forked from epics_driver_modules/motorBase
Ron Sluiter
300 lines
7.1 KiB
C++
300 lines
7.1 KiB
C++
/*
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FILENAME... devPmac.cc
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USAGE... Device level support for Delta Tau PMAC.
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Version: $Revision: 1.5 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2008-03-14 20:09:01 $
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*/
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/*
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* Original Author: Ron Sluiter
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* Date: 04/16/04
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* Current Author: Ron Sluiter
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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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* 01 rls 04/16/04 Copied from devOms.cc
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*/
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#include <string.h>
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#include <math.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "motordevCom.h"
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#include "drvPmac.h"
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#include "epicsExport.h"
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extern int Pmac_num_cards;
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extern struct driver_table Pmac_access;
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/* ----------------Create the dsets for devOMS----------------- */
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static long Pmac_init(void *);
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static long Pmac_init_record(void *);
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static long Pmac_start_trans(struct motorRecord *);
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static RTN_STATUS Pmac_build_trans(motor_cmnd, double *, struct motorRecord *);
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static RTN_STATUS Pmac_end_trans(struct motorRecord *);
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struct motor_dset devPmac =
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{
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{8, NULL, Pmac_init, Pmac_init_record, NULL},
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motor_update_values,
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Pmac_start_trans,
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Pmac_build_trans,
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Pmac_end_trans
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};
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extern "C" {epicsExportAddress(dset,devPmac);}
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/* This table is used to define the command types */
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/* WARNING! this must match "motor_cmnd" in motor.h */
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static msg_types Pmac_table[] = {
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MOTION, /* MOVE_ABS */
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MOTION, /* MOVE_REL */
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MOTION, /* HOME_FOR */
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MOTION, /* HOME_REV */
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IMMEDIATE, /* LOAD_POS */
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IMMEDIATE, /* SET_VEL_BASE */
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IMMEDIATE, /* SET_VELOCITY */
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IMMEDIATE, /* SET_ACCEL */
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IMMEDIATE, /* GO */
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IMMEDIATE, /* SET_ENC_RATIO */
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INFO, /* GET_INFO */
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MOVE_TERM, /* STOP_AXIS */
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VELOCITY, /* JOG */
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IMMEDIATE, /* SET_PGAIN */
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IMMEDIATE, /* SET_IGAIN */
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IMMEDIATE, /* SET_DGAIN */
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IMMEDIATE, /* ENABLE_TORQUE */
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IMMEDIATE, /* DISABL_TORQUE */
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IMMEDIATE, /* PRIMITIVE */
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IMMEDIATE, /* SET_HIGH_LIMIT */
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IMMEDIATE, /* SET_LOW_LIMIT */
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VELOCITY /* JOG_VELOCITY */
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};
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static struct board_stat **Pmac_cards;
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static const char errmsg[] = {"\n\n!!!ERROR!!! - Oms driver uninitialized.\n"};
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static long Pmac_init(void *arg)
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{
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int after = (arg == 0) ? 0 : 1;
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if (*(Pmac_access.init_indicator) == NO)
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{
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errlogSevPrintf(errlogMinor, "%s", errmsg);
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return(ERROR);
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}
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else
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return(motor_init_com(after, Pmac_num_cards, &Pmac_access, &Pmac_cards));
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}
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static long Pmac_init_record(void *arg)
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{
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struct motorRecord *mr = (struct motorRecord *) arg;
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return(motor_init_record_com(mr, Pmac_num_cards, &Pmac_access, Pmac_cards));
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}
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static long Pmac_start_trans(struct motorRecord *mr)
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{
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long rtnval;
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rtnval = motor_start_trans_com(mr, Pmac_cards);
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return(rtnval);
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}
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static RTN_STATUS Pmac_end_trans(struct motorRecord *mr)
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{
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if (*(Pmac_access.init_indicator) == NO)
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{
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errlogSevPrintf(errlogMinor, "%s", errmsg);
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return(ERROR);
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}
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else
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return(motor_end_trans_com(mr, &Pmac_access));
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}
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/* add a part to the transaction */
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static RTN_STATUS Pmac_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
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{
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struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
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struct mess_node *motor_call;
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struct controller *brdptr;
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char buff[110];
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int axis, card, intval;
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unsigned int size;
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RTN_STATUS rtnval;
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bool send;
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send = true; /* Default to send motor command. */
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rtnval = OK;
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buff[0] = '\0';
