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R3.14.2 compatible.

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This commit is contained in:
Ron Sluiter
2003-05-19 16:41:02 +00:00
parent db66ccf6fc
commit 1e64073a5f
3 changed files with 1062 additions and 0 deletions
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motorApp/ImsSrc/ImsRegister.cc
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/*
FILENAME... ImsRegister.cc
USAGE... Register IMS motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-19 16:39:58 $
*/
/*****************************************************************
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 <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <iocsh.h>
#include "motor.h"
#include "drvIM483.h"
#include "epicsExport.h"
extern "C"
{
// Ims Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"N/A", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// Ims Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"N/A - always RS232_PORT", iocshArgInt};
static const iocshArg configArg2 = {"MPF server location", iocshArgInt};
static const iocshArg configArg3 = {"MPF server task name", iocshArgString};
static const iocshArg * const IM483SetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const IM483ConfigArgs[4] = {&configArg0, &configArg1,
&configArg2, &configArg3};
static const iocshFuncDef setupIM483SM = {"IM483SMSetup", 3, IM483SetupArgs};
static const iocshFuncDef setupIM483PL = {"IM483PLSetup", 3, IM483SetupArgs};
static const iocshFuncDef setupMDrive = {"MDriveSetup", 3, IM483SetupArgs};
static const iocshFuncDef configIM483SM = {"IM483SMConfig", 4, IM483ConfigArgs};
static const iocshFuncDef configIM483PL = {"IM483PLConfig", 4, IM483ConfigArgs};
static const iocshFuncDef configMDrive = {"MDriveConfig", 4, IM483ConfigArgs};
static void setupSMCallFunc(const iocshArgBuf *args)
{
IM483SMSetup(args[0].ival, args[1].ival, args[2].ival);
}
static void setupPLCallFunc(const iocshArgBuf *args)
{
IM483PLSetup(args[0].ival, args[1].ival, args[2].ival);
}
static void configSMCallFunc(const iocshArgBuf *args)
{
IM483SMConfig(args[0].ival, args[1].ival, args[2].ival, args[3].sval);
}
static void configPLCallFunc(const iocshArgBuf *args)
{
IM483PLConfig(args[0].ival, args[1].ival, args[2].ival, args[3].sval);
}
static void IMSmotorRegister(void)
{
iocshRegister(&setupIM483SM, setupSMCallFunc);
iocshRegister(&setupIM483PL, setupPLCallFunc);
iocshRegister(&setupMDrive, setupPLCallFunc);
iocshRegister(&configIM483SM, configSMCallFunc);
iocshRegister(&configIM483PL, configPLCallFunc);
iocshRegister(&configMDrive, configPLCallFunc);
}
epicsExportRegistrar(IMSmotorRegister);
} // extern "C"
motorApp/ImsSrc/devMDrive.cc
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/*
FILENAME... devMDrive.cc
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. MDrive series of controllers.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-19 16:41:02 $
*/
/*
* Original Author: Ron Sluiter
* Date: 03/21/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 03/21/03 rls copied from devIM483PL.c
* .02 05/15/03 rls R3.14 compatible.
