From 20144bd9e6dc9332202c54215beab629005cda72 Mon Sep 17 00:00:00 2001 From: JPHammonds Date: Wed, 19 Nov 2008 18:01:33 +0000 Subject: [PATCH] Add in support for the PIE816 controller. --- motorApp/PiSrc/Makefile | 1 + motorApp/PiSrc/PIE816Register.cc | 68 ++++ motorApp/PiSrc/devPIE816.cc | 315 +++++++++++++++ motorApp/PiSrc/devPIMotor.dbd | 6 + motorApp/PiSrc/drvPIE816.cc | 674 +++++++++++++++++++++++++++++++ motorApp/PiSrc/drvPIE816.h | 74 ++++ 6 files changed, 1138 insertions(+) create mode 100644 motorApp/PiSrc/PIE816Register.cc create mode 100644 motorApp/PiSrc/devPIE816.cc create mode 100644 motorApp/PiSrc/drvPIE816.cc create mode 100644 motorApp/PiSrc/drvPIE816.h diff --git a/motorApp/PiSrc/Makefile b/motorApp/PiSrc/Makefile index b0c66d34..c3cc1104 100644 --- a/motorApp/PiSrc/Makefile +++ b/motorApp/PiSrc/Makefile @@ -18,6 +18,7 @@ SRCS += devPIC662.cc drvPIC662.cc PIC662Register.cc SRCS += devPIC862.cc drvPIC862.cc PIC862Register.cc SRCS += devPIE710.cc drvPIE710.cc PIE710Register.cc SRCS += devPIE516.cc drvPIE516.cc PIE516Register.cc +SRCS += devPIE816.cc drvPIE816.cc PIE816Register.cc PI_LIBS += motor asyn diff --git a/motorApp/PiSrc/PIE816Register.cc b/motorApp/PiSrc/PIE816Register.cc new file mode 100644 index 00000000..e8889f3d --- /dev/null +++ b/motorApp/PiSrc/PIE816Register.cc @@ -0,0 +1,68 @@ +/* +FILENAME... PIE816Register.cc +USAGE... Register PI motor device driver shell commands. + +Version: 1.1 +Modified By: sullivan +Last Modified: 2007/03/30 20:01:05 +*/ + +/***************************************************************** + 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 "drvPIE816.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 PIE816SetupArgs[2] = {&setupArg0, &setupArg1}; +static const iocshArg * const PIE816ConfigArgs[3] = {&configArg0, &configArg1, + &configArg2}; + +static const iocshFuncDef setupPIE816 = {"PIE816Setup", 2, PIE816SetupArgs}; +static const iocshFuncDef configPIE816 = {"PIE816Config", 3, PIE816ConfigArgs}; + +static void setupPIE816CallFunc(const iocshArgBuf *args) +{ + PIE816Setup(args[0].ival, args[1].ival); +} + + +static void configPIE816CallFunc(const iocshArgBuf *args) +{ + PIE816Config(args[0].ival, args[1].sval, args[2].ival); +} + + +static void PIE816motorRegister(void) +{ + iocshRegister(&setupPIE816, setupPIE816CallFunc); + iocshRegister(&configPIE816, configPIE816CallFunc); +} + +epicsExportRegistrar(PIE816motorRegister); + +} // extern "C" diff --git a/motorApp/PiSrc/devPIE816.cc b/motorApp/PiSrc/devPIE816.cc new file mode 100644 index 00000000..e62b2b70 --- /dev/null +++ b/motorApp/PiSrc/devPIE816.cc @@ -0,0 +1,315 @@ +/* +FILENAME... devPIE816.cc +USAGE... Motor record device level support for Physik Instrumente (PI) + GmbH & Co. E-816 motor controller. + +Version: 1.1 +Modified By: sullivan +Last Modified: 2007/03/30 20:01:05 +*/ + +/* + * Original Author: Ron Sluiter + * Date: 12/17/03 + * Current Author: Joe Sullivan + * + * 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 01/29/06 jps - copied from devPIE710.cc + */ + + +#include +#include "motorRecord.h" +#include "motor.h" +#include "motordevCom.h" +#include "drvPIE816.h" +#include "epicsExport.h" + +extern struct driver_table PIE816_access; + +/* ----------------Create the dsets for devPIE816----------------- */ +static struct driver_table *drvtabptr; +static long PIE816_init(void *); +static long PIE816_init_record(void *); +static long PIE816_start_trans(struct motorRecord *); +static RTN_STATUS PIE816_build_trans(motor_cmnd, double *, struct motorRecord *); +static