}ExecMessage.VAL";
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int abort; assign abort to "{P}{R}Abort.VAL";
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monitor abort;
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int readback; assign readback to "{P}{R}Readback.VAL";
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monitor readback;
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int readState; assign readState to "{P}{R}ReadState.VAL";
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int readStatus; assign readStatus to "{P}{R}ReadStatus.VAL";
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string readMessage; assign readMessage to "{P}{R}ReadMessage.VAL";
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double timeTrajectory[MAX_ELEMENTS];
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assign timeTrajectory to "{P}{R}TimeTraj.VAL";
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monitor timeTrajectory;
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string trajectoryFile; assign trajectoryFile to "{P}{R}TrajectoryFile.VAL";
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monitor trajectoryFile;
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/*** BEGIN: Specific to EnsembleTrajectoryScan.st ***/
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/* time since trajectory start */
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double elapsedTime; assign elapsedTime to "{P}{R}ElapsedTime.VAL";
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/* time in seconds from trajectory start */
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double realTimeTrajectory[MAX_ELEMENTS];
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assign realTimeTrajectory to "{P}{R}realTimeTrajectory.VAL";
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/* EPICS motor record resolution */
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double epicsMotorMres[MAX_AXES];
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assign epicsMotorMres to {"","","","","","","",""};
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monitor epicsMotorMres;
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/* EPICS motor-controller card number. (For now, we talk to the controller via drvMAX.cc) */
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int epicsMotorCard[MAX_AXES];
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assign epicsMotorCard to {"","","","","","","",""};
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monitor epicsMotorCard;
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/* EPICS motor record soft limits */
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double epicsMotorHLM[MAX_AXES];
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assign epicsMotorHLM to {"","","","","","","",""};
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monitor epicsMotorHLM;
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double epicsMotorLLM[MAX_AXES];
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assign epicsMotorLLM to {"","","","","","","",""};
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monitor epicsMotorLLM;
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double motorStart[MAX_AXES];
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assign motorStart to
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{"{P}{R}M1Start.VAL",
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"{P}{R}M2Start.VAL",
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"{P}{R}M3Start.VAL",
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"{P}{R}M4Start.VAL",
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"{P}{R}M5Start.VAL",
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"{P}{R}M6Start.VAL",
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"{P}{R}M7Start.VAL",
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"{P}{R}M8Start.VAL"};
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int pulseDir;
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assign pulseDir to "{P}{R}PulseDir";
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monitor pulseDir;
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double pulseLenUS;
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assign pulseLenUS to "{P}{R}PulseLenUS";
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monitor pulseLenUS;
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int pulseSrc;
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assign pulseSrc to "{P}{R}PulseSrc";
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monitor pulseSrc;
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/* Pulse modes */
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#define PULSE_MODE_FIXED 0
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#define PULSE_MODE_ARRAY 1
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#define PULSE_MODE_TRAJPTS 2
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#define PULSE_MODE_NONE 3
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#define MAX_PSO_PULSES 8192
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double pulsePositions[MAX_PULSES];
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assign pulsePositions to "{P}{R}PulsePositions.VAL";
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#if 0
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/* The "monitor pulsePositions;" command crashes all SNL programs in the ioc. */
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monitor pulsePositions;
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evflag pulsePositionsMon; sync pulsePositions pulsePositionsMon;
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#else
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double newPulsePositions;
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assign newPulsePositions to "{P}{R}NewPulsePositions.VAL";
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monitor newPulsePositions;
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evflag pulsePositionsMon; sync newPulsePositions pulsePositionsMon;
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#endif
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int numPulsePositions; assign numPulsePositions to "{P}{R}NumPulsePositions";
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monitor numPulsePositions;
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#define PULSE_POSITIONS_LOADED_NONE 0
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#define PULSE_POSITIONS_LOADED_ARRAY 1
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#define PULSE_POSITIONS_LOADED_TRAJ 2
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int pulseMode; assign pulseMode to "{P}{R}PulseMode.VAL";
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monitor pulseMode;
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/*** END: Specific to EnsembleTrajectoryScan.st ***/
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int moveAxis[MAX_AXES];
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assign moveAxis to
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{"{P}{R}M1Move.VAL",
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"{P}{R}M2Move.VAL",
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"{P}{R}M3Move.VAL",
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"{P}{R}M4Move.VAL",
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"{P}{R}M5Move.VAL",
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"{P}{R}M6Move.VAL",
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"{P}{R}M7Move.VAL",
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"{P}{R}M8Move.VAL"};
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monitor moveAxis;
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double motorTrajectory[MAX_AXES][MAX_ELEMENTS];
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assign motorTrajectory to
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{"{P}{R}M1Traj.VAL",
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"{P}{R}M2Traj.VAL",
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"{P}{R}M3Traj.VAL",
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"{P}{R}M4Traj.VAL",
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"{P}{R}M5Traj.VAL",
