forked from epics_driver_modules/motorBase
Bug fixes copied from trunk. See motor_release.html for details.
This commit is contained in:
Ron Sluiter
@@ -12,6 +12,56 @@
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</head>
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<body>
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<div style="text-align: center">
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<h1><b>Motor Record Version 6-8-1 Release Notice</b></h1>
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</div>
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<div style="text-align: center">
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<h4>Modifications to Existing Features</h4>
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</div>
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<div style="text-align: left">
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<p><b>motor record</b></p>
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<p>
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Previous to this release, if an EPICS motor driver signaled a controller error
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by setting the RA_PROBLEM bit of the MSTA filed true, then the motor record
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assumed that the controller had stopped motor motion. In some cases this was not
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true. For example, if a Newport ESP300 controller's maximum velocity parameter
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is exceeded, the controller signals an error, but then continues jogging the
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motor at the maximum velocity parameter value.
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</p>
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<p>
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With this release, the motor record stops motion whenever RA_PROBLEM is set true.
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</p>
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<p><b>Newport ESP100/300/301</b></p>
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<p>
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The changes made to the Newport ESP100/300/301 driver in the previous release (R6-8)
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were rolled back. Since the motor record's data structure is not always
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available to driver level code, using MRES to scale the EGUtoRAWbacktoEGU
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conversion proved to be unworkable.
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</p>
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<p><b>OMS MAXv limit mode</b></p>
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<p>
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Since the default mode of the limit switches is "Off" on some OMS MAXv firmware
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versions after 1.30, during iocInit, if the limit mode is "Off" the driver will
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set the limit mode to "Hard".
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</p>
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<p><b>Micos MoCo</b></p>
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<p>
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Bug fix for protection against NULL *parms pointer from motor record.
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</p>
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<p><b>Mclennan PM304</b></p>
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<p>
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Bug fixes for both protection against NULL *parms pointer from motor record and
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incorrect epicsStrtok_r() argument.
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</p>
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</div>
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<p>
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</p>
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<div style="text-align: center">
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<h1>
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<b>Motor Record Version 6-8 Release Notice</b></h1>
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@@ -175,8 +175,9 @@ STATIC RTN_STATUS PM304_build_trans(motor_cmnd command, double *parms, struct mo
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rtnval = OK;
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buff[0] = '\0';
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dval = parms[0];
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ival = NINT(parms[0]);
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/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
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dval = (parms == NULL) ? 0.0 : *parms;
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ival = NINT(dval);
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motor_call = &(trans->motor_call);
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card = motor_call->card;
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@@ -356,6 +356,7 @@ STATIC RTN_STATUS send_mess(int card, const char *com, char *name)
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{
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char *p, *tok_save;
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char response[BUFF_SIZE];
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char temp[BUFF_SIZE];
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struct PM304controller *cntrl;
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size_t nwrite, nread;
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int eomReason;
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@@ -372,7 +373,8 @@ STATIC RTN_STATUS send_mess(int card, const char *com, char *name)
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/* Device support can send us multiple commands separated with ';'
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* characters. The PM304 cannot handle more than 1 command on a line
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* so send them separately */
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for (p = epicsStrtok_r((char *) com, ";", &tok_save);
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strcpy(temp, com);
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for (p = epicsStrtok_r(temp, ";", &tok_save);
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((p != NULL) && (strlen(p) != 0));
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p = epicsStrtok_r(NULL, ";", &tok_save)) {
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Debug(2, "send_mess: sending message to card %d, message=%s\n", card, p);
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@@ -487,7 +489,8 @@ STATIC int send_recv_mess(int card, const char *out, char *response)
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/* Device support can send us multiple commands separated with ';'
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* characters. The PM304 cannot handle more than 1 command on a line
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* so send them separately */
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for (p = epicsStrtok_r((char *) out, ";", &tok_save);
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strcpy(temp, out);
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for (p = epicsStrtok_r(temp, ";", &tok_save);
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((p != NULL) && (strlen(p) != 0));
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p = epicsStrtok_r(NULL, ";", &tok_save)) {
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Debug(2, "send_recv_mess: sending message to card %d, message=%s\n", card, p);
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@@ -157,7 +157,8 @@ static RTN_STATUS Micos_build_trans(motor_cmnd command, double *parms, struct mo
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rtnval = OK;
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buff[0] = '\0';
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dval = parms[0];
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/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
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dval = (parms == NULL) ? 0.0 : *parms;
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ival = NINT(parms[0]);
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rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
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@@ -173,9 +173,12 @@ HeadURL: $URL$
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* No need in process() to test MIP_MOVE type moves for soft-travel limits.