RTN_STATUS PIE816_end_trans(struct motorRecord *); + +struct motor_dset devPIE816 = +{ + {8, NULL, (DEVSUPFUN) PIE816_init, (DEVSUPFUN) PIE816_init_record, NULL}, + motor_update_values, + PIE816_start_trans, + PIE816_build_trans, + PIE816_end_trans +}; + +extern "C" {epicsExportAddress(dset,devPIE816);} + +/* --------------------------- program data --------------------- */ + +/* This table is used to define the command types */ +/* WARNING! this must match "motor_cmnd" in motor.h */ + +static msg_types PIE816_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 **PIE816_cards; + +/* --------------------------- program data --------------------- */ + + +/* initialize device support for PIE816 stepper motor */ +static long PIE816_init(void *arg) +{ + long rtnval; + int after = (int) arg; + + if (after == 0) + { + drvtabptr = &PIE816_access; + (drvtabptr->init)(); + } + + rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIE816_cards); + return(rtnval); +} + + +/* initialize a record instance */ +static long PIE816_init_record(void *arg) +{ + struct motorRecord *mr = (struct motorRecord *) arg; + /* Disable change of direction testing in record support */ + /* This is a closed-loop device */ + mr->ntm = menuYesNoNO; + return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIE816_cards)); +} + + +/* start building a transaction */ +static long PIE816_start_trans(struct motorRecord *mr) +{ + motor_start_trans_com(mr, PIE816_cards); + return(OK); +} + + +/* end building a transaction */ +static RTN_STATUS PIE816_end_trans(struct motorRecord *mr) +{ + motor_end_trans_com(mr, drvtabptr); + return(OK); +} + + +/* add a part to the transaction */ +static RTN_STATUS PIE816_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 PIE816controller *cntrl; + char buff[110]; + int card, maxdigits; + unsigned int size; + double dval, cntrl_units, res; + 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; + + rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIE816_cards); + + motor_call = &(trans->motor_call); + card = motor_call->card; + brdptr = (*trans->tabptr->card_array)[card]; + if (brdptr == NULL) + return(rtnval = ERROR); + + cntrl = (struct PIE816controller *) brdptr->DevicePrivate; + res = cntrl->drive_resolution[motor_call->signal]; + cntrl_units = dval; + maxdigits = 3; + + if (PIE816_table[command] > motor_call->type) + motor_call->type = PIE816_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, EOL_E816); + } + if (strlen(mr->post) != 0) + motor_call->postmsgptr = (char *) &mr->post; + break; + + default: + break; + } + + + switch (command) + { + case MOVE_ABS: + sprintf(buff, "MOV #%.*f", maxdigits, (cntrl_units * res)); + strcat(buff, EOL_E816); + break; + + case MOVE_REL: + sprintf(buff, "MVR #%.*f", maxdigits, (cntrl_units * res)); + strcat(buff, EOL_E816); + break; + + case HOME_FOR: + case HOME_REV: + rtnval = ERROR; + break; + + case LOAD_POS: + rtnval = ERROR; + break; + + case SET_VEL_BASE: + send = false; /* DC motor; not base velocity. */ + break; + + case SET_VELOCITY: + sprintf(buff, "VEL #%.*f", maxdigits, (cntrl_units * res)); + strcat(buff, EOL_E816); + break; + + case ENABLE_TORQUE: + strcpy(buff, "SVO #1"); + strcat(buff, EOL_E816); + break; + + case DISABL_TORQUE: + strcpy(buff, "SVO #0"); + strcat(buff, EOL_E816); + break; + + case SET_ACCEL: + /* The PIE816 does not support acceleration commands. */ + case GO: + /* The PIE816 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: + /* No stop command available - use move relative 0 */ + sprintf(buff, "MVR #0"); + strcat(buff, EOL_E816); + break; + + case JOG_VELOCITY: + case JOG: + sprintf(buff, "VEL #%.