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Cleaned up spelling and formatting

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This commit is contained in:
MarkRivers
2006-03-21 23:05:46 +00:00
parent a5612142f6
commit 5e23113160
3 changed files with 273 additions and 267 deletions
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motorApp/NewportSrc/devXPSC8.cc
+95 -95
View File
@@ -11,8 +11,8 @@
*
* 1) The use of multiaxis groups has been enabled with the addition of
* variables to the drvXPSC8.cc: XPSC8Name_config function used in the st.cmd.
* 2) A cue feature has now been added so that if a command is sent while
* a group is busy it is cued until the group becomes static.
* 2) A queue feature has now been added so that if a command is sent while
* a group is busy it is queued until the group becomes static.
* 3) The driver waits for a time specified in drvXPSC8.h: XPSC8_QUE_PAUSE when
* a command is issued. It then performs all the motions specified in the lapsed
* time as a single syncronised motion. The pause is performed in drvXPSC8.cc:
@@ -48,14 +48,14 @@ extern struct driver_table XPSC8_access;
#define DEBUG
#ifdef __GNUG__
#ifdef DEBUG
volatile int devXPSC8Debug = 3;
#define Debug(L, FMT, V...) { if(L <= devXPSC8Debug) \
{ printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } }
epicsExportAddress(int, devXPSC8Debug);
#ifdef DEBUG
volatile int devXPSC8Debug = 0;
#define Debug(L, FMT, V...) { if(L <= devXPSC8Debug) \
{ printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } }
epicsExportAddress(int, devXPSC8Debug);
#else
#define Debug(L, FMT, V...)
#define Debug(L, FMT, V...)
#endif
#else
#define Debug()
@@ -192,16 +192,16 @@ STATIC RTN_STATUS XPSC8_end_trans(struct motorRecord *mr)
/* add a part to the transaction */
STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd command,\
double *parms, \
struct motorRecord *mr)
STATIC RTN_STATUS XPSC8_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 XPSC8controller *control;
struct XPSC8axis *cntrl;
struct XPSC8group *groupcntrl; /*XPS group specific data */
struct XPSC8group *groupcntrl; /*XPS group specific data */
double dval=0.0,resolution,steps;
int ival=0;
RTN_STATUS rtnval=OK;
@@ -234,13 +234,13 @@ STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd command,\
groupnumber = cntrl->groupnumber;
groupcntrl = (struct XPSC8group *)&control->group[groupnumber];
groupsize = groupcntrl->groupsize; /* Number of motors in group */
groupsize = groupcntrl->groupsize; /* Number of motors in group */
cntrl->resolution = mr->mres; /* Read in the motor resolution */
cntrl->resolution = mr->mres; /* Read in the motor resolution */
resolution = cntrl->resolution;
steps = resolution * dval; /* This could be a position or velocity */
steps = resolution * dval; /* This could be a position or velocity */
/* mr->dllm = cntrl->minlimit;*/ /* set the epics limits to the XPS limits */
/* mr->dllm = cntrl->minlimit;*/ /* set the epics limits to the XPS limits */
/* mr->dhlm = cntrl->maxlimit; */
Debug(10, "XPSC8_build_trans: card=%d, signal=%d, command=%d, ival=%d"\
@@ -268,57 +268,56 @@ STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd command,\
&cntrl->groupstatus);
if (status != 0)
printf("BuildTrans Error performing GroupStatusGet status=%d\n", status);
groupstatus = cntrl->groupstatus; /* Update groupstatus */
groupstatus = cntrl->groupstatus; /* Update groupstatus */
switch (command) {
case MOVE_ABS:/* command 0*/
if ((groupstatus < 10) || (groupstatus == 47)) {
if ((groupstatus < 10) || (groupstatus == 47)) {
/* ie not initialized state or Jogging!*/
break;}
/* If there is no cue, update the cue array to make sure you don't move */
/* the wrong motors */
if ((groupcntrl->cuesize == 0) && (groupstatus > 9 && groupstatus < 20)){
status = GroupPositionCurrentGet(cntrl->devpollsocket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray); /* Array! */
break;
}
if (status != 0) {
printf(" Error performing GroupPositionCurrentGet\n");
}
}