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* - Need "preferred_dir" for LVIO test. Moved LVIO test in do_work() to
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* after "preferred_dir" is set.
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* .69 05-19-14 rls - Set "stop" field true if driver returns RA_PROBLEM true. (Motor record
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* stops motion when controller signals error but does not stop motion; e.g.,
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* maximum velocity exceeded.)
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*/
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#define VERSION 6.8
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#define VERSION 6.81
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#include <stdlib.h>
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#include <string.h>
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@@ -3584,8 +3587,15 @@ static void
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if (ls_active == true || msta.Bits.RA_DONE || msta.Bits.RA_PROBLEM)
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{
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pmr->movn = 0;
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if (ls_active == true)
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if (ls_active == true || msta.Bits.RA_PROBLEM)
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{
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clear_buttons(pmr);
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if (msta.Bits.RA_PROBLEM)
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{
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pmr->stop = 1;
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MARK(M_STOP);
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}
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}
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}
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else
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pmr->movn = 1;
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@@ -18,14 +18,82 @@ Octal I/O manual is jumpered as follows; 1-5, 2-6, 9-13, 10-14.
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The correct jumpering for the ESP300 is; 1-5, 2-6, 9-13, 10-11, 15-16.
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Setting the motor resolution (MRES) field.
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------------------------------------------
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Setting the motor resolution (MRES) and Engineering Units fields to the
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SAME values as the controller's.
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-------------------------------------------------------------------------
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Set the MRES like any other motor; i.e., to the precision of the stage.
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(Prior to motor module R6.8, the driver used the controllers resolution
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to scale the EGUtoRAWbacktoEGU conversion done between motor record and
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device driver support. With R6.8 the driver uses the motor record's MRES
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to scale the conversion).
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For DC motors, set MRES to the ESP300's response to the SU? command.
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If there is no other mechanism (e.g., generic serial record, dumb terminal,
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etc.) to communicate to the ESP300, the response to the SU? command can be
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determined by following this procedure;
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1 - uncomment the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx
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file (This selects the diagnostic messages to be compiled).
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2 - "cd <motor>/motorApp/NewportSrc; gnumake clean; gnumake"; this re-compiles
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the device drivers with the diagnostic messages selected.
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3 - Rebuild your IOC; "cd <IOC>; gnumake".
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4 - Add "drvESP300debug = 4" to the IOC's st.cmd file before "iocInit".
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5 - Connect to the VxWorks shell and reboot the IOC.
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The VxWorks shell output should contain lines like the following;
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Starting iocInit
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send_mess(): message = VE?
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recv_mess(): message = "ESP300 Version 3.08 09/09/02"
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send_mess(): message = ZU
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recv_mess(): message = "0H"
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send_mess(): message = 01ST
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send_mess(): message = 02ST
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send_mess(): message = 03ST
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send_mess(): message = 01SN?
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recv_mess(): message = "2"
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send_mess(): message = 01SU?
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recv_mess(): message = "0.00003539317"
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send_mess(): message = 01MD
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recv_mess(): message = "1"
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send_mess(): message = 01TP
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recv_mess(): message = "0.00000"
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send_mess(): message = 01PH
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recv_mess(): message = "18000606H, 6H"
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send_mess(): message = 01MO?