*f", maxdigits, cntrl_units); + strcat(buff, EOL_E816); + break; + + case SET_PGAIN: + send = false; + break; + case SET_IGAIN: + send = false; + break; + case SET_DGAIN: + send = false; + 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("PIE816_build_trans(): buffer overflow.\n"); + else + { + strcat(motor_call->message, buff); + rtnval = motor_end_trans_com(mr, drvtabptr); + } + return(rtnval); +} diff --git a/motorApp/PiSrc/devPIMotor.dbd b/motorApp/PiSrc/devPIMotor.dbd index 5b89e5fc..67a10166 100644 --- a/motorApp/PiSrc/devPIMotor.dbd +++ b/motorApp/PiSrc/devPIMotor.dbd @@ -40,3 +40,9 @@ driver(drvPIE516) registrar(PIE516motorRegister) variable(drvPIE516debug) +# Physik Instrumente (PI) GmbH & Co. E-816 driver support. +device(motor,VME_IO,devPIE816,"PIE816") +driver(drvPIE816) +registrar(PIE816motorRegister) +variable(drvPIE816debug) + diff --git a/motorApp/PiSrc/drvPIE816.cc b/motorApp/PiSrc/drvPIE816.cc new file mode 100644 index 00000000..db04207d --- /dev/null +++ b/motorApp/PiSrc/drvPIE816.cc @@ -0,0 +1,674 @@ +/* +FILENAME... drvPIE816.cc +USAGE... Motor record driver level support for Physik Instrumente (PI) + GmbH & Co. E-816 motor controller. + +Version: 1.1 +Modified By: sullivan +Last Modified: 2008/10/23 20:01:05 +*/ + +/* + * Original Author: Ron Sluiter + * Date: 10/18/05 + * Current Author: John Hammonds + * + * 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 03/26/07 jph - copied from drvPIE816.cc tested on PI VER "DSP V3.11,MCU V5" + */ + +/* +DESIGN LIMITATIONS... + 1 - Like all controllers, the PIE816 must be powered-on when EPICS is first + booted up. +*/ + +#include +#include +#include +#include "motorRecord.h" +#include "motor.h" +#include "drvPIE816.h" +#include "epicsExport.h" + +#define GET_IDENT "IDN?" +#define SET_ONLINE "ONL 1" /* Set Online Mode ON */ +/*#define SET_VELCTRL "VCO A1 B1 C1" */ /* Set Velocity Control Mode - Required for DONE */ +#define READ_ONLINE "ONL?" /* Read Online Mode */ +#define READ_POS "POS? #" /* Read position */ +#define READ_OVERFLOW "OVF? #" /* Read Servo Overflow Status */ +#define READ_ONTARGET "ONT? #" /* Read Position ON Target */ +#define READ_SERVO "SVO? #" /* Read Servo Enable Status */ + + +#define PIE816_NUM_CARDS 10 +#define MAX_AXES 12 +#define BUFF_SIZE 100 /* Maximum length of string to/from PIE816 */ + +/*----------------debugging-----------------*/ +#ifdef __GNUG__ + #ifdef DEBUG + #define Debug(l, f, args...) { if(l<=drvPIE816debug) printf(f,## args); } + #else + #define Debug(l, f, args...) + #endif +#else + #define Debug() +#endif +volatile int drvPIE816debug = 0; +extern "C" {epicsExportAddress(int, drvPIE816debug);} + +/* --- Local data. --- */ +int PIE816_num_cards = 0; +static char *PIE816_axis[] = {"A", "B", "C", "D", "E", "F", "G", "H", "I", "J", + "K","L"}; + +/* 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 PIE816_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, + PIE816_axis +}; + +struct +{ + long number; + long (*report) (int); + long (*init) (void); +} drvPIE816 = {2, report, init}; + +extern "C" {epicsExportAddress(drvet, drvPIE816);} + +static struct thread_args targs = {SCAN_RATE, &PIE816_access, 0.0}; + +/********************************************************* + * Print out driver status report + *********************************************************/ +static long report(int level) +{ + int card; + + if (PIE816_num_cards <=0) + printf(" No PIE816 controllers configured.