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvIM483.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table MDrive_access;
/* ----------------Create the dsets for devMDrive----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MDrive_init(void *);
STATIC long MDrive_init_record(void *);
STATIC long MDrive_start_trans(struct motorRecord *);
STATIC RTN_STATUS MDrive_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS MDrive_end_trans(struct motorRecord *);
struct motor_dset devMDrive =
{
{8, NULL, (DEVSUPFUN) MDrive_init, (DEVSUPFUN) MDrive_init_record, NULL},
motor_update_values,
MDrive_start_trans,
MDrive_build_trans,
MDrive_end_trans
};
epicsExportAddress(dset,devMDrive);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MDrive_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 **MDrive_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MDrive stepper motor */
STATIC long MDrive_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &MDrive_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MDrive_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MDrive_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MDrive_cards));
}
/* start building a transaction */
STATIC long MDrive_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
STATIC RTN_STATUS MDrive_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
STATIC RTN_STATUS MDrive_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;
struct IM483controller *cntrl;
char buff[110];
int axis, card, intval;
unsigned int size;
RTN_STATUS rtnval;
bool send;
send = true; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
intval = NINT(parms[0]);
motor_start_trans_com(mr, MDrive_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
if (MDrive_table[command] > motor_call->type)
motor_call->type = MDrive_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, "? ");
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", intval);
break;
case MOVE_REL:
sprintf(buff, "? MR %d", intval);
break;
case HOME_FOR:
sprintf(buff, "? F1000 0");
break;
case HOME_REV:
sprintf(buff, "? F1000 1");
break;
case LOAD_POS:
sprintf(buff, "? P=%d", intval);
break;
case SET_VEL_BASE:
sprintf(buff, "? VI %d", intval);
break;
case SET_VELOCITY:
sprintf(buff, "? VM %d", intval);
break;
case SET_ACCEL:
sprintf(buff, "? A=%d", intval);
break;
case GO:
/* The MDrive starts moving immediately on move commands, GO command
* does nothing. Use it to set ACCL = DECL. */
sprintf(buff, "? A=D");
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, "? SL 0");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "? SL=%d", intval);
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
send = false;
break;
case ENABLE_TORQUE:
sprintf(buff, "? DE=1");
break;
case DISABL_TORQUE:
sprintf(buff, "? DE=0");
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("MDrive_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
motorApp/ImsSrc/drvMDrive.cc
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/*
FILENAME... drvMDrive.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-19 16:41:02 $
*/
/*
* Original Author: Ron Sluiter
* Date: 03/21/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 03/21/03 rls copied from drvIM483PL.c
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the MDrive must be powered-on when EPICS is first
booted up.
2 - The MDrive cannot be power cycled while EPICS is up and running. The
consequences are permanent communication lose with the MDrive until
EPICS is rebooted.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvIM483.h"
#include "serialIO.h"
#include "epicsExport.h"
#define STATIC static
#define MDrive_NUM_CARDS 8
#define MAX_AXES 8
#define BUFF_SIZE 13 /* Maximum length of string to/from MDrive */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int MDrive_num_cards = 0;
#define Debug(l, f, args...) {if (l <= drvMDrivedebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* --- Local data. --- */
int MDrive_num_cards = 0;
STATIC char MDrive_axis[8] = {'1', '2', '3', '4', '5', '6', '7', '8'};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvMDriveReadbackDelay = 0.;
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, char const *com, char c);
STATIC int set_status(int card, int signal);
static long report(int level);
static long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table MDrive_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,
MDrive_axis
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvMDrive = {2, report, init};
epicsExportAddress(drvet, drvMDrive);
STATIC struct thread_args targs = {SCAN_RATE, &MDrive_access};
/* Single Inputs - response from PR IN command */
typedef union
{
epicsUInt8 All;
struct
{
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. */
} Bits;
} SINPUTS;
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MDrive_num_cards <=0)
printf(" No MDrive controllers configured.\n");
else
{
for (card = 0; card < MDrive_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MDrive controller %d connection failed.\n", card);
else
{
struct IM483controller *cntrl;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" MDrive controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" MDrive controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
}
}
}
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 (MDrive_num_cards <= 0)
{
Debug(1, "init(): MDrive driver disabled. MDriveSetup() 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 IM483controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
int status;
int rtn_state;
double motorData;
SINPUTS inputs;
bool plusdir, ls_active = false;
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
send_mess(card, "? PR MV", MDrive_axis[signal]);
rtn_state = recv_mess(card, buff, 1);
if (rtn_state > 0)
{
cntrl->status = NORMAL;
motor_info->status &= ~CNTRL_COMM_ERR;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
return(OK);
}
else
{
cntrl->status = COMM_ERR;
motor_info->status |= CNTRL_COMM_ERR;
motor_info->status |= RA_PROBLEM;
return(1);
}
}
status = atoi(buff);
if (status != 0)
motor_info->status &= ~RA_DONE;
else
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The IM483 has reported that the
* motor is done moving, which means that the "jerk time" is done. However,
* the axis can still be settling. For now we put in a delay and poll the
* motor position again. This is not a good long-term solution.
*/
if (motor_info->pid_present == YES && drvMDriveReadbackDelay != 0.)