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recv_mess(): message = "0"
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send_mess(): message = 01TE?
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recv_mess(): message = "0"
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send_mess(): message = 02SN?
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recv_mess(): message = "2"
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send_mess(): message = 02SU?
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recv_mess(): message = "0.00009765625"
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+++++++++++++++++++++++++++++++++++++++++++++++++++++++++++
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Note the response to the SU? and SN? commands and set MRES to that value.
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All three supported controllers (ESP100/300/301) have the same response
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to the SN? command; 0 to 10 where
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0 = encoder count 6 = micro-inches
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1 = motor step 7 = degree
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2 = millimeter 8 = gradian
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3 = micrometer 9 = radian
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4 = inches 10 = milliradian
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5 = milli-inches 11 = microradian
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5 - Set the motor record's EGU field to "mm" (based on SN-2) and the MRES field
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to 3.539317E-5 (based on SU = 0.00003539317).
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6 - Turn off diagnostic messages. Either set drvESP300debug = 0 in the st.cmd
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file (there is a very small amount of CPU overhead associated with leaving
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the diagnostic messages loaded), or go to step #1, and reverse the steps;
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comment out the "USR_CFLAGS += -DDEBUG" line in the NewportSrc/Makefile.Vx,
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etc., etc.,
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Setting the motor record's Engineering Units field (EGU) to a value DIFFERENT
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from the controller's EGU.
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-------------------------------------------------------------------------------
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In the above example the controller returned SU = "0.00003539317" and SN = "2"
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for axis #1. If the user prefers the motor record EGU to be in inches rather
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than millimeters, then set EGU = "inch" and,
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MRES = (3.539317E-5 mm / 1 encoder tick) X (1 inch / 25.4 mm)
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= 1.39343189E-6 inch / 1 encoder tick
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Newport ESP100
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==============
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@@ -2,9 +2,10 @@
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FILENAME... devESP300.cc
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USAGE... Motor record device level support for Newport ESP300.
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Version: $Revision: 1.4 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2008-03-14 20:17:14 $
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Version: $Revision$
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Modified By: $Author$
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Last Modified: $Date$
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HeadURL: $URL$
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*/
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/*
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@@ -37,7 +38,6 @@ Last Modified: $Date: 2008-03-14 20:17:14 $
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* -----------------
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* .01 05-23-03 rls Converted to R3.14.x.
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* .02 10-28-03 rls User must set MRES to drive resolution.
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* .03 13-22-02 rls Use MRES rather than drive resolution.
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*/
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#include <string.h>
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@@ -188,7 +188,7 @@ static RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct m
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return(rtnval = ERROR);
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cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
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cntrl_units = dval * mr->mres;
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cntrl_units = dval * cntrl->drive_resolution[axis - 1];
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if (ESP300_table[command] > motor_call->type)
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motor_call->type = ESP300_table[command];
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@@ -53,14 +53,13 @@ HeadURL: $URL$
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* extern "C" linkage.
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* .09 08/07/06 rls - GPIB under ASYN only allows 1 input EOS character.
|
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* No output EOS. Adjustments accordingly.
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* .10 02/22/13 rls - Scrap driver resolution, use MRES.
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* .10 05/19/14 rls - Print controller's error code and set RA_PROBLEM.
