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Removed KohzuSrc; Added motorKohzu submodule

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This commit is contained in:
kpetersn
2019-04-05 13:51:03 -05:00
parent 64dafb7498
commit 48725897f7
13 changed files with 5 additions and 1194 deletions
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.gitmodules
+3
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@@ -19,3 +19,6 @@
[submodule "modules/motorHytec"]
path = modules/motorHytec
url = https://github.com/epics-motor/motorHytec.git
[submodule "modules/motorKohzu"]
path = modules/motorKohzu
url = https://github.com/epics-motor/motorKohzu.git
iocBoot/iocWithAsyn/st.cmd.Vx
-12
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@@ -161,18 +161,6 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:")
#!MDriveConfig(0, "a-Serial[0]")
#!drvMDrivedebug = 4
# Kohzu SC-800 motor controller setup parameters:
# (1) maximum number of controllers in system
# (2) motor task polling rate (min=1Hz,max=60Hz)
#!SC800Setup(1, 5)
# Kohzu SC-800 motor controller configuration parameters:
# (1) controller# being configured
# (2) ASYN port name
# (3) address (GPIB only)
#!SC800Config(0, "L0", 0)
#!drvSC800debug=4
# Aerotech Ensemble digital servo controller Setup
# (1) maximum number of controllers in system
iocBoot/iocWithAsyn/st.cmd.unix
-12
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@@ -117,18 +117,6 @@ asynSetOption("L0", -1, "crtscts", "N")
#!MDriveConfig(0, "L0")
#!var drvMDrivedebug 4
# Kohzu SC-800 motor controller setup parameters:
# (1) maximum number of controllers in system
# (2) motor task polling rate (min=1Hz,max=60Hz)
#!SC800Setup(1, 5)
# Kohzu SC-800 motor controller configuration parameters:
# (1) controller# being configured
# (2) ASYN port name
# (3) address (GPIB only)
#!SC800Config(0, "L0", 0)
#!var drvSC800debug 4
# Aerotech Ensemble digital servo controller Setup
# (1) maximum number of controllers in system
modules/Makefile
+1
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@@ -12,6 +12,7 @@ SUBMODULES += motorFaulhaber
ifdef IPAC
SUBMODULES += motorHytec
endif
SUBMODULES += motorKohzu
# Allow sites to add extra submodules
-include Makefile.local
modules/motorKohzu
Submodule
+1
Submodule modules/motorKohzu added at 79a0874902
motorApp/KohzuSrc/Makefile
-19
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@@ -1,19 +0,0 @@
# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
#!USR_CXXFLAGS += -DDEBUG
DBD += devKohzuMotor.dbd
LIBRARY_IOC = KohzuMotor
# Khozu SC-800 motor controller.
SRCS += devSC800.cc drvSC800.cc
KohzuMotor_LIBS += motor asyn
KohzuMotor_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/KohzuSrc/README
-17
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@@ -1,17 +0,0 @@
EPICS motor record device driver README file
==============================================================================
SC-800 SC-800 SC-800 SC-800
==============================================================================
Known problems:
- The Stop command (STP) does not respond until the axis is completely stopped.
From the SC-800 Operation Manual; "Response is transmitted at the time when
the axis completely stops." This results in "recv_mess(): TIMEOUT" error
messages if the deceleration time is near the communication timeout (3 sec.).
- With the motor record base speed (VBAS field) set to zero, the controller
takes approximately 5-6 seconds to finish even a small move.
- The home search can only be started in the positive direction.
motorApp/KohzuSrc/devKohzuMotor.dbd
-7
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@@ -1,7 +0,0 @@
# Kohzu motor controller support.
# SC-800 support
device(motor,VME_IO, devSC800, "SC-800")
driver(drvSC800)
registrar(SC800Register)
variable(drvSC800debug)
motorApp/KohzuSrc/devSC800.cc
-364
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@@ -1,364 +0,0 @@
/*
FILENAME... devSC800.cc
USAGE... Motor record device level support for Kohzu SC800 motor controller.