\n"); + else + { + for (card = 0; card < PIE816_num_cards; card++) + { + struct controller *brdptr = motor_state[card]; + + if (brdptr == NULL) + printf(" PIE816 controller %d connection failed.\n", card); + else + { + struct PIE816controller *cntrl; + + cntrl = (struct PIE816controller *) brdptr->DevicePrivate; + printf(" PIE816 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 (PIE816_num_cards <= 0) + { + Debug(1, "init(): PIE816 driver disabled. PIE816Setup() 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 PIE816controller *cntrl; + struct mess_node *nodeptr; + struct mess_info *motor_info; + struct motorRecord *mr; + /* Message parsing variables */ + char buff[BUFF_SIZE]; + int rtn_state; + unsigned int overflow_status, ontarget_status, servo_status, online_status; + epicsInt32 motorData; + bool plusdir, ls_active, plusLS, minusLS; + bool readOK; + msta_field status; + + cntrl = (struct PIE816controller *) 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; + + recv_mess(card, buff, FLUSH); + + readOK = false; + send_mess(card, READ_ONLINE, (char) NULL); +/* if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &online_status)) + { + if (!online_status) + { + *//* Assume Controller Reboot - Set ONLINE and Velocity Control ON */ + /*send_mess(card, SET_ONLINE, (char) NULL); + send_mess(card, SET_VELCTRL, (char) NULL); + } +*/ + send_mess(card, READ_ONTARGET, PIE816_axis[signal]); + if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &ontarget_status)) + { + send_mess(card, READ_OVERFLOW, PIE816_axis[signal]); + if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &overflow_status)) + { + send_mess(card, READ_SERVO, PIE816_axis[signal]); + if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &servo_status)) + { + send_mess(card, READ_POS, PIE816_axis[signal]); + if (recv_mess(card, buff, 1)) + { + motorData = NINT(atof(buff) / cntrl->drive_resolution[signal]); + readOK = true; + } + } + } + } +/* + } +*/ + if (readOK) + { + 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; + } + } + + + /* Always DONE if torque disabled */ + status.Bits.RA_DONE = (ontarget_status) ? 1 : 0; + status.Bits.RA_HOME = status.Bits.RA_DONE; + + status.Bits.EA_POSITION = (servo_status) ? 1 : 0; /* Torgue disabled flag */ + + ls_active = plusLS = minusLS = false; + + /* LS status may be true but servo is not within position error - keep updating */ + /* No Limit switches but if the Servo Controller overflows indicate with a + LS */ + if (status.Bits.RA_DONE) + plusLS = overflow_status ? true : false; + + 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? */ + /* NEEDS WORK */ + + motor_info->velocity = 0; + + 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 PIE816 board */ +/* send_mess() */ +/*****************************************************/ +static RTN_STATUS send_mess(int card, char const *com, char *name) +{ + char local_buff[MAX_MSG_SIZE]; + char *pbuff; + struct PIE816controller *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("drvPIE816.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("drvPIE816.cc:send_mess() - invalid card #%d\n", card); + return(ERROR); + } + + local_buff[0] = (char) NULL; /* Terminate local buffer. */ + + if (name == NULL) + strcat(local_buff, com); /* Make a local copy of the string. */ + else + { + strcpy(local_buff, com); + pbuff = strchr(local_buff, '#'); + if (pbuff != NULL) + *pbuff = *name; + else + Debug(1, "send_mess(): NAME ERROR: message = %s\n", local_buff); + } + + Debug(2, "send_mess(): message = %s\n", local_buff); + + cntrl = (struct