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Added K. Goetze's PI C-630 controller support.

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This commit is contained in:
Ron Sluiter
2005-10-04 19:45:08 +00:00
parent 4f43bd159f
commit 607aec1c73
5 changed files with 1046 additions and 0 deletions
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motorApp/PiSrc/PIC630Register.cc
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/*
FILENAME... PIC630Register.cc
USAGE... Register PIC630 motor device driver shell commands.
Version: 1.4
Modified By: sluiter
Last Modified: 2004/07/16 19:06:58
*/
/*****************************************************************
COPYRIGHT NOTIFICATION
*****************************************************************
(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
This software was developed under a United States Government license
described on the COPYRIGHT_UniversityOfChicago file included as part
of this distribution.
**********************************************************************/
#include <iocsh.h>
#include "PIC630Register.h"
#include "epicsExport.h"
extern "C"
{
// PIC630 Setup arguments
static const iocshArg setupArg0 = {"Max. controller groups", iocshArgInt};
static const iocshArg setupArg1 = {"Max. axes per group", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// PIC630 Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg configArg2 = {"Ch 1 current setting", iocshArgInt};
static const iocshArg configArg3 = {"Ch 2 current setting", iocshArgInt};
static const iocshArg configArg4 = {"Ch 3 current setting", iocshArgInt};
static const iocshArg configArg5 = {"Ch 4 current setting", iocshArgInt};
static const iocshArg configArg6 = {"Ch 5 current setting", iocshArgInt};
static const iocshArg configArg7 = {"Ch 6 current setting", iocshArgInt};
static const iocshArg configArg8 = {"Ch 7 current setting", iocshArgInt};
static const iocshArg configArg9 = {"Ch 8 current setting", iocshArgInt};
static const iocshArg configArg10 = {"Ch 9 current setting", iocshArgInt};
static const iocshArg * const PIC630SetupArgs[3] = {&setupArg0, &setupArg1, &setupArg2};
static const iocshArg * const PIC630ConfigArgs[11] = {&configArg0, &configArg1, &configArg2, &configArg3, &configArg4, &configArg5, &configArg6, &configArg7, &configArg8, &configArg9, &configArg10};
static const iocshFuncDef setupPIC630 = {"PIC630Setup", 3, PIC630SetupArgs};
static const iocshFuncDef configPIC630 = {"PIC630Config", 11, PIC630ConfigArgs};
static void setupPIC630CallFunc(const iocshArgBuf *args)
{
PIC630Setup(args[0].ival, args[1].ival, args[2].ival);
}
static void configPIC630CallFunc(const iocshArgBuf *args)
{
PIC630Config(args[0].ival, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival, args[6].ival, args[7].ival, args[8].ival, args[9].ival, args[10].ival);
}
static void PIC630Register(void)
{
iocshRegister(&setupPIC630, setupPIC630CallFunc);
iocshRegister(&configPIC630, configPIC630CallFunc);
}
epicsExportRegistrar(PIC630Register);
} // extern "C"
motorApp/PiSrc/PIC630Register.h
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/*
FILENAME... PIC630Register.h
USAGE... This file contains function prototypes for PIC630 IOC shell commands.
Version: 1.3
Modified By: sluiter
Last Modified: 2004/07/16 19:06:58
*/
/*
* Original Author: Ron Sluiter
* Date: 05/19/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
*/
#include "motor.h"
#include "motordrvCom.h"
/* Function prototypes. */
extern RTN_STATUS PIC630Setup(int, int, int);
extern RTN_STATUS PIC630Config(int, const char *, int,int,int,int,int,int,int,int,int);
motorApp/PiSrc/devPIC630.cc
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/* File: devPIC630.cc */
/* Device Support Routines for motor */
/*
* Original Author: Kurt Goetze
* Date: 02-07-2005
*
* Modification Log:
* -----------------
* .00 02-07-2005 kag initialized from devMicos.c
*/
/* Notes regarding the motor record / PI C-630:
* 1. JogF and JogR are implemented as moves to the corresponding soft limit.
* 2. HomeF and HomeR will simply move the positioner to the "0" position.
