forked from epics_driver_modules/motorBase
Use new include file, "trajectoryScan.h" to eliminate
duplication with new XPS trajectory scan SNL program. Clean up formatting. Assign EPICS motor PVs in init() so it works with fewer than 8 EPICS motors.
This commit is contained in:
MarkRivers
@@ -14,27 +14,36 @@ program MM4005_trajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M6
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* Dec. 5, 2001 MLR Fixed bug in computing following error
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* Dec. 7, 2001 MLR Fixed bug in converting from EPICS to MM4000 units when
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* building trajectory.
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* Oct. 28, 2002 MLR Fixed bug in reporting updated trajectory positions after padding
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* Was not a problem in executing trajectory, only in values reported
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* to EPICS
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* Dec. 18, 2003 MLR Changed flyback (now a misnomer) so it does EPICS move to current motor positions,
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* not start positions. Start position move did not work because motors already thought
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* they were there (if no encoder error) and motor record did nothing.
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* Feb. 12, 2004 MLR Added delay after starting trajectory execution. This is an attempt to
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* eliminate problem where MM4000 seems to sometimes ignore TP command right
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* after trajectory execution starts. Also, first MS sometimes comes back saying
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* motors are not moving yet, so software thinks trajectory is done.
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* Oct. 28, 2002 MLR Fixed bug in reporting updated trajectory positions after
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* padding. Was not a problem in executing trajectory, only in
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* values reported to EPICS
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* Dec. 18, 2003 MLR Changed flyback (now a misnomer) so it does EPICS move to
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* current motor positions, not start positions.
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* Start position move did not work because motors already
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* thought they were there (if no encoder error) and motor
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* record did nothing.
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* Feb. 12, 2004 MLR Added delay after starting trajectory execution.
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* This is an attempt to eliminate problem where MM4000 seems
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* to sometimes ignore TP command right after trajectory
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* execution starts.
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* Also, first MS sometimes comes back saying motors are not
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* moving yet, so software thinks trajectory is done.
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* Converted to OSI
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* Converted to new version of seq which changes call to seq_pvPut
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* Changed flyback (now a misnomer) so it does EPICS move to current motor positions,
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* not start positions. Start position move did not work because motors already thought
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* they were there (if no encoder error) and motor record did nothing.
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* Oct. 1, 2004 MLR Changed from using asynRecord (previously generic serial record) to using asynOctetSyncIO calls.
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* This fixed bugs in I/O due to timing, and is simpler and cleaner.
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* Feb. 6, 2005 MLR Changes for last version of asyn; terminators done differently
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* Mar. 28, 2005 MLR Increased number of pulses; added readback during trajectory download to prevent buffer overflow
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* Converted to new version of seq which changes call to
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* seq_pvPut
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* Oct. 1, 2004 MLR Changed from using asynRecord (previously generic serial
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* record) to using asynOctetSyncIO calls.
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* This fixed bugs in I/O due to timing, and is simpler and
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* cleaner.
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* Feb. 6, 2005 MLR Changes for last version of asyn; terminators done
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* differently.
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* Mar. 28, 2005 MLR Increased number of pulses; added readback during trajectory
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* download to prevent buffer overflow.
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* Apr. 29, 2005 MLR Changed timeout to 30 seconds - necessary?
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* Apr. 12, 2006 MLR Changed from strtok_r to epicsStrtok_r
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* Jan. 18, 2007 MLR Use new include file, "trajectoryScan.h" to eliminate
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* duplication with new XPS trajectory scan SNL program.
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* Clean up code, assign EPICS motor PVs in init().
