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- allow one retry after a communication error.

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- use motor status response bit-field.
This commit is contained in:
Ron Sluiter
2001-10-02 22:39:11 +00:00
parent cbb8892f18
commit 622c126137
1 changed files with 77 additions and 56 deletions
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motorApp/NewportSrc/drvMM3000.c
+77 -56
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@@ -2,9 +2,9 @@
FILENAME... drvMM3000.c
USAGE... Motor record driver level support for Newport MM3000.
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-07-17 17:20:28 $
Last Modified: $Date: 2001-10-02 22:39:11 $
*/
/*
@@ -35,19 +35,20 @@ Last Modified: $Date: 2000-07-17 17:20:28 $
*
* Modification Log:
* -----------------
* .01 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor
* positions at the end of a move.
* .05 04-18-00 rls MM3000 takes 2 to 5 seconds to respond to
* queries after hitting a hard travel limit.
* Adjusted GPIB and SERIAL timeouts accordingly.
* Deleted communication retries. Reworked travel
* limit processing so that direction status bit
* matches limit switch. Copied recv_mess() logic
* from drvMM4000.c. Use TPE command to determine
* if motor has an encoder.
* .01 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor positions at
* the end of a move.
* .05 04-18-00 rls MM3000 takes 2 to 5 seconds to respond to queries after
* hitting a hard travel limit. Adjusted GPIB and SERIAL
* timeouts accordingly. Deleted communication retries.
* Reworked travel limit processing so that direction
* status bit matches limit switch. Copied recv_mess()
* logic from drvMM4000.c. Use TPE command to determine
* if motor has an encoder.
* .06 10/02/01 rls - allow one retry after a communication error.
* - use motor status response bit-field.
*/
@@ -247,7 +248,8 @@ STATIC int set_status(int card, int signal)
/* Message parsing variables */
char *cptr, *tok_save;
char inbuff[BUFF_SIZE], outbuff[BUFF_SIZE];
int status, rtn_state;
MOTOR_STATUS mstat;
int rtn_state, charcnt;
double motorData;
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
@@ -255,32 +257,39 @@ STATIC int set_status(int card, int signal)
sprintf(outbuff, "%dMS", signal + 1);
send_mess(card, outbuff, NULL);
status = recv_mess(card, inbuff, 1);
if (status <= 0)
{
cntrl->status = COMM_ERR;
motor_info->status |= CNTRL_COMM_ERR;
return (rtn_state = 1);
}
else
charcnt = recv_mess(card, inbuff, 1);
if (charcnt > 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 = inbuff[0];
Debug(5, "set_status(): status byte = %x\n", status);
mstat.All = inbuff[0];
Debug(5, "set_status(): status byte = %x\n", mstat.All);
nodeptr = motor_info->motor_motion;
if (status & M_MOTOR_DIRECTION)
motor_info->status |= RA_DIRECTION;
else
if (mstat.Bits.direction == OFF)
motor_info->status &= ~RA_DIRECTION;
if (status & M_AXIS_MOVING)
motor_info->status &= ~RA_DONE;
else
motor_info->status |= RA_DIRECTION;
if (mstat.Bits.inmotion == OFF)
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The MM3000 has reported that the
@@ -295,41 +304,44 @@ STATIC int set_status(int card, int signal)
recv_mess(card, cntrl->position_string, 1);
}
}
else
motor_info->status &= ~RA_DONE;
/* Set Travel limit status bit. */
if (status & M_AXIS_MOVING)
if (mstat.Bits.inmotion == OFF)
{
if (((status & M_PLUS_LIMIT) && (status & M_MOTOR_DIRECTION)) ||
((status & M_MINUS_LIMIT) && !(status & M_MOTOR_DIRECTION)))
motor_info->status |= RA_OVERTRAVEL;
else
if (mstat.Bits.plustTL == OFF && mstat.Bits.minusTL == OFF)
motor_info->status &= ~RA_OVERTRAVEL;
}
else
{
if ((status & M_PLUS_LIMIT) || (status & M_MINUS_LIMIT))
else
{
motor_info->status |= RA_OVERTRAVEL;
/* Until status is modified to distinguish +/- limits;
* Set RA_DIRECTION to match travel limit switch. */
if (status & M_PLUS_LIMIT)
if (mstat.Bits.plustTL != OFF)
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
}
}
else
{
if ((mstat.Bits.plustTL != OFF && mstat.Bits.direction != OFF) ||
(mstat.Bits.minusTL != OFF && mstat.Bits.direction == OFF))
motor_info->status |= RA_OVERTRAVEL;
else
motor_info->status &= ~RA_OVERTRAVEL;
}
if (status & M_HOME_SIGNAL)
motor_info->status |= RA_HOME;
else
if (mstat.Bits.homels == OFF)
motor_info->status &= ~RA_HOME;
if (status & M_MOTOR_POWER)
motor_info->status &= ~EA_POSITION;
else
motor_info->status |= RA_HOME;
if (mstat.Bits.NOT_power == OFF)
motor_info->status |= EA_POSITION;
else
motor_info->status &= ~EA_POSITION;
/* encoder status */
motor_info->status &= ~EA_SLIP;
@@ -338,18 +350,27 @@ STATIC int set_status(int card, int signal)
sprintf(outbuff, "%dTP", signal + 1);
send_mess(card, outbuff, NULL);
status = recv_mess(card, inbuff, 1);
if (status <= 0)
{
cntrl->status = COMM_ERR;
motor_info->status |= CNTRL_COMM_ERR;
return (rtn_state = 1);
}
else
charcnt = recv_mess(card, inbuff, 1);
if (charcnt > 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);
}
}
tok_save = NULL;
cptr = strtok_r(inbuff, " ", &tok_save);