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Moved from devIM483PL.c

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Ron Sluiter
2003-05-05 18:56:02 +00:00
parent 34f5120540
commit 61184f31fe
1 changed files with 698 additions and 0 deletions
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motorApp/ImsSrc/drvIM483SM.cc
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/*
FILENAME... drvIM483SM.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-05 18:56:02 $
*/
/*****************************************************************
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.
**********************************************************************/
/*
* Original Author: Ron Sluiter
* Date: 02/10/2000
*
* Modification Log:
* -----------------
* .01 02/10/00 rls copied from drvMM4000.c
* .02 10/02/01 rls allow one retry after a communication error.
* .03 04/15/02 rls Bug fix for limit switches. Set RA_DIRECTION in
* set_status() based on (new - old) commanded position.
* Removed support for "ASCII record separator (IS2) = /x1E"
* from send_mess().
* .04 03/07/03 rls R3.14 conversion.
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the IM483 must be powered-on when EPICS is first
booted up.
2 - The IM483 cannot be power cycled while EPICS is up and running. The
consequences are permanent communication lose with the IM483 until
EPICS is rebooted.
3 - Like the Newport MM3000, the IM483's position can only be set to zero.
4 - The IM483 uses an internal look-up table for acceleration/deceleration.
Translation between the IM483 and the ACCL/BACC fields is not obvious.
*/
#include <string.h>
#include <math.h>
#include <epicsThread.h>
#include <alarm.h>
#include <dbDefs.h>
#include <dbAccess.h>
#include <recSup.h>
#include <devSup.h>
#include <errMdef.h>
#include <ctype.h>
#include "motor.h"
#include "drvIM483.h"
#include "serialIO.h"
#define STATIC static
#define INPUT_TERMINATOR '\n'
/* Read Limit Status response values. */
#define L_ALIMIT 1
#define L_BLIMIT 2
#define L_BOTH_LIMITS 3
#define IM483SM_NUM_CARDS 8
#define BUFF_SIZE 13 /* Maximum length of string to/from IM483 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvIM483SMdebug = 0;
#define Debug(l, f, args...) {if (l <= drvIM483SMdebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* --- Local data. --- */
int IM483SM_num_cards = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvIM483SMReadbackDelay = 0.;
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, char const *com, char c);
STATIC int set_status(int card, int signal);
static long report(int level);
static long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table IM483SM_access =
{
motor_init,
motor_send,
motor_free,
motor_card_info,
motor_axis_info,
&mess_queue,
&queue_lock,
&free_list,
&freelist_lock,
&motor_sem,
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
set_status,
query_done,
NULL,
&initialized,
NULL
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvIM483SM = {2, report, init};
STATIC struct thread_args targs = {SCAN_RATE, &IM483SM_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (IM483SM_num_cards <=0)
printf(" No IM483SM controllers configured.\n");
else
{
for (card = 0; card < IM483SM_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" IM483SM controller %d connection failed.\n", card);
else
{
struct IM483controller *cntrl;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" IM483SM controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" IM483SM controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
}
}
}
return (0);
}
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 (IM483SM_num_cards <= 0)
{
Debug(1, "init(): IM483SM driver disabled. IM483SMSetup() missing from startup script.\n");
}
return ((long) 0);
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/********************************************************************************
* *
* FUNCTION NAME: set_status *
* *
* LOGIC: *
* Initialize. *
* Send "Moving Status" query. *
* Read response. *
* IF normal response to query. *
* Set communication status to NORMAL. *
* ELSE *
* IF communication status is NORMAL. *
* Set communication status to RETRY. *
* NORMAL EXIT. *
* ELSE *
* Set communication status error. *
* ERROR EXIT. *
* ENDIF *
* ENDIF *
* *
* IF "Moving Status" indicates any motion (i.e. status != 0). *
* Clear "Done Moving" status bit. *
* ELSE *
* Set "Done Moving" status bit. *
* ENDIF *
* *
* *
********************************************************************************/
STATIC int set_status(int card, int signal)
{
struct IM483controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
int status;
int rtn_state;
double motorData;
bool plusdir, ls_active = false;
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
send_mess(card, "^", NULL);
rtn_state = recv_mess(card, buff, 1);
if (rtn_state > 0)
{
cntrl->status = NORMAL;
motor_info->status &= ~CNTRL_COMM_ERR;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
return(0);
}
else
{
cntrl->status = COMM_ERR;
motor_info->status |= CNTRL_COMM_ERR;
motor_info->status |= RA_PROBLEM;
return(1);
}
}
status = atoi(&buff[4]);
if (status != 0)
motor_info->status &= ~RA_DONE;
else
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The IM483 has reported that the
* motor is done moving, which means that the "jerk time" is done. However,
* the axis can still be settling. For now we put in a delay and poll the
* motor position again. This is not a good long-term solution.
*/
if (motor_info->pid_present == YES && drvIM483SMReadbackDelay != 0.)