/* If there is no queue, update the queue array to make sure you don't move */
/* the wrong motors */
if ((groupcntrl->queuesize == 0) && (groupstatus > 9 && groupstatus < 20)){
status = GroupPositionCurrentGet(cntrl->devpollsocket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray); /* Array! */
/* Always add the move to the cue */
groupcntrl->positionarray[axisingroup] = steps;
++groupcntrl->cuesize; /* Add 1 to cue total */
if (groupcntrl->cuesize == 1)
groupcntrl->cueflag = 1;/* If first call set flag */
if (groupcntrl->cuesize > 1)
Debug(2,"******Adding move to an existing cue***\n");
/* The communication and looping has been moved to drvXPSC8 send_mess */
if (status != 0) {
printf(" Error performing GroupPositionCurrentGet\n");
}
}
/* Always add the move to the queue */
groupcntrl->positionarray[axisingroup] = steps;
++groupcntrl->queuesize; /* Add 1 to queue total */
if (groupcntrl->queuesize == 1)
groupcntrl->queueflag = 1;/* If first call set flag */
if (groupcntrl->queuesize > 1)
Debug(2,"******Adding move to an existing queue***\n");
/* The communication and looping has been moved to drvXPSC8 send_mess */
break;
case MOVE_REL:/*1*/
/* The motor record seems to impliment the relative move by
calculating the new position and calling MOVE_ABS */
/* The motor record seems to impliment the relative move by
calculating the new position and calling MOVE_ABS */
case HOME_FOR:
case HOME_REV: /*3*/
if (cntrl->groupstatus == 43 ) { /* Allready Homing */
break;}
/* If motion has been killed the group will need to be initialized*/
if (cntrl->groupstatus == 43 ) { /* Already Homing */
break;
}
/* If motion has been killed the group will need to be initialized*/
/* and homed before the motors can be driven again */
if (cntrl->groupstatus < 10 ) {
if (cntrl->groupstatus < 10 ) {
/* ie not initialized state!*/
status = GroupInitialize(cntrl->devpollsocket,cntrl->groupname);
if (status != 0) {
@@ -332,9 +331,9 @@ STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd command,\
goto home_rev_end;
}
/* Else kill all the motions an home */
/* Else kill all the motions an home */
status = GroupKill(cntrl->devpollsocket,cntrl->groupname);
if (status != 0) {
printf(" Error performing GroupKill\n");
@@ -350,21 +349,21 @@ STATIC RTN_STATUS XPSC8_build_trans(motor_cmnd command,\
printf(" Error performing GroupHomeSearch\n");
}
Debug(2, "XPSC8_build_trans:******* Perform GroupHomeSearch\n");
Debug(2, "XPSC8_build_trans:groupsize=%i\n",groupsize);
Debug(2, "XPSC8_build_trans:groupsize=%i\n",groupsize);
home_rev_end: /* Used for goto statment above */
/* When a group is homed the drive cue is emptied */
groupcntrl->cuesize = 0; /* Reset cue */
groupcntrl->cueflag = 0;
home_rev_end: /* Used for goto statment above */
/* When a group is homed the drive queue is emptied */
groupcntrl->queuesize = 0; /* Reset queue */
groupcntrl->queueflag = 0;
break;
case LOAD_POS:/* 4*/
/* command 4 Not used*/
break;
case SET_VEL_BASE:
@@ -381,8 +380,8 @@ home_rev_end: /* Used for goto statment above */
cntrl->maxjerktime);
if (status != 0) {
printf(" Error performing PositionerSGammaParameters Set Vel\n");
printf(" steps=%f resoulution=%f DVAL=%f\n",steps,resolution,dval);
}
printf(" steps=%f resoulution=%f DVAL=%f\n",steps,resolution,dval);
}
else cntrl->velocity = steps;
break;
@@ -394,20 +393,20 @@ home_rev_end: /* Used for goto statment above */
cntrl->maxjerktime);
if (status != 0) {
printf(" Error performing PositionerSGammaParameters Set Accel %i\n",
status);
printf(" steps=%f resoulution=%f DVAL=%f\n",steps,resolution,dval);
if (status == -17)
printf("devXPSC8 BuildTrans: One of the parameters was out of range!");
}
status);
printf(" steps=%f resoulution=%f DVAL=%f\n",steps,resolution,dval);
if (status == -17)
printf("devXPSC8 BuildTrans: One of the parameters was out of range!");
}
else cntrl->accel = steps;
break;
case GO: /* 8 */
if (groupstatus == 20) { /* If disabled then enable */
status = GroupMotionEnable(cntrl->devpollsocket,cntrl->groupname);
if (status != 0)