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"{P}{R}M6Traj.VAL",
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"{P}{R}M7Traj.VAL",
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"{P}{R}M8Traj.VAL"};
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monitor motorTrajectory;
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double motorReadbacks[MAX_AXES][MAX_PULSES];
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assign motorReadbacks to
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{"{P}{R}M1Actual.VAL",
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"{P}{R}M2Actual.VAL",
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"{P}{R}M3Actual.VAL",
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"{P}{R}M4Actual.VAL",
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"{P}{R}M5Actual.VAL",
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"{P}{R}M6Actual.VAL",
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"{P}{R}M7Actual.VAL",
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"{P}{R}M8Actual.VAL"};
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double motorError[MAX_AXES][MAX_PULSES];
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assign motorError to
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{"{P}{R}M1Error.VAL",
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"{P}{R}M2Error.VAL",
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"{P}{R}M3Error.VAL",
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"{P}{R}M4Error.VAL",
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"{P}{R}M5Error.VAL",
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"{P}{R}M6Error.VAL",
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"{P}{R}M7Error.VAL",
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"{P}{R}M8Error.VAL"};
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double motorCurrent[MAX_AXES];
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assign motorCurrent to
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{"{P}{R}M1Current.VAL",
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"{P}{R}M2Current.VAL",
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"{P}{R}M3Current.VAL",
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"{P}{R}M4Current.VAL",
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"{P}{R}M5Current.VAL",
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"{P}{R}M6Current.VAL",
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"{P}{R}M7Current.VAL",
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"{P}{R}M8Current.VAL"};
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double motorMDVS[MAX_AXES];
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assign motorMDVS to
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{"{P}{R}M1MDVS.VAL",
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"{P}{R}M2MDVS.VAL",
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"{P}{R}M3MDVS.VAL",
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"{P}{R}M4MDVS.VAL",
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"{P}{R}M5MDVS.VAL",
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"{P}{R}M6MDVS.VAL",
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"{P}{R}M7MDVS.VAL",
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"{P}{R}M8MDVS.VAL"};
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monitor motorMDVS;
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double motorMDVA[MAX_AXES];
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assign motorMDVA to
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{"{P}{R}M1MDVA.VAL",
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"{P}{R}M2MDVA.VAL",
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"{P}{R}M3MDVA.VAL",
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"{P}{R}M4MDVA.VAL",
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"{P}{R}M5MDVA.VAL",
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"{P}{R}M6MDVA.VAL",
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"{P}{R}M7MDVA.VAL",
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"{P}{R}M8MDVA.VAL"};
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int motorMDVE[MAX_AXES];
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assign motorMDVE to
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{"{P}{R}M1MDVE.VAL",
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"{P}{R}M2MDVE.VAL",
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"{P}{R}M3MDVE.VAL",
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"{P}{R}M4MDVE.VAL",
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"{P}{R}M5MDVE.VAL",
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"{P}{R}M6MDVE.VAL",
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"{P}{R}M7MDVE.VAL",
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"{P}{R}M8MDVE.VAL"};
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double motorMVA[MAX_AXES];
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assign motorMVA to
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{"{P}{R}M1MVA.VAL",
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"{P}{R}M2MVA.VAL",
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"{P}{R}M3MVA.VAL",
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"{P}{R}M4MVA.VAL",
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"{P}{R}M5MVA.VAL",
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"{P}{R}M6MVA.VAL",
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"{P}{R}M7MVA.VAL",
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"{P}{R}M8MVA.VAL"};
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int motorMVE[MAX_AXES];
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assign motorMVE to
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{"{P}{R}M1MVE.VAL",
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"{P}{R}M2MVE.VAL",
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"{P}{R}M3MVE.VAL",
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"{P}{R}M4MVE.VAL",
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"{P}{R}M5MVE.VAL",
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"{P}{R}M6MVE.VAL",
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"{P}{R}M7MVE.VAL",
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"{P}{R}M8MVE.VAL"};
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double motorMAA[MAX_AXES];
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assign motorMAA to
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{"{P}{R}M1MAA.VAL",
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"{P}{R}M2MAA.VAL",
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"{P}{R}M3MAA.VAL",
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"{P}{R}M4MAA.VAL",
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"{P}{R}M5MAA.VAL",
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"{P}{R}M6MAA.VAL",
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"{P}{R}M7MAA.VAL",
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"{P}{R}M8MAA.VAL"};
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int motorMAE[MAX_AXES];
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assign motorMAE to
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{"{P}{R}M1MAE.VAL",
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"{P}{R}M2MAE.VAL",
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"{P}{R}M3MAE.VAL",
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"{P}{R}M4MAE.VAL",
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"{P}{R}M5MAE.VAL",
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"{P}{R}M6MAE.VAL",
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"{P}{R}M7MAE.VAL",
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"{P}{R}M8MAE.VAL"};
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/* We don't assign the EPICS motors here because there may be fewer than
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* MAX_AXES actually in use. */
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double epicsMotorPos[MAX_AXES];
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assign epicsMotorPos to {"","","","","","","",""};
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monitor epicsMotorPos;