* 3. The only position you may "set" is 0. Others will be ignored.
*
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPIC630.h"
#include "epicsExport.h"
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int devPIC630debug = 0;
#define Debug(L, FMT, V...) { if(L <= devPIC630debug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#else
#define Debug(L, FMT, V...)
#endif
#else
#define Debug()
#endif
/* Debugging levels:
* devPIC630debug >= 3 Print new part of command and command string so far
* at the end of PIC630_build_trans
*/
extern struct driver_table PIC630_access;
/* ----------------Create the dsets for devPIC630----------------- */
static struct driver_table *drvtabptr;
static long PIC630_init(void *);
static long PIC630_init_record(void *);
static long PIC630_start_trans(struct motorRecord *);
static RTN_STATUS PIC630_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS PIC630_end_trans(struct motorRecord *);
struct motor_dset devPIC630 =
{
{8, NULL, (DEVSUPFUN) PIC630_init, (DEVSUPFUN) PIC630_init_record, NULL},
motor_update_values,
PIC630_start_trans,
PIC630_build_trans,
PIC630_end_trans
};
extern "C" {epicsExportAddress(dset,devPIC630);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types PIC630_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOG_VELOCITY */
};
static struct board_stat **PIC630_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PIC630 stepper motor */
static long PIC630_init(void *arg)
{
long rtnval;
int after = (int) arg;
Debug(5, "PIC630_init: entry\n");
if (after == 0)
{
drvtabptr = &PIC630_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC630_cards);
Debug(5, "PIC630_init: exit\n");
return(rtnval);
}
/* initialize a record instance */
static long PIC630_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIC630_cards));
}
/* start building a transaction */
static long PIC630_start_trans(struct motorRecord *mr)
{
motor_start_trans_com(mr, PIC630_cards);
return(OK);
}
/* end building a transaction */
static RTN_STATUS PIC630_end_trans(struct motorRecord *mr)
{
motor_end_trans_com(mr, drvtabptr);
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS PIC630_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 PIC630Controller *cntrl;
char buff[30];
int axis, card;
RTN_STATUS rtnval;
bool send;
double dval; /* placeholder for double values passed from motor record */
long ival; /* placeholder for ints passed from motor record */
send = true; /* default to send motor command */
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
ival = NINT(dval);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
Debug(5, "PIC630_build_trans: entry, motor_start_trans_com=%d\n", rtnval);
motor_call = &(trans->motor_call);
motor_call->type = PIC630_table[command];
card = motor_call->card; /* card is the group of drivers per unique serial port */
axis = motor_call->signal; /* axis is PIC630 address, up to 9 (1-9) per serial port */
axis++; /* Note: Each PIC630 driver drives up to 3 motors */
brdptr = (*trans->tabptr->card_array)[card];
Debug(5, "PIC630_build_trans: axis=%d, command=%d\n", axis, command);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PIC630Controller *) brdptr->DevicePrivate;
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcpy(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
motor_call->type = PIC630_table[command];
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcpy(motor_call->message, mr->prem);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
motor_call->type = PIC630_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(motor_call->message, "%dMA%ld", axis, ival);
break;
case MOVE_REL:
sprintf(motor_call->message, "%dMR%ld", axis, ival);
break;
case HOME_FOR:
sprintf(motor_call->message, "%dMA0", axis);
break;
case HOME_REV:
sprintf(motor_call->message, "%dMA0", axis);
break;
case LOAD_POS: /* PIC630 allows you to define the zero position only */
if (dval == 0.0)
sprintf(motor_call->message, "%dDH", axis);
else
rtnval = ERROR;
break;
case SET_VEL_BASE:
send = false;
trans->state = IDLE_STATE;
break; /* PIC630 does not use base velocity */
case SET_VELOCITY:
if (ival < 1) ival = 1;
if (ival > 200000) ival = 200000;
sprintf(motor_call->message, "%dSV%ld", axis, ival);
break;
case SET_ACCEL:
/* dval is acceleration in steps/sec/sec */
if (ival < 0) ival = 0;
if (ival > 500000) ival = 500000;
sprintf(motor_call->message, "%dSA%ld", axis, ival);
break;
case GO:
/*
* The PIC630 starts moving immediately on move commands, GO command
* does nothing
*/
send = false;
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The PIC630 does not have the concept of encoder ratio, ignore this
* command
*/
send = false;
trans->state = IDLE_STATE;
break;
case GET_INFO:
/* ? what is this for ? */
break;
case STOP_AXIS: /* (decelerate to a) stop */
sprintf(motor_call->message, "%dST", axis);
break;
case JOG:
/*
* PIC630 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. The record will prevent JOG motion
* beyond its soft limits
* First we send the Jog velocity...
