forked from epics_driver_modules/motorBase
Removed HytecSrc; Added motorHytec submodule
This commit is contained in:
kpetersn
@@ -16,3 +16,6 @@
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[submodule "modules/motorFaulhaber"]
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path = modules/motorFaulhaber
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url = https://github.com/epics-motor/motorFaulhaber.git
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[submodule "modules/motorHytec"]
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path = modules/motorHytec
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url = https://github.com/epics-motor/motorHytec.git
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@@ -9,6 +9,9 @@ SUBMODULES += motorAcsTech80
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SUBMODULES += motorAttocube
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SUBMODULES += motorDeltaTau
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SUBMODULES += motorFaulhaber
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ifdef IPAC
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SUBMODULES += motorHytec
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endif
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# Allow sites to add extra submodules
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-include Makefile.local
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Submodule
+1
Submodule modules/motorHytec added at 17b57f757a
Binary file not shown.
@@ -1,72 +0,0 @@
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record(bo,"$(dev):$(area):$(locn):POWER") {
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field(DTYP,"asynInt32")
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field(OUT,"@asyn($(PORT) 0)HYTEC_POWER")
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field(VAL, "1")
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field(ZNAM, "On")
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field(ONAM, "Off")
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}
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record(bo,"$(dev):$(area):$(locn):BRAKE") {
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field(DTYP,"asynInt32")
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field(OUT,"@asyn($(PORT) 0)HYTEC_BRAKE")
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field(VAL, "1")
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field(ZNAM, "Set")
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field(ONAM, "Rls")
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}
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record(ai,"$(dev):$(area):$(locn):POSN") {
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field(PINI, "YES")
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field(DTYP,"asynInt32")
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field(INP,"@asyn($(PORT) 0)MOTOR_POSITION")
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field(SCAN, "1 second")
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}
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record(ai,"$(dev):$(area):$(locn):FIRMWARE_VERSION") {
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field(PINI, "YES")
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field(DTYP,"asynInt32")
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field(INP,"@asyn($(PORT) 0)HYTEC_FWVERSION")
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field(SCAN, "1 second")
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}
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record(ai,"$(dev):$(area):$(locn):EN_POSN") {
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field(PINI, "YES")
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field(DTYP,"asynInt32")
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field(INP,"@asyn($(PORT) 0)MOTOR_ENCODER_POSITION")
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field(SCAN, "1 second")
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}
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record(ai, "$(dev):$(area):$(locn):LOWLMT") {
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field(SCAN, "I/O Intr")
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(PORT) 0) MOTOR_STATUS_LOW_LIMIT")
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}
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record(ai, "$(dev):$(area):$(locn):HIGHLMT") {
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field(SCAN, "I/O Intr")
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(PORT) 0) MOTOR_STATUS_HIGH_LIMIT")
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}
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record(ai, "$(dev):$(area):$(locn):DONE") {
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field(SCAN, "I/O Intr")
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(PORT) 0) MOTOR_STATUS_DONE")
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}
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record(ai, "$(dev):$(area):$(locn):HOMELMT") {
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field(SCAN, "I/O Intr")
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(PORT) 0) MOTOR_STATUS_AT_HOME")
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}
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record(ai, "$(dev):$(area):$(locn):FAULT") {
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field(SCAN, "I/O Intr")
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(PORT) 0) MOTOR_STATUS_PROBLEM")
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}
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record(ai, "$(dev):$(area):$(locn):HASENCODER") {
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field(SCAN, "I/O Intr")
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field(DTYP, "asynInt32")
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field(INP, "@asyn($(PORT) 0) MOTOR_STATUS_HAS_ENCODER")
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}
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File diff suppressed because it is too large
Load Diff
@@ -1,4 +0,0 @@
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# Database Definition
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registrar(Hytec8601Register)
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@@ -1,222 +0,0 @@
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/********************************************************************************/
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/* H H Y Y TTTTT EEEEE CCC HYTEC ELECTRONICS LTD */
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/* H H Y Y T E C 5 Cradock Road, */
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/* HHHHH Y T EEE C Reading, Berks. Tel: 0118 9757770 */
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/* H H Y T E C RG2 0JT Fax: 0118 9757566 */
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/* H H Y T EEEEE CCC Web: www.hytec-electronics.co.uk */
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/********************************************************************************/
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/********************************************************************************/
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/* _____________________________________________________________________ */
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/* | H Y T E C 8 6 0 1 S T E P M O T E R A s y n D r i v e r | */
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/* --------------------------------------------------------------------- */
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/* */
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/* Source file name :- HytecMotorDriver.c */
