From 17f97a0ccefe1b955c4e3dd6d5ef69e84a6d74be Mon Sep 17 00:00:00 2001 From: Ron Sluiter Date: Wed, 13 Sep 2006 16:36:05 +0000 Subject: [PATCH] Orginial --- motorApp/PiSrc/PIC862Register.cc | 68 ++++ motorApp/PiSrc/devPIC862.cc | 285 +++++++++++++++ motorApp/PiSrc/drvPIC862.cc | 588 +++++++++++++++++++++++++++++++ motorApp/PiSrc/drvPIC862.h | 163 +++++++++ 4 files changed, 1104 insertions(+) create mode 100644 motorApp/PiSrc/PIC862Register.cc create mode 100644 motorApp/PiSrc/devPIC862.cc create mode 100644 motorApp/PiSrc/drvPIC862.cc create mode 100644 motorApp/PiSrc/drvPIC862.h diff --git a/motorApp/PiSrc/PIC862Register.cc b/motorApp/PiSrc/PIC862Register.cc new file mode 100644 index 00000000..aeda9fe1 --- /dev/null +++ b/motorApp/PiSrc/PIC862Register.cc @@ -0,0 +1,68 @@ +/* +FILENAME... PIC862Register.cc +USAGE... Register PI motor device driver shell commands. + +Version: 1.1 +Modified By: Ramanathan +Last Modified: 2006/09/04 19:45:52 +*/ + +/***************************************************************** + COPYRIGHT NOTIFICATION +***************************************************************** + +(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO + +This software was developed under a United States Government license +described on the COPYRIGHT_UniversityOfChicago file included as part +of this distribution. +**********************************************************************/ + +#include +#include +#include +#include +#include +#include "motor.h" +#include "drvPIC862.h" +#include "epicsExport.h" + +extern "C" +{ + +// Pi Setup arguments +static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt}; +static const iocshArg setupArg1 = {"Polling rate", iocshArgInt}; +// Pi Config arguments +static const iocshArg configArg0 = {"Card being configured", iocshArgInt}; +static const iocshArg configArg1 = {"asyn port name", iocshArgString}; +static const iocshArg configArg2 = {"asyn address (GPIB)", iocshArgInt}; + +static const iocshArg * const PIC862SetupArgs[2] = {&setupArg0, &setupArg1}; +static const iocshArg * const PIC862ConfigArgs[3] = {&configArg0, &configArg1, + &configArg2}; + +static const iocshFuncDef setupPIC862 = {"PIC862Setup", 2, PIC862SetupArgs}; +static const iocshFuncDef configPIC862 = {"PIC862Config", 3, PIC862ConfigArgs}; + +static void setupPIC862CallFunc(const iocshArgBuf *args) +{ + PIC862Setup(args[0].ival, args[1].ival); +} + + +static void configPIC862CallFunc(const iocshArgBuf *args) +{ + PIC862Config(args[0].ival, args[1].sval, args[2].ival); +} + + +static void PIC862motorRegister(void) +{ + iocshRegister(&setupPIC862, setupPIC862CallFunc); + iocshRegister(&configPIC862, configPIC862CallFunc); +} + +epicsExportRegistrar(PIC862motorRegister); + +} // extern "C" diff --git a/motorApp/PiSrc/devPIC862.cc b/motorApp/PiSrc/devPIC862.cc new file mode 100644 index 00000000..a9ad670f --- /dev/null +++ b/motorApp/PiSrc/devPIC862.cc @@ -0,0 +1,285 @@ +/* +FILENAME... devPIC862.cc +USAGE... Motor record device level support for Physik Instrumente (PI) + GmbH & Co. C-862 motor controller. +*/ + +/* + * Original Author: Ron Sluiter + * Current Author: Mohan Ramanathan + * Date: 09/04/2006 + * + * Modification Log: + * ----------------- + * .00 09/05/2006 mr copied from devPIC848.cc + */ + + +#include +#include "motorRecord.h" +#include "motor.h" +#include "motordevCom.h" +#include "drvPIC862.h" +#include "epicsExport.h" + +extern struct driver_table PIC862_access; + +/* ----------------Create the dsets for devPIC862----------------- */ +static struct driver_table *drvtabptr; +static long PIC862_init(void *); +static long PIC862_init_record(void *); +static long PIC862_start_trans(struct motorRecord *); +static RTN_STATUS PIC862_build_trans(motor_cmnd, double *, struct motorRecord *); +static RTN_STATUS PIC862_end_trans(struct motorRecord *); + +struct motor_dset devPIC862 = +{ + {8, NULL, (DEVSUPFUN) PIC862_init, (DEVSUPFUN) PIC862_init_record, NULL}, + motor_update_values, + PIC862_start_trans, + PIC862_build_trans, + PIC862_end_trans +}; + +extern "C" {epicsExportAddress(dset,devPIC862);} + +/* --------------------------- program data --------------------- */ + +/* This table is used to define the command types */ +/* WARNING! this must match "motor_cmnd" in motor.h */ + +static msg_types PIC862_table[] = { + MOTION, /* MOVE_ABS */ + MOTION, /* MOVE_REL */ + MOTION, /* HOME_FOR */ + MOTION, /* HOME_REV */ + IMMEDIATE, /* LOAD_POS */ + IMMEDIATE, /* SET_VEL_BASE */ + IMMEDIATE, /* SET_VELOCITY */ + IMMEDIATE, /* SET_ACCEL */ + IMMEDIATE, /* GO */ + IMMEDIATE, /* SET_ENC_RATIO */ + INFO, /* GET_INFO */ + MOVE_TERM, /* STOP_AXIS */ + VELOCITY, /* JOG */ + IMMEDIATE, /* SET_PGAIN */ + IMMEDIATE, /* SET_IGAIN */ + IMMEDIATE, /* SET_DGAIN */ + IMMEDIATE, /* ENABLE_TORQUE */ + IMMEDIATE, /* DISABL_TORQUE */ + IMMEDIATE, /* PRIMITIVE */ + IMMEDIATE, /* SET_HIGH_LIMIT */ + IMMEDIATE, /* SET_LOW_LIMIT */ + VELOCITY /* JOG_VELOCITY */ +}; + + +static struct board_stat **PIC862_cards; + +/* --------------------------- program data --------------------- */ + + +/* initialize device support for PIC862 servo motor */ +static long PIC862_init(void *arg) +{ + long rtnval; + int after = (int) arg; + + if (after == 0) + { + drvtabptr = &PIC862_access; + (drvtabptr->init)(); + } + + rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC862_cards); + return(rtnval); +} + + +/* initialize a record instance */ +static long PIC862_init_record(void *arg) +{ + struct motorRecord *mr = (struct motorRecord *) arg; + return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIC862_cards)); +} + + +/* start building a transaction */ +static long PIC862_start_trans(struct motorRecord *mr) +{ + motor_start_trans_com(mr, PIC862_cards); + return(OK); +} + + +/* end building a transaction */ +static RTN_STATUS PIC862_end_trans(struct motorRecord *mr) +{ + motor_end_trans_com(mr, drvtabptr); + return(OK); +} + + +/* add a part to the transaction */ +static RTN_STATUS PIC862_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr) +{ + struct motor_trans *trans = (struct motor_trans *) mr->dpvt; + struct mess_node *motor_call; + struct controller *brdptr; + char buff[110]; + int card; + unsigned int size; + double dval; + int cntrl_units; + RTN_STATUS rtnval; + bool send; + + send = true; /* Default to send motor command. */ + rtnval = OK; + buff[0] = '\0'; + + /* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */ + dval = (parms == NULL) ? 0.0 : *parms; + + + motor_call = &(trans->motor_call); + card = motor_call->card; + brdptr = (*trans->tabptr->card_array)[card]; + if (brdptr == NULL) + return(rtnval = ERROR); + + + cntrl_units = (int) dval; + + if (PIC862_table[command] > motor_call->type) + motor_call->type = PIC862_table[command]; + + if (trans->state != BUILD_STATE) + return(rtnval = ERROR); + + if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0) + strcat(motor_call->message, mr->init); + + switch (command) + { + case MOVE_ABS: + case MOVE_REL: + case HOME_FOR: + case HOME_REV: + case JOG: + if (strlen(mr->prem) != 0) + { + strcat(motor_call->message, mr->prem); + strcat(motor_call->message, ","); + } + if (strlen(mr->post) != 0) + motor_call->postmsgptr = (char *) &mr->post; + break; + + default: + break; + } + + + switch (command) + { + case MOVE_ABS: + sprintf(buff, "MA%d,", cntrl_units); + break; + + case MOVE_REL: + sprintf(buff, "MR%d,", cntrl_units); + break; + + case HOME_FOR: + sprintf(buff, "FE0"); + break; + case HOME_REV: + sprintf(buff, "FE1"); + break; + + case LOAD_POS: + if (cntrl_units == 0.0) + sprintf(buff, "DH"); + else + rtnval = ERROR; + break; + + case SET_VEL_BASE: + send = false; /* DC motor; not base velocity. */ + break; + + case JOG_VELOCITY: + case SET_VELOCITY: + sprintf(buff, "SV%d,", cntrl_units); + break; + + case SET_ACCEL: + sprintf(buff, "SA%d,", cntrl_units); + break; + + case ENABLE_TORQUE: + sprintf(buff, "MN"); + break; + + case DISABL_TORQUE: + sprintf(buff, "MF"); + break; + + case GO: + /* The PIC862 starts moving immediately on move commands, GO command + * does nothing. */ + send = false; + break; + + case PRIMITIVE: + case GET_INFO: + /* These commands are not actually done by sending a message, but + rather they will indirectly cause the driver to read the status + of all motors */ + break; + + case STOP_AXIS: + sprintf(buff, "ST"); + break; + + case JOG: + sprintf(buff, "MR%d,", cntrl_units); + break; + + case SET_PGAIN: + cntrl_units = (int) (32767 * dval); + sprintf(buff, "DP%d", cntrl_units); + break; + case SET_IGAIN: + cntrl_units = (int) (32767 * dval); + sprintf(buff, "DI%d", cntrl_units); + break; + case SET_DGAIN: + cntrl_units = (int) (32767 * dval); + sprintf(buff, "DD%d", cntrl_units); + break; + + case SET_HIGH_LIMIT: + case SET_LOW_LIMIT: + case SET_ENC_RATIO: + trans->state = IDLE_STATE; /* No command sent to the controller. */ + send = false; + break; + + default: + send = false; + rtnval = ERROR; + } + + size = strlen(buff); + if (send == false) + return(rtnval); + else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE) + errlogMessage("PIC862_build_trans(): buffer overflow.\n"); + else + { + strcat(motor_call->message, buff); + } + return(rtnval); +} diff --git a/motorApp/PiSrc/drvPIC862.cc b/motorApp/PiSrc/drvPIC862.cc new file mode 100644 index 00000000..9593174e --- /dev/null +++ b/motorApp/PiSrc/drvPIC862.cc @@ -0,0 +1,588 @@ +/* +FILENAME... drvPIC862.cc +USAGE... Motor record driver level support for Physik Instrumente (PI) + GmbH & Co. C-862 motor controller. +*/ +/* + * Original Author: Ron Sluiter + * Current Author: Mohan Ramanathan + * Date: 09/04/2006 + * + * Modification Log: + * ----------------- + * .00 09/05/2006 mr copied from drvPIC848.cc + */ + + +/* +DESIGN LIMITATIONS... + 1 - Like all controllers, the PIC862 must be powered-on when EPICS is first + booted up. +*/ + +#include +#include +#include +#include "motorRecord.h" +#include "motor.h" +#include "drvPIC862.h" +#include "epicsExport.h" + +#define GET_IDENT 0x01 + +#define PIC862_NUM_CARDS 8 +#define MAX_AXES 1 +#define BUFF_SIZE 100 /* Maximum length of string to/from PIC862 */ + +/*----------------debugging-----------------*/ +#ifdef __GNUG__ + #ifdef DEBUG + #define Debug(l, f, args...) { if(l<=drvPIC862debug) printf(f,## args); } + #else + #define Debug(l, f, args...) + #endif +#else + #define Debug() +#endif +volatile int drvPIC862debug = 0; +extern "C" {epicsExportAddress(int, drvPIC862debug);} + +/* --- Local data. --- */ +int PIC862_num_cards = 0; + +/* Local data required for every driver; see "motordrvComCode.h" */ +#include "motordrvComCode.h" + + +/*----------------functions-----------------*/ +static int recv_mess(int, char *, int); +static RTN_STATUS send_mess(int, char const *, char *); +static int set_status(int, int); +static long report(int); +static long init(); +static int motor_init(); +static void query_done(int, int, struct