diff --git a/motorApp/ImsSrc/ImsRegister.cc b/motorApp/ImsSrc/ImsRegister.cc new file mode 100644 index 00000000..3b294ab2 --- /dev/null +++ b/motorApp/ImsSrc/ImsRegister.cc @@ -0,0 +1,90 @@ +/* +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 +#include +#include +#include +#include +#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" diff --git a/motorApp/ImsSrc/devMDrive.cc b/motorApp/ImsSrc/devMDrive.cc new file mode 100644 index 00000000..7fd66218 --- /dev/null +++ b/motorApp/ImsSrc/devMDrive.cc @@ -0,0 +1,303 @@ +/* +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 + +#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); +} diff --git a/motorApp/ImsSrc/drvMDrive.cc b/motorApp/ImsSrc/drvMDrive.cc new file mode 100644 index 00000000..506c7e3f --- /dev/null +++ b/motorApp/ImsSrc/drvMDrive.cc @@ -0,0 +1,669 @@ +/* +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 +#include +#include +#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 "?". */ + strcpy(com, &localbuf[2]); /* Strip off leading . */ + } + + 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); +} +