#%TITLE% etelmac.mac
#%DESCRIPTION% set of macros for the management of Maxe-like motors
# (the spec MAXE controller), but with new commands (not in the original MAXE
#server) to read position, move to a target and set position. With these new
#commands (DevSetValue, RevReadValue, DevLoatMot, the arguments are provided
#in 'double' instead of 'float'
#%BR% BE CAREFULL: WITH THIS NEW MAXE SERVER, IT HAS NOT BEEN POSSIBLE TO KEEP
#THE DEVSTORE COMMAND AS BEFORE. IT TAKES NOW AN ARRAY OF 2 DOUBLE [axis,offet]
#INSTEAD OF DEVMOTORFLOAT.
#%BR%THE CONSEQUENCE IS TO CHANGE THE HOME_ETEL COMMAND WHICH CALLS DEVSTORE
#%BR% Configuration for the macro controllers
#%BR%
#%BR%\0\0\0\0\0\0\0\0\0MOTORS\0\0DEVICE\0\0\0\0\0\0\0ADDR\0\0<>MODE\0\0\0NUM\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0\0<>TYPE
#%BR%\0\0\0\0\0\0\0\0\0\0\0\0YES\0\0\0etelmac\0\0\0\0\0idxx/maxe/1\0\0\0\0\0\05\0\0\0\0\0\0\0\0\0\0\0Macro Motor
#%BR%\0\0\0\0\0\0\0\0\0\0\0\0YES\0\0\0etelmac\0\0\0\0\0idxx/maxe/2\0\0\0\0\0\03\0\0\0\0\0\0\0\0\0\0\0Macro Motor
#%BR%...
#%UU%
#%MDESC% toggle the debug mode
if (!(whatis("__etelmac_debug") & 2)) rdef __etelmac_debug \'#$*\'
def etelmac_debug '{
if ((whatis("__etelmac_debug")>>16) <= 3) { # macro length is 3 bytes: comment
rdef __etelmac_debug "eprint"
print "MAXE macro debug mode is ON"
}
else {
rdef __etelmac_debug \'#\$*\'
print "MAXE macro debug mode is OFF"
}
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec after reading the config file
#
def etelmac_config(num,cmd,p1,p2,p3) '{
local dev
__etelmac_debug ">>> etelmac_config: ",num,cmd,p1,p2,p3
# called for each macro-hardware controller
# p1:unit p2: nbchan
if(cmd=="ctrl") {
__etelmac_debug ">>> new controller " etelmac_ADDR
# get the device name
dev=etelmac_ADDR
if(dev=="") {
printf("etelmac ERROR: missing ADDR field in config\n")
return
}
}
# called for each macro motor channel
# p1:unit p2:module p3:channel
if(cmd=="mot") {
#nothing
}
#returns nothing or .error.
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec after reading the config file, after calling _config()
# and only if parameters are set in the config file for a motor.
#
def etelmac_par(num,key,todo,p1) '{
local mne dev ch
__etelmac_debug ">>> etelmac_par: ",num, key, todo, p1
# get the motor mnemonic string
mne=motor_mne(num)
# get the device
dev=etelmac_ADDR
if(dev=="") { return }
# get the address
ch=motor_par(mne,"channel")
return
}'
#%IU%
#%MDESC%
# MACRO MOTOR:
# Called by spec on motor operation. It manages:
#%BR%
#%BR%- position
#%BR%- start_one
#%BR%- get_status
#%BR%- abort_one
#%BR%- slew_rate
#%BR%- base_rate
#%BR%- acceleration
#%BR%- search
#%BR%- home_slew_rate
#%BR%- set_position
def etelmac_cmd(num,key,p1,p2) '{
local dev mne ch
__etelmac_debug ">>> etelmac_cmd: ",num, key, todo, p1, p2
if(num == "..") { return }
# get the motor mnemonic string
mne=motor_mne(num)
# get the device
dev=etelmac_ADDR
if(dev=="") { return }
# get the address
ch=motor_par(mne,"channel")
__etelmac_debug " channel: " ch
#
# return the current dial motor position (mm or degree)
#
if (key == "position") {
local pos sts
__etelmac_debug ">>> etelmac_cmd: acting"
sts = motor_par(num,"step_size")
__etelmac_debug " " sts " steps/mm"
ESRF_ERR = -1
pos = taco_io(dev,"DevReadValue",ch)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG; return ".error."}
if (sts == 0) {
p "step_size: " sts " : cannot calculate dial value"
}
__etelmac_debug " reading " pos " steps"
#need to convert in user unit
if (sts !=0){
__etelmac_debug " return " pos/sts " userunit"
return pos/sts
}
else {
return ".error."