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*/
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||||
|
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|
||||
#include <string.h>
|
||||
#include <epicsThread.h>
|
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#include <drvSup.h>
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#include "motorRecord.h"
|
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#include "motor.h"
|
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#include "NewportRegister.h"
|
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#include "drvMMCom.h"
|
||||
@@ -216,23 +215,15 @@ static int set_status(int card, int signal)
|
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/* Message parsing variables */
|
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char *cptr, *tok_save;
|
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char inbuff[BUFF_SIZE], outbuff[BUFF_SIZE];
|
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int rtn_state, charcnt;
|
||||
int rtn_state, charcnt, errcode;
|
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long mstatus;
|
||||
double motorData, MRES;
|
||||
double motorData;
|
||||
bool power, plusdir, ls_active = false;
|
||||
msta_field status;
|
||||
struct motorRecord *mr;
|
||||
|
||||
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
|
||||
motor_info = &(motor_state[card]->motor_info[signal]);
|
||||
nodeptr = motor_info->motor_motion;
|
||||
if (nodeptr != NULL)
|
||||
{
|
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mr = (struct motorRecord *) nodeptr->mrecord;
|
||||
MRES = mr->mres;
|
||||
}
|
||||
else
|
||||
MRES = 1.0;
|
||||
|
||||
status.All = motor_info->status.All;
|
||||
|
||||
@@ -270,7 +261,7 @@ static int set_status(int card, int signal)
|
||||
send_mess(card, outbuff, (char) NULL);
|
||||
charcnt = recv_mess(card, inbuff, 1);
|
||||
|
||||
motorData = atof(inbuff) / MRES;
|
||||
motorData = atof(inbuff) / cntrl->drive_resolution[signal];
|
||||
|
||||
if (motorData == motor_info->position)
|
||||
{
|
||||
@@ -340,7 +331,19 @@ static int set_status(int card, int signal)
|
||||
status.Bits.EA_SLIP = 0;
|
||||
status.Bits.EA_SLIP_STALL = 0;
|
||||
status.Bits.EA_HOME = 0;
|
||||
status.Bits.RA_PROBLEM = 0;
|
||||
|
||||
/* Get error code. */
|
||||
sprintf(outbuff, "%.2dTE?", signal + 1);
|
||||
send_mess(card, outbuff, (char) NULL);
|
||||
charcnt = recv_mess(card, inbuff, 1);
|
||||
errcode = atoi(inbuff);
|
||||
if (errcode != 0)
|
||||
{
|
||||
status.Bits.RA_PROBLEM = 1;
|
||||
printf("ESP300 controller error = %d.\n", errcode);
|
||||
}
|
||||
else
|
||||
status.Bits.RA_PROBLEM = 0;
|
||||
|
||||
/* Parse motor velocity? */
|
||||
/* NEEDS WORK */
|
||||
@@ -675,6 +678,17 @@ errexit:
|
||||
{
|
||||
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
|
||||
|
||||
/* Get controller's EGU for the user (see README). */
|
||||
sprintf(buff, "%.2dSN?", motor_index + 1);
|
||||
send_mess(card_index, buff, 0);
|
||||
recv_mess(card_index, buff, 1);
|
||||
|
||||
/* Set axis resolution. */
|
||||
sprintf(buff, "%.2dSU?", motor_index + 1);
|
||||
send_mess(card_index, buff, 0);
|
||||
recv_mess(card_index, buff, 1);
|
||||
cntrl->drive_resolution[motor_index] = atof(&buff[0]);
|
||||
|
||||
motor_info->status.All = 0;
|
||||
motor_info->no_motion_count = 0;
|
||||