status = GroupMotionEnable(cntrl->devpollsocket,cntrl->groupname);
if (status != 0)
printf(" Error performing GroupMotionEnable %i\n",status);
}
}
break;
case SET_ENC_RATIO: /* These must be set in the Stages.ini file */
@@ -418,28 +417,29 @@ home_rev_end: /* Used for goto statment above */
case STOP_AXIS: /* 11 */
/* The whole group must stop, not just 1 axis */
/* Update status to see if the group is moving */
if (cntrl->groupstatus > 42) {
/* Update status to see if the group is moving */
if (cntrl->groupstatus > 42) {
/* Then the group is moving! */
status = GroupMoveAbort(cntrl->devpollsocket,cntrl->groupname);
if (status != 0) {
printf(" Error performing GroupMoveAbort = %i %s(\n",\
status,cntrl->groupname);
}
/* When a group is stopped the drive cue is emptied and reset*/
status = GroupPositionCurrentGet(cntrl->devpollsocket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray);
if (status != 0) {
printf(" Error performing GroupPositionCurrentGet\n");
}
}
groupcntrl->cuesize = 0; /* Reset cue */
groupcntrl->cueflag = 0;
printf(" Error performing GroupMoveAbort = %i %s(\n",\
status,cntrl->groupname);
}
/* When a group is stopped the drive queue is emptied and reset*/
status = GroupPositionCurrentGet(cntrl->devpollsocket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray);
if (status != 0) {
printf(" Error performing GroupPositionCurrentGet\n");
}
}
groupcntrl->queuesize = 0; /* Reset queue */
groupcntrl->queueflag = 0;
break;
case JOG:
motorApp/NewportSrc/drvXPSC8.cc
+174 -168
View File
@@ -37,22 +37,21 @@
#define DEBUG
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvXPSC8Debug) printf(f,## args); }
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvXPSC8Debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvXPSC8Debug = 6;
volatile int drvXPSC8Debug = 0;
/* --- Local data. --- */
int XPSC8_num_cards = 0;
/* 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, const char *, char *);
@@ -109,6 +108,7 @@ extern "C" {epicsExportAddress(drvet, drvXPSC8);}
/* I don't know where the XPSC8_access is set?*/
STATIC struct thread_args targs = {SCAN_RATE, &XPSC8_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
@@ -142,11 +142,13 @@ static long init()
if (XPSC8_num_cards <= 0)
{
Debug(10, "init() XPSC8etup() missing from startup script.%i\n",
XPSC8_num_cards);
XPSC8_num_cards);
}
return ((long) 0);
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
@@ -171,6 +173,7 @@ STATIC void start_status(int card)
}
}
/*****************************************************************
* Read in the motion parameters such as velocity, Accel, Position etc
*****************************************************************/
@@ -187,11 +190,11 @@ STATIC void readXPSC8Status(int card)
register struct mess_info *motor_info;
int groupsize, groupnumber; /* To be read in from struct */
struct XPSC8group *groupcntrl; /*XPS group specific data */
struct XPSC8group *groupcntrl; /*XPS group specific data */
double position[XPSC8_NUM_CHANNELS]; /* To temp store position array */
int axisingroup;
int loop; /* Variables used when the XPS returns accel=zero */
int max_loop = 10; /* This creates an error when we set the vel/accel */
int loop; /* Variables used when the XPS returns accel=zero */
int max_loop = 10; /* This creates an error when we set the vel/accel */
msta_field statusflags;
status = 0;
@@ -201,7 +204,7 @@ STATIC void readXPSC8Status(int card)
Debug(10, "XPSC8:readXPSC8Status card=%d num_axes=%d\n",card,XPSC8_num_axes);
epicsMutexLock(control->XPSC8Lock);
/*epicsThreadSleep(10);*/
/*epicsThreadSleep(10);*/
for (i=0; i<XPSC8_num_axes;i++) {
@@ -217,21 +220,21 @@ STATIC void readXPSC8Status(int card)
control = (struct XPSC8controller *) motor_state[card]->DevicePrivate;
cntrl = (struct XPSC8axis *)&control->axis[i];
axisingroup = cntrl->axisingroup;
if ((axisingroup < 0) || (axisingroup > 7) ) {
axisingroup = cntrl->axisingroup;
if ((axisingroup < 0) || (axisingroup > 7) ) {
printf(" Error Axis In Group Out Of Range status=%d\n", status);
