forked from epics_driver_modules/motorBase
Ron Sluiter
85 lines
1.7 KiB
C++
85 lines
1.7 KiB
C++
/*
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FILENAME... PIGCSPiezoController
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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 "PIE517Controller.h"
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#include "PIasynAxis.h"
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#include <stdlib.h>
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#include <math.h>
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//#undef asynPrint
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//#define asynPrint(user,reason,format...) 0
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asynStatus PIE517Controller::init()
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{
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asynStatus status;
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status = PIGCSPiezoController::init();
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if (asynSuccess != status)
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{
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return status;
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}
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// all output channels need to be set "online" before
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// any commands are accepted over the interface.
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status = getNrOutputChannels();
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if (asynSuccess != status)
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{
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return status;
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}
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for (int ch=1; ch<=m_nrOutputChannels; ch++)
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{
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status = setOnline(ch, 1);
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if (asynSuccess != status)
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{
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return status;
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}
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}
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return status;
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}
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asynStatus PIE517Controller::setOnline(int channel, int onlineState)
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{
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char cmd[100];
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sprintf(cmd, "ONL %d %d", channel, onlineState);
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asynStatus status = sendOnly(cmd);
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return status;
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}
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asynStatus PIE517Controller::getNrOutputChannels()
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{
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char buf[255];
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asynStatus status = sendAndReceive("TPC?", buf, 99);
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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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m_nrOutputChannels = atoi(buf);
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return status;
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}
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asynStatus PIE517Controller::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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