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Converted MSTA #define's to bit field.

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This commit is contained in:
Ron Sluiter
2003-12-12 21:53:10 +00:00
parent b5b9aa6bfc
commit 4277772b0e
4 changed files with 120 additions and 114 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/OmsSrc/devOmsCom.cc
+6 -3
View File
@@ -2,9 +2,9 @@
FILENAME... devOmsCom.cc
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-06-16 15:04:11 $
Last Modified: $Date: 2003-12-12 21:48:45 $
*/
/*
@@ -243,6 +243,8 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
trans->state = IDLE_STATE; /* No command sent to the controller. */
else
{
msta_field msta;
/* Silently enforce minimum range on KP command. */
if (command == SET_PGAIN && *parms < 0.00005)
{
@@ -348,7 +350,8 @@ errorexit: errMessage(-1, "Invalid device directive");
}
/* Code to hide Oms58 moving off limit switch problem. */
if (((mr->msta & RA_PLUS_LS) || (mr->msta & RA_MINUS_LS)) &&
msta.All = mr->msta;
if ((msta.Bits.RA_PLUS_LS || msta.Bits.RA_MINUS_LS) &&
(command == MOVE_ABS || command == MOVE_REL))
{
if (mr->rdif >= 0)
motorApp/OmsSrc/drvOms.cc
+38 -54
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms.cc
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
Version: $Revision: 1.12 $
Version: $Revision: 1.13 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-12-03 19:12:35 $
Last Modified: $Date: 2003-12-12 21:52:55 $
*/
/*
@@ -54,7 +54,12 @@ Last Modified: $Date: 2003-12-03 19:12:35 $
* - changed omsGet() timeout argument to type bool.
* - changed recv_rng and send_rng from C to C++ interface.
* .05 12-03-03 rls - update rate bug fix.
*
* .06 12-12-03 rls - Converted MSTA #define's to bit field.
* - Two lines of code must be selected based on either
* Tornado 2.0.2 (default) or Tornado 2.2. If Tornado
* 2.2 is selected, EPICS base patches must be applied as
* described in;
* http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/Problems.html
*/
/*========================stepper motor driver ========================
@@ -212,7 +217,7 @@ static void query_done(int card, int axis, struct mess_node *nodeptr)
send_mess(card, DONE_QUERY, oms_axis[axis]);
recv_mess(card, buffer, 1);
if (nodeptr->status & RA_PROBLEM)
if (nodeptr->status.Bits.RA_PROBLEM)
send_mess(card, AXIS_STOP, oms_axis[axis]);
}
@@ -228,9 +233,11 @@ static int set_status(int card, int signal)
int index, pos;
int rtn_state;
bool ls_active;
msta_field status;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
@@ -254,35 +261,25 @@ static int set_status(int card, int signal)
case 0: /* axis status */
ax_stat = (struct axis_status *) p;
if (ax_stat->direction == 'P')
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
if (ax_stat->done == 'D')
motor_info->status |= RA_DONE;
else
motor_info->status &= ~RA_DONE;
status.Bits.RA_DIRECTION = (ax_stat->direction == 'P') ? 1 : 0;
status.Bits.RA_DONE = (ax_stat->done == 'D') ? 1 : 0;
status.Bits.RA_HOME = (ax_stat->home == 'H') ? 1 : 0;
if (ax_stat->overtravel == 'L')
{
ls_active = true;
if (motor_info->status & RA_DIRECTION)
motor_info->status |= RA_PLUS_LS;
if (status.Bits.RA_DIRECTION)
status.Bits.RA_PLUS_LS = 1;
else
motor_info->status |= RA_MINUS_LS;
status.Bits.RA_MINUS_LS = 1;
}
else
{
ls_active = false;
motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
}
if (ax_stat->home == 'H')
motor_info->status |= RA_HOME;
else
motor_info->status &= ~RA_HOME;
break;
case 1: /* motor pulse count (position) */
sscanf(p, "%index", &pos);
@@ -294,14 +291,14 @@ static int set_status(int card, int signal)
if (motor_info->no_motion_count > motionTO)
{