statuserror =1;
}
groupnumber = cntrl->groupnumber;
if ((groupnumber < 0) || (groupnumber > 7) ) {
groupnumber = cntrl->groupnumber;
if ((groupnumber < 0) || (groupnumber > 7) ) {
printf(" Error Group Number Out Of Range status=%d\n", status);
statuserror =1;
}
groupcntrl = (struct XPSC8group *)&control->group[groupnumber];
groupcntrl = (struct XPSC8group *)&control->group[groupnumber];
groupsize = groupcntrl->groupsize;
if ((groupsize < 1) || (groupsize > 8) ) {
groupsize = groupcntrl->groupsize;
if ((groupsize < 1) || (groupsize > 8) ) {
printf(" Error Group Size Out Of Range status=%d\n", status);
statuserror =1;
}
@@ -246,10 +249,10 @@ STATIC void readXPSC8Status(int card)
printf(" ReadStatus Error performing GroupStatusGet status=%d\n", status);
statuserror =1;
}
/* This do loop is required because some times the XPS returns accel=zero*/
loop = 0;
do {
/* This do loop is required because some times the XPS returns accel=zero*/
loop = 0;
do {
status = PositionerSGammaParametersGet(cntrl->pollsocket,
cntrl->positionername,
&cntrl->velocity,
@@ -257,19 +260,19 @@ STATIC void readXPSC8Status(int card)
&cntrl->minjerktime,
&cntrl->maxjerktime);
loop++;
}
while ((cntrl->accel < 0.00001) && (loop < max_loop));
if (status != 0) {
}
while ((cntrl->accel < 0.00001) && (loop < max_loop));
if (status != 0) {
printf(" Error performing PositionerSGammaParametersGet\n");
statuserror =1;
}
/* Is the XPS sending the wrong accel and vel data? */
if (cntrl->accel <= 0.00001 )
printf("drvXPSC8 Error PositionerSGammaParametersGet accel=%f vel=%f loop=%i\n",
cntrl->accel,cntrl->velocity,loop);
/* Is the XPS sending the wrong accel and vel data? */
if (cntrl->accel <= 0.00001 )
printf("drvXPSC8 Error PositionerSGammaParametersGet accel=%f vel=%f loop=%i\n",
cntrl->accel,cntrl->velocity,loop);
/* Not implimented due to lack of epics motor commands
/* Not implimented due to lack of epics motor commands
status = GroupJogParametersGet(cntrl->pollsocket,
cntrl->groupname,
positioner,
@@ -289,8 +292,8 @@ STATIC void readXPSC8Status(int card)
printf(" Error performing GroupPositionCurrentGet\n");
statuserror =1;
} else {
/* Place the position data into the axis structure */
cntrl->currentposition = position[axisingroup];}
/* Place the position data into the axis structure */
cntrl->currentposition = position[axisingroup];}
status = GroupPositionTargetGet(cntrl->pollsocket,
@@ -301,8 +304,8 @@ STATIC void readXPSC8Status(int card)
printf(" Error performing GroupPositionTargetGet\n");
statuserror =1;
} else {
/* Place the position data into the axis structure */
cntrl->targetposition = position[axisingroup];}
/* Place the position data into the axis structure */
cntrl->targetposition = position[axisingroup];}
status = GroupPositionSetpointGet(cntrl->pollsocket,
@@ -313,8 +316,8 @@ STATIC void readXPSC8Status(int card)
printf(" Error performing GroupPositionSetpointGet\n");
statuserror =1;
} else {
/* Place the position data into the axis structure */
cntrl->setpointposition = position[axisingroup];}
/* Place the position data into the axis structure */
cntrl->setpointposition = position[axisingroup];}
status = PositionerErrorGet(cntrl->pollsocket,
cntrl->positionername,
@@ -349,6 +352,7 @@ STATIC void readXPSC8Status(int card)
epicsMutexUnlock(control->XPSC8Lock);
}
/**************************************************************
* Parse status and position for a card and signal
* set_status()
@@ -409,13 +413,13 @@ STATIC int set_status(int card, int signal)
/* These states mean it is moving/homeing/jogging etc*/
cntrl->moving = 1;
if (target >= pos) {
status.Bits.RA_DIRECTION = 1;
Debug(2, "Set_status: Positive Direction\n");
} else {
status.Bits.RA_DIRECTION = 0;
Debug(2, "Set_status: Negative Direction\n");
}
if (target >= pos) {
status.Bits.RA_DIRECTION = 1;
Debug(2, "Set_status: Positive Direction\n");
} else {
status.Bits.RA_DIRECTION = 0;
Debug(2, "Set_status: Negative Direction\n");
}
}
@@ -464,9 +468,9 @@ STATIC int set_status(int card, int signal)