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/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
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intval = (parms == NULL) ? 0 : NINT(parms[0]);
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motor_call = &(trans->motor_call);
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card = motor_call->card;
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axis = motor_call->signal + 1;
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brdptr = (*trans->tabptr->card_array)[card];
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if (brdptr == NULL)
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return(rtnval = ERROR);
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if (Pmac_table[command] > motor_call->type)
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motor_call->type = Pmac_table[command];
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if (trans->state != BUILD_STATE)
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return(rtnval = ERROR);
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if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
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{
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strcat(motor_call->message, "? ");
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strcat(motor_call->message, mr->init);
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}
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switch (command)
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{
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case MOVE_ABS:
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case MOVE_REL:
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case HOME_FOR:
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case HOME_REV:
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case JOG:
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if (strlen(mr->prem) != 0)
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{
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strcat(motor_call->message, mr->prem);
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strcat(motor_call->message, " ");
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}
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if (strlen(mr->post) != 0)
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motor_call->postmsgptr = (char *) &mr->post;
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break;
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default:
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break;
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}
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switch (command)
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{
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case MOVE_ABS:
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sprintf(buff, " J=%d ", intval);
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break;
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case MOVE_REL:
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sprintf(buff, "?MR %d", intval);
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break;
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case HOME_FOR:
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sprintf(buff, "? F1000 0");
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break;
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case HOME_REV:
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sprintf(buff, "? F1000 1");
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break;
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case LOAD_POS:
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/*??? How to do this???? */
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send = false;
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break;
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case SET_VEL_BASE:
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send = false; // No way to set VBAS with PMAC???
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break;
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case SET_VELOCITY:
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/* Convert input (steps/s) to steps/ms. */
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sprintf(buff, " I%.2d22=%f ", axis, (*parms / 1000.0));
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break;
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case SET_ACCEL:
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/* Convert input (steps/s^2) to steps/ms^2. */
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sprintf(buff, " I%.2d19=%f ", axis, (*parms / 1000.0));
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break;
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case GO:
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/* The PMAC starts moving immediately on J=# command, GO command
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* does nothing.*/
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break;
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case PRIMITIVE:
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case GET_INFO:
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/* These commands are not actually done by sending a message, but
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rather they will indirectly cause the driver to read the status
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of all motors */
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break;
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case STOP_AXIS:
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strcpy(buff, "J/");
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break;
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case JOG_VELOCITY:
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sprintf(buff, "I%.2d22=%f", axis, (fabs(*parms) / 1000.0));
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break;
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case JOG:
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sprintf(buff, "I%.2d22=%f ", axis, (fabs(*parms) / 1000.0));
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if (intval >= 0)
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strcat(buff, "J+");
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else
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strcat(buff, "J-");
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break;
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case SET_PGAIN:
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case SET_IGAIN:
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case SET_DGAIN:
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send = false;
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break;
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case ENABLE_TORQUE:
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sprintf(buff, "?DE=1");
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break;
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case DISABL_TORQUE:
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sprintf(buff, "?DE=0");
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break;
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case SET_HIGH_LIMIT:
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case SET_LOW_LIMIT:
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case SET_ENC_RATIO:
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trans->state = IDLE_STATE; /* No command sent to the controller. */
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send = false;
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break;
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default:
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send = false;
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rtnval = ERROR;
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}
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size = strlen(buff);
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if (send == false)
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return(rtnval);
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else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
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errlogMessage("MDrive_build_trans(): buffer overflow.\n");
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else
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strcat(motor_call->message, buff);
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return(rtnval);
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}
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