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Merge pull request #34 from Brudhu/master

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Add files for supporting PIE517 piezo controller
This commit is contained in:
Kevin Peterson
2017-08-24 13:53:46 -05:00
committed by GitHub
parent 0bc027e2e4 f31ed90b25
commit 372c99d8cc
6 changed files with 1146 additions and 0 deletions
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motorApp/PiSrc/Makefile
+1
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@@ -19,6 +19,7 @@ SRCS += devPIC862.cc drvPIC862.cc PIC862Register.cc
SRCS += devPIC663.cc drvPIC663.cc PIC663Register.cc
SRCS += devPIE710.cc drvPIE710.cc PIE710Register.cc
SRCS += devPIE516.cc drvPIE516.cc PIE516Register.cc
SRCS += devPIE517.cc drvPIE517.cc PIE517Register.cc
SRCS += devPIE816.cc drvPIE816.cc PIE816Register.cc
motorApp/PiSrc/PIE517Register.cc
Executable
+68
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@@ -0,0 +1,68 @@
/*
FILENAME... PIE517Register.cc
USAGE... Register PI motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 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 <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <iocsh.h>
#include "motor.h"
#include "drvPIE517.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 PIE517SetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const PIE517ConfigArgs[3] = {&configArg0, &configArg1,
&configArg2};
static const iocshFuncDef setupPIE517 = {"PIE517Setup", 2, PIE517SetupArgs};
static const iocshFuncDef configPIE517 = {"PIE517Config", 3, PIE517ConfigArgs};
static void setupPIE517CallFunc(const iocshArgBuf *args)
{
PIE517Setup(args[0].ival, args[1].ival);
}
static void configPIE517CallFunc(const iocshArgBuf *args)
{
PIE517Config(args[0].ival, args[1].sval, args[2].ival);
}
static void PIE517motorRegister(void)
{
iocshRegister(&setupPIE517, setupPIE517CallFunc);
iocshRegister(&configPIE517, configPIE517CallFunc);
}
epicsExportRegistrar(PIE517motorRegister);
} // extern "C"
motorApp/PiSrc/devPIE517.cc
Executable
+316
View File
@@ -0,0 +1,316 @@
/*
FILENAME... devPIE517.cc
USAGE... Motor record device level support for Physik Instrumente (PI)
GmbH & Co. E-516 motor controller.
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-14 20:21:37 $
*/
/*
* 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 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc
* .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPIE517.h"
#include "epicsExport.h"
extern struct driver_table PIE517_access;
/* ----------------Create the dsets for devPIE517----------------- */
static struct driver_table *drvtabptr;
static long PIE517_init(void *);
static long PIE517_init_record(void *);
static long PIE517_start_trans(struct motorRecord *);
static RTN_STATUS PIE517_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS PIE517_end_trans(struct motorRecord *);
struct motor_dset devPIE517 =
{
{8, NULL, (DEVSUPFUN) PIE517_init, (DEVSUPFUN) PIE517_init_record, NULL},
motor_update_values,
PIE517_start_trans,
PIE517_build_trans,
PIE517_end_trans
};
extern "C" {epicsExportAddress(dset,devPIE517);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PIE517_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 **PIE517_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PIE517 stepper motor */
static long PIE517_init(void *arg)
{
long rtnval;
int after = (arg == 0) ? 0 : 1;
if (after == 0)
{
drvtabptr = &PIE517_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIE517_cards);
return(rtnval);
}
/* initialize a record instance */
static long PIE517_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, PIE517_cards));
}
/* start building a transaction */
static long PIE517_start_trans(struct motorRecord *mr)
{
motor_start_trans_com(mr, PIE517_cards);
return(OK);
}
/* end building a transaction */
static RTN_STATUS PIE517_end_trans(struct motorRecord *mr)
{
motor_end_trans_com(mr, drvtabptr);
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS PIE517_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 PIE517controller *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, PIE517_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
res = cntrl->drive_resolution[motor_call->signal];
cntrl_units = dval;
maxdigits = 3;
if (PIE517_table[command] > motor_call->type)
motor_call->type = PIE517_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_E517);
}
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_E517);
break;
case MOVE_REL:
sprintf(buff, "MVR # %.*f", maxdigits, (cntrl_units * res));
strcat(buff, EOL_E517);
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_E517);
break;
case ENABLE_TORQUE:
strcpy(buff, "SVO #1");
strcat(buff, EOL_E517);
break;
case DISABL_TORQUE:
strcpy(buff, "SVO #0");
strcat(buff, EOL_E517);
break;
case SET_ACCEL:
/* The PIE517 does not support acceleration commands. */
case GO:
/* The PIE517 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, "STP #");
strcat(buff, EOL_E517);
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "VEL # %.*f", maxdigits, cntrl_units);
strcat(buff, EOL_E517);
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("PIE517_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
motorApp/PiSrc/devPIMotor.dbd
+6
View File
@@ -46,6 +46,12 @@ driver(drvPIE516)
registrar(PIE516motorRegister)
variable(drvPIE516debug)
# Physik Instrumente (PI) GmbH & Co. E-517 driver support.
device(motor,VME_IO,devPIE517,"PIE517")
driver(drvPIE517)
registrar(PIE517motorRegister)
variable(drvPIE517debug)
# Physik Instrumente (PI) GmbH & Co. E-816 driver support.
device(motor,VME_IO,devPIE816,"PIE816")
driver(drvPIE816)
motorApp/PiSrc/drvPIE517.cc
Executable
+680
View File
@@ -0,0 +1,680 @@
/*
FILENAME... drvPIE517.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. E-516 motor controller.
