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d657dda679ba968fa0bdcd5259798c0e67435f22
motorBase/motorApp/PC6KSrc/devPC6K.cc
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Ron Sluiter d657dda679 64-bit compatibility.
2008-03-14 20:23:45 +00:00

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/*
FILENAME... devPC6K.cc
USAGE... Motor record device level support for Parker Compumotor drivers
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:19:43 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
*
* 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 04-07-05 jps initialized from devMM4000.cc
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPC6K.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PC6K_access;
/* ----------------Create the dsets for devPC6K----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long PC6K_init(void *);
STATIC long PC6K_init_record(void *);
STATIC long PC6K_start_trans(struct motorRecord *);
STATIC RTN_STATUS PC6K_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PC6K_end_trans(struct motorRecord *);
struct motor_dset devPC6K =
{
{8, NULL, (DEVSUPFUN) PC6K_init, (DEVSUPFUN) PC6K_init_record, NULL},
motor_update_values,
PC6K_start_trans,
PC6K_build_trans,
PC6K_end_trans
};
extern "C" {epicsExportAddress(dset,devPC6K);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PC6K_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 **PC6K_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PC6K stepper motor */
STATIC long PC6K_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &PC6K_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PC6K_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PC6K_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PC6K_cards));
}
/* start building a transaction */
STATIC long PC6K_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, PC6K_cards));
}
/* end building a transaction */
STATIC RTN_STATUS PC6K_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS PC6K_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 mess_info *motor_info;
struct PC6KController *cntrl;
char buff[110];
int signal, axis, card, intval;
int maxdigits;
int cmndArg;
double dval, cntrl_units;
unsigned int size;
bool sendMsg;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
sendMsg = true;
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
dval = (parms == NULL) ? 0 : *parms;
motor_start_trans_com(mr, PC6K_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
signal = motor_call->signal;
axis = signal+1; /* Motors start at 1 */
motor_call->type = PC6K_table[command];
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PC6KController *) brdptr->DevicePrivate;
/* 6K Controllers expect Velocity and Acceleration settings in Revs/sec/sec */
cntrl_units = dval * cntrl->drive_resolution[signal];
maxdigits = cntrl->res_decpts[signal];
if (PC6K_table[command] > motor_call->type)
motor_call->type = PC6K_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
strcat(motor_call->message, PC6K_OUT_EOS);
}
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);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
/* Parker 6K controllers do not support multiple commands per line */
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
{
cmndArg = (command == MOVE_ABS) ? 1 : 0;
sprintf(buff, "%dMA%d", axis, cmndArg);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
sprintf(buff, "%dMC0", axis);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
sprintf(buff, "%dD%d", axis, intval);
}
break;
case HOME_FOR:
sprintf(buff, "%dHOM0", axis);
break;
case HOME_REV:
sprintf(buff, "%dHOM1", axis);
break;
case LOAD_POS:
/* The Feedback position follows the Reference set position */
sprintf(buff, "%dPSET%d", axis, intval);
break;
case SET_VEL_BASE:
sendMsg = false;
break; /* PC6K does not use base velocity */
case SET_VELOCITY:
// sprintf(buff, "%dV%.*f", axis, maxdigits, cntrl_units);
sprintf(buff, "%dV%d", axis, intval);
break;
case SET_ACCEL:
/* Set Accel, Avg Accel, Decel, Avg Decel - assume avg to be 1/2 accel */
// sprintf(buff, "%dA%.*f", axis, maxdigits, cntrl_units);
sprintf(buff, "%dA%d", axis, intval);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
// sprintf(buff, "%dAA%.*f", axis, maxdigits, cntrl_units/2);
sprintf(buff, "%dAA%ld", axis, NINT(dval/2.0));
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
// sprintf(buff, "%dAD%.*f", axis, maxdigits, cntrl_units);
sprintf(buff, "%dAD%d", axis, intval);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
// sprintf(buff, "%dADA%.*f", axis, maxdigits, cntrl_units/2);
sprintf(buff, "%dADA%ld", axis, NINT(dval/2.0));
break;
case GO:
sprintf(buff, "%dGO", axis);
break;
case SET_ENC_RATIO:
// sprintf(buff, "%dERES%d:%dDRESET:", axis, intval, axis);
sendMsg = false;
break;
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 */
sendMsg = false;
break;
case STOP_AXIS:
sprintf(buff, "!%dS", axis);
break;
case JOG:
sprintf(buff, "%dMC1", axis);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
// sprintf(buff, "%dV%.*f", axis, maxdigits, cntrl_units);
sprintf(buff, "%dV%d", axis, intval);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
if (intval >= 0)
sprintf(buff, "%dD+", axis);
else
sprintf(buff, "%dD-", axis);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PC6K_cards);
motor_call->type = PC6K_table[command];
sprintf(buff, "%dGO", axis);
break;
case SET_PGAIN:
sprintf(buff, "%dSGP%d", axis, intval);
break;
case SET_IGAIN:
sprintf(buff, "%dSGI%d", axis, intval);
break;
case SET_DGAIN:
sprintf(buff, "%dSGV%d", axis, intval); /* Velocity Gain */
break;
case ENABLE_TORQUE:
sprintf(buff, "%dDRIVE1", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "%dDRIVE0", axis);
break;
case SET_HIGH_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[signal];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (motor_info->high_limit > motor_info->low_limit &&
intval > motor_info->high_limit)
{
mr->dhlm = motor_info->high_limit * mr->mres;
rtnval = ERROR;
}
sendMsg = false;
break;
case SET_LOW_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[signal];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (motor_info->low_limit < motor_info->high_limit &&
intval < motor_info->low_limit)
{
mr->dllm = motor_info->low_limit * mr->mres;
rtnval = ERROR;
}
sendMsg = false;
break;
default:
sendMsg = false;
rtnval = ERROR;
}
if (sendMsg == true)
{
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PC6K_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
}
return(rtnval);
}
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