motor_info->encoder_position = 0;
|
||||
|
||||
@@ -208,7 +208,7 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
|
||||
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
|
||||
struct mess_node *motor_call;
|
||||
struct controller *brdptr;
|
||||
struct MAXvController *MAXvCntrl;
|
||||
struct MAXvController *MAXvCntrl = NULL;
|
||||
char buffer[40];
|
||||
msg_types cmnd_type;
|
||||
RTN_STATUS rtnind;
|
||||
@@ -230,7 +230,8 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
|
||||
if (trans->state != BUILD_STATE)
|
||||
return(rtnind = ERROR);
|
||||
|
||||
brdptr = (*trans->tabptr->card_array)[card];
|
||||
if ((brdptr = (*trans->tabptr->card_array)[card]) == NULL) /* Test for disabled board. */
|
||||
return(rtnind = ERROR);
|
||||
|
||||
if (strncmp(brdptr->ident, "MAXv", 4) == 0)
|
||||
{
|
||||
@@ -284,8 +285,8 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
|
||||
else
|
||||
strcpy(buffer, mr->init);
|
||||
|
||||
strcat(motor_call->message, " ");
|
||||
strcat(motor_call->message, buffer);
|
||||
strcat(motor_call->message, ";");
|
||||
}
|
||||
else
|
||||
{
|
||||
@@ -451,9 +452,9 @@ errorexit: errMessage(-1, "Invalid device directive");
|
||||
case SET_IGAIN:
|
||||
case SET_DGAIN:
|
||||
if (MAXv == true)
|
||||
sprintf(buffer, "%.1f", (parms[itera] * 32767.0));
|
||||
sprintf(buffer, "%.1f;", (parms[itera] * 32767.0));
|
||||
else
|
||||
sprintf(buffer, "%.1f", (parms[itera] * 1999.9));
|
||||
sprintf(buffer, "%.1f;", (parms[itera] * 1999.9));
|
||||
break;
|
||||
|
||||
case SET_VELOCITY: /* OMS errors if VB = VL. */
|
||||
@@ -518,7 +519,7 @@ errorexit: errMessage(-1, "Invalid device directive");
|
||||
break;
|
||||
|
||||
case LOAD_POS:
|
||||
if ((MAXv == true) && (MAXvCntrl->typeID[signal] != PSO))
|
||||
if ((MAXv == true) && (MAXvCntrl != NULL) && (MAXvCntrl->typeID[signal] != PSO) && (MAXvCntrl->fwver > 1.29))
|
||||
{
|
||||
long int ref = NINT(parms[0]);
|
||||
long int fdbk = ref;
|
||||
|
||||
+58
-40
@@ -36,13 +36,17 @@ HeadURL: $URL$
|
||||
*
|
||||
* NOTES
|
||||
* -----
|
||||
* Verified with firmware:
|
||||
* - MAXv ver:1.25
|
||||
* - MAXv ver:1.29 (has ECO #1432; fixes initialization problem).
|
||||
* - MAXv ver:1.31 (fixes DPRAM encoder position data problem when using
|
||||
* mixed motor types.)
|
||||
* - MAXv ver:1.33, FPGA:B2:A6 BOOT:1.2 (Watchdog Timeout Counter added)
|
||||
* - MAXv ver:1.34, FPGA:03:A6 BOOT:1.3
|
||||
* Verified with MAXv firmware:
|
||||
* - ver:1.25
|
||||
* - ver:1.29 (has ECO #1432; fixes initialization problem).
|
||||
* - ver:1.31 (fixes DPRAM encoder position data problem when using
|
||||
* mixed motor types.)
|
||||
* - ver:1.33, FPGA:B2:A6 BOOT:1.2 (Watchdog Timeout Counter added)
|
||||
* - ver:1.34, FPGA:03:A6 BOOT:1.3
|
||||
* - ver:1.41 & 1.42, suffers from having limit switches disabled at
|
||||
* power-up.
|
||||
* - ver:1.44, No known problems.
|
||||
* - ver:1.45, limit switches are disabled by default.
|
||||
*
|
||||
* Modification Log:
|
||||
* -----------------
|
||||
@@ -94,7 +98,8 @@ HeadURL: $URL$
|
||||
* motor record to store motor type. Motor type used in
|
||||
* device support (devOmsCom.cc) to allow MRES and ERES with
|
||||
* different polarity (signs).
|
||||
*
|
||||
* 24 02-24-14 rls - After the initialization string is read, if limit mode is
|
||||
* "Off", set it to "Hard".