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/* */
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/* Initial creation date :- 29-Mar-2011 */
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/* */
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/* Original Developers :- Jim Chen. Hytec Electronics Ltd */
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/* */
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/********************************************************************************/
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/* */
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/* Description :- This is the "model 3" asyn motor driver for Hytec 8601 */
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/* Stepper Motor IP module. The code is based on original */
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/* Hytec drvHy8601asyn.c driver and also Mark Rivers' */
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/* ACRMotorDriver. */
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/* */
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/* */
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/* (C)2011 Hytec Electronics Ltd. */
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/* */
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/********************************************************************************/
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/* */
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/* Revision history: (comment and initial revisions) */
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/* */
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/* vers. revised modified by date */
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/* ----- ----------- ---------------- --------------- */
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/* 2.0 Continued version Jim Chen 29/03/2011 */
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/* The main contents of this driver are the same as the original */
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/* Hytec drvHy8601asyn.c driver but in "model 3" form as defined */
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/* by Mark Rivers. Hence it starts from version 2.0. */
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/* 2.1 New interfaces Jim Chen 04/04/2011 */
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/* This version follows the asyn motor model 3 latest interface */
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/* changes that include: */
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/* a).New asynMotorAxis base class */
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/* b).Moves the axis specific functions from the motor controller */
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/* class to individual axis class */
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/* c).Changes asynMotorDriver.cpp to asynMotorController.cpp. */
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/* 2.2 Bugs fix Jim Chen 14/04/2011 */
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/* Fixed setPosition bug */
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/* Added firmware version parameter */
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/* */
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/********************************************************************************/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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static const char *driverName = "HytecMotorDriver";
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/* CSR Register bit definitions */
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#define CSR_HOMESTOP 0x8000
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#define CSR_INTEN 0x4000
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#define CSR_DONE 0x2000
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#define CSR_CRASHSTOP 0x1000
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#define CSR_DIRECTION 0x0800
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#define CSR_AUX2 0x0400
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#define CSR_AUX1 0x0200
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#define CSR_ENCODUSE 0x0100
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#define CSR_ENCODDET 0x0080
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#define CSR_JOG 0x0040
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#define CSR_GO 0x0020
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#define CSR_DRVSTAT 0x0010
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#define CSR_HOMELMT 0x0008
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#define CSR_MAXLMT 0x0004
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#define CSR_MINLMT 0x0002
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#define CSR_RESET 0x0001
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/* New Hardware Register Map */
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#define REG_STEPCNTLO 0x00
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#define REG_STEPCNTHI 0x02
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#define REG_CURRPOSLO 0x04
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#define REG_CURRPOSHI 0x06
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#define REG_STARTSTOPSPD 0x08
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#define REG_HIGHSPD 0x0A
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#define REG_RAMPRATE 0x0C
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#define REG_CSR 0x0E
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#define REG_INTMASK 0x10
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#define REG_INTVECTOR 0x12
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#define REG_INTREQUEST 0x14
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#define REG_CURRENTSPD 0x16
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#define REG_SPARE1 0x18
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#define REG_SPARE2 0x1A
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#define REG_SPARE3 0x1C
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#define REG_SPARE4 0x1E
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#define PROM_MODEL 0x8601
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#define PROM_OFFS 0x80
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#define REG_BANK_OFFS 0x00
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#define REG_BANK_SZ 0x20
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#define INT_LMT (CSR_MINLMT | CSR_MAXLMT | CSR_HOMELMT)
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#define INT_SRCS (CSR_RESET | INT_LMT | CSR_DRVSTAT | CSR_DONE)
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/* define a mask to enable all sources of interrupts */
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#define ALL_INTS (INT_SRCS | CSR_INTEN)
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#define DONE_INT (CSR_DONE) /* the only interrupt suggested to use. JC 12-Nov-2009 */
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#define HY8601_NUM_AXES 4
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#define IP_DETECT_STR "VITA4 "
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#define GET_REG(base,reg) (*(volatile epicsUInt16 *)((base)+(reg)))
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#define SET_REG(base,reg,val) do { *(volatile epicsUInt16 *)((base)+(reg)) = (val);} while(0)
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#define CSR_SET(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) |= (bit);} while(0)
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/* Please NOTE, The DONE bit is cleared by either ORing an "1" or ANDing an "1" (if it is already "1") to it.