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*/
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%% #include <string.h>
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@@ -45,37 +54,6 @@ program MM4005_trajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M6
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/* This program must be compiled with the recursive option */
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option +r;
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/* State codes for Build, Read and Execute. Careful, these must match the
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* corresponding MBBI records, but there is no way to check this */
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#define BUILD_STATE_DONE 0
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#define BUILD_STATE_BUSY 1
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#define READ_STATE_DONE 0
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#define READ_STATE_BUSY 1
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#define EXECUTE_STATE_DONE 0
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#define EXECUTE_STATE_MOVE_START 1
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#define EXECUTE_STATE_EXECUTING 2
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#define EXECUTE_STATE_FLYBACK 3
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/* Status codes for Build, Execute and Read */
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#define STATUS_UNDEFINED 0
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#define STATUS_SUCCESS 1
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#define STATUS_FAILURE 2
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#define STATUS_ABORT 3
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#define STATUS_TIMEOUT 4
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/* Time modes */
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#define TIME_MODE_TOTAL 0
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#define TIME_MODE_PER_ELEMENT 1
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/* Move modes */
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#define MOVE_MODE_RELATIVE 0
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#define MOVE_MODE_ABSOLUTE 1
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#define MOVE_MODE_HYBRID 2
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/* Maximum number of motors on MM4005 */
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#define MAX_AXES 8
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/* Maximum # of trajectory elements. The MM4005 allows 2000, and this is also
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* the channel access limit with a double data type. However this uses
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* a lot of memory, the variable motorTrajectory uses MAX_AXES*MAX_ELEMENTS*8
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@@ -92,9 +70,16 @@ option +r;
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*/
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#define MAX_PULSES 2000
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/* Note that MAX_AXES, MAX_ELEMENTS, and MAX_PULSES must be defined before
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* including the trajectoryScan.h */
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#include "trajectoryScan.h"
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/* Maximum size of string to/from MM4005, typically for TQ command. */
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#define MAX_MM4000_STRING 256
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/* Buffer sizes */
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#define NAME_LEN 100
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/* Maximum size of string in EPICS string PVs. This is defined in
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* epicsTypes.h, but in order to include that file it must be escaped, and then
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* SNL compiler gives a warning. */
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@@ -107,247 +92,7 @@ option +r;
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/* Polling interval for waiting for motors to reach their targets */
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#define POLL_INTERVAL 0.1
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/* Define PVs */
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int numAxes; assign numAxes to "{P}{R}NumAxes.VAL";
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monitor numAxes;
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int nelements; assign nelements to "{P}{R}Nelements.VAL";
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monitor nelements;
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int npulses; assign npulses to "{P}{R}Npulses.VAL";
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monitor npulses;
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int startPulses; assign startPulses to "{P}{R}StartPulses.VAL";
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monitor startPulses;
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int endPulses; assign endPulses to "{P}{R}EndPulses.VAL";
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monitor endPulses;
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int nactual; assign nactual to "{P}{R}Nactual.VAL";
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int moveMode; assign moveMode to "{P}{R}MoveMode.VAL";
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monitor moveMode;
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double time; assign time to "{P}{R}Time.VAL";
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monitor time;
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double timeScale; assign timeScale to "{P}{R}TimeScale.VAL";
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monitor timeScale;
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int timeMode; assign timeMode to "{P}{R}TimeMode.VAL";
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monitor timeMode;
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double accel; assign accel to "{P}{R}Accel.VAL";
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monitor accel;
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int build; assign build to "{P}{R}Build.VAL";
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monitor build;
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int buildState; assign buildState to "{P}{R}BuildState.VAL";
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int buildStatus; assign buildStatus to "{P}{R}BuildStatus.VAL";
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string buildMessage;assign buildMessage to "{P}{R}BuildMessage.VAL";