}
}
#
# sets the dial position (mm or degree)
#
if (key == "set_position") {
local pos sts ret
double array posarg[2]
__etelmac_debug ">>> etelmac_cmd: acting"
sts = motor_par(num,"step_size")
__etelmac_debug " " sts " steps/mm"
__etelmac_debug " " p1 " nm "
ESRF_ERR = -1
pos = p1*sts
posarg[0] = ch
posarg[1] = pos
ret = taco_io(dev,"DevLoadMot",posarg)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG; return ".error."}
}
#
# start a motion. p1: dial abs. pos., p2: dial rel. pos.
#
if (key == "start_one") {
local pos sts ret
double array poasarg[2]
__etelmac_debug ">>> etelmac_cmd: acting"
sts = motor_par(num,"step_size")
__etelmac_debug " " sts " steps/mm"
__etelmac_debug " " p1 " nm "
# need to convert in steps
ESRF_ERR = -1
pos = p1*sts
posarg[0] = ch
posarg[1] = pos
ret = taco_io(dev,"DevSetValue",posarg)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG; return ".error."}
#returns nothing
}
#
# return motor status
#
#0x02: moving
#0x04: low limit
#0x08: high limit
#0x10: emergency stop
#0x20: motor fault
#0: otherwise
#
#Maxe status: DevReadState
#
#DEVALARM: DPAP alarm (45)
#DEVMOVING: moving (9)
#DEVON: not moving (2)
#DEVFAULT: driver returns an error (23)
#
#if status is DEVON, then, check the limits
#
if (key == "get_status") {
local ret retarr
__etelmac_debug ">>> etelmac_cmd: acting"
retarr[0]=0
ESRF_ERR = 0
ret = taco_io(dev,"DevReadState",ch,retarr)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG; return ".error."}
# moving
if (retarr[0] == 9) {
# no need to check more
__etelmac_debug ">>> moving"
return 0x02
}
# fault
if (retarr[0] == 23){
__etelmac_debug ">>> fault"
return 0x20
}
#alarm
if (retarr[0] == 45) {
__etelmac_debug ">>> DPAP alarm"
return 0x20
}
# on
if (retarr[0] == 2) {
# devon, do now check the limit
ESRF_ERR = 0
ret = taco_io(dev,"DevReadSwitches",ch)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG; return ".error."}
if (ret == 0) {
# limitsoff
__etelmac_debug ">>> on"
return 0
}
else if (ret == 1) {
# negatlimit
__etelmac_debug ">>> negat limit"
p "etelmac: negative limit on device " dev "channel " ch
return 0x04
}
else {
# positlimit or both
p "etelmac: positive limit on device " dev "channel " ch
__etelmac_debug ">>> positlimit"
return 0x08
}
}
else {
p "etelmac: unexpected status value from device " dev
return ".error."
}
}
#
# abort a motion
#
if (key == "abort_one") {
local pos
__etelmac_debug ">>> etelmac_cmd: acting"
ESRF_ERR = -1
pos = taco_io(dev,"DevAbortCommand",ch)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG; return ".error."}
#returns nothing
}
#
# velocity - called when doing the motion
#
if (key == "slew_rate") {
__etelmac_debug ">>> etelmac_par: acting"
ESRF_ERR = -1
esrf_io(dev,"DevSetVelocity",ch,p1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
#
# base rate - called when doing the motion
#
if (key == "base_rate") {
__etelmac_debug ">>> etelmac_par: acting"
ESRF_ERR = -1
esrf_io(dev,"DevSetFirstStepRate",ch,p1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG;return ".error."}
}
#
# acceleration [p1 in msec, p2 in steps/sec/sec] - called when doing the motion
#
if (key == "acceleration") {
__etelmac_debug ">>> etelmac_par: acting"
ESRF_ERR = -1
# take p2 parameter as we give steps/sec/sec
esrf_io(dev,"DevSetAcceleration",ch,p2)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
#
# home_slew_rate - called when doing the motion
#
if (key == "home_slew_rate") {
__etelmac_debug ">>> etelmac_par: acting"
ESRF_ERR = -1
esrf_io(dev,"DevSetHomeSlewRate",ch,p1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
#
# search - home search
#
if (key == "search") {
__etelmac_debug ">>> etelmac_par: acting"
ESRF_ERR = -1
# p1: home/home+/home-/lim+/lim-
# Note: lim+ or lim- search can be done using DevSetContinuous
# and is not presently implemented in the Maxe spec - C code
if (p1 == "home") {
esrf_io(dev,"DevMoveReference",ch,0)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
else if (p1 == "home+") {
esrf_io(dev,"DevMoveReference",ch,1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
else if (p1 == "home-") {
esrf_io(dev,"DevMoveReference",ch,-1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
else if (p1 == "lim+") {
esrf_io(dev,"DevSetContinuous",ch,1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
else if (p1 == "home-") {
esrf_io(dev,"DevSetContinuous",ch,-1)
if (ESRF_ERR != 0) {p ESRF_ERR_MSG}
}
}
}'
#%MACROS%
#%IMACROS%
#%AUTHOR%MCD
# %BR%$Revision: 1.1 $ / $Date: 2013/01/25 10:18:13 $
#%TOC%
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