if ((groupstatus >= 0 && groupstatus < 10) || (groupstatus >= 20 && groupstatus < 43)) {
/* Set the Hard limits To show that it is unable to move. This means when you
home the motor record will only let you home away from the current shown
limit */
home the motor record will only let you home away from the current shown
limit */
status.Bits.RA_MINUS_LS=1;
status.Bits.RA_PLUS_LS=1;
status.Bits.RA_PROBLEM=1; /*This variable is to do with polling*/
@@ -491,12 +495,12 @@ STATIC int set_status(int card, int signal)
motor_info->status.All = status.All;
Debug(12, "status.Bits.RA_PROBLEM: %i status.Bits.RA_DONE: %i",
status.Bits.RA_PROBLEM,status.Bits.RA_DONE);
status.Bits.RA_PROBLEM,status.Bits.RA_DONE);
return(rtn_state);
}
/*****************************************************/
/* send a message to the XPS board */
/* send_mess() */
@@ -505,7 +509,7 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char *c)
{
struct XPSC8controller *control;
struct XPSC8axis *cntrl;
struct XPSC8group *groupcntrl; /*XPS group specific data */
struct XPSC8group *groupcntrl; /*XPS group specific data */
int groupnumber, groupsize;
int axisingroup, groupstatus;
int status;
@@ -515,14 +519,14 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char *c)
if (motor_state[0] == NULL)
return(ERROR);
int signal = -1; /* This is incremented up to 0 further down */
control = (struct XPSC8controller *) motor_state[card]->DevicePrivate;
epicsMutexLock(control->XPSC8Lock);
/*control = (struct XPSC8controller *) brdptr->DevicePrivate;*/
/* Loop until you find the axis/group with a move cued up! */
/* Loop until you find the axis/group with a move queued up! */
do
{
++signal;
@@ -531,109 +535,107 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char *c)
axisingroup = cntrl->axisingroup; /* Pull in group info */
groupnumber = cntrl->groupnumber;
groupcntrl = (struct XPSC8group *)&control->group[groupnumber];
groupsize = groupcntrl->groupsize; /* Number of motors in group */
groupsize = groupcntrl->groupsize; /* Number of motors in group */
}
while ((groupcntrl->cuesize == 0) && (signal < (XPSC8_NUM_CHANNELS-1)));
while ((groupcntrl->queuesize == 0) && (signal < (XPSC8_NUM_CHANNELS-1)));
Debug(5,"Send_mess After do loop axisingp=%d, groupstatus=%i socket=%i cue=%i flag=%i \n",
axisingroup,groupstatus,cntrl->socket,groupcntrl->cuesize,groupcntrl->cueflag);
Debug(5,"Send_mess After do loop axisingp=%d, groupstatus=%i socket=%i queue=%i flag=%i \n",
axisingroup,groupstatus,cntrl->socket,groupcntrl->queuesize,groupcntrl->queueflag);
if((signal == (XPSC8_NUM_CHANNELS-1)) && (groupcntrl->cuesize == 0))
goto send_mess_end; /*No moves to perform */
if((signal == (XPSC8_NUM_CHANNELS-1)) && (groupcntrl->queuesize == 0))
goto send_mess_end; /*No moves to perform */
status = GroupStatusGet(cntrl->pollsocket, cntrl->groupname,
&cntrl->groupstatus); /* Update Status */
groupstatus = cntrl->groupstatus;
if (status != 0)
printf(" SendMess Error performing GroupStatusGet status=%d\n", status);
if (groupstatus > 9 && groupstatus < 20){ /* Ready from move */
if (groupstatus > 9 && groupstatus < 20){ /* Ready from move */
if (groupcntrl->cueflag == 1) /* First motor called */
{
epicsMutexUnlock(control->XPSC8Lock);/* Free up for the other motors*/
epicsThreadSleep(XPSC8_QUE_PAUSE_READY); /* Wait for other motors */
epicsMutexLock(control->XPSC8Lock);
groupcntrl->cuesize = 0; /* Reset cue */
groupcntrl->cueflag = 0;
if (groupcntrl->queueflag == 1) { /* First motor called */
epicsMutexUnlock(control->XPSC8Lock);/* Free up for the other motors*/
epicsThreadSleep(XPSC8_QUE_PAUSE_READY); /* Wait for other motors */
epicsMutexLock(control->XPSC8Lock);
groupcntrl->queuesize = 0; /* Reset queue */
groupcntrl->queueflag = 0;
status = GroupMoveAbsolute(cntrl->socket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray); /*Pointer to array*/
if (status != 0 && status != -27)
printf(" Error performing GroupMoveAbsolute %i\n",status);
/* Error -27 is caused when the motor record changes dir i.e.
