lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity
Files
c759cd2ef0d5fcd013e04bd51d7fae4e24148fc8
motorBase/motorApp/NewportSrc/devXPSC8.cc
T

441 lines
15 KiB
C++
Executable File
Raw Blame History

/* File: devXPSC8.cc */
/* Device Support Routines for motor record for XPS C8 Motor Controller */
/*
* Original Author: Jon Kelly
*
*/
#define VERSION 1.00
#include <string.h>
#include <epicsMutex.h>
#include <epicsExport.h>
#include <epicsThread.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvXPSC8.h"
/*#define DLL _declspec(dllexport)*/
#include "xps_c8_driver.h"
#define STATIC static
extern struct driver_table XPSC8_access;
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
#define MIN(a,b) ((a)<(b) ? (a) : (b))
#define ABS(f) ((f)>0 ? (f) : -(f))
#define MOVING 1
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int devXPSC8Debug = 0;
#define Debug(L, FMT, V...) { if(L <= devXPSC8Debug) \
{ printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } }
epicsExportAddress(int, devXPSC8Debug);
#else
#define Debug(L, FMT, V...)
#endif
#else
#define Debug()
#endif
/* Debugging levels:
* devXPSC8Debug >= 3 Print new part of command and command string so far
* at the end of XPSC8_build_trans
*/
/* ----------------Create the dsets for devXPSC8----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long XPSC8_init(int);
STATIC long XPSC8_init_record(struct motorRecord *);
STATIC long XPSC8_start_trans(struct motorRecord *);
STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS XPSC8_end_trans(struct motorRecord *);
struct motor_dset devXPSC8 =
{
{8, NULL, (DEVSUPFUN)XPSC8_init, (DEVSUPFUN)XPSC8_init_record, NULL},
motor_update_values,
XPSC8_start_trans,
XPSC8_build_trans,
XPSC8_end_trans
};
epicsExportAddress(dset,devXPSC8);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types XPSC8_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE /* SET_LOW_LIMIT */
};
static struct board_stat **XPSC8_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for XPSC8 stepper motor */
STATIC long XPSC8_init(int after)
{
long rtnval;
Debug(1, "XPSC8_init, after=%d\n", after);
if (after == 0) {
drvtabptr = &XPSC8_access;
Debug(1, "XPSC8_init, calling driver initialization\n");
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr,
&XPSC8_cards);
Debug(1, "XPSC8_init, end of function\n");
return(rtnval);
}
/* initialize a record instance */
STATIC long XPSC8_init_record(struct motorRecord *mr)
{
long rtnval;
struct motor_trans *trans;
struct mess_node *motor_call;
struct controller *brdptr;
struct XPSC8controller *control;
struct XPSC8axis *cntrl;
int card, signal;
Debug(1, "--------XPSC8_init_record \n");
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, XPSC8_cards);
/* We have a logic problem here. motor_init has read in the motor
* position in engineering units, but it did not yet know the resolution
* to convert to steps. It thus did a divide by zero.
* We have to wait till after calling
* motor_init_record_com for mr->dpvt to be initialized, and then set
* the rmp field of the record again */
trans = (struct motor_trans *) mr->dpvt;
motor_call = &(trans->motor_call);
card = mr->out.value.vmeio.card;
signal = mr->out.value.vmeio.signal;
brdptr = (*trans->tabptr->card_array)[card];
control = (struct XPSC8controller *) brdptr->DevicePrivate;
cntrl = (struct XPSC8axis *)&control->axis[signal];
cntrl->resolution = mr->mres; /* Set the motor resolution */
mr->rmp = NINT(cntrl->currentposition[1] / cntrl->resolution);
Debug(1, "XPSC8_init_record: card=%d, signal=%d, currentposition[1]=%f"\
" resolution=%f, mr->rmp=%d\n",\
card, signal, cntrl->currentposition[1], cntrl->resolution, mr->rmp);
return(rtnval);
}
/* start building a transaction */