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* Yet neither ORing nor ANDing it with "0" would affect it. As such, clearing any other bit in the CSR with
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* the AND operation need to be very careful so that it doesn't knock down the DONE bit. This is why in the
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* following macro after inverting the bit in the CSR, we clear the DONE bit to the inversion result in order
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* not to affect the DONE bit. */
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#define CSR_CLR(base,bit) do { *(volatile epicsUInt16 *)((base)+REG_CSR) &= ((~(bit)) & 0xDFFF);} while(0)
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#define HytecPowerControlString "HYTEC_POWER"
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#define HytecBrakeControlString "HYTEC_BRAKE"
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#define HytecFirmwareString "HYTEC_FWVERSION"
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#define HytecMoveAllString "HYTEC_MOVEALL"
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class HytecMotorAxis : public asynMotorAxis
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{
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public:
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HytecMotorAxis(class HytecMotorController *pC, int axis, double ratio, int vector);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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int getVector();
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volatile char * getChanbase();
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//the following are called from non-member function so they are here
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private:
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asynStatus InitialiseAxis();
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HytecMotorController *pC_;
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volatile char *chanbase;
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int vector;
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int useencoder;
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double encoderRatio; /**< (double) Number of encoder counts in one motor count (encoder counts/motor counts) */
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double resolution; /**< (double) Number of motor units per engineering unit */
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double softLowLimit; /**< (double) Low soft limit in motor units ???? Shouldn't these two in engineering unit? */
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double softHighLimit; /**< (double) High soft limit in motor units ???? */
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double absPosition;
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double desiredMove;
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int times; /* to remember the the done bit set the first time */
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int absAskingPosition;
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friend class HytecMotorController;
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};
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class HytecMotorController : asynMotorController
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{
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public:
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HytecMotorController(const char *portName, int numAxes, double movingPollPeriod,
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double idlePollPeriod, int cardnum, int ip_carrier, int ipslot,
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int vector, int useencoder, double encoderRatio0, double encoderRatio1,
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double encoderRatio2, double encoderRatio3);