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int epicsMotorDir[MAX_AXES];
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assign epicsMotorDir to {"","","","","","","",""};
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monitor epicsMotorDir;
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double epicsMotorOff[MAX_AXES];
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assign epicsMotorOff to {"","","","","","","",""};
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monitor epicsMotorOff;
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double epicsMotorDone[MAX_AXES];
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assign epicsMotorDone to {"","","","","","","",""};
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monitor epicsMotorDone;
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double epicsMotorVELO[MAX_AXES];
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assign epicsMotorVELO to {"","","","","","","",""};
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monitor epicsMotorVELO;
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double epicsMotorVMAX[MAX_AXES];
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assign epicsMotorVMAX to {"","","","","","","",""};
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monitor epicsMotorVMAX;
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double epicsMotorVMIN[MAX_AXES];
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assign epicsMotorVMIN to {"","","","","","","",""};
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monitor epicsMotorVMIN;
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double epicsMotorACCL[MAX_AXES];
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assign epicsMotorACCL to {"","","","","","","",""};
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monitor epicsMotorACCL;
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evflag buildMon; sync build buildMon;
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evflag executeMon; sync execute executeMon;
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evflag execStateMon; sync execState execStateMon;
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evflag abortMon; sync abort abortMon;
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evflag readbackMon; sync readback readbackMon;
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evflag nelementsMon; sync nelements nelementsMon;
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evflag motorMDVSMon; sync motorMDVS motorMDVSMon;
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/* This is going to get messy. We need to use Ensemble commands like "VELOCITY" and "PVT",
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* But they aren't available via the ASCII interface we're using to send commands. So we
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* use ASCII-legal commands to tell an Aerobasic program the commands we want to execute,
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* and have the AeroBasic program execute those commands.
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*/
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/* defines for IGLOBAL values to tell AeroBasic program which command to invoke */
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#define cmdDONE 0
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#define cmdVELOCITY_ON 1
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#define cmdVELOCITY_OFF 2
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#define cmdHALT 3
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#define cmdSTART 4
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#define cmdPVT_INIT_TIME_ABS 5
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#define cmdPVT_INIT_TIME_INC 6
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#define cmdPVT1 7 /* PVT command for one motor (PVT i1 d1, d2, TIME d3) */
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#define cmdPVT2 8 /* PVT command for two motors (PVT i1 d1, d2 i2 d3, d4 TIME d5)*/
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#define cmdPVT3 9
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#define cmdPVT4 10
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#define cmdABORT 11
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#define cmdSTARTABORT 12
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#define cmdSCOPEBUFFER 13
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#define cmdSCOPEDATA 14
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#define cmdSCOPESTATUS 15
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#define cmdSCOPETRIG 16 /* if IGLOBAL(iarg1Var)==1, stop scope */
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#define cmdSCOPETRIGPERIOD 17
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#define cmdDRIVEINFO 18 /* per Aerotech email, but not found in 4.02.004 doc */
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#define cmdLINEAR 19 /* LINEAR @IGLOBAL(iarg1Var) DGLOBAL(darg1Var) FDGLOBAL(darg1Var) */
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#define cmdDATAACQ_TRIG 20 /* DATAACQ @IGLOBAL(iarg1Var) TRIGGER IGLOBAL(1arg2Var) */
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#define cmdDATAACQ_INP 21 /* DATAACQ @IGLOBAL(iarg1Var) INPUT IGLOBAL(1arg2Var) */
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#define cmdDATAACQ_ON 22 /* DATAACQ @IGLOBAL(iarg1Var) ON IGLOBAL(1arg2Var) */
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#define cmdDATAACQ_OFF 23 /* DATAACQ @IGLOBAL(iarg1Var) OFF */
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#define cmdDATAACQ_READ 24 /* DATAACQ @IGLOBAL(iarg1Var) READ IGLOBAL(1arg2Var), IGLOBAL(1arg3Var) */
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#define cmdDOTRAJECTORY 25 /* for motor IGLOBAL(iarg1Var); 3*IGLOBAL(iarg2Var) DGLOBALs (PVT) have been loaded */
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#define cmdVar 45
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#define iarg1Var 46
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#define iarg2Var 47
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#define iarg3Var 48
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#define iarg4Var 49
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#define darg1Var 1
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#define darg2Var 2
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#define darg3Var 3
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#define numIArg 44
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#define numDArg 43
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#define pvtWaitMSVar 42
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/* Numerical values for first arg for cmdSCOPEDATA */
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#define sd_PositionCommand 0
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#define sd_PositionFeedback 1
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#define sd_ExternalPosition 2
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#define sd_AxisFault 3
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#define sd_AxisStatus 4
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#define sd_AnalogInput0 5
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#define sd_AnalogInput1 6
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#define sd_AnalogOutput0 7
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#define sd_AnalogOutput1 8
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#define sd_DigitalInput0 9
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#define sd_DigitalInput1 10
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#define sd_DigitalOutput0 11
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#define sd_DigitalOutput1 12
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#define sd_CurrentCommand 13
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#define sd_CurrentFeedback 14
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#define sd_OptionalData1 15
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#define sd_OptionalData2 16
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#define sd_ProgramCounter 17
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