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- Flexible MDrive I/O configuration.

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- Change Echo mode to 2; eliminate eat_garbage().
This commit is contained in:
Ron Sluiter
2005-03-18 22:32:59 +00:00
parent 8fcb75814e
commit 0b14aeeeae
1 changed files with 108 additions and 103 deletions
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motorApp/ImsSrc/drvMDrive.cc
+108 -103
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@@ -3,9 +3,9 @@ FILENAME... drvMDrive.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. MDrive series; M17, M23, M34.
Version: $Revision: 1.14 $
Version: $Revision: 1.15 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-12-21 17:19:34 $
Last Modified: $Date: 2005-03-18 22:32:59 $
*/
/*
@@ -47,6 +47,8 @@ Last Modified: $Date: 2004-12-21 17:19:34 $
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* .07 03/18/05 rls - Flexible MDrive I/O configuration.
* - Change Echo mode to 2; eliminate eat_garbage().
*/
/*
@@ -91,7 +93,6 @@ static char *MDrive_axis[] = {"1", "2", "3", "4", "5", "6", "7", "8"};
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int eat_garbage(int, char *, int);
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int set_status(int, int);
@@ -118,7 +119,7 @@ struct driver_table MDrive_access =
&total_cards,
&any_motor_in_motion,
send_mess,
eat_garbage,
recv_mess,
set_status,
query_done,
NULL,
@@ -138,34 +139,6 @@ extern "C" {epicsExportAddress(drvet, drvMDrive);}
static struct thread_args targs = {SCAN_RATE, &MDrive_access};
/* Single Inputs - response from PR IN command */
typedef union
{
epicsUInt8 All;
struct
{
#ifdef MSB_First
unsigned int na7:1;
unsigned int na6:1;
unsigned int na5:1;
unsigned int na4:1;
unsigned int na3:1;
unsigned int homels:1; /* Home limit switch. */
unsigned int ls_plus:1; /* Plus limit switch. */
unsigned int ls_minus:1; /* Minus limit switch. */
#else
unsigned int ls_minus:1; /* Minus limit switch. */
unsigned int ls_plus:1; /* Plus limit switch. */
unsigned int homels:1; /* Home limit switch. */
unsigned int na3:1;
unsigned int na4:1;
unsigned int na5:1;
unsigned int na6:1;
unsigned int na7:1;
#endif
} Bits;
} SINPUTS;
/*********************************************************
* Print out driver status report
*********************************************************/
@@ -257,17 +230,17 @@ static int set_status(int card, int signal)
char buff[BUFF_SIZE];
int rtnval, rtn_state;
double motorData;
SINPUTS inputs;
epicsUInt8 Lswitch;
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
input_config *confptr = cntrl->inconfig;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
send_mess(card, "PR MV", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
rtn_state = recv_mess(card, buff, 1);
if (rtn_state > 0)
{
@@ -303,7 +276,6 @@ static int set_status(int card, int signal)
*/
send_mess(card, "PR P", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
recv_mess(card, buff, 1);
motorData = atof(buff);
@@ -325,31 +297,53 @@ static int set_status(int card, int signal)
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
send_mess(card, "PR IN", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
recv_mess(card, buff, 1);
inputs.All = atoi(buff);
/* Set limit switch error indicators. */
if (inputs.Bits.ls_plus == 0)
if (confptr->plusLS == 0 || confptr->minusLS == 0)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
if (inputs.Bits.ls_minus == 0)
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
}
else
{
sprintf(buff, "PR I%d", confptr->plusLS);
send_mess(card, buff, MDrive_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
status.Bits.RA_HOME = (inputs.Bits.homels) ? 1 : 0;
/* Set limit Lswitch error indicators. */
if (Lswitch != 0)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
sprintf(buff, "PR I%d", confptr->minusLS);
send_mess(card, buff, MDrive_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
if (Lswitch != 0)
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_MINUS_LS = 0;
}
if (confptr->homeLS == 0)
status.Bits.RA_HOME = 0;
else
{
sprintf(buff, "PR I%d", confptr->homeLS);
send_mess(card, buff, MDrive_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
status.Bits.RA_HOME = (Lswitch) ? 1 : 0;
}
/* !!! Assume no closed-looped control!!!*/