*/
ival = (long) fabs((double) ival);
if (ival < 1) ival = 1;
if (ival > 200000) ival = 200000;
sprintf(motor_call->message, "%dSV%ld", axis, ival);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC630_cards);
motor_call->type = PIC630_table[command];
if (dval > 0.) /* jog pos */
sprintf(motor_call->message, "%dMA%ld", axis, (long)(mr->dhlm / mr->mres));
else /* jog neg */
sprintf(motor_call->message, "%dMA%ld", axis, (long)(mr->dllm / mr->mres));
break;
case SET_PGAIN:
break;
case SET_IGAIN:
break;
case SET_DGAIN:
break;
case ENABLE_TORQUE:
break;
case DISABL_TORQUE:
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE;
break;
default:
send = false;
rtnval = ERROR;
}
if (send == false)
return(rtnval);
else
{
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "PIC630_send_msg: motor_end_trans_com status=%d, exit\n", rtnval);
return(rtnval);
}
}
motorApp/PiSrc/drvPIC630.cc
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/* File: drvPIC630.cc */
/* Device Driver Support routines for motor */
/*
* Original Author: Kurt Goetze
* Date: 02-07-2005
*
* Modification Log:
* -----------------
* .00 02-07-2005 kag initialized from drvMicos.c
*/
/* The PI C-630 controller is a 3-axis controller/driver. Up to 3 controllers
* can be daisy-chained on one serial port (in this code this is considered a "card").
* More than 1 "card" can be configured, but each will need its own serial port.
* This means that up to 9 axes are controllable per serial port, addressed 1-9.
* Each axis has a current setting, which is handled by PIC630_config and motor_init.
*
* The Controllers MUST BE ON at bootup or this code will error out.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvPIC630.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define WAIT 1
#define BUFF_SIZE 100 /* Maximum length of string to/from PIC630 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPIC630debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPIC630debug = 0;
extern "C" {epicsExportAddress(int, drvPIC630debug);}
/* Debugging notes:
* drvPIC630debug == 0 No debugging information is printed
* drvPIC630debug >= 1 Warning information is printed
* drvPIC630debug >= 2 Time-stamped messages are printed for each string
* sent to and received from the controller
* drvPIC630debug >= 3 Additional debugging messages
*/
volatile int PIC630_num_cards = 0;
volatile int PIC630_num_axis = 0;
volatile int PIC630_current[9]; /* current settings per axis */
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static void start_status(int);
static int set_status(int, int);
static long report(int);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table PIC630_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,
start_status,
&initialized,
NULL
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvPIC630 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPIC630);}
static struct thread_args targs = {SCAN_RATE, &PIC630_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIC630_num_cards <=0)
printf(" No PIC630 controllers configured.\n");
else
{
for (card = 0; card < PIC630_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIC630 controller %d connection failed.\n", card);
else
{
struct PIC630Controller *cntrl;
cntrl = (struct PIC630Controller *) brdptr->DevicePrivate;
printf(" PIC630 controller #%d, port=%s, id: %s \n", card, cntrl->asyn_port, brdptr->ident);
}
}
}
return(OK);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do 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 (PIC630_num_cards <= 0)
{
Debug(1, "init(): PIC630 driver disabled. PIC630Setup() missing from startup script.\n");
}
return ((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
static void start_status(int card)
{
/* The PIC630 cannot query status or positions of all axes with a
* single command. This needs to be done on an axis-by-axis basis,
* so this function does nothing
*/
}
/**************************************************************
* Query position and status for an axis
* set_status()
************************************************************/
static int set_status(int card, int signal)
{
struct PIC630Controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char command[BUFF_SIZE];