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|
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// These are the methods that we override from asynMotorDriver
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asynStatus readInt32(asynUser *pasynUser, epicsInt32 *value);
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asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
|
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asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
|
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void report(FILE *fp, int level);
|
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|
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HytecMotorAxis* getAxis(asynUser *pasynUser);
|
||||
HytecMotorAxis* getAxis(int axisNo);
|
||||
|
||||
//the following are called from non-member function so they are here
|
||||
void drvHy8601GetAxisStatus( HytecMotorAxis *pAxis, int csr_data );
|
||||
int getNumAxes();
|
||||
int getIPCarrier();
|
||||
int getIPSlot();
|
||||
epicsMessageQueueId getINTMsgQID();
|
||||
void increaseMsgSent();
|
||||
void increaseMsgFail();
|
||||
|
||||
|
||||
protected:
|
||||
// New function codes
|
||||
int HytecPowerControl_;
|
||||
#define FIRST_HYTEC_PARAM HytecPowerControl_
|
||||
int HytecBrakeControl_;
|
||||
int HytecFWVersion_;
|
||||
int HytecMoveAll_;
|
||||
#define LAST_HYTEC_PARAM HytecMoveAll_
|
||||
|
||||
#define NUM_HYTEC_PARAMS (&LAST_HYTEC_PARAM - &FIRST_HYTEC_PARAM + 1)
|
||||
|
||||
private:
|
||||
asynStatus SetupCard();
|
||||
int checkprom(char *pr,int expmodel);
|
||||
|
||||
int numAxes;
|
||||
epicsMessageQueueId intMsgQId;
|
||||
int messagesSent; // for report
|
||||
int messagesFailed; // for report
|
||||
int ip_carrier;
|
||||
int ipslot;
|
||||
|
||||
asynUser *pasynUser;
|
||||
|
||||
int card;
|
||||
int vector;
|
||||
int useencoder;
|
||||
volatile char *regbase;
|
||||
|
||||
epicsThreadId motorThread;
|
||||
|
||||
friend class HytecMotorAxis;
|
||||
};
|
||||
@@ -1,25 +0,0 @@
|
||||
TOP=../..
|
||||
|
||||
include $(TOP)/configure/CONFIG
|
||||
|
||||
# -------------------------------
|
||||
# Build HytecMotor Module Library
|
||||
# -------------------------------
|
||||
|
||||
LIBRARY_IOC += HytecMotor
|
||||
|
||||
DBD += HytecMotorDriver.dbd
|
||||
|
||||
# The following are compiled and added to the support library
|
||||
HytecMotor_SRCS += HytecMotorDriver.cpp
|
||||
|
||||
INC += HytecMotorDriver.h
|
||||
|
||||
# We need to link this IOC Application against the EPICS Base libraries
|
||||
HytecMotor_LIBS += motor
|
||||
HytecMotor_LIBS += asyn Ipac
|
||||
HytecMotor_LIBS += $(EPICS_BASE_IOC_LIBS)
|
||||
|
||||
# ---------------------------------------------------
|
||||
|
||||
include $(TOP)/configure/RULES
|
||||
@@ -1,510 +0,0 @@
|
||||
***********************************************************************************
|
||||
Hytec 8601 Step Motor Controller Asyn Driver Notes
|
||||
|
||||
Author: Jim Chen, Hytec Electronics Ltd
|
||||
jim.chen@hytec-electronics.co.uk
|
||||
|
||||
First Initial: 12/NOV/2010
|
||||
Last updated: 29/FEB/2012
|
||||
|
||||
Modification note:
|
||||
22/FEB/2012 - corrected memory offset calculation errors reported by Ernest Williams SLAC.
|
||||
29/FEB/2012 - added coverage for all cases when setting up the MEMOFFS for 8002 carrier.
|
||||
|
||||
This driver is based on "model 3" motor asyn driver defined by Mark Rivers.
|
||||
***********************************************************************************
|
||||
|
||||
Support modules
|
||||
===============
|
||||
|
||||
1). asyn driver version asyn4-13-1 or later.
|
||||
|
||||
2). ipac module version ipac-2.11 plus one of the Hytec carrier card drivers such as
|
||||
drvHy8002.c for VxWorks or RTEMS under VME64x with 8002/8003/8004 carriers,
|
||||
drvHyLinuxCarrier.c for Linux with IOC9010/PCIe6335/uTCA7002 carriers,
|
||||
drvHyRTEMSCarrier.c for RTEMS with IOC9010 blade.
|
||||
|
||||
3). devLib2 version 2.1 or later if using RTEMS on IOC9010 blade.