*/
/*
* Original Author: Ron Sluiter
* Date: 11/08/2007
*
* 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 11-08-07 rls copied from devMDT695.cc
*/
#include <string.h>
#include <math.h>
#include <stdlib.h>
#include <errlog.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvSC800.h"
#include "epicsExport.h"
extern struct driver_table SC800_access;
/* ----------------Create the dsets for devSC800----------------- */
static struct driver_table *drvtabptr;
static long SC800_init(int);
static long SC800_init_record(void *);
static long SC800_start_trans(struct motorRecord *);
static RTN_STATUS SC800_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS SC800_end_trans(struct motorRecord *);
static RTN_STATUS write_parms(char *, int, struct SC800Controller *,
struct mess_node *, motor_cmnd,
struct motorRecord *);
struct motor_dset devSC800 =
{
{8, NULL, (DEVSUPFUN) SC800_init, (DEVSUPFUN) SC800_init_record, NULL},
motor_update_values,
SC800_start_trans,
SC800_build_trans,
SC800_end_trans
};
extern "C" {epicsExportAddress(dset,devSC800);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types SC800_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 */
IMMEDIATE /* SET_RESOLUTION */
};
static struct board_stat **SC800_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for SC800 stepper motor */
static long SC800_init(int after)
{
long rtnval;
if (!after)
{
drvtabptr = &SC800_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &SC800_cards);
return(rtnval);
}
/* initialize a record instance */
static long SC800_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, SC800_cards));
}
/* start building a transaction */
static long SC800_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
static RTN_STATUS SC800_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS SC800_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 mess_info *motor_info;
struct SC800Controller *cntrl;
char buff[110], polarity, *pbuff;
int signal, card, intval, axis;
double dval, cntrl_units;
unsigned int size;
RTN_STATUS rtnval;
bool send;
send = true; /* Default to send motor command. */
rtnval = OK;
pbuff = &buff[0];
*pbuff = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
dval = (parms == NULL) ? 0 : *parms;
motor_start_trans_com(mr, SC800_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
signal = motor_call->signal;
axis = signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct SC800Controller *) brdptr->DevicePrivate;
cntrl_units = dval;
if (SC800_table[command] > motor_call->type)
motor_call->type = SC800_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);
strcat(motor_call->message, SC800_OUT_EOS);
}
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, SC800_OUT_EOS);
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_REL:
if (cntrl->slew_speed[signal] == NINT(mr->bvel / fabs(mr->mres)))
cntrl->accl_rate[signal] = NINT(mr->bacc * 100.0); /* Backlash accel. rate. */
else
cntrl->accl_rate[signal] = NINT(mr->accl * 100.0); /* Slew accel. rate. */
rtnval = write_parms(pbuff, signal, cntrl, motor_call, command, mr);
sprintf(buff, "RPS%d/2/1/0/%d/0/0/1", axis, intval);
break;
case MOVE_ABS:
if (cntrl->slew_speed[signal] == NINT(mr->bvel / fabs(mr->mres)))
cntrl->accl_rate[signal] = NINT(mr->bacc * 100.0); /* Backlash accel. rate. */
else
cntrl->accl_rate[signal] = NINT(mr->accl * 100.0); /* Slew accel. rate. */
rtnval = write_parms(pbuff, signal, cntrl, motor_call, command, mr);
sprintf(buff, "APS%d/2/0/0/%d/0/0/1", axis, intval);
break;
case HOME_FOR:
case HOME_REV:
rtnval = write_parms(pbuff, signal, cntrl, motor_call, command, mr);
sprintf(buff, "ORG%d/2/0/0/3/1", axis);
break;
case LOAD_POS:
sprintf(buff, "WRP%d/%d", axis, intval);
break;
case SET_VEL_BASE:
if (intval < 1) /* Validity check. */
intval = 1;
else if (intval > 4095500)
intval = 4095500;
cntrl->base_speed[signal] = intval; /* Save for later. */
send = false;
break;
case SET_VELOCITY:
if (intval < 1) /* Validity check. */
intval = 1;
else if (intval > 4095500)
intval = 4095500;
cntrl->slew_speed[signal] = intval; /* Save for later. */
send = false;
break;
case SET_ACCEL:
cntrl->accl_rate[signal] = intval;
send = false;
break;
case GO:
send = false;
break;
case GET_INFO:
break;
case STOP_AXIS:
sprintf(buff, "STP%d/0", axis);
break;
case JOG:
polarity = (intval > 0) ? '1' : '0';
intval = abs(intval);
if (intval < 1) /* Validity check. */
intval = 1;
else if (intval > 4095500)
intval = 4095500;
cntrl->slew_speed[signal] = intval;
if (cntrl->base_speed[signal] > cntrl->slew_speed[signal])
cntrl->base_speed[signal] = cntrl->slew_speed[signal];