PIE816controller *) motor_state[card]->DevicePrivate; + pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff), + COMM_TIMEOUT, &nwrite); + + return(OK); +} + + +/*****************************************************/ +/* receive a message from the PIE816 board */ +/* recv_mess() */ +/*****************************************************/ +static int recv_mess(int card, char *com, int flag) +{ + struct PIE816controller *cntrl; + size_t nread = 0; + asynStatus status = asynError; + int eomReason; + + /* Check that card exists */ + if (!motor_state[card]) + return(ERROR); + + cntrl = (struct PIE816controller *) 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; + } + + Debug(2, "recv_mess(): message = \"%s\"\n", com); + return(nread); +} + + +/*****************************************************/ +/* Setup system configuration */ +/* PIE816Setup() */ +/*****************************************************/ +RTN_STATUS +PIE816Setup(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 > PIE816_NUM_CARDS) + PIE816_num_cards = PIE816_NUM_CARDS; + else + PIE816_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 PIE816Config 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(PIE816_num_cards * + sizeof(struct controller *)); + + for (itera = 0; itera < PIE816_num_cards; itera++) + motor_state[itera] = (struct controller *) NULL; + + return(OK); +} + + +/*****************************************************/ +/* Configure a controller */ +/* PIE816Config() */ +/*****************************************************/ +RTN_STATUS +PIE816Config(int card, /* card being configured */ + const char *name, /* asyn port name */ + int addr) /* asyn address (GPIB) */ +{ + struct PIE816controller *cntrl; + + if (card < 0 || card >= PIE816_num_cards) + return(ERROR); + + motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); + motor_state[card]->DevicePrivate = malloc(sizeof(struct PIE816controller)); + cntrl = (struct PIE816controller *) 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 PIE816controller *cntrl; + int card_index, motor_index; + char buff[BUFF_SIZE], *pbuff; + int total_axis; + int status; + int version; + bool online; + asynStatus success_rtn; + static const char output_terminator[] = EOL_E816; + static const char input_terminator[] = EOL_E816; + + initialized = true; /* Indicate that driver is initialized. */ + + /* Check for setup */ + if (PIE816_num_cards <= 0) + return(ERROR); + + for (card_index = 0; card_index < PIE816_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 PIE816controller *) brdptr->DevicePrivate; + + status = version = 0; + + /* 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); + + /* Assure that Controller is ONLINE */ + online = true; +/* do + { + online = false; +*/ + /* Set Controller to ONLINE mode */ +/* send_mess(card_index, SET_ONLINE, (char) NULL); + send_mess(card_index, READ_ONLINE, (char) NULL); + if ((status = recv_mess(card_index, buff, 1))) + online = (atoi(buff)==1) ? true : false; + else + retry++; + } while (online == false && retry < 3); +*/ + send_mess(card_index, GET_IDENT, (char) NULL); + status = recv_mess(card_index, buff, 1); + + /* Parse out E816 revision (2 decimal places) and convert to int */ + if ((pbuff = strchr(buff, 'V'))) + version = NINT(atof(pbuff+1) * 100); + else + version = 0; + } + + if (success_rtn == asynSuccess && online == true) + { + strcpy(brdptr->ident, buff); + brdptr->localaddr = (char *) NULL; + brdptr->motor_in_motion = 0; + + /* Check for E816 versions that need the status word shifted up 8 bits */ +/* + if (version >= 311) + cntrl->versionSupport = true; + else + cntrl->versionSupport = false; +*/ + /* Determine # of axes. Request stage name. See if it responds */ + for (total_axis = 0; total_axis < MAX_AXES; total_axis++) + { + send_mess(card_index, READ_POS, PIE816_axis[total_axis]); + status = recv_mess(card_index, buff, 1); + if (!status) + break; + } + brdptr->total_axis = total_axis; + + /* Turn ON velocity control mode - All axis */ + /*send_mess(card_index, SET_VELCTRL, (char) NULL);*/ + + for (motor_index = 0; motor_index < total_axis; motor_index++) + { + 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; + /* PIE816 has DC motor support only */ + motor_info->encoder_present = YES; + motor_info->status.Bits.EA_PRESENT = 1; + motor_info->pid_present = NO; + motor_info->status.Bits.GAIN_SUPPORT = 1; + + cntrl->drive_resolution[motor_index] = POS_RES; + + 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 *) "PIE816_motor", epicsThreadPriorityMedium, + epicsThreadGetStackSize(epicsThreadStackMedium), + (EPICSTHREADFUNC) motor_task, (void *) &targs); + + return(OK); +} + diff --git a/motorApp/PiSrc/drvPIE816.h b/motorApp/PiSrc/drvPIE816.h new file mode 100644 index 00000000..207e06a8 --- /dev/null +++ b/motorApp/PiSrc/drvPIE816.h @@ -0,0 +1,74 @@ +/* File: drvPIE816.h */ + + +/* Device Driver Support definitions for motor */ +/* + * Original Author: Ron Sluiter + * Current Author: Joe Sullivan + * Date: 09/20/2005 + * + * Modification Log: + * ----------------- + * .00 09/13/2006 jps copied from drvPIC838.h + */ + +#ifndef INCdrvPIE816h +#define INCdrvPIE816h 1 + +#include "motordrvCom.h" +#include "asynDriver.h" +#include "asynDriver.h" +#include "asynOctetSyncIO.h" + +#define COMM_TIMEOUT 2 /* Timeout in seconds. */ +#define POS_RES 0.0001 /* Position resolution. */ + +#define EOL_E816 "\n" /* Command End-Of-Line = LF (0x10) */ + +struct PIE816controller +{ + asynUser *pasynUser; /* asynUser structure */ + int asyn_address; /* Use for GPIB or other address with asyn */ + CommStatus status; /* Controller communication status. */ + double drive_resolution[4]; + bool versionSupport; /* Track supported Versions - include in Report */ + char asyn_port[80]; /* asyn port name */ +}; + + +typedef union +{ + epicsUInt16 All; + struct + { +#ifdef MSB_First + unsigned int cmnd_err :1; /* 15 - Command Error */ + unsigned int na6 :1; /* 14 - */ + unsigned int autozero :1; /* 13 - AutoZero function is running */ + unsigned int plus_ls :1; /* 12 - Positive limit switch flag. */ + unsigned int minus_ls :1; /* 11 - Negative limit switch flag. */ + unsigned int moving :1; /* 10 - Moving indicator - position error outside tolerance */ + unsigned int volt_limit :1; /* 9 - piezo voltage limit reached */ + unsigned int torque :1; /* 8 - Servo-control status */ + unsigned int nabyte :8; + +#else + unsigned int nabyte :8; + unsigned int torque :1; /* 8 - Servo-control status */ + unsigned int volt_limit :1; /* 9 - piezo voltage limit reached */ + unsigned int moving :1; /* 10 - Moving indicator - position error outside tolerance */ + unsigned int minus_ls :1; /* 11 - Negative limit switch flag. */ + unsigned int plus_ls :1; /* 12 - Positive limit switch flag. */ + unsigned int autozero :1; /* 13 - AutoZero function is running */ + unsigned int na6 :1; /* 14 - */ + unsigned int cmnd_err :1; /* 15 - Command Error */ +#endif + } Bits; +} E816_Status_Reg; + + +/* Function prototypes. */ +extern RTN_STATUS PIE816Setup(int, int); +extern RTN_STATUS PIE816Config(int, const char *, int); + +#endif /* INCdrvPIE816h */