|
||||
|
||||
4). motor module version later than motorR6-5-1. Currently the 'model 3' version can be
|
||||
downloaded from subversion https://subversion.xor.aps.anl.gov/synApps/motor/trunk.
|
||||
This will be formally released some stage on the official EPICS website.
|
||||
|
||||
5). EPICS core R3.14.8.2 or later.
|
||||
|
||||
6). RTEMS R4.9.4 or later.
|
||||
|
||||
|
||||
Hytec 8002/8003/8004 carrier card configuration
|
||||
===============================================
|
||||
|
||||
This board is a 6U VME64x carrier card. It provides four single size IP slots and
|
||||
is configurable for many parameters. It supports interrupt level from 0 to 7. Any
|
||||
IP cards can be enabled/disabled interrupt. The clock can be set to either 8MHz or
|
||||
32MHz. For IPAC Memory space if required, the base address can be defined automatically
|
||||
by geographical addressing when VME64x crate is used. For other type of crates,
|
||||
the base address can be set by configuring a series of jumpers on the board or by
|
||||
passing parameter to the memory offset register in the ipacAddCarrier call.
|
||||
|
||||
The IPAC Carrier Driver for this board is found in the file drvHy8002.c which
|
||||
implements two commands ipacAddHy8002 and Hy8002CarrierInfo. The ipacAddHy8002
|
||||
command is used to add a Hytec 8002/8003 board to the system. The Hy8002CarrierInfo
|
||||
reports hardware information for a specified board or all boards in the system if
|
||||
the parameter passed down is 0xFFFF. These commands are registered by the registrar
|
||||
routine Hy8002Registrar to add them to the iocsh and link the driver into a final
|
||||
IOC executable, for which it must be listed in the IOC's .dbd file thus:
|
||||
|
||||
registrar(Hy8002Registrar)
|
||||
|
||||
|
||||
1). Configuration Command and Parameter
|
||||
--------------------------------------
|
||||
|
||||
- int ipacAddHYy8002(const char *cardParams);
|
||||
|
||||
The parameter string should comprise two (2) to six (6) parameters which are comma
|
||||
separated. The first two are mandate and have to be separated only by one comma.
|
||||
The others are key/value pairs and are optional as per the conditions of the operating
|
||||
system used. The format is defined as
|
||||
|
||||
s,i,IPMEM=d,IPCLCK=d,ROAK=d,MEMOFFS=d
|
||||
|
||||
where d is a decimal integer number.
|
||||
s defines the VME slot number of the carrier card. Valid number is 2 ~ 21.
|
||||
this number MUST be the same as the VME slot number where the carrier
|
||||
card is plugged in.
|
||||
i defines the interrupt level. Valid number is 0 ~ 7.
|
||||
IPMEM=d defines the maximum memory size of the IP module. The valid values are 1, 2,
|
||||
4 or 8 that represent 1MB, 2MB, 4MB or 8MB respectively. Default is 1. For
|
||||
majority Hytec ADCs, DACs such as 8401, 8414, 8417, 8402 and 8415 etc, they
|
||||
all have 2MB on board. The user can choose to use either 1MB or 2MB. None of
|
||||
the Hytec IPs has more than 2MB on board memory. Other vendors might have.
|
||||
IPCLCK=d defines the clock that its value has to be either 8 for 8MHz or 32 for
|
||||
32Mhz. Default is 8.
|
||||
ROAK=d if d =1, it defines carrier card to release the interrupt upon the
|
||||
acknowledgment. If d=0, the interrupt is released by user interrupt
|
||||
service routine. Default is 0.
|
||||
MEMOFFS=d this parameter defines the A32 memory access base address. "d" is a decimal
|
||||
number that represents the offset (the upper WORD) of the A32 base address.
|
||||
It is needed when any of the two statements below is true:
|
||||
|
||||
A. The operating system either VxWorks or RTEMS has defined a non-zero
|
||||
VME_A32_MSTR_LOCAL macro in the system config.h file.