mess_node *); + +/*----------------functions-----------------*/ + +struct driver_table PIC862_access = +{ + motor_init, + motor_send, + motor_free, + motor_card_info, + motor_axis_info, + &mess_queue, + &queue_lock, + &free_list, + &freelist_lock, + &motor_sem, + &motor_state, + &total_cards, + &any_motor_in_motion, + send_mess, + recv_mess, + set_status, + query_done, + NULL, + &initialized, + NULL +}; + +struct +{ + long number; + long (*report) (int); + long (*init) (void); +} drvPIC862 = {2, report, init}; + +extern "C" {epicsExportAddress(drvet, drvPIC862);} + +static struct thread_args targs = {SCAN_RATE, &PIC862_access, 0.0}; + +/********************************************************* + * Print out driver status report + *********************************************************/ +static long report(int level) +{ + int card; + + if (PIC862_num_cards <=0) + printf(" No PIC862 controllers configured.\n"); + else + { + for (card = 0; card < PIC862_num_cards; card++) + { + struct controller *brdptr = motor_state[card]; + + if (brdptr == NULL) + printf(" PIC862 controller %d connection failed.\n", card); + else + { + struct PIC862controller *cntrl; + + cntrl = (struct PIC862controller *) brdptr->DevicePrivate; + printf(" PIC862 controller #%d, port=%s, id: %s \n", card, + cntrl->asyn_port, brdptr->ident); + } + } + } + return(OK); +} + + +static long init() +{ + /* + * We cannot call motor_init() here, because that function can do GPIB I/O, + * and hence requires that the drvGPIB have already been initialized. + * That cannot be guaranteed, so we need to call motor_init from device + * support + */ + /* Check for setup */ + if (PIC862_num_cards <= 0) + { + Debug(1, "init(): PIC862 driver disabled. PIC862Setup() missing from startup script.\n"); + } + return((long) 0); +} + + +static void query_done(int card, int axis, struct mess_node *nodeptr) +{ +} + + +/******************************************************************************** +* * +* 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) +{ + struct PIC862controller *cntrl; + struct mess_node *nodeptr; + struct mess_info *motor_info; + struct motorRecord *mr; + /* Message parsing variables */ + char buff[BUFF_SIZE]; + C862_Status_Reg1 mstat1; + C862_Status_Reg2 mstat2; + C862_Status_Reg3 mstat3; + C862_Status_Reg4 mstat4; + C862_Status_Reg5 mstat5; + epicsUInt16 dev_sts1, dev_sts2, dev_sts3, dev_sts4, dev_sts5, dev_sts6; + + int rtn_state, convert_cnt, charcnt; + epicsInt32 motorData; + bool plusdir, ls_active = false, plusLS, minusLS; + msta_field status; + + cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate; + motor_info = &(motor_state[card]->motor_info[signal]); + nodeptr = motor_info->motor_motion; + if (nodeptr != NULL) + mr = (struct motorRecord *) nodeptr->mrecord; + else + mr = NULL; + status.All = motor_info->status.All; + + if (cntrl->status != NORMAL) + charcnt = recv_mess(card, buff, FLUSH); + + send_mess(card, "TS", (char) NULL); /* Tell Status */ + charcnt = recv_mess(card, buff, 1); + if (charcnt > 18) + convert_cnt = sscanf(buff, "S:%2hx %2hx %2hx %2hx %2hx %2hx\n", + &dev_sts1,&dev_sts2,&dev_sts3,&dev_sts4,&dev_sts5,&dev_sts6); + + if (charcnt > 18 && convert_cnt == 6) + { + cntrl->status = NORMAL; + status.Bits.CNTRL_COMM_ERR = 0; + } + else + { + if (cntrl->status == NORMAL) + { + cntrl->status = RETRY; + rtn_state = OK; + goto exit; + } + else + { + cntrl->status = COMM_ERR; + status.Bits.CNTRL_COMM_ERR = 1; + status.Bits.RA_PROBLEM = 1; + rtn_state = 1; + goto exit; + } + } + + mstat1.All = dev_sts1; + mstat2.All = dev_sts2; + mstat3.All = dev_sts3; + mstat4.All = dev_sts4; + mstat5.All = dev_sts5; + + status.Bits.RA_DONE = (mstat1.Bits.trty_done) ? 