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- Limit switch bug fix. Set RA_DIRECTION based on difference in commanded position.

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- Removed support for "ASCII record separator" from send_mess().
- No GPIB in report().
This commit is contained in:
Ron Sluiter
2002-04-15 20:20:23 +00:00
parent d9cb77a249
commit 10b2ac1b20
1 changed files with 84 additions and 85 deletions
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motorApp/ImsSrc/drvIM483PL.c
+84 -85
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@@ -3,9 +3,9 @@ FILENAME... drvIM483PL.c
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-03-29 21:15:24 $
Last Modified: $Date: 2002-04-15 20:20:23 $
*/
/*
@@ -35,8 +35,12 @@ Last Modified: $Date: 2002-03-29 21:15:24 $
*
* Modification Log:
* -----------------
* .01 07/10/00 rls copied from drvIM483SM.c
* .02 10/02/01 rls allow one retry after a communication error.
* .01 07/10/00 rls copied from drvIM483SM.c
* .02 10/02/01 rls allow one retry after a communication error.
* .03 04/15/02 rls Bug fix for limit switches. Set RA_DIRECTION in
* set_status() based on (new - old) commanded position.
* Removed support for "ASCII record separator (IS2) = /x1E"
* from send_mess().
*/
/*
@@ -94,7 +98,7 @@ DESIGN LIMITATIONS...
/* --- Local data. --- */
int IM483PL_num_cards = 0;
volatile int drvIM483PLdebug = 0;
STATIC char IM483PL_axis[8] = {'a', 'b', 'c', 'd', 'e', 'f', 'g', 'h'};
STATIC char IM483PL_axis[8] = {'A', 'B', 'C', 'D', 'E', 'F', 'G', 'H'};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
@@ -182,11 +186,6 @@ static long report(int level)
card,
brdptr->ident);
break;
case GPIB_PORT:
printf(" IM483PL controller %d port type = GPIB, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" IM483PL controller %d port type = Unknown, id: %s \n",
card,
@@ -222,10 +221,34 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
/********************************************************************************
* *
* FUNCTION NAME: set_status *
* *
* LOGIC: *
* Initialize. *
* Send "Moving Status" query. *
* Read response. *
* IF normal response to query. *
* Set communication status to NORMAL. *
* ELSE *
* IF communication status is NORMAL. *
* Set communication status to RETRY. *
* NORMAL EXIT. *
* ELSE *
* Set communication status error. *
* ERROR EXIT. *
* ENDIF *
* ENDIF *
* *
* IF "Moving Status" indicates any motion (i.e. status != 0). *
* Clear "Done Moving" status bit. *
* ELSE *
* Set "Done Moving" status bit. *
* ENDIF *
* *
* *
********************************************************************************/
STATIC int set_status(int card, int signal)
{
@@ -237,6 +260,7 @@ STATIC int set_status(int card, int signal)
int status;
int rtn_state;
double motorData;
BOOLEAN plusdir;
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
@@ -264,7 +288,7 @@ STATIC int set_status(int card, int signal)
return(1);
}
}
status = atoi(&buff[4]);
if (status != 0)
@@ -285,21 +309,42 @@ STATIC int set_status(int card, int signal)
}
}
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
send_mess(card, "? Z 0", IM483PL_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
if (newposition >= motor_info->position)
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (motor_info->status & RA_DIRECTION) ? ON : OFF;
send_mess(card, "? ] 0", IM483PL_axis[signal]);
recv_mess(card, buff, 1);
status = atoi(&buff[5]);
if (status == 0)
motor_info->status &= ~RA_OVERTRAVEL;
else
{
if ((plusdir == ON && (status & 1)) || (plusdir == OFF && (status & 2)))
motor_info->status |= RA_OVERTRAVEL;
/* Set direction based on which LS activated. */
if (status == L_ALIMIT)
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
}
else
motor_info->status &= ~RA_OVERTRAVEL;
send_mess(card, "? ] 1", IM483PL_axis[signal]);
recv_mess(card, buff, 1);
@@ -318,25 +363,6 @@ STATIC int set_status(int card, int signal)
motor_info->status &= ~EA_SLIP_STALL;
motor_info->status &= ~EA_HOME;
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
send_mess(card, "? Z 0", IM483PL_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
motor_info->position = NINT(motorData);
motor_info->no_motion_count = 0;
}
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
@@ -379,9 +405,8 @@ STATIC int set_status(int card, int signal)
/*****************************************************/
STATIC int send_mess(int card, char const *com, char inchar)
{
char *head, *end, local_buff[MAX_MSG_SIZE];
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
BOOLEAN lastcmnd = OFF;
int size;
size = strlen(com);
@@ -390,57 +415,31 @@ STATIC int send_mess(int card, char const *com, char inchar)
{
logMsg((char *) "drvIM483PL.c:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
return (-1);
return(-1);
}
else if (size == 0) /* Normal exit on empty input message. */
return (0);
return(0);
if (!motor_state[card])
{
logMsg((char *) "drvIM483PL.c:send_mess() - invalid card #%d\n", card,
0, 0, 0, 0, 0);
return (-1);
return(-1);
}
head = (char *) com;
end = head + size;
/* Make a local copy of the string and add the command line terminator. */
strcpy(local_buff, com);
strcat(local_buff, "\n");
while (lastcmnd == OFF)
{
int size;
char *delimit;
if (inchar != (char) NULL)
local_buff[0] = inchar; /* put in axis */
delimit = strchr(head, ';');
if (delimit != NULL)
{
if (*(delimit + 1) == NULL) /* Test for trailing command terminator. */
lastcmnd = ON;
size = delimit - head;
}
else
{
size = end - head;
lastcmnd = ON;
}
Debug(2, "send_mess(): message = %s\n", local_buff);
strncpy(local_buff, head, size);
head += size + 1;
local_buff[size++] = '\n'; /* Add the command line terminator. */
local_buff[size] = '\0';
if (inchar != (char) NULL)
local_buff[0] = inchar; /* put in axis */
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
serialIOSend(cntrl->serialInfo, local_buff, strlen(local_buff), SERIAL_TIMEOUT);
if (lastcmnd == OFF)
recv_mess(card, local_buff, 1);
}
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
serialIOSend(cntrl->serialInfo, local_buff, strlen(local_buff), SERIAL_TIMEOUT);
return (0);
return(0);
}