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int simMode; assign simMode to "{P}{R}SimMode.VAL";
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monitor simMode;
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int execute; assign execute to "{P}{R}Execute.VAL";
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monitor execute;
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int execState; assign execState to "{P}{R}ExecState.VAL";
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int execStatus; assign execStatus to "{P}{R}ExecStatus.VAL";
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string execMessage; assign execMessage to "{P}{R}ExecMessage.VAL";
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int abort; assign abort to "{P}{R}Abort.VAL";
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monitor abort;
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int detOn; assign detOn to "{P}{R}DetOn.PROC";
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int detOff; assign detOff to "{P}{R}DetOff.PROC";
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int readback; assign readback to "{P}{R}Readback.VAL";
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monitor readback;
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int readState; assign readState to "{P}{R}ReadState.VAL";
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int readStatus; assign readStatus to "{P}{R}ReadStatus.VAL";
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string readMessage; assign readMessage to "{P}{R}ReadMessage.VAL";
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double timeTrajectory[MAX_ELEMENTS];
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assign timeTrajectory to "{P}{R}TimeTraj.VAL";
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monitor timeTrajectory;
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int moveAxis[MAX_AXES];
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assign moveAxis to
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{"{P}{R}M1Move.VAL",
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"{P}{R}M2Move.VAL",
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"{P}{R}M3Move.VAL",
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"{P}{R}M4Move.VAL",
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"{P}{R}M5Move.VAL",
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"{P}{R}M6Move.VAL",
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"{P}{R}M7Move.VAL",
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"{P}{R}M8Move.VAL"};
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monitor moveAxis;
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double motorTrajectory[MAX_AXES][MAX_ELEMENTS];
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assign motorTrajectory to
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{"{P}{R}M1Traj.VAL",
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"{P}{R}M2Traj.VAL",
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"{P}{R}M3Traj.VAL",
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"{P}{R}M4Traj.VAL",
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"{P}{R}M5Traj.VAL",
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"{P}{R}M6Traj.VAL",
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"{P}{R}M7Traj.VAL",
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"{P}{R}M8Traj.VAL"};
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monitor motorTrajectory;
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double motorReadbacks[MAX_AXES][MAX_PULSES];
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assign motorReadbacks to
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{"{P}{R}M1Actual.VAL",
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"{P}{R}M2Actual.VAL",
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"{P}{R}M3Actual.VAL",
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"{P}{R}M4Actual.VAL",
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"{P}{R}M5Actual.VAL",
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"{P}{R}M6Actual.VAL",
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"{P}{R}M7Actual.VAL",
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"{P}{R}M8Actual.VAL"};
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double motorError[MAX_AXES][MAX_PULSES];
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assign motorError to
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{"{P}{R}M1Error.VAL",
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"{P}{R}M2Error.VAL",
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"{P}{R}M3Error.VAL",
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"{P}{R}M4Error.VAL",
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"{P}{R}M5Error.VAL",
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"{P}{R}M6Error.VAL",
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"{P}{R}M7Error.VAL",
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"{P}{R}M8Error.VAL"};
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double motorCurrent[MAX_AXES];
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assign motorCurrent to
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{"{P}{R}M1Current.VAL",
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"{P}{R}M2Current.VAL",
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"{P}{R}M3Current.VAL",
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"{P}{R}M4Current.VAL",
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"{P}{R}M5Current.VAL",
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"{P}{R}M6Current.VAL",
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"{P}{R}M7Current.VAL",
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"{P}{R}M8Current.VAL"};
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double motorMDVS[MAX_AXES];
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assign motorMDVS to
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{"{P}{R}M1MDVS.VAL",
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"{P}{R}M2MDVS.VAL",
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"{P}{R}M3MDVS.VAL",
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"{P}{R}M4MDVS.VAL",
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"{P}{R}M5MDVS.VAL",
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"{P}{R}M6MDVS.VAL",
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"{P}{R}M7MDVS.VAL",
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"{P}{R}M8MDVS.VAL"};
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monitor motorMDVS;
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double motorMDVA[MAX_AXES];
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assign motorMDVA to
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{"{P}{R}M1MDVA.VAL",
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"{P}{R}M2MDVA.VAL",
