mirror of
https://github.com/Binary-Coalescence/motorDSM.git
synced 2025-08-05 14:15:39 -05:00
Renamed "*acs*" files to "*dsm*".
This commit is contained in:
331
dsmApp/src/devMD90.cc
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331
dsmApp/src/devMD90.cc
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/* File: devMCB4B.cc */
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/* Device Support Routines for motor */
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/*
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* Original Author: Mark Rivers
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* Date: 02-24-2002
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*
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* Modification Log:
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* -----------------
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* .00 02-24-2002 mlr initialized from devPM304.c
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* .01 05-23-2003 rls Converted to R3.14.x.
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* .02 02-19-2004 mlr Bug fix when not sending anything
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*/
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#define VERSION 1.00
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#include <string.h>
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#include <math.h>
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#include "motorRecord.h"
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#include "motor.h"
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#include "motordevCom.h"
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#include "drvMCB4B.h"
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#include "epicsExport.h"
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#define STATIC static
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extern struct driver_table MCB4B_access;
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#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
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volatile int devMCB4BDebug = 0;
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extern "C" {epicsExportAddress(int, devMCB4BDebug);}
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static inline void Debug(int level, const char *format, ...) {
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#ifdef DEBUG
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if (level < devMCB4BDebug)
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{
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va_list pVar;
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va_start(pVar, format);
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vprintf(format, pVar);
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va_end(pVar);
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}
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#endif
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}
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/* Debugging levels:
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* devMCB4BDebug >= 3 Print new part of command and command string so far
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* at the end of MCB4B_build_trans
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*/
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/* ----------------Create the dsets for devMCB4B----------------- */
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STATIC struct driver_table *drvtabptr;
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STATIC long MCB4B_init(int);
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STATIC long MCB4B_init_record(void *);
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STATIC long MCB4B_start_trans(struct motorRecord *);
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STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd, double *, struct motorRecord *);
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STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *);
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struct motor_dset devMCB4B =
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{
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{8, NULL, (DEVSUPFUN) MCB4B_init, (DEVSUPFUN) MCB4B_init_record, NULL},
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motor_update_values,
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MCB4B_start_trans,
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MCB4B_build_trans,
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MCB4B_end_trans
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};
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extern "C" {epicsExportAddress(dset,devMCB4B);}
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/* --------------------------- program data --------------------- */
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/* This table is used to define the command types */
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static msg_types MCB4B_table[] = {
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MOTION, /* MOVE_ABS */
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MOTION, /* MOVE_REL */
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MOTION, /* HOME_FOR */
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MOTION, /* HOME_REV */
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IMMEDIATE, /* LOAD_POS */
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IMMEDIATE, /* SET_VEL_BASE */
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IMMEDIATE, /* SET_VELOCITY */
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IMMEDIATE, /* SET_ACCEL */
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IMMEDIATE, /* GO */
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IMMEDIATE, /* SET_ENC_RATIO */
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INFO, /* GET_INFO */
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MOVE_TERM, /* STOP_AXIS */
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VELOCITY, /* JOG */
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IMMEDIATE, /* SET_PGAIN */
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IMMEDIATE, /* SET_IGAIN */
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IMMEDIATE, /* SET_DGAIN */
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IMMEDIATE, /* ENABLE_TORQUE */
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IMMEDIATE, /* DISABL_TORQUE */
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IMMEDIATE, /* PRIMITIVE */
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IMMEDIATE, /* SET_HIGH_LIMIT */
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IMMEDIATE, /* SET_LOW_LIMIT */
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VELOCITY /* JOB_VELOCITY */
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};
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static struct board_stat **MCB4B_cards;
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/* --------------------------- program data --------------------- */
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/* initialize device support for MCB4B stepper motor */
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STATIC long MCB4B_init(int after)
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{
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long rtnval;
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Debug(5, "MCB4B_init: entry\n");
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if (!after)
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{
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drvtabptr = &MCB4B_access;
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(drvtabptr->init)();
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}
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rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MCB4B_cards);
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Debug(5, "MCB4B_init: exit\n");
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return(rtnval);
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}
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/* initialize a record instance */
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STATIC long MCB4B_init_record(void *arg)
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{
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struct motorRecord *mr = (struct motorRecord *) arg;
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long rtnval;
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Debug(5, "MCB4B_init_record: entry\n");
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rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
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drvtabptr, MCB4B_cards);
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return(rtnval);
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Debug(5, "MCB4B_init_record: exit\n");
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}
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/* start building a transaction */
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STATIC long MCB4B_start_trans(struct motorRecord *mr)
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{
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return(OK);
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}
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/* end building a transaction */
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STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *mr)
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{
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return(OK);
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}
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/* add a part to the transaction */
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STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
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{
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struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
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struct mess_node *motor_call;
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struct controller *brdptr;
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struct MCB4Bcontroller *cntrl;
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char buff[30];
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int axis, card;
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RTN_STATUS rtnval;
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double dval;
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long ival;
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bool send;
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send = true;
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rtnval = OK;
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buff[0] = '\0';
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/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
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dval = (parms == NULL) ? 0.0 : *parms;