|
||||
*/
|
||||
|
||||
#include <string.h>
|
||||
@@ -171,6 +176,8 @@ static char *MAXv_axis[] = {"X", "Y", "Z", "T", "U", "V", "R", "S"};
|
||||
static double quantum;
|
||||
static char **initstring = 0;
|
||||
static epicsUInt32 MAXv_brd_size; /* card address boundary */
|
||||
static char cmndbuf[MAX_MSG_SIZE]; /* Command buffer used by send_mess() and
|
||||
* motorIsr if there is a "command error"*/
|
||||
|
||||
/* First 8-bits [0..7] used to indicate absolute or */
|
||||
/* incremental position registers to be read */
|
||||
@@ -265,11 +272,6 @@ extern "C" {epicsExportAddress(drvet, drvMAXv);}
|
||||
|
||||
static struct thread_args targs = {SCAN_RATE, &MAXv_access, 0.000};
|
||||
|
||||
static struct MAXvbrdinfo /* MAXv board info. */
|
||||
{
|
||||
float fwver[MAXv_NUM_CARDS]; /* firmware version */
|
||||
} MAXvdata;
|
||||
|
||||
static char wdctrmsg[] = "\n***MAXv card #%d Disabled*** Watchdog Timeout CTR %s\n\n";
|
||||
static char norunmsg[] = "\n*** MAXv card #%d is NOT running *** status = 0x%x\n";
|
||||
|
||||
@@ -368,6 +370,9 @@ static int set_status(int card, int signal)
|
||||
char *p, *tok_save;
|
||||
struct axis_status *ax_stat;
|
||||
struct encoder_status *en_stat;
|
||||
struct controller *brdptr;
|
||||
struct MAXvController *MAXvCntrl;
|
||||
|
||||
char q_buf[MAX_IDENT_LEN], outbuf[50];
|
||||
int index;
|
||||
bool ls_active = false;
|
||||
@@ -383,7 +388,11 @@ static int set_status(int card, int signal)
|
||||
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
|
||||
status.All = motor_info->status.All;
|
||||
|
||||
if (MAXvdata.fwver[card] >= 1.33)
|
||||
if ((brdptr = motor_state[card]) == NULL) /* Test for board disabled. */
|
||||
return(rtn_state = 1); /* End move. */
|
||||
|
||||
MAXvCntrl = (struct MAXvController *) brdptr->DevicePrivate;
|
||||
if (MAXvCntrl->fwver >= 1.33)
|
||||
{
|
||||
send_recv_mess(card, "#WS", (char) NULL, q_buf, 1);
|
||||
if (strcmp(q_buf, "=0") != 0)
|
||||
@@ -609,7 +618,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
{
|
||||
volatile struct MAXv_motor *pmotor;
|
||||
epicsInt16 putIndex;
|
||||
char outbuf[MAX_MSG_SIZE], *p;
|
||||
char *pcmndbuf;
|
||||
RTN_STATUS return_code;
|
||||
int count;
|
||||
|
||||
@@ -642,31 +651,31 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
if (pmotor->inGetIndex != pmotor->inPutIndex)
|
||||
{
|
||||
Debug(1, "send_mess - clearing data in buffer\n");
|
||||
recv_mess(card, outbuf, FLUSH);
|
||||
recv_mess(card, cmndbuf, FLUSH);
|
||||
}
|
||||
|
||||
|
||||
if (name == NULL)
|
||||
strcpy(outbuf, com);
|
||||
strcpy(cmndbuf, com);
|
||||
else
|
||||
{
|
||||
strcpy(outbuf, "A");
|
||||
strcat(outbuf, name);
|
||||
strcat(outbuf, " ");
|
||||
strcat(outbuf, com);
|
||||
strcpy(cmndbuf, "A");
|
||||
strcat(cmndbuf, name);
|
||||
strcat(cmndbuf, " ");
|
||||
strcat(cmndbuf, com);
|
||||
}
|
||||
|
||||
Debug(9, "send_mess: ready to send message.\n");
|
||||
putIndex = pmotor->outPutIndex;
|
||||
for (p = outbuf; *p != '\0'; p++)
|
||||