/* Calculate Jog accel/decel time. */
cntrl->accl_rate[signal] = NINT(((mr->jvel - mr->vbas) / mr->jar) * 100.0);
rtnval = write_parms(pbuff, signal, cntrl, motor_call, command, mr);
sprintf(buff, "FRP%d/2/0/0/%c/1", axis, polarity);
break;
case ENABLE_TORQUE:
sprintf(buff, "COF%d/0", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "COF%d/1", axis);
break;
case JOG_VELOCITY:
case SET_ENC_RATIO:
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
case SET_RESOLUTION:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = false;
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
default:
send = false;
rtnval = ERROR;
}
size = strlen(buff);
if (send == false)
return(rtnval);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("SC800_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
static RTN_STATUS write_parms(char *buff, int signal,
struct SC800Controller *cntrl,
struct mess_node *motor_call, motor_cmnd command,
struct motorRecord *mr)
{
RTN_STATUS rtnval;
int axis = signal + 1;
sprintf(buff, "ASI%d/%d/%d/%d/%d/0/0/0/0/0/0/0/0/0", axis,
cntrl->base_speed[signal], cntrl->slew_speed[signal],
cntrl->accl_rate[signal], cntrl->accl_rate[signal]);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, SC800_cards);
motor_call->type = SC800_table[command];
return(rtnval);
}
motorApp/KohzuSrc/drvSC800.cc
-679
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@@ -1,679 +0,0 @@
/*
FILENAME... drvSC800.cc
USAGE... Motor record driver level support for Kohzu SC800
*/
/*
* Original Author: Ron Sluiter
* Date: 11/09/2007
*
* 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 11-09-07 rls copied from drvMDT695.cc
* .02 09-22-09 rls Added support for SC200/400
*
*/
#include <string.h>
#include <ctype.h> /* isascii functions */
#include <math.h>
#include <stdio.h>
#include <epicsThread.h>
#include <drvSup.h>
#include <iocsh.h>
#include <errlog.h>
#include <stdlib.h>
#include "motor.h"
#include "motorRecord.h"
#include "drvSC800.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define STX '\002'
#define GET_IDENT "IDN"
#define SC800_NUM_CARDS 16
#define BUFF_SIZE 120 /* Maximum length of string to/from SC800 */
#define TIMEOUT 3.0 /* Command timeout in sec. */
/* Delay after START_MOTION before a status update is possible */
#define MOTION_DELAY 0.1
/*----------------debugging-----------------*/
volatile int drvSC800debug = 0;
extern "C" {epicsExportAddress(int, drvSC800debug);}
static inline void Debug(int level, const char *format, ...) {
#ifdef DEBUG
if (level < drvSC800debug) {
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
}
#endif
}
/* --- Local data. --- */
int SC800_num_cards = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvSC800ReadbackDelay = 0.;
/*----------------functions-----------------*/
static int recv_mess(int card, char *com, int flag);
static RTN_STATUS send_mess(int card, char const *, char *name);
static int set_status(int card, int signal);
static long report(int level);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table SC800_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,
NULL
};
struct drvSC800_drvet
{
long number;
long (*report) (int);
long (*init) (void);
} drvSC800 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvSC800);}
static struct thread_args targs = {SCAN_RATE, &SC800_access, MOTION_DELAY};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (SC800_num_cards <=0)
printf(" No SC800 controllers configured.\n");
else
{
for (card = 0; card < SC800_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" SC800 controller %d connection failed.\n", card);
else
{
struct SC800Controller *cntrl;
cntrl = (struct SC800Controller *) brdptr->DevicePrivate;
printf(" SC800 controller %d, port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
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 (SC800_num_cards <= 0)
{
Debug(1, "init(): SC800 driver disabled. SC800Setup() missing from startup script.\n");
}
return((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
static int set_status(int card, int signal)
{
struct SC800Controller *cntrl;
struct mess_node *nodeptr;
struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
int rtn_state, charcnt, convert_cnt;
epicsInt32 motorData;
bool plusdir, ls_active = false, plusLS, minusLS;
msta_field status;
int str_axis, str_move, str_norg, str_orgg, str_cwlm, str_ccwl;
int str_swng, str_errr;
cntrl = (struct SC800Controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
if (cntrl->status != NORMAL)
charcnt = recv_mess(card, buff, FLUSH);
sprintf(buff,"STR1/%d",(signal + 1));
send_mess(card, buff, (char*) NULL); /* Tell Status */
