lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

New file for Faulhaber MCDC2805 driver

Browse Source
This commit is contained in:
MarkRivers
2005-11-04 20:40:44 +00:00
parent 1faf550034
commit 37eb333d83
5 changed files with 1130 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/FaulhaberSrc/Makefile
+19
View File
@@ -0,0 +1,19 @@
# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
#USR_CXXFLAGS += -DDEBUG
DBD += devFaulhaberMotor.dbd
LIBRARY_IOC = Faulhaber
# Intelligent Motion Systems driver support.
SRCS += devMCDC2805.cc drvMCDC2805.cc
Faulhaber_LIBS += motor asyn
Faulhaber_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/FaulhaberSrc/devFaulhaberMotor.dbd
+5
View File
@@ -0,0 +1,5 @@
# Intelligent Motion Systems driver support.
device(motor,VME_IO,devMCDC2805, "MCDC2805")
driver(drvMCDC2805)
registrar(MCDC2805Register)
variable(drvMCDC2805debug)
motorApp/FaulhaberSrc/devMCDC2805.cc
+349
View File
@@ -0,0 +1,349 @@
/*
FILENAME... devMCDC2805.cc
USAGE... Motor record device level support for Intelligent Motion
Systems, Inc. MCDC2805 series of controllers.
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-11-04 20:40:44 $
*/
/*
* Original Author: Ron Sluiter
* Date: 03/21/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 10/20/05 mlr Initialize from ImsSrc/devMDrive.cc
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMCDC2805.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table MCDC2805_access;
/* ----------------Create the dsets for devMCDC2805----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MCDC2805_init(void *);
STATIC long MCDC2805_init_record(void *);
STATIC long MCDC2805_start_trans(struct motorRecord *);
STATIC RTN_STATUS MCDC2805_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS MCDC2805_end_trans(struct motorRecord *);
struct motor_dset devMCDC2805 =
{
{8, NULL, (DEVSUPFUN) MCDC2805_init, (DEVSUPFUN) MCDC2805_init_record, NULL},
motor_update_values,
MCDC2805_start_trans,
MCDC2805_build_trans,
MCDC2805_end_trans
};
extern "C" {epicsExportAddress(dset,devMCDC2805);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MCDC2805_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 **MCDC2805_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MCDC2805 stepper motor */
STATIC long MCDC2805_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &MCDC2805_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MCDC2805_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MCDC2805_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MCDC2805_cards));
}
/* start building a transaction */
STATIC long MCDC2805_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
STATIC RTN_STATUS MCDC2805_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
STATIC RTN_STATUS MCDC2805_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 MCDC2805controller *cntrl;
char buff[110];
int axis, card, intval;
int rpm;
unsigned int size;
RTN_STATUS rtnval;
bool send;
msta_field msta;
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). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
msta.All = mr->msta;
motor_start_trans_com(mr, MCDC2805_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MCDC2805controller *) brdptr->DevicePrivate;
if (MCDC2805_table[command] > motor_call->type)
motor_call->type = MCDC2805_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, " ");
strcat(motor_call->message, mr->init);
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, " ");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "LA %d", intval);
break;
case MOVE_REL:
sprintf(buff, "LR %d", intval);
break;
case HOME_FOR:
case HOME_REV:
rpm = NINT(mr->velo / mr->srev * 60.);
if (command == HOME_REV) rpm = -rpm;
/* Need to send multiple messages */
sprintf(buff, "ENCRES%d", mr->srev);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCDC2805_cards);
sprintf(buff, "HOSP%d", rpm);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCDC2805_cards);
sprintf(buff, "GOHOSEQ");
motor_call->type = MCDC2805_table[command];
break;
case LOAD_POS:
sprintf(buff, "HO %d", intval);
break;
case SET_VEL_BASE:
/* Not supported */
send = false;
break;
case SET_VELOCITY:
/* The input speed is in steps/second. The controller wants RPM */
rpm = NINT(parms[0] / mr->srev * 60.);
/* Need to send multiple messages */
sprintf(buff, "ENCRES%d", mr->srev);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCDC2805_cards);
sprintf(buff, "SP %d", rpm);
motor_call->type = MCDC2805_table[command];
break;
case SET_ACCEL:
/* The input speed is in steps/s/s. The controller wants Revs/s/s */
rpm = NINT(parms[0] / mr->srev);
/* Need to send multiple messages */
sprintf(buff, "ENCRES%d", mr->srev);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCDC2805_cards);
sprintf(buff, "AC %d", rpm);
motor_call->type = MCDC2805_table[command];
break;
case GO:
sprintf(buff, "M");
break;
case PRIMITIVE:
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(buff, "V 0");
break;
case JOG_VELOCITY:
case JOG:
rpm = NINT(parms[0] / mr->srev * 60.);
/* Need to send multiple messages */
sprintf(buff, "ENCRES%d", mr->srev);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCDC2805_cards);
sprintf(buff, "SP %d", rpm);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCDC2805_cards);
sprintf(buff, "V %d", rpm);
motor_call->type = MCDC2805_table[command];
break;
case SET_PGAIN:
sprintf(buff, "POR %ld", NINT(parms[0]*255.));
break;
case SET_IGAIN:
sprintf(buff, "I %ld", NINT(parms[0]*255.));
break;
case SET_DGAIN:
send = false;
break;
case ENABLE_TORQUE:
sprintf(buff, "EN");
break;
case DISABL_TORQUE:
sprintf(buff, "DI");
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("MCDC2805_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
motorApp/FaulhaberSrc/drvMCDC2805.cc
+689
View File
@@ -0,0 +1,689 @@
/*
FILENAME... drvMCDC2805.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. MCDC2805 series; M17, M23, M34.