|
||||
|
||||
B. The VME crate is not geographical addressing facilitated. In such a system,
|
||||
user must use this to set up base address for A32.
|
||||
|
||||
For a VME crate that is geographical addressing facilitated, and the system
|
||||
defines a non-zero VME_A32_MSTR_LOCAL macro, then it is needed. But if
|
||||
VME_A32_MSTR_LOCAL macro is defined as 0, then this is optional. Setting this
|
||||
the driver will turn off the carrier card geographical addressing by setting
|
||||
a bit in the CSR.
|
||||
|
||||
Note: MEMOFFS has nothing to do with A16 base address formation. A16 base address
|
||||
is determined either by geographical addressing or by carrier board on board
|
||||
jumpers settings. For VME crate that is not geographical addressing facilitated,
|
||||
both 8002 and 8004 carriers need to use on board jumpers (J6~J10) to set up
|
||||
(On 8004 carrier, moving the jumpers to "manual" positions). When the VME
|
||||
crate is geographical addressing facilitated, for 8002 carrier, A16 base
|
||||
address is determined by the crate geographical addressing facility, i.e.
|
||||
determined automatically by the slot number where the carrier is plugged in
|
||||
(the actually A16 base address is determined as vmeslotnumber << 11). But for
|
||||
8004 carrier, user can have a choice to either use the on board jumpers to
|
||||
manually set up (moving jumpers J6~J10 away from "auto" to "manual" positions)
|
||||
or let the the geographical addressing to determine it (keep all J6 ~ J10 to
|
||||
"auto" position).
|
||||
|
||||
Calcualtion of MEMOFFS:
|
||||
|
||||
As mentioned above, MEMOFFS setting represents the upper WORD of A32 VME address. Two
|
||||
things need to be considered when doing the calculation: IPMEM setting and the the
|
||||
VME_A32_MSTR_LOCAL macro definition in the config.h file of the BSP.
|
||||
|
||||
IPMEM defines the memory size per IP card. Either 8002 or 8004 has up to 4 IPs so
|
||||
the carrier memory size is 4 times of the IP memory. The minimum size of an IP, which
|
||||
is also the default setting (if IPMEM is not defined), is 1MB. Hence the MEMOFFS
|
||||
should start from address line A22 as shown below
|
||||
|
||||
MEMOFFS BIT 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
|
||||
A31 A30 A29 A28 A27 A26 A25 A24 A23 A22 0 0 0 0 0 0
|
||||
|
||||
The MEMOFFS must be defined such that any two carriers in the same crate shuoldn't
|
||||
have overlapped memory area. So when IPMEM changes, the starting address line for
|
||||
calculating MEMOFFS changes as well as illustrated below:
|
||||
|
||||
IPMEM memory per IP carrier memory size starting address line
|
||||
1 1MB 4MB A22
|
||||
2 2MB 8MB A23
|
||||
4 4MB 16MB A24
|
||||
8 8MB 32MB A25
|
||||
|
||||
all address lines below this starting address must be 0.
|
||||
|
||||
VME_A32_MSTR_LOCAL macro is the system base and it just needs to be added on to the
|
||||
calculation.
|
||||
|
||||
In principle, calculating MEMOFFS doesn't have to correspond it to VME slot number
|
||||
that the carrier is plugged in. The only thing matters is as said that any two MEMOFFS
|
||||
settings for any two carriers in the same crate should not overlap. Yet associating
|
||||
the VME slot number in the calculation just makes better logical sense and fits the
|
||||
natual of human being's thinking. Some examples are shown below.
|
||||
|
||||
Let's assume IPMEM=1 (the default setting), this gives 4MB memory space for a 8002
|
||||
carrier so starting address line is A22. The remaining must be 0.
