lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity
Files
d657dda679ba968fa0bdcd5259798c0e67435f22
motorBase/motorApp/ImsSrc/devMDrive.cc
T
Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

330 lines
8.1 KiB
C++
Raw Blame History

/*
FILENAME... devMDrive.cc
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. MDrive series of controllers.
Version: $Revision: 1.7 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:10:01 $
*/
/*
* Original Author: Ron Sluiter
* Date: 03/21/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 03/21/03 rls copied from devIM483PL.c
* .02 05/15/03 rls R3.14 compatible.
* .03 03/15/04 rls bug fix for LOAD_POS command with encoder.
* .04 03/16/04 rls Protect against NULL "parms" argument in
* MDrive_build_trans().
* .05 09/20/04 rls remove '?' command string padding.
* .06 04/06/05 rls Bug fix for not setting accel = decel.
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvIM483.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table MDrive_access;
/* ----------------Create the dsets for devMDrive----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MDrive_init(void *);
STATIC long MDrive_init_record(void *);
STATIC long MDrive_start_trans(struct motorRecord *);
STATIC RTN_STATUS MDrive_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS MDrive_end_trans(struct motorRecord *);
struct motor_dset devMDrive =
{
{8, NULL, (DEVSUPFUN) MDrive_init, (DEVSUPFUN) MDrive_init_record, NULL},
motor_update_values,
MDrive_start_trans,
MDrive_build_trans,
MDrive_end_trans
};
extern "C" {epicsExportAddress(dset,devMDrive);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MDrive_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 */
VELOCITY /* JOG_VELOCITY */
};
static struct board_stat **MDrive_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MDrive stepper motor */
STATIC long MDrive_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &MDrive_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MDrive_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MDrive_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MDrive_cards));
}
/* start building a transaction */
STATIC long MDrive_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
STATIC RTN_STATUS MDrive_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
STATIC RTN_STATUS MDrive_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 IM483controller *cntrl;
char buff[110];
int axis, card, intval;
unsigned int size;
RTN_STATUS rtnval;
bool send;
msta_field msta;
send = true; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
msta.All = mr->msta;
motor_start_trans_com(mr, MDrive_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
if (MDrive_table[command] > motor_call->type)
motor_call->type = MDrive_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, " ");
strcat(motor_call->message, mr->init);
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, " ");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "MA %d", intval);
break;
case MOVE_REL:
sprintf(buff, "MR %d", intval);
break;
case HOME_FOR:
sprintf(buff, " F1000 0");
break;
case HOME_REV:
sprintf(buff, " F1000 1");
break;
case LOAD_POS:
sprintf(buff, "P=%d", intval);
if (msta.Bits.EA_PRESENT == 1)
{
/* Finish 1st message; MDrive can only handle one msg. */
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MDrive_cards);
intval = NINT(mr->dval / mr->eres);
sprintf(buff, "C2=%d", intval);
motor_call->type = MDrive_table[command];
}
break;
case SET_VEL_BASE:
sprintf(buff, "VI %d", intval);
break;
case SET_VELOCITY:
sprintf(buff, "VM %d", intval);
break;
case SET_ACCEL:
sprintf(buff, "A=%d", intval);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MDrive_cards);
sprintf(buff, "D=A");
motor_call->type = MDrive_table[command];
break;
case GO:
/* The MDrive starts moving immediately on move commands, GO command
* does nothing. */
send = false;
break;
case PRIMITIVE:
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(buff, "SL 0");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "SL=%d", intval);
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
send = false;
break;
case ENABLE_TORQUE:
sprintf(buff, "DE=1");
break;
case DISABL_TORQUE:
sprintf(buff, "DE=0");
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = false;
break;
default:
send = false;
rtnval = ERROR;
}
size = strlen(buff);
if (send == false)
return(rtnval);
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("MDrive_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
View Git Blame Copy Permalink