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-11-04 20:40:44 $
*/
/*
* Original Author: Ron Sluiter
* Date: 03/21/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 10/20/05 mlr Initialize from ImsDrc/MDrive.cc
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the MCDC2805 must be powered-on when EPICS is first
booted up.
*/
#include <stdlib.h>
#include <stddef.h>
#include <stdio.h>
#include <iocsh.h>
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvMCDC2805.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define MCDC2805_NUM_CARDS 8
#define BUFF_SIZE 100 /* Maximum length of string to/from MCDC2805 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvMCDC2805debug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvMCDC2805debug = 0;
extern "C" {epicsExportAddress(int, drvMCDC2805debug);}
/* --- Local data. --- */
int MCDC2805_num_cards = 0;
static char *MCDC2805_axis[] = {"0", "1", "2", "3", "4", "5", "6", "7"};
/* 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 MCDC2805_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,
MCDC2805_axis
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvMCDC2805 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvMCDC2805);}
static struct thread_args targs = {SCAN_RATE, &MCDC2805_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MCDC2805_num_cards <=0)
printf(" No MCDC2805 controllers configured.\n");
else
{
for (card = 0; card < MCDC2805_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MCDC2805 controller %d connection failed.\n", card);
else
{
struct MCDC2805controller *cntrl;
cntrl = (struct MCDC2805controller *) brdptr->DevicePrivate;
printf(" MCDC2805SM 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 serial I/O,
* and hence requires that the serial port have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (MCDC2805_num_cards <= 0)
{
Debug(1, "init(): MCDC2805 driver disabled. MCDC2805Setup() 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 MCDC2805controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
char status_buff[BUFF_SIZE];
int rtnval, rtn_state;
double motorData;
epicsUInt8 Lswitch;
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct MCDC2805controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
send_mess(card, "GST", MCDC2805_axis[signal]);
rtn_state = recv_mess(card, status_buff, 1);
if (rtn_state > 0)
{
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;
}
}
rtnval = status_buff[4] == '1';
/* We can't use this logic for done, because it won't work in jog mode or when
* a move is stopped by setting velocity=0. */
/* status.Bits.RA_DONE = (rtnval == 0) ? 0 : 1; */
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
send_mess(card, "POS", MCDC2805_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
send_mess(card, "GAST", MCDC2805_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = buff[0] == '1';
/* Set limit Lswitch error indicators. */
if (Lswitch != 0)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
Lswitch = buff[1] == '1';
if (Lswitch != 0)
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_MINUS_LS = 0;
/* If there is an active limit switch (i.e. one that stopped motion) then
* we need to do an absolute move to the current position.
* If this is not done then as soon as the limit switch is released the motor will
* start moving, which is not good.
*/
if (ls_active) {
sprintf(buff, "LA %ld", NINT(motorData));
send_mess(card, buff, MCDC2805_axis[signal]);
send_mess(card, "M", MCDC2805_axis[signal]);
}
Lswitch = status_buff[6] == '1';
status.Bits.RA_HOME = (Lswitch) ? 1 : 0;
/* !!! Assume no closed-looped control!!!*/
status.Bits.EA_POSITION = 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
{
motor_info->encoder_position = (int32_t) motorData;
}
status.Bits.RA_PROBLEM = 0;
/* Read the actual velocity. Use this to set the DONE bit.