status.Bits.EA_POSITION = 0;
@@ -364,7 +358,6 @@ static int set_status(int card, int signal)
else
{
send_mess(card, "PR C2", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
recv_mess(card, buff, 1);
motorData = atof(buff);
motor_info->encoder_position = (int32_t) motorData;
@@ -445,44 +438,6 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
}
/*****************************************************/
/* eat garbage characters from the MDrive board */
/* eat_garbage() */
/*****************************************************/
static int eat_garbage(int card, char *com, int flag)
{
struct IM483controller *cntrl;
int timeout = 0;
int nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
Debug(2, "eat_garbage(): nread = %i\n", nread);
if ((status != asynSuccess) || (nread <= 0))
{
Debug(2, "eat_garbage(): com = \"%s\"\n", com);
com[0] = '\0';
nread = 0;
}
/*Debug(2, "eat_garbage(): message = \"%s\"\n", com);*/
return (nread);
}
/*****************************************************/
/* receive a message from the MDrive board */
/* recv_mess() */
@@ -490,7 +445,7 @@ static int eat_garbage(int card, char *com, int flag)
static int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
int timeout = 0;
const double timeout = 1.0;
int nread = 0;
asynStatus status = asynError;
int eomReason;
@@ -523,7 +478,7 @@ static int recv_mess(int card, char *com, int flag)
/* MDriveSetup() */
/*****************************************************/
RTN_STATUS
MDriveSetup(int num_cards, /* maximum number of controllers in system. */
MDriveSetup(int num_cards, /* maximum number of chains in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
@@ -560,8 +515,8 @@ MDriveSetup(int num_cards, /* maximum number of controllers in system. */
/* MDriveConfig() */
/*****************************************************/
RTN_STATUS
MDriveConfig(int card, /* card being configured */
const char *name) /* MPF server task name */
MDriveConfig(int card, /* chain being configured */
const char *name) /* ASYN port name */
{
struct IM483controller *cntrl;
@@ -608,7 +563,7 @@ static int motor_init()
brdptr = motor_state[card_index];
brdptr->ident[0] = (char) NULL; /* No controller identification message. */
brdptr->cmnd_response = true;
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
@@ -634,7 +589,6 @@ static int motor_init()
do
{
send_mess(card_index, "PR VR", MDrive_axis[total_axis]);
eat_garbage(card_index, buff, 1);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
@@ -645,15 +599,20 @@ static int motor_init()
strcpy(brdptr->ident, buff);
}
brdptr->total_axis = total_axis;
cntrl->inconfig = (input_config *) malloc(
sizeof(struct IM483controller) * total_axis);
}
if (success_rtn == asynSuccess && total_axis > 0)
{
input_config *confptr = cntrl->inconfig;
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
int itera;
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
motor_info->status.All = 0;
@@ -673,6 +632,50 @@ static int motor_init()
motor_info->status.Bits.EA_PRESENT = 1;
}
/* Determine input configuration. */
confptr->homeLS = confptr->minusLS = confptr->plusLS = 0;
for (itera = 1; itera <= 4; itera++)
{
int type, active;
sprintf(buff, "PR S%d", itera);
send_mess(card_index, buff, MDrive_axis[motor_index]);
status = recv_mess(card_index, buff, 1);
if (status == 0)
{
errlogPrintf("Error reading I/O configuration.\n");
break;
}
status = sscanf(buff, "%d,%d", &type, &active);
switch (type)
{
case 0:
break;
case 1: // Home switch.
confptr->homeLS = itera;
break;
case 2: // Plus limit switch.
confptr->plusLS = itera;
break;
case 3: // Minus limit switch.
confptr->minusLS = itera;
break;
default:
errlogPrintf("Invalid I/O type: %d.\n", type);
}
}
// Test for missing configuration.
if (confptr->minusLS == 0 || confptr->plusLS == 0)
{
const char p_label[6] = "Plus", m_label[6] = "Minus";
errlogPrintf("MDrive chain #%d, motor #%d %s LS not configured.\n",
card_index, motor_index,
(confptr->minusLS == 0) ? m_label : p_label);
}
set_status(card_index, motor_index); /* Read status of each motor */
}
}
@@ -688,7 +691,9 @@ static int motor_init()
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "MDrive_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadCreate((char *) "MDrive_motor", 64,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}