STATIC long XPSC8_start_trans(struct motorRecord *mr)
{
Debug(1, "--------XPSC8_start_trans\n");
long rtnval;
rtnval = motor_start_trans_com(mr, XPSC8_cards);
return(rtnval);
}
/* end building a transaction */
STATIC RTN_STATUS XPSC8_end_trans(struct motorRecord *mr)
{
Debug(1, "--------XPSC8_end_trans\n");
RTN_STATUS rtnval;
rtnval = motor_end_trans_com(mr, drvtabptr);
return(rtnval);
}
/* add a part to the transaction */
STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct XPSC8controller *control;
struct XPSC8axis *cntrl;
double dval=0.,resolution,steps;
int ival=0;
RTN_STATUS rtnval=OK;
int card, signal;
int positioner, status;
positioner = 1; /* Means only move one axis at a time */
if (parms != NULL){
dval = parms[0]; /* I assume this is the record DVAL which you set*/
/* to move e.g. dval = 10mm and command = MOVE_ABS*/
ival = NINT(parms[0]);
}
motor_call = &(trans->motor_call);
card = motor_call->card;
signal = motor_call->signal;
brdptr = (*trans->tabptr->card_array)[card];
Debug(11, "XPSC8_build_trans: After brdptr command\n");
if (brdptr == NULL)
return(rtnval = ERROR);
control = (struct XPSC8controller *) brdptr->DevicePrivate;
cntrl = (struct XPSC8axis *)&control->axis[signal];
cntrl->resolution = mr->mres; /* Read in the motor resolution */
resolution = cntrl->resolution;
steps = resolution * dval;
/* mr->dllm = cntrl->minlimit;*/ /* set the epics limits to the XPS limits */
/* mr->dhlm = cntrl->maxlimit; */
Debug(1, "XPSC8_build_trans: card=%d, signal=%d, command=%d, ival=%d"\
" dval=%f, steps=%f\n",\
card, signal, command, ival, dval, steps);
Debug(1, "XPSC8_build_trans: resolution=%f\n",resolution);
if (XPSC8_table[command] > motor_call->type)
motor_call->type = XPSC8_table[command];
Debug(11, "XPSC8_build_trans: After cntrl command\n");
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
Debug(11, "XPSC8_build_trans: After cntrl command\n");
/* Take a lock so that only 1 thread can be talking to the XPSC8 at
* once. I don't know if this is needed? */
epicsMutexLock(control->XPSC8Lock);
/* No need to deal with initialization, premove or postmove strings,
XPSC8 does not support */
Debug(1, "build_trans: Top Of Switch command=%d, cntrl->moving=%d"\
" GStat=%d-\n", command,cntrl->moving,cntrl->groupstatus);
switch (command) {
case MOVE_ABS:/* command 0*/
Debug(1, "XPSC8_build_trans: command=%d, Move_ABS moving=%d steps=%f\n",\
command,cntrl->moving, steps);
if ((cntrl->moving) == MOVING) {
printf("--STILL MOVING--\n");
goto done;
} /* This is set in drvXPSC8.cc*/
Debug(11, "Move_ABS socket=%d posiname=%s posit=%d dval=%f\n",\
cntrl->socket, cntrl->positionername, positioner, dval);
epicsThreadSleep(0.1);
status = GroupMoveAbsolute(cntrl->socket, cntrl->positionername,
positioner, &steps);
if (status != 0) {
printf(" Error performing GroupMoveAbsolute\n");
}
Debug(1, "--After GroupMoveAbsolute command=%d,Move_ABS moving=%d \n",\
command,cntrl->moving);
break;
case MOVE_REL:
/* Using the SGamma setings in stages.ini */
if (cntrl->moving == MOVING) goto done;
/* This is set in drvXPSC8.cc*/
status = GroupMoveRelative(cntrl->socket, cntrl->positionername,
positioner, &steps);
if (status != 0) printf(" Error performing GroupMoveRelative\n");
break;
case HOME_FOR:
case HOME_REV:
/* If motion has been killed the group will need to be initialized*/
/* and homed before the motors can be driven again */
if (cntrl->groupstatus < 10 ) {
/* ie not initialized state!*/
status = GroupInitialize(cntrl->pollsocket,cntrl->groupname);
if (status != 0) {
printf("HOME Command Error performing GroupInitialise\n");
}
status = GroupStatusGet(cntrl->pollsocket, cntrl->groupname,
&cntrl->groupstatus);
if (status != 0) {
printf(" Error performing GroupStatusGet\n");
}