charcnt = recv_mess(card, buff, 1);
convert_cnt = sscanf(buff, "C\tSTR%d\t1\t%d\t%d\t%d\t%d\t%d\t%d\t%d",
&str_axis, &str_move, &str_norg, &str_orgg,
&str_cwlm, &str_ccwl, &str_swng, &str_errr);
if (charcnt > 0 && convert_cnt == 8)
{
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;
}
}
status.Bits.RA_DONE = (str_move == 0) ? 1 : 0;
plusLS = (str_cwlm == 1);
minusLS = (str_ccwl == 1);
/* Parse motor position */
sprintf(buff,"RDP%d/0", (signal + 1));
send_mess(card, buff, (char*) NULL); /* Tell Position */
recv_mess(card, buff, 1);
convert_cnt = sscanf(buff, "C\tRDP%d\t%d", &str_axis, &motorData);
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;
}
if (nodeptr != 0) /* If moving, set direction based on commanded positon. */
{
struct motorRecord *mr = (struct motorRecord *) nodeptr->mrecord;
status.Bits.RA_DIRECTION = mr->cdir;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* Torque enabled? */
sprintf(buff,"RSY%d/21", (signal + 1));
send_mess(card, buff, (char*) NULL); /* Tell Position */
recv_mess(card, buff, 1);
convert_cnt = sscanf(buff, "C\tRSY%d\t21\t%d", &str_axis, &str_move);
status.Bits.EA_POSITION = (str_move == 0) ? 1 : 0;
/* 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;
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 SC800 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct SC800Controller *cntrl;
char local_buff[MAX_MSG_SIZE];
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("drvSC800.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("drvSC800.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
local_buff[0] = (char) STX;
local_buff[1] = (char) NULL; /* Terminate local buffer. */
/* Make a local copy of the string. */
strcat(&local_buff[1], com);
Debug(2, "send_mess(): message = %s\n", &local_buff[1]);
cntrl = (struct SC800Controller *) motor_state[card]->DevicePrivate;
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
TIMEOUT, &nwrite);
return(OK);
}
/*
* FUNCTION... recv_mess(int card, char *com, int flag)
*
* INPUT ARGUMENTS...
* card - controller card # (0,1,...).
* *com - caller's response buffer.
* flag | FLUSH = this flag is ignored - the receive buffer is flushed
* on every write (see write_mess())
* LOGIC...
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
* NORMAL RETURN.
*/
static int recv_mess(int card, char *com, int flag)
{
struct SC800Controller *cntrl;
double timeout = 0.;
size_t nread = 0;
asynStatus status;
int eomReason;
int rtnVal;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct SC800Controller *) motor_state[card]->DevicePrivate;
timeout = TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if (nread > 0)
Debug(2, "recv_mess(): message = '%s'\n", com);
if (status != asynSuccess)
{
com[0] = '\0';
rtnVal = -1;
Debug(1, "recv_mess(): TIMEOUT \n");
}
else
rtnVal = (int)nread;
return(rtnVal);
}
/*****************************************************/
/* Setup system configuration */
/* SC800Setup() */
/*****************************************************/
RTN_STATUS
SC800Setup(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 > SC800_NUM_CARDS)
SC800_num_cards = SC800_NUM_CARDS;
else
SC800_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 SC800Config 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(SC800_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < SC800_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* SC800Config() */
/*****************************************************/
RTN_STATUS
SC800Config(int card, /* card being configured */
const char *name, /* asyn port name */
int address) /* asyn address (GPIB) */
{
struct SC800Controller *cntrl;
if (card < 0 || card >= SC800_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct SC800Controller));
cntrl = (struct SC800Controller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
cntrl->asyn_address = address;
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 SC800Controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int status;
int total_axis = 0;
asynStatus success_rtn;
int version;
char errbase[] = "\ndrvSC800.cc:motor_init() *** ";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (SC800_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < SC800_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct SC800Controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn != asynSuccess)
{
char format[] = "%s asyn connection error on port = %s, address = %d ***\n\n";
errlogPrintf(format, errbase, cntrl->asyn_port, cntrl->asyn_address);
epicsThreadSleep(5.0);
}
else
{
int retry = 0;
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