for (pcmndbuf = cmndbuf; *pcmndbuf != '\0'; pcmndbuf++)
|
||||
{
|
||||
pmotor->outBuffer[putIndex++] = *p;
|
||||
pmotor->outBuffer[putIndex++] = *pcmndbuf;
|
||||
if (putIndex >= BUFFER_SIZE)
|
||||
putIndex = 0;
|
||||
}
|
||||
|
||||
Debug(4, "send_mess: sent card %d message:", card);
|
||||
Debug(4, "%s\n", outbuf);
|
||||
Debug(4, "%s\n", cmndbuf);
|
||||
|
||||
pmotor->outPutIndex = putIndex; /* Message Sent */
|
||||
|
||||
@@ -1008,7 +1017,7 @@ MAXvSetup(int num_cards, /* maximum number of cards in rack */
|
||||
|
||||
RTN_VALUES MAXvConfig(int card, /* number of card being configured */
|
||||
const char *initstr, /* configuration string */
|
||||
int config) /* initialization configuration */
|
||||
int AbsConfig) /* absolute encoder configuration */
|
||||
{
|
||||
if (card < 0 || card >= MAXv_num_cards)
|
||||
{
|
||||
@@ -1026,9 +1035,9 @@ RTN_VALUES MAXvConfig(int card, /* number of card being configur
|
||||
}
|
||||
strcpy(initstring[card], initstr);
|
||||
|
||||
/* get the configuation flags */
|
||||
configurationFlags[card] = config;
|
||||
|
||||
/* Save absolute encoder and grey code configuation flags */
|
||||
configurationFlags[card] = AbsConfig;
|
||||
|
||||
return(OK);
|
||||
}
|
||||
|
||||
@@ -1042,13 +1051,13 @@ static void motorIsr(int card)
|
||||
volatile struct controller *pmotorState;
|
||||
volatile struct MAXv_motor *pmotor;
|
||||
STATUS1 status1_flag;
|
||||
static char errmsg1[] = "\ndrvMAXv.cc:motorIsr: Invalid entry - card xx\n";
|
||||
static char errmsg2[] = "\ndrvMAXv.cc:motorIsr: command error - card xx\n";
|
||||
static char errmsg1[] = "drvMAXv.cc:motorIsr: ***Invalid entry*** - card xx\n";
|
||||
static char errmsg2[] = "drvMAXv.cc:motorIsr: ***Command Error*** - card xx\n";
|
||||
|
||||
if (card >= total_cards || (pmotorState = motor_state[card]) == NULL)
|
||||
{
|
||||
errmsg1[46-2] = '0' + card%10;
|
||||
errmsg1[46-3] = '0' + (card/10)%10;
|
||||
errmsg1[51-2] = '0' + card%10;
|
||||
errmsg1[51-3] = '0' + (card/10)%10;
|
||||
epicsInterruptContextMessage(errmsg1);
|
||||
return;
|
||||
}
|
||||
@@ -1062,9 +1071,11 @@ static void motorIsr(int card)
|
||||
|
||||
if (status1_flag.Bits.cmndError)
|
||||
{
|
||||
errmsg2[46-2] = '0' + card%10;
|
||||
errmsg2[46-3] = '0' + (card/10)%10;
|
||||
errmsg2[51-2] = '0' + card%10;
|
||||
errmsg2[51-3] = '0' + (card/10)%10;
|
||||
epicsInterruptContextMessage(errmsg2);
|
||||
strcat(cmndbuf,"\n\n");
|
||||
epicsInterruptContextMessage(cmndbuf);
|
||||
}
|
||||
|
||||
if (status1_flag.Bits.text_response != 0) /* Don't clear this. */
|
||||
@@ -1240,13 +1251,13 @@ static int motor_init()
|
||||
send_recv_mess(card_index, GET_IDENT, (char) NULL, (char *) pmotorState->ident, 1);
|
||||
Debug(3, "Identification = %s\n", pmotorState->ident);
|
||||
|
||||
/* Save firmware version to static float array. */
|
||||
/* Save firmware version. */
|
||||
pos_ptr = strchr((char *)pmotorState->ident, ':');
|
||||
sscanf(++pos_ptr, "%f", &MAXvdata.fwver[card_index]);
|
||||