{
epicsThreadSleep(drvIM483SMReadbackDelay);
send_mess(card, "Z 0", NULL);
recv_mess(card, buff, 1);
}
}
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
send_mess(card, "Z 0", NULL);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
if (newposition >= motor_info->position)
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
send_mess(card, "] 0", NULL);
recv_mess(card, buff, 1);
status = atoi(&buff[5]);
/* Set limit switch error indicators. */
if (status & 1)
{
motor_info->status |= RA_PLUS_LS;
if (plusdir == true)
ls_active = true;
}
else
motor_info->status &= ~RA_PLUS_LS;
if (status & 2)
{
motor_info->status |= RA_MINUS_LS;
if (plusdir == false)
ls_active = true;
}
else
motor_info->status &= ~RA_MINUS_LS;
send_mess(card, "] 1", NULL);
recv_mess(card, buff, 1);
status = buff[5];
if (status & 0x01)
motor_info->status |= RA_HOME;
else
motor_info->status &= ~RA_HOME;
/* !!! Assume no closed-looped control!!!*/
motor_info->status &= ~EA_POSITION;
/* encoder status */
motor_info->status &= ~EA_SLIP;
motor_info->status &= ~EA_SLIP_STALL;
motor_info->status &= ~EA_HOME;
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
{
send_mess(card, "z 0", NULL);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
motor_info->encoder_position = (int32_t) motorData;
}
motor_info->status &= ~RA_PROBLEM;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, NULL);
nodeptr->postmsgptr = NULL;
}
return(rtn_state);
}
/*****************************************************/
/* send a message to the IM483SM board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
{
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
int size;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvIM483SM.c:send_mess(); message size violation.\n");
return (ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return (OK);
if (!motor_state[card])
{
errlogPrintf("drvIM483SM.c:send_mess() - invalid card #%d\n", card);
return (ERROR);
}
if (inchar != (char) NULL)
{
errlogPrintf("drvIM483SM.c:send_mess() - invalid argument = %c\n", inchar);
return (ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
strcpy(local_buff, com);
strcat(local_buff, "\r");
if (inchar != (char) NULL)
local_buff[0] = inchar; /* put in axis */
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
serialIOSend(cntrl->serialInfo, local_buff, strlen(local_buff), SERIAL_TIMEOUT);
return (OK);
}
/*****************************************************/
/* receive a message from the IM483 board */
/* recv_mess() */
/*****************************************************/
STATIC int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
int timeout;
int len=0;
/* Check that card exists */
if (!motor_state[card])
return (-1);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE, INPUT_TERMINATOR, timeout);
if (len == 0)
com[0] = '\0';
else
com[len - 2] = '\0';
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return (len);
}
/*****************************************************/
/* Setup system configuration */
/* IM483SMSetup() */
/*****************************************************/
RTN_STATUS
IM483SMSetup(int num_cards, /* maximum number of controllers in system. */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > IM483SM_NUM_CARDS)
IM483SM_num_cards = IM483SM_NUM_CARDS;
else
IM483SM_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before IM483SMConfig is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
motor_state = (struct controller **) malloc(IM483SM_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < IM483SM_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return (OK);
}
/*****************************************************/
/* Configure a controller */
/* IM483SMConfig() */
/*****************************************************/
RTN_STATUS
IM483SMConfig(int card, /* card being configured */
int port_type, /* N/A - always RS232_PORT */
int location, /* MPF server location */
const char *name) /* MPF server task name */
{
struct IM483controller *cntrl;
if (card < 0 || card >= IM483SM_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct IM483controller));
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
cntrl->port_type = RS232_PORT;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
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 IM483controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis = 0;
int status;
bool errind;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (IM483SM_num_cards <= 0)
return (ERROR);
for (card_index = 0; card_index < IM483SM_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = false;
cntrl->serialInfo = serialIOInit(cntrl->serial_card,
cntrl->serial_task);
if (cntrl->serialInfo == NULL)
errind = true;
if (errind == false)
{
int itera;
char *src, *dest;
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
do
recv_mess(card_index, buff, FLUSH);
while (strlen(buff) != 0);
send_mess(card_index, "\003", NULL); /* Reset device. */
epicsThreadSleep(1.0);
send_mess(card_index, " ", NULL);
/* Save controller identification message. */
src = buff;
dest = brdptr->ident;
*src = NULL;
for (itera = 0; itera < 50; itera++)
{
if (*src == NULL)
{
status = recv_mess(card_index, buff, 1);
if (status <= 0)
{
if (itera != 0)
{
*dest = NULL;
status = 1;
}
break;
}
src = buff;
while(isspace(*src++));
--src;
if (itera != 0)
{
*dest++ = ' ';
itera++;
}
}
else if (isspace(*src))
{
while(isspace(*src++));
src -= 2;
}
else if (strncmp(src, "AD", 2) == 0)
{
strcpy(dest, "AMS");
src += 22;
dest += 3;
itera += 3;
}
*dest++ = *src++;
}
}
if (errind == false && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
brdptr->total_axis = total_axis = 1;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
int loop_state;
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Determine if encoder present based on open/closed loop mode. */
loop_state = NULL;
if (loop_state != 0)
{
motor_info->encoder_present = YES;
motor_info->status |= EA_PRESENT;
motor_info->pid_present = YES;
motor_info->status |= GAIN_SUPPORT;
}
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;
mess_queue.head = (struct mess_node *) NULL;
mess_queue.tail = (struct mess_node *) NULL;
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "IM483SM_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
return (0);
}