1 : 0; + status.Bits.EA_POSITION = (mstat1.Bits.motor_off) ? 0 : 1; + status.Bits.RA_DIRECTION = (mstat3.Bits.mvdir_pol) ? 1 : 0; + plusLS = !mstat5.Bits.plus_ls; + minusLS = !mstat5.Bits.minus_ls; + + + /* Parse motor position */ + send_mess(card, "TP", (char) NULL); /* Tell Position */ + recv_mess(card, buff, 1); + motorData = NINT(atof(&buff[2])); + + if (motorData == motor_info->position) + { + if (nodeptr != 0) /* Increment counter only if motor is moving. */ + motor_info->no_motion_count++; + } + else + { + + +// status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0; + + motor_info->position = motor_info->encoder_position = motorData; + motor_info->no_motion_count = 0; + } + + plusdir = (status.Bits.RA_DIRECTION) ? true : false; + + /* Set limit switch error indicators. */ + if (plusLS == true) + { + status.Bits.RA_PLUS_LS = 1; + if (plusdir == true) + ls_active = true; + } + else + status.Bits.RA_PLUS_LS = 0; + + if (minusLS == true) + { + status.Bits.RA_MINUS_LS = 1; + if (plusdir == false) + ls_active = true; + } + else + status.Bits.RA_MINUS_LS = 0; + + /* encoder status */ + status.Bits.EA_SLIP = 0; + status.Bits.EA_SLIP_STALL = 0; + status.Bits.EA_HOME = 0; + + status.Bits.RA_PROBLEM = 0; + + /* Parse motor velocity */ +/* + send_mess(card, "TV", (char) NULL); + recv_mess(card, buff, 1); + motorData = NINT(atof(&buff[2])); + motor_info->velocity = motorData; +*/ + + if (!status.Bits.RA_DIRECTION) + motor_info->velocity *= -1; + + rtn_state = (!motor_info->no_motion_count || ls_active == true || + status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0; + + /* Test for post-move string. */ + if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && + nodeptr->postmsgptr != 0) + { + strcpy(buff, nodeptr->postmsgptr); + send_mess(card, buff, (char) NULL); + nodeptr->postmsgptr = NULL; + } + +exit: + motor_info->status.All = status.All; + return(rtn_state); +} + + +/*****************************************************/ +/* send a message to the PIC862 board */ +/* send_mess() */ +/*****************************************************/ +static RTN_STATUS send_mess(int card, char const *com, char *name) +{ + char local_buff[MAX_MSG_SIZE]; + struct PIC862controller *cntrl; + int comsize, namesize; + size_t nwrite; + + comsize = (com == NULL) ? 0 : strlen(com); + namesize = (name == NULL) ? 0 : strlen(name); + + if ((comsize + namesize) > MAX_MSG_SIZE) + { + errlogMessage("drvPIC862.cc:send_mess(); message size violation.\n"); + return(ERROR); + } + else if (comsize == 0) /* Normal exit on empty input message. */ + return(OK); + + if (!motor_state[card]) + { + errlogPrintf("drvPIC862.cc:send_mess() - invalid card #%d\n", card); + return(ERROR); + } + + local_buff[0] = (char) NULL; /* Terminate local buffer. */ + + /* this device deos not have axis info and so name is ignored! */ + + strcat(local_buff, com); /* Make a local copy of the string. */ + Debug(2, "send_mess(): message = %s\n", local_buff); + + cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate; + pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff), + COMM_TIMEOUT, &nwrite); + + return(OK); +} + + +/*****************************************************/ +/* receive a message from the PIC862 board */ +/* recv_mess() */ +/*****************************************************/ +static int recv_mess(int card, char *com, int flag) +{ + struct PIC862controller *cntrl; + size_t nread = 0; + asynStatus status = asynError; + int eomReason; + + /* Check that card exists */ + if (!motor_state[card]) + return(ERROR); + + cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate; + + if (flag == FLUSH) + pasynOctetSyncIO->flush(cntrl->pasynUser); + else + status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, + COMM_TIMEOUT, &nread, &eomReason); + + if ((status != asynSuccess) || (nread <= 0)) + { + com[0] = '\0'; + nread = 0; + } + else + com[nread - 1] = '\0'; /* Strip traling CR. */ + + Debug(2, "recv_mess(): message = \"%s\"\n", com); + return(nread); +} + + +/*****************************************************/ +/* Setup system configuration */ +/* PIC862Setup() */ +/*****************************************************/ +RTN_STATUS +PIC862Setup(int num_cards, /* maximum number of controllers in system. */ + int scan_rate) /* polling rate - 1/60 sec units. */ +{ + int itera; + + if (num_cards < 1 || num_cards > PIC862_NUM_CARDS) + PIC862_num_cards = PIC862_NUM_CARDS; + else + PIC862_num_cards = num_cards; + + /* Set motor polling task rate */ + if (scan_rate >= 1 && scan_rate <= 60) + targs.motor_scan_rate = scan_rate; + else + targs.motor_scan_rate = SCAN_RATE; + + /* + * Allocate space for motor_state structures. Note this must be done + * before PIC862Config is called, so it cannot be done in motor_init() + * This means that we must allocate space for a card without knowing + * if it really exists, which is not a serious problem + */ + motor_state = (struct controller **) malloc(PIC862_num_cards * + sizeof(struct controller *)); + + for (itera = 0; itera < PIC862_num_cards; itera++) + motor_state[itera] = (struct controller *) NULL; + + return(OK); +} + + +/*****************************************************/ +/* Configure a controller */ +/* PIC862Config() */ +/*****************************************************/ +RTN_STATUS +PIC862Config(int card, /* card being configured */ + const char *name, /* asyn port name */ + int addr) /* asyn address ( device address for daisy chaining */ +{ + struct PIC862controller *cntrl; + + if (card < 0 || card >= PIC862_num_cards) + return(ERROR); + + motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); + motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC862controller)); + cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate; + + strcpy(cntrl->asyn_port, name); + cntrl->asyn_address = addr; + return(OK); +} + + +/*****************************************************/ +/* initialize all software and hardware */ +/* This is called from the initialization routine in */ +/* device support. */ +/* motor_init() */ +/*****************************************************/ +static int motor_init() +{ + struct controller *brdptr; + struct PIC862controller *cntrl; + int card_index, motor_index; + char buff[BUFF_SIZE]; + int status; + asynStatus success_rtn; + static const char output_terminator[] = "\r"; + static const char input_terminator[] = "\n\03"; + + initialized = true; /* Indicate that driver is initialized. */ + + /* Check for setup */ + if (PIC862_num_cards <= 0) + return(ERROR); + + for (card_index = 0; card_index < PIC862_num_cards; card_index++) + { + if (!motor_state[card_index]) + continue; + + brdptr = motor_state[card_index]; + brdptr->ident[0] = (char) NULL; /* No controller identification message. */ + brdptr->cmnd_response = false; + total_cards = card_index + 1; + cntrl = (struct PIC862controller *) brdptr->DevicePrivate; + + /* Initialize communications channel */ + success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, + &cntrl->pasynUser, NULL); + + if (success_rtn == asynSuccess) + { + int retry = 0; + + pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator, + strlen(output_terminator)); + pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator, + strlen(input_terminator)); + + /* Send a message to the board, see if it exists */ + /* flush any junk at input port - should not be any data available */ + pasynOctetSyncIO->flush(cntrl->pasynUser); + + /* To start communicating with the device requires to enable the device + To do this send "0x01" and a singel letter address (0-F) + To make sure we talk ask the status with "TB" command for the address + It replies "B:000x" where x is 0-F + The command "VE" provides a complete Identification string if we need. + */ + + + do + { + sprintf(buff,"\001%1XVE", cntrl->asyn_address); + send_mess(card_index, buff, (char) NULL); + status = recv_mess(card_index, buff, 1); + retry++; + } while (status == 0 && retry < 3); + } + + if (success_rtn == asynSuccess && status > 0) + { + strcpy(brdptr->ident, &buff[0]); + brdptr->localaddr = (char *) NULL; + brdptr->motor_in_motion = 0; + + /* number of axes is always one.*/ + brdptr->total_axis = 1; + motor_index = 0; + + struct mess_info *motor_info = &brdptr->motor_info[motor_index]; + + motor_info->status.All = 0; + motor_info->no_motion_count = 0; + motor_info->encoder_position = 0; + motor_info->position = 0; + brdptr->motor_info[motor_index].motor_motion = NULL; + /* PIC862 has DC motor support only */ + motor_info->encoder_present = YES; + motor_info->status.Bits.EA_PRESENT = 1; + motor_info->pid_present = YES; + motor_info->status.Bits.GAIN_SUPPORT = 1; + + + set_status(card_index, motor_index); /* Read status of each motor */ + } + else + motor_state[card_index] = (struct controller *) NULL; + } + + any_motor_in_motion = 0; + + mess_queue.head = (struct mess_node *) NULL; + mess_queue.tail = (struct mess_node *) NULL; + + free_list.head = (struct mess_node *) NULL; + free_list.tail = (struct mess_node *) NULL; + + epicsThreadCreate((char *) "PIC862_motor", epicsThreadPriorityMedium, + epicsThreadGetStackSize(epicsThreadStackMedium), + (EPICSTHREADFUNC) motor_task, (void *) &targs); + + return(OK); +} + diff --git a/motorApp/PiSrc/drvPIC862.h b/motorApp/PiSrc/drvPIC862.h new file mode 100644 index 00000000..9d8d82b6 --- /dev/null +++ b/motorApp/PiSrc/drvPIC862.h @@ -0,0 +1,163 @@ +/* File: drvPIC862.h */ + + +/* Device Driver Support definitions for motor */ +/* + * Original Author: Ron Sluiter + * Current Author: Mohan Ramanathan + * Date: 09/04/2006 + * + * Modification Log: + * ----------------- + * .00 09/05/2006 mr copied from drvPIC848.h + */ + +#ifndef INCdrvPIC862h +#define INCdrvPIC862h 1 + +#include "motordrvCom.h" +#include "asynDriver.h" +#include "asynDriver.h" +#include "asynOctetSyncIO.h" + +#define COMM_TIMEOUT 2 /* Timeout in seconds. */ + +struct PIC862controller +{ + asynUser *pasynUser; /* asynUser structure */ + int asyn_address; /* Use for GPIB or other address with asyn */ + CommStatus status; /* Controller communication status. */ + char asyn_port[80]; /* asyn port name */ +}; + + +/* LM629 Status bits */ +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int motor_off :1; /* 7 - Motor loop OFF. */ + unsigned int breakpt :1; /* 6 - Breakpoint reached flag. */ + unsigned int max_pos_err :1; /* 5 - Maximum position error is exceeded. */ + unsigned int max_pos_lmt :1; /* 4 - Maximum position Limit exceeded. */ + unsigned int index :1; /* 3 - Index pulse received flag. */ + unsigned int trty_done :1; /* 2 - Trajectory Complete. */ + unsigned int cmnd_err :1; /* 1 - Command error flag. */ + unsigned int busy :1; /* 0 - Busy. */ +#else + unsigned int busy :1; /* 0 - Busy. */ + unsigned int cmnd_err :1; /* 1 - Command