forked from epics_driver_modules/motorBase
MarkRivers
217 lines
9.1 KiB
C++
217 lines
9.1 KiB
C++
/* asynMotorController.h
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*
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* Mark Rivers
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*
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* This file defines the base class for an asynMotorController. It is the class
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* from which real motor controllers are derived. It derives from asynPortDriver.
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*/
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#ifndef asynMotorController_H
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#define asynMotorController_H
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#include <epicsEvent.h>
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#include <epicsTypes.h>
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/** Strings defining parameters for the driver.
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* These are the values passed to drvUserCreate.
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* The driver will place in pasynUser->reason an integer to be used when the
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* standard asyn interface methods are called. */
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#define motorMoveRelString "MOTOR_MOVE_REL"
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#define motorMoveAbsString "MOTOR_MOVE_ABS"
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#define motorMoveVelString "MOTOR_MOVE_VEL"
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#define motorHomeString "MOTOR_HOME"
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#define motorStopString "MOTOR_STOP_AXIS"
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#define motorVelocityString "MOTOR_VELOCITY"
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#define motorVelBaseString "MOTOR_VEL_BASE"
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#define motorAccelString "MOTOR_ACCEL"
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#define motorPositionString "MOTOR_POSITION"
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#define motorEncoderPositionString "MOTOR_ENCODER_POSITION"
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#define motorDeferMovesString "MOTOR_DEFER_MOVES"
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#define motorResolutionString "MOTOR_RESOLUTION"
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#define motorEncRatioString "MOTOR_ENC_RATIO"
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#define motorPgainString "MOTOR_PGAIN"
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#define motorIgainString "MOTOR_IGAIN"
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#define motorDgainString "MOTOR_DGAIN"
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#define motorHighLimitString "MOTOR_HIGH_LIMIT"
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#define motorLowLimitString "MOTOR_LOW_LIMIT"
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#define motorSetClosedLoopString "MOTOR_SET_CLOSED_LOOP"
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#define motorStatusString "MOTOR_STATUS"
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#define motorUpdateStatusString "MOTOR_UPDATE_STATUS"
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#define motorStatusDirectionString "MOTOR_STATUS_DIRECTION"
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#define motorStatusDoneString "MOTOR_STATUS_DONE"
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#define motorStatusHighLimitString "MOTOR_STATUS_HIGH_LIMIT"
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#define motorStatusAtHomeString "MOTOR_STATUS_AT_HOME"
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#define motorStatusSlipString "MOTOR_STATUS_SLIP"
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#define motorStatusPowerOnString "MOTOR_STATUS_POWERED"
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#define motorStatusFollowingErrorString "MOTOR_STATUS_FOLLOWING_ERROR"
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#define motorStatusHomeString "MOTOR_STATUS_HOME"
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#define motorStatusHasEncoderString "MOTOR_STATUS_HAS_ENCODER"
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#define motorStatusProblemString "MOTOR_STATUS_PROBLEM"
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#define motorStatusMovingString "MOTOR_STATUS_MOVING"
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#define motorStatusGainSupportString "MOTOR_STATUS_GAIN_SUPPORT"
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#define motorStatusCommsErrorString "MOTOR_STATUS_COMMS_ERROR"
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#define motorStatusLowLimitString "MOTOR_STATUS_LOW_LIMIT"
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#define motorStatusHomedString "MOTOR_STATUS_HOMED"
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// These are the per-controller parameters for profile moves (coordinated motion)
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#define profileNumAxesString "PROFILE_NUM_AXES"
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#define profileNumSegmentsString "PROFILE_NUM_SEGMENTS"
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#define profileNumPulsesString "PROFILE_NUM_PULSES"
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#define profileStartPulsesString "PROFILE_START_PULSES"
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#define profileEndPulsesString "PROFILE_START_PULSES"
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#define profileActualPulsesString "PROFILE_ACTUAL_PULSES"
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#define profileTimeArrayString "PROFILE_TIME_ARRAY"
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#define profileAccelString "PROFILE_ACCEL"
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#define profileBuildString "PROFILE_BUILD_START"
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#define profileBuildStateString "PROFILE_BUILD_STATE"
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#define profileBuildStatusString "PROFILE_BUILD_STATUS"
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#define profileBuildMessageString "PROFILE_BUILD_MESSAGE"
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#define profileExecString "PROFILE_EXEC_START"
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#define profileExecStateString "PROFILE_EXEC_STATE"
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#define profileExecStatusString "PROFILE_EXEC_STATUS"
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#define profileExecMessageString "PROFILE_EXEC_MESSAGE"
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#define profileReadbackString "PROFILE_EXEC_START"
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#define profileReadbackStateString "PROFILE_EXEC_STATE"
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#define profileReadbackStatusString "PROFILE_EXEC_STATUS"
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#define profileReadbackMessageString "PROFILE_EXEC_MESSAGE"
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// These are the per-axis parameters for profile moves
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#define profileUseAxisString "PROFILE_USE_AXIS"
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#define profilePositionString "PROFILE_POSITION"
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#define profilePositionRBVString "PROFILE_POSITION_RBV"
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#define profileFollowingErrorString "PROFILE_FOLLOWING_ERROR"
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#define profileMotorDirectionString "PROFILE_MOTOR_DIRECTION"
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#define profileMotorOffsetString "PROFILE_MOTOR_OFFSET"
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/** The structure that is passed back to devMotorAsyn when the status changes. */
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typedef struct MotorStatus {
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double position; /**< Commanded motor position */
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double encoderPosition; /**< Actual encoder position */
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double velocity; /**< Actual velocity */
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epicsUInt32 status; /**< Word containing status bits (motion done, limits, etc.) */
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} MotorStatus;
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#ifdef __cplusplus
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#include <asynPortDriver.h>
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class asynMotorAxis;
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class epicsShareFunc asynMotorController : public asynPortDriver {
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public:
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/* This is the constructor for the class. */