when it aborts a move!*/
status = GroupMoveAbsolute(cntrl->socket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray); /*Pointer to array*/
Debug(5,"Send_mess After move in Send_mess axisingp=%d, groupstatus=%i socket=%i psocket=%i\n",
cntrl->axisingroup,groupstatus,cntrl->socket,cntrl->pollsocket);
goto send_mess_end;
}
if (status != 0 && status != -27)
printf(" Error performing GroupMoveAbsolute %i\n",status);
/* Error -27 is caused when the motor record changes dir i.e.
* when it aborts a move!*/
Debug(5,"Send_mess After move in Send_mess axisingp=%d, groupstatus=%i socket=%i psocket=%i\n",
cntrl->axisingroup,groupstatus,cntrl->socket,cntrl->pollsocket);
goto send_mess_end;
}
}
if (groupstatus > 42 && groupstatus < 47){ /* Moveing/Homing*/
if (groupcntrl->cuesize > 1)
Debug(1,"Send_mess**Added move to the cue group busy ie xps moving***\n");
if (groupcntrl->cueflag == 1){ /* First motor called */
groupcntrl->cueflag = 0;
waitcount = 0;
while((groupstatus > 42 && groupstatus < 49) &&
(waitcount <= XPSC8_MAX_WAIT)){
epicsMutexUnlock(control->XPSC8Lock);/* Free up for the others*/
epicsThreadSleep(XPSC8_QUE_PAUSE_MOVING); /* Wait for end of motion */
epicsMutexLock(control->XPSC8Lock);
++waitcount;
status = GroupStatusGet(cntrl->pollsocket, cntrl->groupname,
&cntrl->groupstatus);
if (status != 0)
printf("Error performing GroupStatusGet Bottom Send_mess status=%d\n", status);
groupstatus = cntrl->groupstatus; /* Update groupstatus */
if (groupstatus > 42 && groupstatus < 47){ /* Moveing/Homing*/
if (groupcntrl->queuesize > 1)
Debug(1,"Send_mess**Added move to the queue group busy ie xps moving***\n");
if (groupcntrl->queueflag == 1) { /* First motor called */
groupcntrl->queueflag = 0;
waitcount = 0;
while((groupstatus > 42 && groupstatus < 49) &&
(waitcount <= XPSC8_MAX_WAIT)){
epicsMutexUnlock(control->XPSC8Lock);/* Free up for the others*/
epicsThreadSleep(XPSC8_QUE_PAUSE_MOVING); /* Wait for end of motion */
epicsMutexLock(control->XPSC8Lock);
++waitcount;
status = GroupStatusGet(cntrl->pollsocket, cntrl->groupname,
&cntrl->groupstatus);
if (status != 0)
printf("Error performing GroupStatusGet Bottom Send_mess status=%d\n", status);
}
if (waitcount >= XPSC8_MAX_WAIT){
printf(" Error Motor Cue timed out \n");
groupcntrl->cuesize = 0; /* Reset cue */
groupcntrl->cueflag = 0;
/* Re set the cue array to current positions */
status = GroupPositionCurrentGet(cntrl->pollsocket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray);
if (status != 0)
printf(" Error performing GroupPositionCurrentGet\n");
goto send_mess_end;
}
if (groupstatus > 9 && groupstatus < 20){ /* Ready from move */
groupcntrl->cuesize = 0; /* Reset cue */
groupcntrl->cueflag = 0;
status = GroupMoveAbsolute(cntrl->socket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray); /*Pointer to array*/
/* Error -27 is caused when the motor record changes dir i.e.