error flag. */ + unsigned int trty_done :1; /* 2 - Trajectory Complete. */ + unsigned int index :1; /* 3 - Index pulse received flag. */ + unsigned int max_pos_lmt :1; /* 4 - Maximum position Limit exceeded. */ + unsigned int max_pos_err :1; /* 5 - Maximum position error is exceeded. */ + unsigned int breakpt :1; /* 6 - Breakpoint reached flag. */ + unsigned int motor_off :1; /* 7 - Motor loop OFF. */ +#endif + } Bits; +} C862_Status_Reg1; + +/* Internal operation flags */ +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int brd_addr :1; /* 7 - Board Addressed. */ + unsigned int num_mode :1; /* 6 - Number mode in Effect. */ + unsigned int ldzero_dis :1; /* 3 - Leading Zero Suppression disabled. */ + unsigned int macro_act :1; /* 4 - Macro Command called. */ + unsigned int ldzero_act :1; /* 3 - Leading Zero Suppression active. */ + unsigned int cmnd_err :1; /* 2 - Command error flag. */ + unsigned int wait_prgs :1; /* 1 - Wait in Progress. */ + unsigned int echo_on :1; /* 0 - Echo ON. */ +#else + unsigned int echo_on :1; /* 0 - Echo ON. */ + unsigned int wait_prgs :1; /* 1 - Wait in Progress. */ + unsigned int cmnd_err :1; /* 2 - Command error flag. */ + unsigned int ldzero_act :1; /* 3 - Leading Zero Suppression active. */ + unsigned int macro_act :1; /* 4 - Macro Command called. */ + unsigned int ldzero_dis :1; /* 3 - Leading Zero Suppression disabled. */ + unsigned int num_mode :1; /* 6 - Number mode in Effect. */ + unsigned int brd_addr :1; /* 7 - Board Addressed. */ +#endif + } Bits; +} C862_Status_Reg2; + +/* Motor loop flags */ +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int int_comm :1; /* 7 - Command error flag. */ + unsigned int move_err_ex :1; /* 6 - Move Error Excess flag. */ + unsigned int na34 :2; + unsigned int move_err :1; /* 3 - Move Error */ + unsigned int mvdir_pol :1; /* 2 - Move driection polarity. */ + unsigned int na30 :2; +#else + unsigned int na30 :2; + unsigned int mvdir_pol :1; /* 2 - Move driection polarity. */ + unsigned int move_err :1; /* 3 - Move Error */ + unsigned int na34 :2; + unsigned int move_err_ex :1; /* 6 - Move Error Excess flag. */ + unsigned int int_comm :1; /* 7 - Command error flag. */ +#endif + } Bits; +} C862_Status_Reg3; + +/* Signal lines status */ +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int na44 :4; + unsigned int brake_on :1; /* 3 - Brake ON. */ + unsigned int find_prgs :1; /* 2 - Find Edge Operation in Progress. */ + unsigned int lmt_high :1; /* 1 - Limit Switch Active Stet HIGH */ + unsigned int lmt_on :1; /* 0 - Limit Swicth ON flag. */ +#else + unsigned int lmt_on :1; /* 0 - Limit Swicth ON flag. */ + unsigned int lmt_high :1; /* 1 - Limit Switch Active Stet HIGH */ + unsigned int find_prgs :1; /* 2 - Find Edge Operation in Progress. */ + unsigned int brake_on :1; /* 3 - Brake ON. */ + unsigned int na44 :4; +#endif + } Bits; +} C862_Status_Reg4; + +/* Signal lines inputs */ +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int na54 :4; + unsigned int minus_ls :1; /* 3 - Negative limit signal flag. */ + unsigned int plus_ls :1; /* 2 - Positive limit signal flag. */ + unsigned int index :1; /* 1 - Reference signal flag */ + unsigned int na50 :1; +#else + unsigned int na50 :1; + unsigned int index :1; /* 1 - Reference signal flag */ + unsigned int plus_ls :1; /* 2 - Positive limit signal flag. */ + unsigned int minus_ls :1; /* 3 - Negative limit signal flag. */ + unsigned int na54 :4; +#endif + } Bits; +} C862_Status_Reg5; + + +/* Function prototypes. */ +extern RTN_STATUS PIC862Setup(int, int); +extern RTN_STATUS PIC862Config(int, const char *, int); + +#endif /* INCdrvPIC862h */