koennecke
72afd02b4e
Added support for dose rate controlled Phytron motors. Not tested! Small bug fixes
74 lines
2.4 KiB
C++
74 lines
2.4 KiB
C++
/*
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Driver for the MasterMACS motor controllers used at SINQ.
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For documentation see the standard manuals area for SINQ or
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Marcel Schildt.
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The MasterMACS has a special line protocol which is implemented in
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drvAsynMMACSPort.c. The driver will not work with a standard asyn IPPort,
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only with the special one.
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Mark Koennecke, March 2023
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*/
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#include "SINQController.h"
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#include "SINQAxis.h"
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#define COMLEN 50
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class MasterMACSAxis : public SINQAxis
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{
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public:
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/* These are the methods we override from the base class */
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MasterMACSAxis(class MasterMACSController *pC, int axis);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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private:
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MasterMACSController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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double position;
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int homing;
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time_t next_poll;
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int errorReported;
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int hasStarted; /* The motor status is invalid if the thing has not run once */
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int isOn(int axisStatus);
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int readStatus();
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int errorCodeFound;
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friend class MasterMACSController;
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};
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#define EnableAxisString "ENABLE_AXIS"
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#define AxisEnabledString "AXIS_ENABLED"
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class MasterMACSController : public SINQController {
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public:
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MasterMACSController(const char *portName, const char *MasterMACSPortName, int numAxes);
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void report(FILE *fp, int level);
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MasterMACSAxis* getAxis(asynUser *pasynUser);
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MasterMACSAxis* getAxis(int axisNo);
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// overloaded because we want to enable/disable the motor
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asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
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// overloaded because we want to read the axis state
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asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
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friend class MasterMACSAxis;
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private:
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asynUser *pasynUserController_;
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MasterMACSAxis **pAxes_; /**< Array of pointers to axis objects */
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asynStatus transactController(int axis, char command[COMLEN], char reply[COMLEN]);
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int enableAxis_;
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int axisEnabled_;
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};
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