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asynMotorController(const char *portName, int numAxes, int numParams,
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int interfaceMask, int interruptMask,
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int asynFlags, int autoConnect, int priority, int stackSize);
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/* These are the methods that we override from asynPortDriver */
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virtual asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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virtual asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
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virtual asynStatus writeFloat64Array(asynUser *pasynUser, epicsFloat64 *value, size_t nEelements);
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virtual asynStatus readGenericPointer(asynUser *pasynUser, void *pointer);
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/* These are the methods that are new to this class */
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virtual asynMotorAxis* getAxis(asynUser *pasynUser);
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virtual asynMotorAxis* getAxis(int axisNo);
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virtual asynStatus startPoller(double movingPollPeriod, double idlePollPeriod, int forcedFastPolls);
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virtual asynStatus wakeupPoller();
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virtual asynStatus poll();
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void asynMotorPoller(); // This should be private but is called from C function
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/* These are the functions for profile moves */
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virtual asynStatus initializeProfile(int maxPoints);
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virtual asynStatus buildProfile();
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virtual asynStatus executeProfile();
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virtual asynStatus readbackProfile();
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protected:
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/** These are the index numbers for the parameters in the parameter library.
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* They are the values of pasynUser->reason in calls from device support */
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// These are the motor commands
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int motorMoveRel_;
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#define FIRST_MOTOR_PARAM motorMoveRel_
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int motorMoveAbs_;
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int motorMoveVel_;
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int motorHome_;
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int motorStop_;
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int motorVelocity_;
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int motorVelBase_;
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int motorAccel_;
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int motorPosition_;
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int motorEncoderPosition_;
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int motorDeferMoves_;
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int motorResolution_;
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int motorEncRatio_;
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int motorPgain_;
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int motorIgain_;
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int motorDgain_;
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int motorHighLimit_;
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int motorLowLimit_;
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int motorSetClosedLoop_;
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int motorStatus_;
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int motorUpdateStatus_;
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// These are the status bits
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int motorStatusDirection_;
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int motorStatusDone_;
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int motorStatusHighLimit_;
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int motorStatusAtHome_;
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int motorStatusSlip_;
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int motorStatusPowerOn_;
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int motorStatusFollowingError_;
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int motorStatusHome_;
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int motorStatusHasEncoder_;
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int motorStatusProblem_;
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int motorStatusMoving_;
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int motorStatusGainSupport_;
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int motorStatusCommsError_;
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int motorStatusLowLimit_;
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int motorStatusHomed_;
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// These are the per-controller parameters for profile moves
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int profileNumAxes_;
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int profileNumSegments_;
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int profileNumPulses_;
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int profileStartPulses_;
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int profileEndPulses_;
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int profileActualPulses_;
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int profileTimeArray_;
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int profileAccel_;
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int profileBuild_;
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int profileBuildState_;
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int profileBuildStatus_;
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int profileBuildMessage_;
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int profileExec_;
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int profileExecState_;
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int profileExecStatus_;
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int profileExecMessage_;
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int profileReadback_;
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int profileReadbackState_;
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int profileReadbackStatus_;
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int profileReadbackMessage_;
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// These are the per-axis parameters for profile moves
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int profileUseAxis_;
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int profilePosition_;
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int profilePositionRBV_;
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int profileFollowingError_;
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int profileMotorDirection_;
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int profileMotorOffset_;
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#define LAST_MOTOR_PARAM profileMotorOffset_
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int numAxes_; /**< Number of axes this controller supports */
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asynMotorAxis **pAxes_; /**< Array of pointers to axis objects */
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epicsEventId pollEventId_; /**< Event ID to wake up poller */
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double idlePollPeriod_; /**< The time between polls when no axes are moving */
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double movingPollPeriod_; /**< The time between polls when any axis is moving */
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int forcedFastPolls_; /**< The number of forced fast polls when the poller wakes up */
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int maxProfilePoints_; /**< Maximum number of profile point */
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double *profileTimes_; /**< Array of times per profile point */
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friend class asynMotorAxis;
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};
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#define NUM_MOTOR_DRIVER_PARAMS (&LAST_MOTOR_PARAM - &FIRST_MOTOR_PARAM + 1)
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#endif /* _cplusplus */
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#endif /* asynMotorController_H */
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