char response[BUFF_SIZE];
char cStatus;
int rtn_state;
long motorData;
char buff[BUFF_SIZE];
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
signal++;
/* Request the status of this motor */
sprintf(command, "%dTS", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "nTS:N" where N is an int (0-255)
bit0 (0x01) = moving
bit1 (0x02) = reference signal flag
bit2 (0x04) = pos. limit (0 = limit tripped)
bit3 (0x08) = neg. limit (0 = limit tripped)
bit4 (0x10) = command error
bit5 (0x20) = profile error
bit6 (0x40) = not used
bit7 (0x80) = Estop (0 = Estop) */
cStatus = (char) atoi(&response[4]);
/* check to see if motor is moving */
status.Bits.RA_DONE = (cStatus & 0x01) ? 0 : 1;
/* Request the position of this motor, find out which direction we're going */
/* The response string is of the form "1TP:1000" */
sprintf(command, "%dTP", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
motorData = atoi(&response[4]);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
motor_info->position = motorData;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* check limits, set indicators */
if (!(cStatus & 0x04)) /* if +lim */
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
if (!(cStatus & 0x08)) /* if -lim */
{
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;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 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, NULL);
/* The PIC630 will send back a response for a 'set' command */
recv_mess(card, buff, WAIT);
nodeptr->postmsgptr = NULL;
}
motor_info->status.All = status.All;
return (rtn_state);
}
/*****************************************************/
/* send a message to the PIC630 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, const char *com, char *name)
{
char buff[BUFF_SIZE];
char inp_buff[BUFF_SIZE];
int status = 0;
size_t nwrite;
struct PIC630Controller *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("send_mess - invalid card #%d\n", card);
return (ERROR);
}
/* If the string is NULL just return */
if (strlen(com) == 0) return(OK);
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
strcpy(buff, com);
Debug(2, "send_mess: sending message to card %d, message=%s\n", card, buff);
pasynOctetSyncIO->write(cntrl->pasynUser, buff, strlen(buff), COMM_TIMEOUT, &nwrite);
/* This thing always echos everything sent to it. Read this response. */
status = recv_mess(card, inp_buff, WAIT);
return (OK);
}
/*****************************************************/
/* Read a response string from the PIC630 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
double timeout;
size_t nread = 0;
int eomReason;
int flush;
struct PIC630Controller *cntrl;
asynStatus status;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("recv_mess - invalid card #%d\n", card);
return (-1);
}
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
Debug(3, "recv_mess entry: card %d, flag=%d\n", card, flag);
if (flag == FLUSH)
{
flush = 1;
timeout = 0.;
}
else
{
flush = 0;
timeout = COMM_TIMEOUT;
}
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
timeout, &nread, &eomReason);
if (nread < 1) com[0] = '\0';
if (nread > 0) {
Debug(2, "recv_mess: card %d, message = \"%s\"\n", card, com);
}
if (nread == 0) {
if (flag != FLUSH) {
Debug(1, "recv_mess: card %d ERROR: no response\n", card);
} else {
Debug(3, "recv_mess: card %d flush returned no characters\n", card);
}
}
return (nread);
}
/*****************************************************/
/* Setup system configuration */
/* PIC630Setup() */
/*****************************************************/
RTN_STATUS
PIC630Setup(int num_cards, /* maximum number of "controllers" in system */
int num_channels, /* max number of drivers */
int scan_rate) /* polling rate - 1/60 sec units */
{
int itera;
if (num_cards < 1 || num_cards > PIC630_NUM_CARDS)
PIC630_num_cards = PIC630_NUM_CARDS;
else
PIC630_num_cards = num_cards;
if (num_channels < 1 || num_channels > PIC630_NUM_AXIS)
PIC630_num_axis = PIC630_NUM_AXIS;
else
PIC630_num_axis = num_channels;
/* 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 PIC630Config 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 since this is just
* an array of pointers.
