Initial commit of SINQ EPICS Application

sinqEPICSApp/src/EL734Driver.h

@@ -0,0 +1,57 @@
+/*
+FILENAME...   EL734Driver.h
+USAGE...      Motor driver support for the PSI EL734 controller.
+
+Mark Koennecke
+February 2013
+
+*/
+
+#include "asynMotorController.h"
+#include "asynMotorAxis.h"
+
+#define MAX_EL734_AXES 12
+#define COMLEN 80
+
+class EL734Axis : public asynMotorAxis
+{
+public:
+  /* These are the methods we override from the base class */
+  EL734Axis(class EL734Controller *pC, int axis);
+  void report(FILE *fp, int level);
+  asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
+  asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
+  asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
+  asynStatus stop(double acceleration);
+  asynStatus poll(bool *moving);
+  asynStatus setPosition(double position);
+  asynStatus setClosedLoop(bool closedLoop);
+
+private:
+  EL734Controller *pC_;          /**< Pointer to the asynMotorController to which this axis belongs.
+                                   *   Abbreviated because it is used very frequently */
+  int oredMSR;
+  double position;
+  int homing;
+  time_t next_poll;
+  
+friend class EL734Controller;
+};
+
+class EL734Controller : public asynMotorController {
+public:
+  EL734Controller(const char *portName, const char *EL734PortName, int numAxes);
+
+  void report(FILE *fp, int level);
+  EL734Axis* getAxis(asynUser *pasynUser);
+  EL734Axis* getAxis(int axisNo);
+
+friend class EL734Axis;
+ private:
+ asynUser *pasynUserController_;
+
+ asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
+
+ void switchRemote();
+
+};