motor_info->status |= RA_PROBLEM;
status.Bits.RA_PROBLEM = 1;
send_mess(card, AXIS_STOP, oms_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
}
else
motor_info->status &= ~RA_PROBLEM;
status.Bits.RA_PROBLEM = 0;
motor_info->position = pos;
break;
@@ -315,27 +312,10 @@ static int set_status(int card, int signal)
break;
case 3: /* encoder status */
en_stat = (struct encoder_status *) p;
if (en_stat->slip_enable == 'E')
motor_info->status |= EA_SLIP;
else
motor_info->status &= ~EA_SLIP;
if (en_stat->pos_enable == 'E')
motor_info->status |= EA_POSITION;
else
motor_info->status &= ~EA_POSITION;
if (en_stat->slip_detect == 'S')
motor_info->status |= EA_SLIP_STALL;
else
motor_info->status &= ~EA_SLIP_STALL;
if (en_stat->axis_home == 'H')
motor_info->status |= EA_HOME;
else
motor_info->status &= ~EA_HOME;
status.Bits.EA_SLIP = (en_stat->slip_enable == 'E') ? 1 : 0;
status.Bits.EA_POSITION = (en_stat->pos_enable == 'E') ? 1 : 0;
status.Bits.EA_SLIP_STALL = (en_stat->slip_detect == 'S') ? 1 : 0;
status.Bits.EA_HOME = (en_stat->axis_home == 'H') ? 1 : 0;
break;
default:
break;
@@ -348,19 +328,19 @@ static int set_status(int card, int signal)
* time to request additional information so the velocity is set to
* indicate moving or not-moving.
*/
if (motor_info->status & RA_DONE)
if (status.Bits.RA_DONE)
motor_info->velocity = 0;
else
motor_info->velocity = 1;
if (!(motor_info->status & RA_DIRECTION))
if (!(status.Bits.RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && (nodeptr != 0) &&
if ((status.Bits.RA_DONE || ls_active == true) && (nodeptr != 0) &&
(nodeptr->postmsgptr != 0))
{
char buffer[40];
@@ -418,6 +398,8 @@ errorexit: errMessage(-1, "Invalid device directive");
send_mess(card, outbuf, oms_axis[signal]);
nodeptr->postmsgptr = NULL;
}
motor_info->status.All = status.All; /* Update status from local copy. */
return (rtn_state);
}
@@ -876,7 +858,8 @@ static int motorIsrEnable(int card)
pmotor = (struct vmex_motor *) (pmotorState->localaddr);
status = devConnectInterrupt(intVME, omsInterruptVector + card,
(void (*)()) motorIsr, (void *) card);
(void (*)()) motorIsr, (void *) card);// Tornado 2.0.2
// Tornado 2.2 (devLibVOIDFUNCPTR) motorIsr, (void *) card);
if (!RTN_SUCCESS(status))
{
@@ -936,7 +919,8 @@ static void motorIsrDisable(int card)
pmotor->control = 0;
status = devDisconnectInterrupt(intVME, omsInterruptVector + card,
(void (*)()) motorIsr);
(void (*)()) motorIsr);// Tornado 2.0.2
// Tornado 2.2 (devLibVOIDFUNCPTR) motorIsr);
if (!RTN_SUCCESS(status))
errPrintf(status, __FILE__, __LINE__, "Can't disconnect vector %d\n",
omsInterruptVector + card);
@@ -1110,7 +1094,7 @@ static int motor_init()
pos_ptr = strtok_r(NULL, ",", &tok_save), total_axis++)
{
pmotorState->motor_info[total_axis].motor_motion = NULL;
pmotorState->motor_info[total_axis].status = 0;
pmotorState->motor_info[total_axis].status.All = 0;
}
Debug(3, "Total axis = %d\n", total_axis);
@@ -1144,13 +1128,13 @@ static int motor_init()
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
pmotorState->motor_info[motor_index].status = 0;
pmotorState->motor_info[motor_index].status.All = 0;
pmotorState->motor_info[motor_index].no_motion_count = 0;
pmotorState->motor_info[motor_index].encoder_position = 0;
pmotorState->motor_info[motor_index].position = 0;
if (pmotorState->motor_info[motor_index].encoder_present == YES)
pmotorState->motor_info[motor_index].status |= EA_PRESENT;
pmotorState->motor_info[motor_index].status.Bits.EA_PRESENT = 1;
set_status(card_index, motor_index);
}
motorApp/OmsSrc/drvOms58.cc
+56 -51
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms58.cc
USAGE... Motor record driver level support for OMS model VME58.