when it aborts a move!*/
if (status != 0 && status != -27 )
printf(" Error performing GroupMoveAbsolute %i\n",status);
}
}
}
groupstatus = cntrl->groupstatus; /* Update groupstatus */
}
if (waitcount >= XPSC8_MAX_WAIT) {
printf(" Error Motor Queue timed out \n");
groupcntrl->queuesize = 0; /* Reset queue */
groupcntrl->queueflag = 0;
/* Reset the queue array to current positions */
status = GroupPositionCurrentGet(cntrl->pollsocket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray);
if (status != 0)
printf(" Error performing GroupPositionCurrentGet\n");
goto send_mess_end;
}
if (groupstatus > 9 && groupstatus < 20) { /* Ready from move */
groupcntrl->queuesize = 0; /* Reset queue */
groupcntrl->queueflag = 0;
status = GroupMoveAbsolute(cntrl->socket,
cntrl->groupname,
groupsize,
groupcntrl->positionarray); /*Pointer to array*/
/* Error -27 is caused when the motor record changes dir i.e.
* when it aborts a move!*/
if (status != 0 && status != -27 )
printf(" Error performing GroupMoveAbsolute %i\n",status);
}
}
}
send_mess_end:
epicsMutexUnlock(control->XPSC8Lock);
epicsMutexUnlock(control->XPSC8Lock);
return (OK);
}
/*****************************************************/
/* receive a message from the XPS board */
/* recv_mess() */
@@ -647,7 +649,7 @@ STATIC int recv_mess(int card, char *com, int flag)
}
/*****************************************************/
/* Setup system configuration */
/* XPSC8Setup() */
@@ -682,6 +684,7 @@ RTN_STATUS XPSC8Setup(int num_cards, /* number of controllers in system. */
}
/*****************************************************/
/* Configure a Newport XPS controller one command */
/* For each controller */
@@ -689,8 +692,8 @@ RTN_STATUS XPSC8Setup(int num_cards, /* number of controllers in system. */
/*****************************************************/
RTN_STATUS XPSC8Config(int card, /* Controller number */
const char *ip, /* XPS IP address*/
int port, /* This may be 5001 */
int totalaxes) /* Number of axis/positioners used*/
int port, /* This may be 5001 */
int totalaxes) /* Number of axis/positioners used*/
{
struct XPSC8controller *control;
@@ -730,8 +733,8 @@ RTN_STATUS XPSC8Config(int card, /* Controller number */
printf(" Error TCP_ConnectToServer for pollsocket\n");
statuserror =1;
}
for (axis=0; axis<totalaxes; axis++) {
socket = TCP_ConnectToServer(ipchar,port,TIMEOUT);
/* Find a socket number */
@@ -744,7 +747,7 @@ RTN_STATUS XPSC8Config(int card, /* Controller number */
Debug(11, "XPSC8Config: axis=%d, cntrl=%p\n", axis, cntrl);
cntrl->pollsocket = pollsocket;
cntrl->devpollsocket = devpollsocket;
cntrl->devpollsocket = devpollsocket;
cntrl->socket = socket;
cntrl->ip = epicsStrDup(ip);
@@ -764,23 +767,24 @@ RTN_STATUS XPSC8Config(int card, /* Controller number */
return (OK);
}
/*********************************************************/
/* Pass the group and positioner names */
/* Call this for each axis */
/* */
/*********************************************************/
RTN_STATUS XPSC8NameConfig(int card, /*specify which controller 0-up*/
int axis, /*axis number 0-7*/
int groupnumber, /* 0-7*/
int groupsize, /* 1-8*/
int axisingroup, /* eg 4th axis in group 2 */
const char *gpname, /*group name e.g. Diffractometer */
const char *posname) /*positioner name e.g. Diffractometer.Phi*/
RTN_STATUS XPSC8NameConfig(int card, /* specify which controller 0-up*/
int axis, /* axis number 0-7*/
int groupnumber, /* 0-7*/
int groupsize, /* 1-8*/
int axisingroup, /* eg 4th axis in group 2 */