sscanf(++pos_ptr, "%f", &pvtdata->fwver);
|
||||
|
||||
wdtrip = false;
|
||||
|
||||
if (MAXvdata.fwver[card_index] >= 1.33)
|
||||
if (pvtdata->fwver >= 1.33)
|
||||
{
|
||||
send_recv_mess(card_index, "#WS", (char) NULL, axis_pos, 1);
|
||||
if (strcmp(axis_pos, "=0") != 0)
|
||||
@@ -1323,6 +1334,13 @@ static int motor_init()
|
||||
pvtdata->typeID[motor_index] = PSE;
|
||||
else
|
||||
pvtdata->typeID[motor_index] = PSO;
|
||||
|
||||
if (pvtdata->fwver >= 1.30)
|
||||
{
|
||||
send_recv_mess(card_index, "LM?", MAXv_axis[motor_index], axis_pos, 1);
|
||||
if (strcmp(axis_pos, "=f") == 0) /* If limit mode is set to "Off". */
|
||||
send_mess(card_index, "LMH", MAXv_axis[motor_index]); /* Set limit mode to "Hard". */
|
||||
}
|
||||
}
|
||||
|
||||
/* Enable interrupt-when-done if selected */
|
||||
@@ -1410,11 +1428,11 @@ extern "C"
|
||||
static const iocshArg setupArg2 = {"Base Address on 4K (0x1000) boundary", iocshArgInt};
|
||||
static const iocshArg setupArg3 = {"noninterrupting(0), valid vectors(64-255)", iocshArgInt};
|
||||
static const iocshArg setupArg4 = {"interrupt level (1-6)", iocshArgInt};
|
||||
static const iocshArg setupArg5 = {"polling rate - 1/60 sec units", iocshArgInt};
|
||||
static const iocshArg setupArg5 = {"polling rate (Hz)", iocshArgInt};
|
||||
// Oms Config arguments
|
||||
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
|
||||
static const iocshArg configArg0 = {"Card # being configured", iocshArgInt};
|
||||
static const iocshArg configArg1 = {"configuration string", iocshArgString};
|
||||
static const iocshArg configArg2 = {"configuration flags", };
|
||||
static const iocshArg configArg2 = {"absolute encoder flags (0/1 - incremental/absolute, 0x07 -> ZYX)", iocshArgInt};
|
||||
|
||||
static const iocshArg * const OmsSetupArgs[6] = {&setupArg0, &setupArg1,
|
||||
&setupArg2, &setupArg3, &setupArg4, &setupArg5};
|
||||
|
||||
@@ -65,6 +65,7 @@ enum MotorTypes {PSO, // Stepper; w/o encoder
|
||||
struct MAXvController
|
||||
{
|
||||
MotorTypes typeID[8];
|
||||
float fwver; /* firmware version */
|
||||
epicsMutexId message_mutex;
|
||||
};
|
||||
|
||||
|
||||
@@ -82,6 +82,8 @@ HeadURL: $URL$
|
||||
* .17 07-26-12 rls - Added reboot flag to IRQ control register. Driver
|
||||
* sets IRQ_RESET_ID bit on; set_status() and send_mess()
|
||||
* read IRQ register and disable board if flag is off.
|
||||
* .18 11-15-03 rls - Added bus flushing read on exit from ISR to prevent
|
||||
* "out of order transactions".
|
||||
*/
|
||||
|
||||
/*========================stepper motor driver ========================
|
||||
@@ -900,8 +902,8 @@ static void motorIsr(int card)
|
||||
}
|
||||
irqdata->recv_sem->signal();
|
||||
}
|
||||
/* Update-interrupt state */
|
||||
pmotor->control = control;
|
||||
pmotor->control = control; /* Update-interrupt state. */
|
||||
control = pmotor->control; /* Read it back to flush last write cycle. */
|
||||
}
|
||||
|
||||
static int motorIsrEnable(int card)
|
||||
|
||||
Reference in New Issue
Block a user