* This is needed because the "reached command position bit in GST does
* not work for jog commands or when move is stopped by setting velocity=0 */
send_mess(card, "GV", MCDC2805_axis[signal]);
recv_mess(card, buff, 1);
motor_info->velocity = NINT(atof(buff));
status.Bits.RA_DONE = (motor_info->velocity == 0) ? 1 : 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, MCDC2805_axis[signal]);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send a message to the MCDC2805 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
struct MCDC2805controller *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("drvMCDC2805.c: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("drvMCDC2805.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
if (namesize != 0)
{
strcpy(local_buff, name); /* put in axis */
strcat(local_buff, com);
}
else
strcpy(local_buff, com);
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct MCDC2805controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
return(OK);
}
/*****************************************************/
/* receive a message from the MCDC2805 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct MCDC2805controller *cntrl;
const double timeout = 1.0;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct MCDC2805controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
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 */
/* MCDC2805Setup() */
/*****************************************************/
RTN_STATUS
MCDC2805Setup(int num_cards, /* maximum number of chains in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > MCDC2805_NUM_CARDS)
MCDC2805_num_cards = MCDC2805_NUM_CARDS;
else
MCDC2805_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 MCDC2805Config 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(MCDC2805_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < MCDC2805_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* MCDC2805Config() */
/*****************************************************/
RTN_STATUS
MCDC2805Config(int card, /* chain being configured */
int num_motors, /* Number of MCDC-2805 units on this serial port */
const char *name) /* ASYN port name */
{
struct MCDC2805controller *cntrl;
if (card < 0 || card >= MCDC2805_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MCDC2805controller));
cntrl = (struct MCDC2805controller *) motor_state[card]->DevicePrivate;
cntrl->num_motors = num_motors;
strcpy(cntrl->asyn_port, name);
return(OK);
}
/*****************************************************/
/* initialize all software and hardware */
/* This is called from the initialization routine in */
/* device support. */
/* motor_init() */
/*****************************************************/
static int motor_init()
{
struct controller *brdptr;
struct MCDC2805controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis = 0;
int status;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (MCDC2805_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < MCDC2805_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 MCDC2805controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
/* 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);
for (total_axis = 0; total_axis < cntrl->num_motors; total_axis++)
{
int retry = 0;
/* Try 3 times to connect to controller. */
do
{
send_mess(card_index, "VER", MCDC2805_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
if (status <= 0)
break;
else if (total_axis == 0)
strcpy(brdptr->ident, buff);
}
brdptr->total_axis = total_axis;
}
if (success_rtn == asynSuccess && total_axis > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
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;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
/* Set the velocity control to be RS-232 */
send_mess(card_index, "SOR 0", MCDC2805_axis[motor_index]);
/* Set the limit switch configuration. */
/* We assume the following:
* Analog input = Input 1 = Home input = 1 bit
* Fault pin = Input 2 = CW limit = 2 bit
* Input 3 Input 3 = CCW limit = 4 bit
*/
/* Program fault pin as limit switch input */
send_mess(card_index, "REFIN", MCDC2805_axis[motor_index]);
/* Program limit polarity for rising edge and high level */
send_mess(card_index, "HP7", MCDC2805_axis[motor_index]);
/* Program the motor to hard block on the the limit switch inputs */
send_mess(card_index, "HB6", MCDC2805_axis[motor_index]);
/* Program the limit switch directions to block
* + direction on input 2, - direction on input 3 */
send_mess(card_index, "HD2", MCDC2805_axis[motor_index]);
/* Program homing sequence on input 1*/
send_mess(card_index, "HL1", MCDC2805_axis[motor_index]);
send_mess(card_index, "HA1", MCDC2805_axis[motor_index]);
send_mess(card_index, "CAHOSEQ", MCDC2805_axis[motor_index]);
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 *) "MCDC2805_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
extern "C"
{
// Faulhaber Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// Faulhaber Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"# modules on this serial port", iocshArgInt};
static const iocshArg configArg2 = {"asyn port name", iocshArgString};
static const iocshArg * const setupArgs[2] = {&setupArg0,
&setupArg1};
static const iocshArg * const configArgs[3] = {&configArg0,
&configArg1,
&configArg2};
static const iocshFuncDef setupMCDC2805 = {"MCDC2805Setup", 2, setupArgs};
static const iocshFuncDef configMCDC2805 = {"MCDC2805Config", 3, configArgs};
static void setupMCDC2805CallFunc(const iocshArgBuf *args)
{
MCDC2805Setup(args[0].ival, args[1].ival);
}
static void configMCDC2805CallFunc(const iocshArgBuf *args)
{
MCDC2805Config(args[0].ival, args[1].ival, args[2].sval);
}
static void MCDC2805Register(void)
{
iocshRegister(&setupMCDC2805, setupMCDC2805CallFunc);
iocshRegister(&configMCDC2805, configMCDC2805CallFunc);
}
epicsExportRegistrar(MCDC2805Register);
} // extern "C"
motorApp/FaulhaberSrc/drvMCDC2805.h
+68
View File
@@ -0,0 +1,68 @@
/*
FILENAME... drvMCDC2805.h
USAGE... This file contains driver "include" information that is specific to
Intelligent Motion Systems, Inc. MCDC2805(I/IE) and MDrive controllers.
Version: $Revision: 1.1 $
Modified By: $Author: rivers $
Last Modified: $Date: 2005-11-04 20:40:44 $
*/
/*
* Original Author: Ron Sluiter
* Date: 02/10/2000
*
* 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 02/10/2000 rls copied from drvMM4000.h
* .02 07/01/2004 rls Converted from MPF to asyn.
* .03 03/18/2005 rls Added MDrive input configuration structure.
*/
#ifndef INCdrvMCDC2805h
#define INCdrvMCDC2805h 1
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#define COMM_TIMEOUT 2 /* Timeout in seconds */
/* MCDC-2805 specific data is stored in this structure. */
struct MCDC2805controller
{
asynUser *pasynUser; /* For RS-232 */
char asyn_port[80]; /* asyn port name */
int num_motors; /* Number of MCDC-2805 modules on this serial port */
CommStatus status; /* Controller communication status. */
};
/* Function prototypes. */
extern RTN_STATUS MCDC2805Config(int, const char *);
extern RTN_STATUS MCDC2805Config(int, const char *);
#endif /* INCdrvMCDC2805h */