SC800_IN_EOS,strlen(SC800_IN_EOS));
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser,
SC800_OUT_EOS,strlen(SC800_OUT_EOS));
do
{
/* Read device type */
send_mess(card_index, GET_IDENT, NULL);
status = recv_mess(card_index, buff, 1);
if (status > 0)
{
int convert_800_cnt, convert_400_cnt, convert_200_cnt;
convert_800_cnt = sscanf(buff, "C\tIDN0\t800\t%d", &version);
convert_400_cnt = sscanf(buff, "C\tIDN0\t400\t%d", &version);
convert_200_cnt = sscanf(buff, "C\tIDN0\t200\t%d", &version);
if (convert_800_cnt == 1)
cntrl->model = SC800;
else if (convert_400_cnt == 1)
cntrl->model = SC400;
else if (convert_200_cnt == 1)
cntrl->model = SC200;
else
status = 0;
}
retry++;
} while (status == 0 && retry < 3);
}
if (success_rtn == asynSuccess && status > 0)
{
cntrl->status = NORMAL;
if (cntrl->model == SC800)
{
sprintf(brdptr->ident, "SC-800 Ver%d", version);
total_axis = 8;
}
else if (cntrl->model == SC400)
{
sprintf(brdptr->ident, "SC-400 Ver%d", version);
total_axis = 4;
}
else if (cntrl->model == SC200)
{
sprintf(brdptr->ident, "SC-200 Ver%d", version);
total_axis = 2;
}
brdptr->total_axis = total_axis;
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->motor_motion = NULL;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
/* NO Encoder support - internal closed loop controller */
motor_info->encoder_present = NO;
motor_info->status.Bits.EA_PRESENT = 0;
motor_info->pid_present = NO;
motor_info->status.Bits.GAIN_SUPPORT = 1;
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 *) "SC800_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadCreate((char *) "SC800_motor",
epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
extern "C"
{
// Setup arguments
static const iocshArg setupArg0 = {"Maximum # of cards", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate (HZ)", iocshArgInt};
// 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 SetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg *const ConfigArgs[3] = {&configArg0, &configArg1, &configArg2};
static const iocshFuncDef setupSC800 = {"SC800Setup", 2, SetupArgs};
static const iocshFuncDef configSC800 = {"SC800Config", 3, ConfigArgs};
static void setupSC800CallFunc(const iocshArgBuf *args)
{
SC800Setup(args[0].ival, args[1].ival);
}
static void configSC800CallFunc (const iocshArgBuf *args)
{
SC800Config(args[0].ival, args[1].sval, args[2].ival);
}
static void SC800Register(void)
{
iocshRegister(&setupSC800, setupSC800CallFunc);
iocshRegister(&configSC800, configSC800CallFunc);
}
epicsExportRegistrar(SC800Register);
} // extern "C"
motorApp/KohzuSrc/drvSC800.h
-79
View File
@@ -1,79 +0,0 @@
/*
FILENAME... drvSC800.h
USAGE... This file contains Kohzu SC800 motorRecord driver information.
*/
/*
* Original Author: Ron Sluiter
* Current Author: Ron Sluiter
* Date: 11/08/07
*
* 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 11-08-07 rls copied from drvMDT695.h
* .02 09-22-09 rls Added support for SC200/400
*
*/
#ifndef INCdrvSC800h
#define INCdrvSC800h 1
#include "motor.h"
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#define SC800_MAX_MOTORS 8
#define SC800_MSG_SIZE 80
#define SC800_STATUS_RETRY 10
/* End-of-string defines */
#define SC800_OUT_EOS "\r\n" /* Command */
#define SC800_IN_EOS "\r\n" /* Reply */
enum SC_model
{
SC800,
SC400,
SC200
};
/* Motion Master specific data is stored in this structure. */
struct SC800Controller
{
asynUser *pasynUser; /* For RS-232 */
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
char recv_string[SC800_MSG_SIZE]; /* Position Query result strings */
CommStatus status; /* Controller communication status. */
int base_speed[SC800_MAX_MOTORS]; /* steps/sec. */
int slew_speed[SC800_MAX_MOTORS]; /* steps/sec. */
int accl_rate[SC800_MAX_MOTORS]; /* steps/(sec^2) */
SC_model model; /* SC model ID. */
};
#endif /* INCdrvSC800h */
motorApp/Makefile
-3
View File
@@ -60,9 +60,6 @@ SmartMotorSrc_DEPEND_DIRS = MotorSrc
DIRS += PiJenaSrc
PiJenaSrc_DEPEND_DIRS = MotorSrc
DIRS += KohzuSrc
KohzuSrc_DEPEND_DIRS = MotorSrc
DIRS += AerotechSrc
AerotechSrc_DEPEND_DIRS = MotorSrc
motorExApp/WithAsyn/Makefile
-2
View File
@@ -24,7 +24,6 @@ COMMONDBDS += devPIMotor.dbd
COMMONDBDS += devSoftMotor.dbd
COMMONDBDS += motorSimSupport.dbd
COMMONDBDS += devSmartMotorMotor.dbd
COMMONDBDS += devKohzuMotor.dbd
COMMONDBDS += devAerotech.dbd
COMMONDBDS += ACRMotorSupport.dbd
COMMONDBDS += asyn.dbd
@@ -75,7 +74,6 @@ COMMONLIBS += Ims
COMMONLIBS += softMotor
COMMONLIBS += motorSimSupport
COMMONLIBS += SmartMotor
COMMONLIBS += KohzuMotor
COMMONLIBS += ACRMotor
COMMONLIBS += PI_GCS2Support
COMMONLIBS += phytronAxisMotor