Version: $Revision: 1.7 $
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-10-28 16:41:14 $
Last Modified: $Date: 2003-12-12 21:52:53 $
*/
/*
@@ -73,6 +73,12 @@ Last Modified: $Date: 2003-10-28 16:41:14 $
* boards after the "hole" to work.
* .23 06-04-03 rls Convert to R3.14.x.
* .24 06-04-03 rls extended device directive support to PREM and POST.
* .25 12-12-03 rls - Converted MSTA #define's to bit field.
* - One line of code must be selected based on either
* Tornado 2.0.2 (default) or Tornado 2.2. If Tornado
* 2.2 is selected, EPICS base patches must be applied as
* described in;
* http://www.aps.anl.gov/upd/people/sluiter/epics/motor/R5-2/Problems.html
*/
#include <vxLib.h>
@@ -232,7 +238,7 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
taskDelay(1); /* Work around for intermittent wrong LS status. */
#endif
if (nodeptr->status & RA_PROBLEM)
if (nodeptr->status.Bits.RA_PROBLEM)
send_mess(card, AXIS_STOP, oms58_axis[axis]);
}
@@ -345,25 +351,30 @@ STATIC int set_status(int card, int signal)
struct encoder_status *en_stat;
char q_buf[50], outbuf[50];
int index;
bool ls_active;
bool ls_active = false;
bool got_encoder;
msta_field status;
int rtn_state;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
pmotor = (struct vmex_motor *) motor_state[card]->localaddr;
status.All = motor_info->status.All;
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
/* get 4 peices of info from axis */
send_mess(card, ALL_INFO, oms58_axis[signal]);
recv_mess(card, q_buf, 2);
got_encoder = true;
}
else
{
/* get 2 peices of info from axis */
send_mess(card, AXIS_INFO, oms58_axis[signal]);
recv_mess(card, q_buf, 1);
got_encoder = false;
}
for (index = 0, p = strtok_r(q_buf, ",", &tok_save); p;
@@ -374,63 +385,41 @@ STATIC int set_status(int card, int signal)
case 0: /* axis status */
ax_stat = (struct axis_status *) p;
if (ax_stat->direction == 'P')
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
status.Bits.RA_DIRECTION = (ax_stat->direction == 'P') ? 1 : 0;
status.Bits.RA_HOME = (ax_stat->home == 'H') ? 1 : 0;
if (ax_stat->done == 'D')
{
/* Request Data Area Update after DONE detected so that both
* ASCII command data and shared memory data match. */
start_status(card);
motor_info->status |= RA_DONE;
status.Bits.RA_DONE = 1;
}
else
motor_info->status &= ~RA_DONE;
status.Bits.RA_DONE = 0;
if (ax_stat->overtravel == 'L')
{
ls_active = true;
if (motor_info->status & RA_DIRECTION)
motor_info->status |= RA_PLUS_LS;