Debug(1, "XPSC8_build_trans:****** Perform GroupInitialize\n");
status = GroupHomeSearch(cntrl->socket,cntrl->groupname);
if (status != 0) {
printf(" Error performing GroupHomeSearch\n");
}
Debug(1, "XPSC8_build_trans:******* Perform GroupHomeSearch\n");
break;
}
status = GroupKill(cntrl->pollsocket,cntrl->groupname);
if (status != 0) {
printf(" Error performing GroupKill\n");
}
status = GroupInitialize(cntrl->pollsocket,cntrl->groupname);
if (status != 0) {
printf("HOME Command Error performing GroupInitialise\n");
}
status = GroupStatusGet(cntrl->pollsocket, cntrl->groupname,
&cntrl->groupstatus);
if (status != 0) {
printf(" Error performing GroupStatusGet\n");
}
Debug(1, "XPSC8_build_trans:****** Perform GroupInitialize\n");
status = GroupHomeSearch(cntrl->socket,cntrl->groupname);
if (status != 0) {
printf(" Error performing GroupHomeSearch\n");
}
Debug(1, "XPSC8_build_trans:******* Perform GroupHomeSearch\n");
/*}*/
/* if (cntrl->groupstatus == NOTREF ){ */
/* you must kill a group before homing*/
/*}*/
break;
case LOAD_POS:
/* command 4 I assume it means just update the position value? */
/*status = GroupPositionCurrentGet(cntrl->socket,
cntrl->positionername,
positioner,
&cntrl->currentposition[1]);
if (status != 0)
printf(" Error performing GroupPositionCurrentGet Load Pos\n");*/
break;
case SET_VEL_BASE:
/* The XPS does not have a different Base velocity!!!*/
break;
case SET_VELOCITY:
/* The XPS does not have a different Base velocity!!!!!
So I perform the same operation for VEL_BASE and VEL*/
status = PositionerSGammaParametersSet(cntrl->pollsocket,
cntrl->positionername, steps,
cntrl->accel,
cntrl->minjerktime,
cntrl->maxjerktime);
if (status != 0)
printf(" Error performing PositionerSGammaParameters Set Vel\n");
else cntrl->velocity = steps;
break;
case SET_ACCEL: /* command 7 */
status = PositionerSGammaParametersSet(cntrl->pollsocket,
cntrl->positionername,
cntrl->velocity,
steps, cntrl->minjerktime,
cntrl->maxjerktime);
if (status != 0)
printf(" Error performing PositionerSGammaParameters Set Accel\n");
else cntrl->accel = steps;
break;
case GO:
break;
case SET_ENC_RATIO: /* These must be set in the Stages.ini file */
break;
case GET_INFO: /* Again I don't know what this is intended to do? */
break;
case STOP_AXIS:
/* The whole group must stop, not just 1 axis */
if (cntrl->groupstatus > 42) {
/* Then the group is moving! */
status = GroupMoveAbort(cntrl->pollsocket,cntrl->groupname);
if (status != 0) printf(" Error performing GroupMoveAbort(\n");
}
break;
case JOG:
/* I need more commandds to impliment this i.e. enable/disable
set velocity and acceleration */
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
/* These can be implimented but there are so many variables */
/* It makes sense to do it in the stages.ini file */
case ENABLE_TORQUE:
case DISABL_TORQUE:
/* The XPSC8 does not support gain or torque commands */
break;
case SET_HIGH_LIMIT:
Debug(1, "XPSC8_build_trans highlimit: socket=%d, posname=%s, "\
"minlim=%f, steps=%f\n",\
cntrl->socket, cntrl->positionername, cntrl->minlimit, steps);
status = PositionerUserTravelLimitsSet(cntrl->pollsocket,
cntrl->positionername,
cntrl->minlimit, steps);
if (status != 0)
printf(" Error performing PositionerUserTravelLimitsGet "
" Max Limit status=%d\n",status);
else cntrl->maxlimit = steps;
break;
case SET_LOW_LIMIT:
status = PositionerUserTravelLimitsSet(cntrl->pollsocket,
cntrl->positionername,
steps, cntrl->maxlimit);
if (status != 0)
printf("Error performing PositionerUserTravelLimitsGet Min Limit\n");
else cntrl->minlimit = steps;
break;
default:
rtnval = ERROR;
}
done:
/* Free the lock */
epicsMutexUnlock(control->XPSC8Lock);
Debug(1, "End Of Build_trans after Switch\n");
return (rtnval);
}
View Git Blame Copy Permalink