*/
motor_state = (struct controller **) malloc(PIC630_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIC630_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return (OK);
}
/*****************************************************/
/* Configure a controller */
/* PIC630Config() */
/*****************************************************/
RTN_STATUS
PIC630Config(int card, /* "controller" being configured */
const char *name, /* port name for asyn */
int cur0, int cur1, int cur2, int cur3, int cur4, /* see below */
int cur5, int cur6, int cur7, int cur8)
{
struct PIC630Controller *cntrl;
if (card < 0 || card >= PIC630_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC630Controller));
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
/* This is a current setting for each axis that will be sent during motor_init.
Valid settings are: 0=OFF, 1=100mA, 2=200mA, ... 8=800mA. */
PIC630_current[0] = cur0;
PIC630_current[1] = cur1;
PIC630_current[2] = cur2;
PIC630_current[3] = cur3;
PIC630_current[4] = cur4;
PIC630_current[5] = cur5;
PIC630_current[6] = cur6;
PIC630_current[7] = cur7;
PIC630_current[8] = cur8;
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 PIC630Controller *cntrl;
int card_index, motor_index;
char cmd[BUFF_SIZE];
char buff[BUFF_SIZE];
int total_axis = 0;
int status = 0;
int i;
asynStatus success_rtn;
static const char output_terminator[] = "\n";
static const char input_terminator[] = "\n";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIC630_num_cards <= 0)
{
Debug(1, "motor_init: *PIC630 driver disabled*\n");
Debug(1, "PIC630Setup() is missing from startup script.\n");
return (ERROR);
}
for (card_index = 0; card_index < PIC630_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->ident[0] = (char) NULL; /* No controller identification message. */
/* device echos? then set to true. else false */
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct PIC630Controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int retry = 0;
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
/* Each "controller chain" can have max 9 axes. */
total_axis = PIC630_num_axis;
brdptr->total_axis = total_axis;
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
/* Send a message to each PIC630 motor. See if controller responds */
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
do
{
sprintf(cmd, "%dTS", (motor_index + 1));
send_mess(card_index, cmd, 0);
status = recv_mess(card_index, buff, WAIT);
retry++;
/* Return value is length of response string */
} while(status == 0 && retry < 3);
if (status == 0) break;
}
}
if (success_rtn == asynSuccess && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
/* how did this get here? brdptr->cmnd_response = true; */
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Wish I could turn off echo, can't :( */
/* Set motor current */
sprintf(buff,"%dDC%d", (motor_index + 1),PIC630_current[motor_index]);
for (i=0; i<=8; i++)
Debug(1, "PIC630_current[%d] = %d\n",i,PIC630_current[i]);
send_mess(card_index, buff, 0);
/* Stop motor */
sprintf(buff,"%dAB", (motor_index + 1));
send_mess(card_index, buff, 0);
strcpy(brdptr->ident, "PIC630");
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
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;
Debug(3, "motor_init: spawning motor task\n");
epicsThreadCreate((char *) "PIC630_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
motorApp/PiSrc/drvPIC630.h
+35
View File
@@ -0,0 +1,35 @@
/* File: drvPIC630.h */
/* Device Driver Support definitions for motor */
/*
* Original Author: Kurt Goetze
* Current Author: Kurt Goetze
* Date: 02/07/2005
*
* Modification Log:
* -----------------
* .00 02/07/2005 kag initialized from drvMicos.h
* .01 03/30/2005 kag port to 3.14 / asyn
*/
#ifndef INCdrvPIC630h
#define INCdrvPIC630h 1
#include "motordrvCom.h"
#include "asynDriver.h"
/* PIC630 default profile. */
#define PIC630_NUM_CARDS 8 /* Maximum number of controller chains */
#define PIC630_NUM_AXIS 9 /* Maximum number of axes per chain */
#define COMM_TIMEOUT 2 /* Timeout in seconds. */
struct PIC630Controller
{
asynUser *pasynUser; /* asynUser structure */
char asyn_port[80]; /* asyn port name */
};
#endif /* INCdrvPIC630h */