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"{P}{R}M3MDVA.VAL",
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"{P}{R}M4MDVA.VAL",
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"{P}{R}M5MDVA.VAL",
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"{P}{R}M6MDVA.VAL",
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"{P}{R}M7MDVA.VAL",
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"{P}{R}M8MDVA.VAL"};
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int motorMDVE[MAX_AXES];
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assign motorMDVE to
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{"{P}{R}M1MDVE.VAL",
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"{P}{R}M2MDVE.VAL",
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"{P}{R}M3MDVE.VAL",
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"{P}{R}M4MDVE.VAL",
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"{P}{R}M5MDVE.VAL",
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"{P}{R}M6MDVE.VAL",
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"{P}{R}M7MDVE.VAL",
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"{P}{R}M8MDVE.VAL"};
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double motorMVA[MAX_AXES];
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assign motorMVA to
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{"{P}{R}M1MVA.VAL",
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"{P}{R}M2MVA.VAL",
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"{P}{R}M3MVA.VAL",
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"{P}{R}M4MVA.VAL",
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"{P}{R}M5MVA.VAL",
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"{P}{R}M6MVA.VAL",
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"{P}{R}M7MVA.VAL",
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"{P}{R}M8MVA.VAL"};
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int motorMVE[MAX_AXES];
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assign motorMVE to
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{"{P}{R}M1MVE.VAL",
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"{P}{R}M2MVE.VAL",
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"{P}{R}M3MVE.VAL",
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"{P}{R}M4MVE.VAL",
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"{P}{R}M5MVE.VAL",
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"{P}{R}M6MVE.VAL",
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"{P}{R}M7MVE.VAL",
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"{P}{R}M8MVE.VAL"};
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double motorMAA[MAX_AXES];
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assign motorMAA to
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{"{P}{R}M1MAA.VAL",
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"{P}{R}M2MAA.VAL",
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"{P}{R}M3MAA.VAL",
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"{P}{R}M4MAA.VAL",
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"{P}{R}M5MAA.VAL",
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"{P}{R}M6MAA.VAL",
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"{P}{R}M7MAA.VAL",
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"{P}{R}M8MAA.VAL"};
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int motorMAE[MAX_AXES];
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assign motorMAE to
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{"{P}{R}M1MAE.VAL",
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"{P}{R}M2MAE.VAL",
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"{P}{R}M3MAE.VAL",
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"{P}{R}M4MAE.VAL",
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"{P}{R}M5MAE.VAL",
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"{P}{R}M6MAE.VAL",
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"{P}{R}M7MAE.VAL",
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"{P}{R}M8MAE.VAL"};
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double epicsMotorPos[MAX_AXES];
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assign epicsMotorPos to
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{"{P}{M1}.VAL",
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"{P}{M2}.VAL",
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"{P}{M3}.VAL",
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"{P}{M4}.VAL",
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"{P}{M5}.VAL",
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"{P}{M6}.VAL",
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"{P}{M7}.VAL",
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"{P}{M8}.VAL"};
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monitor epicsMotorPos;
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double epicsMotorDir[MAX_AXES];
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assign epicsMotorDir to
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{"{P}{M1}.DIR",
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"{P}{M2}.DIR",
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"{P}{M3}.DIR",
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"{P}{M4}.DIR",
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"{P}{M5}.DIR",
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"{P}{M6}.DIR",
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"{P}{M7}.DIR",
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"{P}{M8}.DIR"};
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monitor epicsMotorDir;
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double epicsMotorOff[MAX_AXES];
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assign epicsMotorOff to
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{"{P}{M1}.OFF",
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"{P}{M2}.OFF",
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"{P}{M3}.OFF",
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"{P}{M4}.OFF",
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"{P}{M5}.OFF",
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"{P}{M6}.OFF",
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"{P}{M7}.OFF",
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"{P}{M8}.OFF"};
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monitor epicsMotorOff;
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double epicsMotorDone[MAX_AXES];
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assign epicsMotorDone to
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{"{P}{M1}.DMOV",
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"{P}{M2}.DMOV",
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"{P}{M3}.DMOV",
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"{P}{M4}.DMOV",
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"{P}{M5}.DMOV",
