diff --git a/motorApp/FaulhaberSrc/Makefile b/motorApp/FaulhaberSrc/Makefile new file mode 100644 index 00000000..da7b4581 --- /dev/null +++ b/motorApp/FaulhaberSrc/Makefile @@ -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 + diff --git a/motorApp/FaulhaberSrc/devFaulhaberMotor.dbd b/motorApp/FaulhaberSrc/devFaulhaberMotor.dbd new file mode 100644 index 00000000..3b9e8f74 --- /dev/null +++ b/motorApp/FaulhaberSrc/devFaulhaberMotor.dbd @@ -0,0 +1,5 @@ +# Intelligent Motion Systems driver support. +device(motor,VME_IO,devMCDC2805, "MCDC2805") +driver(drvMCDC2805) +registrar(MCDC2805Register) +variable(drvMCDC2805debug) diff --git a/motorApp/FaulhaberSrc/devMCDC2805.cc b/motorApp/FaulhaberSrc/devMCDC2805.cc new file mode 100644 index 00000000..567d9ba2 --- /dev/null +++ b/motorApp/FaulhaberSrc/devMCDC2805.cc @@ -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 + +#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); +} diff --git a/motorApp/FaulhaberSrc/drvMCDC2805.cc b/motorApp/FaulhaberSrc/drvMCDC2805.cc new file mode 100644 index 00000000..30187e45 --- /dev/null +++ b/motorApp/FaulhaberSrc/drvMCDC2805.cc @@ -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 +#include +#include +#include +#include +#include +#include +#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" + + diff --git a/motorApp/FaulhaberSrc/drvMCDC2805.h b/motorApp/FaulhaberSrc/drvMCDC2805.h new file mode 100644 index 00000000..dd84a352 --- /dev/null +++ b/motorApp/FaulhaberSrc/drvMCDC2805.h @@ -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 */ +