if (status.Bits.RA_DIRECTION)
status.Bits.RA_PLUS_LS = 1;
else
motor_info->status |= RA_MINUS_LS;
status.Bits.RA_MINUS_LS = 1;
}
else
{
ls_active = false;
motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
}
if (ax_stat->home == 'H')
motor_info->status |= RA_HOME;
else
motor_info->status &= ~RA_HOME;
break;
case 1: /* encoder status */
en_stat = (struct encoder_status *) p;
if (en_stat->slip_enable == 'E')
motor_info->status |= EA_SLIP;
else
motor_info->status &= ~EA_SLIP;
if (en_stat->pos_enable == 'E')
motor_info->status |= EA_POSITION;
else
motor_info->status &= ~EA_POSITION;
if (en_stat->slip_detect == 'S')
motor_info->status |= EA_SLIP_STALL;
else
motor_info->status &= ~EA_SLIP_STALL;
if (en_stat->axis_home == 'H')
motor_info->status |= EA_HOME;
else
motor_info->status &= ~EA_HOME;
status.Bits.EA_SLIP = (en_stat->slip_enable == 'E') ? 1 : 0;
status.Bits.EA_POSITION = (en_stat->pos_enable == 'E') ? 1 : 0;
status.Bits.EA_SLIP_STALL = (en_stat->slip_detect == 'S') ? 1 : 0;
status.Bits.EA_HOME = (en_stat->axis_home == 'H') ? 1 : 0;
break;
default:
break;
@@ -461,21 +450,21 @@ STATIC int set_status(int card, int signal)
if (motor_info->no_motion_count > motionTO)
{
motor_info->status |= RA_PROBLEM;
status.Bits.RA_PROBLEM = 1;
send_mess(card, AXIS_STOP, oms58_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
}
else
motor_info->status &= ~RA_PROBLEM;
status.Bits.RA_PROBLEM = 0;
/* get command velocity - word access only */
motorData = pack2x16(pmotorData->cmndVel);
motor_info->velocity = motorData;
if (!(motor_info->status & RA_DIRECTION))
if (!(status.Bits.RA_DIRECTION))
motor_info->velocity *= -1;
/* Get encoder position */
@@ -493,7 +482,8 @@ STATIC int set_status(int card, int signal)
bitselect = (1 << signal);
if ((inputs & bitselect) == 0)
{
motor_info->status |= (RA_PLUS_LS | RA_MINUS_LS);
status.Bits.RA_PLUS_LS = 1; /* Turn on both limit switches. */
status.Bits.RA_MINUS_LS = 1;
logMsg((char *) "Drive power failure at VME58 card#%d motor#%d\n",
card, signal, 0, 0, 0, 0);
}
@@ -501,10 +491,10 @@ STATIC int set_status(int card, int signal)
}
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
char buffer[40];
@@ -563,6 +553,19 @@ errorexit: errMessage(-1, "Invalid device directive");
nodeptr->postmsgptr = NULL;
}
/* Bug fix for DC servo moving away from limit switch, but move is not far enough to
* get off limit switch; resulting in limit error. Fix is to force CDIR to match
* MSTA.RA_DIRECTION.