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"{P}{M6}.DMOV",
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"{P}{M7}.DMOV",
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"{P}{M8}.DMOV"};
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monitor epicsMotorDone;
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evflag buildMon; sync build buildMon;
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evflag executeMon; sync execute executeMon;
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evflag abortMon; sync abort abortMon;
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evflag readbackMon; sync readback readbackMon;
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evflag nelementsMon; sync nelements nelementsMon;
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evflag motorMDVSMon; sync motorMDVS motorMDVSMon;
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||||
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char stringOut[MAX_MM4000_STRING];
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char stringIn[MAX_MM4000_STRING];
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char *asynPort;
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@@ -368,6 +113,8 @@ double posActual;
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double posTheory;
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double expectedTime;
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double initialPos[MAX_AXES];
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char macroBuf[NAME_LEN];
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char motorName[NAME_LEN];
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char *p;
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char *tok_save;
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@@ -389,6 +136,7 @@ unsigned long startTime;
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%% static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar);
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%% static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar);
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|
||||
|
||||
ss trajectoryScan {
|
||||
|
||||
/* Initialize things when first starting */
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||||
@@ -396,6 +144,18 @@ ss trajectoryScan {
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||||
when() {
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||||
/* Force numAxes to be <= MAX_AXES */
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if (numAxes > MAX_AXES) numAxes = MAX_AXES;
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for (i=0; i<numAxes; i++) {
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sprintf(macroBuf, "M%d", i+1);
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sprintf(motorName, "%s%s.VAL", macValueGet("P"), macValueGet(macroBuf));
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pvAssign(epicsMotorPos[i], motorName);
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sprintf(motorName, "%s%s.DIR", macValueGet("P"), macValueGet(macroBuf));
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pvAssign(epicsMotorDir[i], motorName);
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sprintf(motorName, "%s%s.OFF", macValueGet("P"), macValueGet(macroBuf));
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pvAssign(epicsMotorOff[i], motorName);
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sprintf(motorName, "%s%s.DMOV", macValueGet("P"), macValueGet(macroBuf));
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pvAssign(epicsMotorDone[i], motorName);
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}
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asynPort = macValueGet("PORT");
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%%pVar->status = pasynOctetSyncIO->connect(pVar->asynPort, 0,
|
||||
%% (asynUser **)&pVar->pasynUser,
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||||
@@ -426,6 +186,7 @@ ss trajectoryScan {
|
||||
} state monitor_inputs
|
||||
}
|
||||
|
||||
|
||||
/* Monitor inputs which control what to do (Build, Execute, Read) */
|
||||
state monitor_inputs {
|
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when(efTestAndClear(buildMon) && (build==1)) {
|
||||
@@ -456,7 +217,7 @@ ss trajectoryScan {
|
||||
} state monitor_inputs
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Build and verify trajectory */
|
||||
state build {
|
||||
when() {
|
||||
@@ -549,8 +310,8 @@ ss trajectoryScan {
|
||||
%%writeOnly(ssId, pVar, pVar->stringOut);
|
||||
}
|
||||
/* The following command is intended to prevent buffer overflow in
|
||||
* the MM4005 by reading introducing a delay (reading status) when downloading
|
||||
* many-element trajectories */
|
||||
* the MM4005 by reading introducing a delay (reading status) when
|
||||
* downloading many-element trajectories */
|
||||
if (((i+1) % 20) == 0) %%writeRead(ssId, pVar, "TB");
|
||||
}
|
||||
/* Define pulse output for trajectory */
|
||||
@@ -631,7 +392,7 @@ ss trajectoryScan {
|
||||
} state monitor_inputs
|
||||
}
|
||||
|
||||
|
||||
|
||||
state execute {
|
||||
when () {
|
||||
/* Set busy flag */
|
||||
@@ -667,7 +428,7 @@ ss trajectoryScan {
|
||||
} state wait_execute
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Wait for trajectory to complete */
|
||||
state wait_execute {
|
||||
when (execStatus == STATUS_ABORT) {
|
||||
@@ -741,7 +502,7 @@ ss trajectoryScan {
|
||||
} state monitor_inputs
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* Read back actual positions */
|
||||
state readback {
|
||||
when() {
|
||||
@@ -806,7 +567,7 @@ ss trajectoryScan {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* This state set simply monitors the abort input. It is a separate state set
|
||||
* so that it is always active, no matter what the state of the trajectoryScan
|
||||
* state set. If an abort is received it sends the "AB" command to the MM4005,
|
||||
@@ -829,6 +590,8 @@ ss trajectoryAbort {
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* C functions */
|
||||
%{
|
||||
|
||||
/* writeOnly sends a command to the MM4005 */
|
||||
@@ -865,7 +628,7 @@ static int writeRead(SS_ID ssId, struct UserVar *pVar, char *command)
|
||||
return(status);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/* getMotorPositions returns the positions of each motor */
|
||||
static int getMotorPositions(SS_ID ssId, struct UserVar *pVar, double *pos)
|
||||
{
|
||||
@@ -928,6 +691,7 @@ static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar)
|
||||
return(result);
|
||||
}
|
||||
|
||||
|
||||
/* waitMotors waits for all motors to stop moving. It reads and posts the
|
||||
* motor positions during each loop. */
|
||||
static int waitMotors(SS_ID ssId, struct UserVar *pVar)
|
||||
|
||||
Reference in New Issue
Block a user