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2007-03-30 20:01:05 $
*/
/*
* Original Author: Ron Sluiter
* Date: 10/18/05
* 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 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc.
* .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller.
* Tested on PI VER:
* FW_DSP: 02.034
* FW_FPGA: 02.040
* FW_MCU: 1.22.6
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the PIE517 must be powered-on when EPICS is first
booted up.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "drvPIE517.h"
#include "epicsExport.h"
#define GET_IDENT "VER?"
#define SET_ONLINE "ONL # 1" /* Set Online Mode ON */
#define SET_VELCTRL "VCO # 1" /* 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 PIE517_NUM_CARDS 10
#define MAX_AXES 3
#define BUFF_SIZE 100 /* Maximum length of string to/from PIE517 */
/*----------------debugging-----------------*/
volatile int drvPIE517debug = 0;
extern "C" {epicsExportAddress(int, drvPIE517debug);}
static inline void Debug(int level, const char *format, ...) {
#ifdef DEBUG
if (level < drvPIE517debug) {
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
}
#endif
}
/* --- Local data. --- */
int PIE517_num_cards = 0;
static char *PIE517_axis[] = {"1 ", "2 ", "3 "}; //{"A", "B", "C"};
/* 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 PIE517_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,
PIE517_axis
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvPIE517 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPIE517);}
static struct thread_args targs = {SCAN_RATE, &PIE517_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIE517_num_cards <=0)
printf(" No PIE517 controllers configured.\n");
else
{
for (card = 0; card < PIE517_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIE517 controller %d connection failed.\n", card);
else
{
struct PIE517controller *cntrl;
cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
printf(" PIE517 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 (PIE517_num_cards <= 0)
{
Debug(1, "init(): PIE517 driver disabled. PIE517Setup() 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 PIE517controller *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 PIE517controller *) 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, PIE517_axis[signal]);
// 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, PIE517_axis[signal]);
// //send_mess(card, SET_VELCTRL, (char) NULL);
// }
send_mess(card, READ_ONTARGET, PIE517_axis[signal]);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &ontarget_status))
{
send_mess(card, READ_OVERFLOW, PIE517_axis[signal]);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &overflow_status))
{
send_mess(card, READ_SERVO, PIE517_axis[signal]);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &servo_status))
{
send_mess(card, READ_POS, PIE517_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 PIE517 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
char *pbuff;
struct PIE517controller *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("drvPIE517.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("drvPIE517.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 PIE517controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
return(OK);
}
/*****************************************************/
/* receive a message from the PIE517 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct PIE517controller *cntrl;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
char *pos;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
COMM_TIMEOUT, &nread, &eomReason);
pos=strchr(com,'=');
if(pos != NULL)
strcpy(com,&pos[1]);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* PIE517Setup() */
/*****************************************************/
RTN_STATUS
PIE517Setup(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 > PIE517_NUM_CARDS)
PIE517_num_cards = PIE517_NUM_CARDS;
else
PIE517_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 PIE517Config 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(PIE517_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIE517_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PIE517Config() */
/*****************************************************/
RTN_STATUS
PIE517Config(int card, /* card being configured */
const char *name, /* asyn port name */
int addr) /* asyn address (GPIB) */
{
struct PIE517controller *cntrl;
if (card < 0 || card >= PIE517_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIE517controller));
cntrl = (struct PIE517controller *) 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 PIE517controller *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_E517;
static const char input_terminator[] = EOL_E517;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIE517_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PIE517_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 PIE517controller *) 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 E517 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 E517 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, PIE517_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;
/* PIE517 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 *) "PIE517_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
motorApp/PiSrc/drvPIE517.h
Executable
+75
View File
@@ -0,0 +1,75 @@
/* File: drvPIE516.h */
/* Device Driver Support definitions for motor */
/*
* Original Author: Ron Sluiter
* Current Author: Joe Sullivan
* Date: 09/20/2005
*
* Modification Log:
* -----------------
* .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from drvPIE516.h
* .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller
*/
#ifndef INCdrvPIE517h
#define INCdrvPIE517h 1
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#define COMM_TIMEOUT 2 /* Timeout in seconds. */
#define POS_RES 0.001 /* Position resolution. */
#define EOL_E517 "\n" /* Command End-Of-Line = LF (0x10) */
struct PIE517controller
{
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;
} E517_Status_Reg;
/* Function prototypes. */
extern RTN_STATUS PIE517Setup(int, int);
extern RTN_STATUS PIE517Config(int, const char *, int);
#endif /* INCdrvPIE517h */