{
epicsThreadSleep(drvMDriveReadbackDelay);
send_mess(card, "? Z 0", MDrive_axis[signal]);
recv_mess(card, buff, 1);
}
}
/*
* 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, "? PR P", MDrive_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
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) ? true : false;
send_mess(card, "? PR IN", MDrive_axis[signal]);
recv_mess(card, buff, 1);
inputs.All = atoi(buff);
/* Set limit switch error indicators. */
if (inputs.Bits.ls_plus == 0)
{
motor_info->status |= RA_PLUS_LS;
if (plusdir == true)
ls_active = true;
}
else
motor_info->status &= ~RA_PLUS_LS;
if (inputs.Bits.ls_minus == 0)
{
motor_info->status |= RA_MINUS_LS;
if (plusdir == false)
ls_active = true;
}
else
motor_info->status &= ~RA_MINUS_LS;
if (inputs.Bits.homels == 0)
motor_info->status |= RA_HOME;
else
motor_info->status &= ~RA_HOME;
/* !!! Assume no closed-looped control!!!*/
motor_info->status &= ~EA_POSITION;
/* encoder status */
motor_info->status &= ~EA_SLIP;
motor_info->status &= ~EA_SLIP_STALL;
motor_info->status &= ~EA_HOME;
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
{
send_mess(card, "? z 0", MDrive_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
motor_info->encoder_position = (int32_t) motorData;
}
motor_info->status &= ~RA_PROBLEM;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, MDrive_axis[signal]);
nodeptr->postmsgptr = NULL;
}
return(rtn_state);
}
/*****************************************************/
/* send a message to the MDrive board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
{
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
int size;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvMDrive.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvMDrive.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
strcpy(local_buff, com);
strcat(local_buff, "\n");
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);
return(OK);
}
/*****************************************************/
/* receive a message from the MDrive board */
/* recv_mess() */
/*****************************************************/
STATIC int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
char localbuf[BUFF_SIZE];
int timeout;
int len=0;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
/* Get the response. */
len = serialIORecv(cntrl->serialInfo, localbuf, BUFF_SIZE, "?", timeout);
if (len == 0)
com[0] = '\0';
else
{
localbuf[len - 3] = '\0'; /* Strip off trailing "<CR><LF>?". */
strcpy(com, &localbuf[2]); /* Strip off leading <CR LF>. */
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(len);
}
/*****************************************************/
/* Setup system configuration */
/* MDriveSetup() */
/*****************************************************/
RTN_STATUS
MDriveSetup(int num_cards, /* maximum number of controllers in system. */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > MDrive_NUM_CARDS)
MDrive_num_cards = MDrive_NUM_CARDS;
else
MDrive_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 IM483Config 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(MDrive_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < MDrive_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* MDriveConfig() */
/*****************************************************/
RTN_STATUS
MDriveConfig(int card, /* card being configured */
int port_type, /* N/A - always RS232_PORT */
int location, /* MPF server location */
const char *name) /* MPF server task name */
{
struct IM483controller *cntrl;
if (card < 0 || card >= MDrive_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct IM483controller));
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
cntrl->port_type = RS232_PORT;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
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 IM483controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis = 0;
int status;
bool errind;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (MDrive_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < MDrive_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->ident[0] = NULL; /* No controller identification message. */
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = false;
cntrl->serialInfo = serialIOInit(cntrl->serial_card,
cntrl->serial_task);
if (cntrl->serialInfo == NULL)
errind = true;
if (errind == false)
{
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
do
recv_mess(card_index, buff, FLUSH);
while (strlen(buff) != 0);
for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
{
int retry = 0;
/* Try 3 times to connect to controller. */
do
{
send_mess(card_index, "?PR VR", MDrive_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
if (status <= 0)
break;
else if (total_axis == 0)
strcpy(brdptr->ident, buff);
}
brdptr->total_axis = total_axis;
}
if (errind == false && total_axis > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
int loop_state;
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Assume encoder support, i.e., IM483IE. */
motor_info->encoder_present = NO;
/* Determine if encoder present based on open/closed loop mode. */
loop_state = NULL;
if (loop_state != 0)
{
motor_info->pid_present = YES;
motor_info->status |= GAIN_SUPPORT;
}
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 *) "MDrive_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}