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

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/*
FILENAME... devSmartMotor.cc
USAGE... Motor record driver level support for Animatics Corporation SmartMotors.
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:21:56 $
*/
/*
* Original Author: Shifu Xu
* 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
*
* NOTES
* -----
* - the velocity and acceleration conversion factors are based on the default
* PID update rate of 4,068.969 updates per second.
*
* Modification Log:
* -----------------
* .01 02/20/07 ses copied from drvSmartMotorPL.c
* .02 04/18/07 rls fix velocity and acceleration conversion factors.
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvSmartMotor.h"
#include "epicsExport.h"
/*
* SmartMotor velocity command (V) units; scaled encoder counts / PID sample.
* VCONFAC converts encoder counts / sec. to scaled encoder counts / PID sample.
* VCONFAC = (65,536 s-e-cts / 1 e-ct) * (1s / 4068.969 PID samples)
*/
#define VCONFAC 16.1063
/*
* SmartMotor acceleration command (A) units; scaled encoder counts / PID sample^2.
* ACONFAC converts encoder counts / sec.^2 to scaled encoder counts / PID sample^2.
* ACONFAC = (65,536 s-e-cts / 1 e-ct) * (1s / 4068.969^2 PID samples)
*/
#define ACONFAC 3.958322E-3
extern struct driver_table SmartMotor_access;
/* ----------------Create the dsets for devSmartMotor----------------- */
static struct driver_table *drvtabptr;
static long SmartMotor_init(void *);
static long SmartMotor_init_record(void *);
static long SmartMotor_start_trans(struct motorRecord *);
static RTN_STATUS SmartMotor_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS SmartMotor_end_trans(struct motorRecord *);
struct motor_dset devSmartMotor =
{
{8, NULL, (DEVSUPFUN) SmartMotor_init, (DEVSUPFUN) SmartMotor_init_record, NULL},
motor_update_values,
SmartMotor_start_trans,
SmartMotor_build_trans,
SmartMotor_end_trans
};
extern "C"
{
epicsExportAddress(dset, devSmartMotor);
}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types SmartMotor_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 **SmartMotor_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for SmartMotor stepper motor */
static long SmartMotor_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &SmartMotor_access;
(drvtabptr->init) ();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &SmartMotor_cards);
return(rtnval);
}
/* initialize a record instance */
static long SmartMotor_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, SmartMotor_cards));
}
/* start building a transaction */
static long SmartMotor_start_trans(struct motorRecord * mr)
{
return(OK);
}
/* end building a transaction */
static RTN_STATUS SmartMotor_end_trans(struct motorRecord * mr)
{
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS SmartMotor_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 SmartMotorcontroller *cntrl;
char buff[110];
int card, intval, cvel, cacc;
unsigned int size;
double dval;
RTN_STATUS rtnval;
bool send;
msta_field msta;
static bool invalid_accmsg_latch = false;
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). */
dval = (parms == NULL) ? 0.0 : *parms;
intval = NINT(dval);
cvel = NINT(dval * VCONFAC);
cacc = NINT(dval * ACONFAC);
msta.All = mr->msta;
motor_start_trans_com(mr, SmartMotor_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct SmartMotorcontroller *) brdptr->DevicePrivate;
if (SmartMotor_table[command] > motor_call->type)
motor_call->type = SmartMotor_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:
sprintf(buff, "P=%d", intval);
break;
case MOVE_REL:
sprintf(buff, "D=%d", intval);
break;
case HOME_FOR:
/* Animatics SmartMotors do not use home positions */
send = false;
rtnval = ERROR;
break;
case HOME_REV:
/* Animatics SmartMotors do not use home positions */
send = false;
rtnval = ERROR;
break;
case LOAD_POS:
sprintf(buff, "O=%d", intval);
break;
case SET_VEL_BASE:
/* Animatics SmartMotors do not support stepper motors. */
send = false;
rtnval = ERROR;
break;
case SET_VELOCITY:
sprintf(buff, "V=%d", cvel);
break;
case SET_ACCEL:
if (cacc <= 1)
{
cacc = 2;
if (invalid_accmsg_latch == false)
{
invalid_accmsg_latch = true; /* Ouput msg. one time. */
errPrintf(-1, __FILE__, __LINE__,
"Overriding invalid acceleration; A < 2.\n");
}
}
sprintf(buff, "A=%d", cacc);
break;
case GO:
sprintf(buff, "G");
break;
case PRIMITIVE:
/* Animatics SmartMotors do not use 'primatives' */
send = false;
rtnval = ERROR;
break;
case GET_INFO:
break;
case STOP_AXIS:
sprintf(buff, "S");
break;
case JOG_VELOCITY:
send = false;
rtnval = ERROR;
break;
case JOG:
sprintf(buff, "MV\rV=%d\rG", cvel);
break;
case SET_PGAIN:
send = false;
rtnval = ERROR;
break;
case SET_IGAIN:
send = false;
rtnval = ERROR;
break;
case SET_DGAIN:
send = false;
rtnval = ERROR;
break;
case ENABLE_TORQUE:
sprintf(buff, "MP\ra=@P\rP=a\rG");
break;
case DISABL_TORQUE:
sprintf(buff, "OFF");
break;
case SET_HIGH_LIMIT:
send = false;
rtnval = ERROR;
break;
case SET_LOW_LIMIT:
send = false;
rtnval = ERROR;
break;
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("SmartMotor_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
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