*/
if (ls_active == true && status.Bits.GAIN_SUPPORT && status.Bits.EA_POSITION == 0)
{
struct motorRecord *mr = (struct motorRecord *) nodeptr->mrecord;
if (mr->cdir != (short) status.Bits.RA_DIRECTION)
mr->cdir = status.Bits.RA_DIRECTION;
}
motor_info->status.All = status.All; /* Update status from local copy. */
return (rtn_state);
}
@@ -921,7 +924,8 @@ STATIC int motorIsrSetup(int card)
pmotor = (struct vmex_motor *) (motor_state[card]->localaddr);
status = devConnectInterrupt(intVME, omsInterruptVector + card,
(void (*)()) motorIsr, (void *) card);
// Tornado 2.0.2 (void (*)()) motorIsr, (void *) card);
(devLibVOIDFUNCPTR) motorIsr, (void *) card);// Tornado 2.2
if (!RTN_SUCCESS(status))
{
errPrintf(status, __FILE__, __LINE__, "Can't connect to vector %d\n", omsInterruptVector + card);
@@ -1019,7 +1023,8 @@ STATIC int motor_init()
Debug(9, "motor_init: devRegisterAddress() status = %d\n", (int) status);
if (!RTN_SUCCESS(status))
{
errPrintf(status, __FILE__, __LINE__, "Can't register address 0x%x\n", probeAddr);
errPrintf(status, __FILE__, __LINE__, "Can't register address 0x%x\n",
(unsigned int) probeAddr);
return (ERROR);
}
@@ -1051,7 +1056,7 @@ STATIC int motor_init()
pos_ptr; pos_ptr = strtok_r(NULL, ",", &tok_save), total_axis++)
{
pmotorState->motor_info[total_axis].motor_motion = NULL;
pmotorState->motor_info[total_axis].status = 0;
pmotorState->motor_info[total_axis].status.All = 0;
}
Debug(3, "motor_init: Total axis = %d\n", total_axis);
@@ -1112,15 +1117,15 @@ STATIC int motor_init()
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
pmotorState->motor_info[motor_index].status = 0;
pmotorState->motor_info[motor_index].status.All = 0;
pmotorState->motor_info[motor_index].no_motion_count = 0;
pmotorState->motor_info[motor_index].encoder_position = 0;
pmotorState->motor_info[motor_index].position = 0;
if (pmotorState->motor_info[motor_index].encoder_present == YES)
pmotorState->motor_info[motor_index].status |= EA_PRESENT;
pmotorState->motor_info[motor_index].status.Bits.EA_PRESENT = 1;
if (pmotorState->motor_info[motor_index].pid_present == YES)
pmotorState->motor_info[motor_index].status |= GAIN_SUPPORT;
pmotorState->motor_info[motor_index].status.Bits.GAIN_SUPPORT = 1;
set_status(card_index, motor_index);
motorApp/SoftMotorSrc/devSoft.cc
+20 -6
View File
@@ -2,9 +2,9 @@
FILENAME... devSoft.cc
USAGE... Motor record device level support for Soft channel.
Version: $Revision: 1.6 $
Version: $Revision: 1.7 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-06-16 15:03:12 $
Last Modified: $Date: 2003-12-12 21:53:10 $
*/
/*
@@ -83,6 +83,7 @@ epicsExportAddress(dset,devMotorSoft);
STATIC CALLBACK_VALUE update(struct motorRecord *mr)
{
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
msta_field status;
#ifdef DMR_SOFTMOTOR_MODS
if (ptr->load_position)
@@ -92,10 +93,14 @@ STATIC CALLBACK_VALUE update(struct motorRecord *mr)
ptr->load_position = FALSE;
}
#endif
status.All = mr->msta;
if (ptr->dinp_value == SOFTMOVE || ptr->dinp_value == HARDMOVE)
mr->msta &= ~RA_DONE;
status.Bits.RA_DONE = 0;
else
mr->msta |= RA_DONE;
status.Bits.RA_DONE = 1;
mr->msta = status.All;
return(ptr->callback_flag);
}
@@ -111,7 +116,13 @@ STATIC RTN_STATUS end(struct motorRecord *mr)
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
if (ptr->default_done_behavior == YES)
mr->msta = RA_DONE;
{
msta_field status;
status.All = 0;
status.Bits.RA_DONE = 1;
mr->msta = status.All;
}
return(OK);
}
@@ -140,12 +151,15 @@ STATIC RTN_STATUS build(motor_cmnd command, double *parms, struct motorRecord *m
case LOAD_POS:
{
struct soft_private *ptr = (struct soft_private *) mr->dpvt;
msta_field msta;
#ifdef DMR_SOFTMOTOR_MODS
ptr->load_position = TRUE;
ptr->new_position = *parms;
#endif
mr->msta = RA_DONE;
msta.All = 0;
msta.Bits.RA_DONE = 1;
mr->msta = msta.All;
callbackRequest(&ptr->callback);
}
break;