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ival = NINT(dval);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
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Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%d\n", rtnval);
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motor_call = &(trans->motor_call);
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motor_call->type = MCB4B_table[command];
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card = motor_call->card;
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axis = motor_call->signal;
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brdptr = (*trans->tabptr->card_array)[card];
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Debug(5, "MCB4B_build_trans: axis=%d, command=%d\n", axis, command);
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if (brdptr == NULL)
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return(rtnval = ERROR);
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cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
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if (trans->state != BUILD_STATE)
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return(rtnval = ERROR);
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if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
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{
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strcpy(motor_call->message, mr->init);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
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motor_call->type = MCB4B_table[command];
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}
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switch (command)
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{
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case MOVE_ABS:
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case MOVE_REL:
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case HOME_FOR:
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case HOME_REV:
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case JOG:
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if (strlen(mr->prem) != 0)
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{
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strcpy(motor_call->message, mr->prem);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
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motor_call->type = MCB4B_table[command];
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}
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if (strlen(mr->post) != 0)
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motor_call->postmsgptr = (char *) &mr->post;
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break;
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default:
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break;
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}
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switch (command)
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{
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case MOVE_ABS:
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sprintf(motor_call->message, "#%02dG%+ld", axis, ival);
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break;
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case MOVE_REL:
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sprintf(motor_call->message, "#%02dI%+ld", axis, ival);
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break;
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case HOME_FOR:
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sprintf(motor_call->message, "#%02dH+", axis);
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break;
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case HOME_REV:
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sprintf(motor_call->message, "#%02dH-", axis);
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break;
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case LOAD_POS:
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sprintf(motor_call->message, "#%02dP=%+ld", axis, ival);
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break;
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case SET_VEL_BASE:
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send=false;
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trans->state = IDLE_STATE;
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break; /* MCB4B does not use base velocity */
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case SET_VELOCITY:
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ival = (int) (fabs(115200./dval) + 0.5);
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if (ival < 2) ival=2;
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if (ival > 255) ival = 255;
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sprintf(motor_call->message, "#%02dV=%ld", axis, ival);
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break;
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case SET_ACCEL:
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/* dval is acceleration in steps/sec/sec */
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/* MCB is programmed with Ramp Index (R) where: */
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/* dval (steps/sec/sec) = 720,000/(256-R) */
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/* or R=256-(720,000/dval) */
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ival = (int) (256-(720000./dval)+0.5);
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if (ival < 1) ival=1;
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if (ival > 255) ival=255;
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sprintf(motor_call->message, "#%02dR=%ld", axis, ival);
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break;
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case GO:
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/*
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* The MCB4B starts moving immediately on move commands, GO command
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* does nothing
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*/
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send=false;
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trans->state = IDLE_STATE;
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break;
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case SET_ENC_RATIO:
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/*
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* The MCB4B does not have the concept of encoder ratio, ignore this
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* command
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*/
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send=false;
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trans->state = IDLE_STATE;
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break;
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case GET_INFO:
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/* These commands are not actually done by sending a message, but
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rather they will indirectly cause the driver to read the status
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of all motors */
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break;
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case STOP_AXIS:
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sprintf(motor_call->message, "#%02dQ", axis);
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break;
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case JOG:
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/* MCB-4B does not have jog command. Move 1 million steps */
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ival = (int) (fabs(115200./dval) + 0.5);
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if (ival < 2) ival=2;
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if (ival > 65535) ival = 65535;
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sprintf(motor_call->message, "#%02dC=%ld", axis, ival);
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rtnval = motor_end_trans_com(mr, drvtabptr);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
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motor_call->type = MCB4B_table[command];
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if (dval > 0.) {
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/* This is a positive move in MCB4B coordinates */
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sprintf(motor_call->message, "#%02dM+1000000", axis);
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} else {
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/* This is a negative move in MCB4B coordinates */
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sprintf(motor_call->message, "#%02dM-1000000", axis);
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}
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break;
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case SET_PGAIN:
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case SET_IGAIN:
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case SET_DGAIN:
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send=false;
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trans->state = IDLE_STATE;
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break;
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case ENABLE_TORQUE:
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sprintf(motor_call->message, "#%02dW=1", axis);
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break;
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case DISABL_TORQUE:
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sprintf(motor_call->message, "#%02dW=0", axis);
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break;
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case SET_HIGH_LIMIT:
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case SET_LOW_LIMIT:
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send=false;
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trans->state = IDLE_STATE;
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break;
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default:
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rtnval = ERROR;
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}
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if(send == false)
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return(rtnval);
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else {
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rtnval = motor_end_trans_com(mr, drvtabptr);
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Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%d, exit\n", rtnval);
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return (rtnval);
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}
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}
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