const char *gpname, /* group name e.g. Diffractometer */
const char *posname) /* positioner name e.g. Diffractometer.Phi*/
{
struct XPSC8controller *control;
struct XPSC8axis *cntrl;
struct XPSC8group *groupcntrl; /*XPS group specific data */
struct XPSC8group *groupcntrl; /*XPS group specific data */
Debug(10, "XPSC8NameConfig: card=%d axis=%d, group=%s, positioner=%s\n",
card, axis, gpname, posname);
@@ -798,6 +802,7 @@ RTN_STATUS XPSC8NameConfig(int card, /*specify which controller 0-up*/
return (OK);
}
/*****************************************************/
/* initialize all software and hardware */
/* This is called from the init() */
@@ -809,10 +814,10 @@ STATIC int motor_init()
struct controller *brdptr;
struct XPSC8controller *control;
struct XPSC8axis *cntrl;
struct XPSC8group *groupcntrl; /*XPS group specific data */
struct XPSC8group *groupcntrl; /*XPS group specific data */
int card_index, motor_index;
int status = 0, totalaxes;
int i,counter; /* Used in for loops */
int i,counter; /* Used in for loops */
bool errind;
initialized = true; /* Indicate that driver is initialized. */
@@ -840,28 +845,28 @@ STATIC int motor_init()
/* Just to test status, 0 means the call worked */
counter = 0;
/* wait incase the socket is busy */
while (status < 0 && counter < (TIMEOUT*10)) {
status = GroupStatusGet(cntrl->pollsocket,cntrl->groupname,
&cntrl->groupstatus);
counter++;
epicsThreadSleep(0.1);
}
/* wait incase the socket is busy */
while (status < 0 && counter < (TIMEOUT*10)) {
status = GroupStatusGet(cntrl->pollsocket,cntrl->groupname,
&cntrl->groupstatus);
counter++;
epicsThreadSleep(0.1);
}
if (status !=0) errind = true;
Debug(10, "XPSC8:motor_init: card_index=%d, errind=%d\n",
card_index, errind);
Debug(10, "XPSC8:motor_init: psocket %i, gpname %s, gpstatus %i status %i\n",
cntrl->pollsocket,cntrl->groupname,cntrl->groupstatus,status);
/* Set the XPSC8group struct variables to zero */
for(i=0 ; i< XPSC8_NUM_CHANNELS ; ++i){
groupcntrl = (struct XPSC8group *)&control->group[i];
groupcntrl->cuesize = 0;
groupcntrl->cueflag = 0;
}
Debug(10, "XPSC8:motor_init: psocket %i, gpname %s, gpstatus %i status %i\n",
cntrl->pollsocket,cntrl->groupname,cntrl->groupstatus,status);
/* Set the XPSC8group struct variables to zero */
for (i=0 ; i< XPSC8_NUM_CHANNELS ; ++i) {
groupcntrl = (struct XPSC8group *)&control->group[i];
groupcntrl->queuesize = 0;
groupcntrl->queueflag = 0;
}
if (errind == false) {
brdptr->localaddr = (char *) NULL;
@@ -901,8 +906,9 @@ STATIC int motor_init()
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "XPSC8_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return (OK);
}
motorApp/NewportSrc/drvXPSC8.h
+4 -4
View File
@@ -22,7 +22,7 @@
performing a move from stationary*/
#define XPSC8_QUE_PAUSE_MOVING 0.1 /* Poll time the driver waits to check if
the motor is still moving after a
cue has been started*/
queue has been started*/
#define TIMEOUT 0.5 /* TCP/IP timeout */
#define NOTREF 42
@@ -59,10 +59,10 @@ struct XPSC8axis
};
struct XPSC8group{ /* This structure is for each group not axis */
double positionarray[XPSC8_NUM_CHANNELS]; /* Used to store cued moves */
double positionarray[XPSC8_NUM_CHANNELS]; /* Used to store queued moves */
int groupsize; /* (1-8) Number of members of a group */
int cuesize; /* Number of axes in the cue */
int cueflag; /* 1 = move/wait loop needs to be started */
int queuesize; /* Number of axes in the queue */
int queueflag; /* 1 = move/wait loop needs to be started */
};
struct XPSC8controller{