|
||||
|
||||
MEMOFFS BIT 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
|
||||
A31 A30 A29 A28 A27 A26 A25 A24 A23 A22 0 0 0 0 0 0
|
||||
|
||||
For a carrier in VME slot 2, we can define its A32 base address as 0x00400000,
|
||||
plus VME_A32_MSTR_LOCAL. For VME slot 3, it could be 0x00800000 plus VME_A32_MSTR_LOCAL
|
||||
and for VME slot 4, it could be 0x00C00000 plus VME_A32_MSTR_LOCAL and so forth.
|
||||
|
||||
Assuming VME_A32_MSTR_LOCAL is 0x20000000, then for VME slot 4, the calculated base
|
||||
address should be 0x00C00000 + 0x20000000 = 0x20C000000. Hence the MEMOFFS = 8384
|
||||
(decimal, i.e. 0x20C0). For slot 5, the derived base address could be 0x01000000 +
|
||||
0x20000000 = 0x21000000. Hence the MEMOFFS = 8448 (decimal, i.e. 0x2100) and so forth.
|
||||
|
||||
Now if IPMEM=2, this gives 8MB memory space for each 8002 carrier so the starting address
|
||||
line is A23. The remaining must be 0.
|
||||
|
||||
MEMOFFS BIT 15 14 13 12 11 10 09 08 07 06 05 04 03 02 01 00
|
||||
A31 A30 A29 A28 A27 A26 A25 A24 A23 0 0 0 0 0 0 0
|
||||
|
||||
For a carrier in VME slot 2, we could define its A32 base address as 0x00800000
|
||||
plus VME_A32_MSTR_LOCAL. For VME slot 3, the base address could be 0x01000000 plus
|
||||
VME_A32_MSTR_LOCAL and for VME slot 4, the base address could be 0x01800000 plus
|
||||
VME_A32_MSTR_LOCALand so forth.
|
||||
|
||||
Assuming VME_A32_MSTR_LOCAL is still 0x20000000, then for VME slot 4, the calculated
|
||||
base address should be 0x01800000 + 0x20000000 = 0x218000000. Hence the MEMOFFS = 8576
|
||||
(decimal, i.e. 0x2180). For slot 5, the derived base address could be 0x02000000 +
|
||||
0x20000000 = 0x22000000. Hence the MEMOFFS = 8704 (decimal, i.e. 0x2200) and so forth.
|
||||
|
||||
|
||||
|
||||
- int Hy8002CarrierInfo(int carrier);
|
||||
|
||||
where 'carrier' is the registered carrier number in the system. If it is specified,
|
||||
this function prints out the specified carrier hardware information. If carrier = 0xFFFF,
|
||||
then all carriers' hardware information will be printed out.
|
||||
|
||||
|
||||
2). Configuration Examples
|
||||
-------------------------
|
||||
|
||||
ipacAddHy8002("3,2")
|
||||
|
||||
This indicates that the carrier is in slot 3 and the interrupt level is set to 2.
|
||||
IP memory uses default 1MB. Clock uses default 8MHz. RORA as default. use geographical
|
||||
addressing etc.
|
||||
|
||||
ipacAddHy8002("5,4,IPMEM=1,IPCLCK=8,ROAK=1,MEMOFFS=256 ")
|
||||
|
||||
Here the slot is 5, interrupt level is 4. IP memory size is 1MB, clock uses 8MHz.
|
||||
Use ROAK but not using geographic addressing. The memory offset is 256 which means its
|
||||
base address is 0x01000000 assuming the VME_A32_MSTR_LOCAL is set to 0x00000000.
|
||||
|
||||
3). Interrupt Commands Supported
|
||||
-------------------------------
|
||||
|
||||
The interrupt level can be set by the second parameter of the ipacAddHy8002 routine.
|
||||
Individual IP module can be set to generate interrupt or not. The commands supported
|
||||
for ipmIrqCmd are illustrated below.
|
||||
|
||||
cmd Value Returned
|
||||
ipac_irqGetLevel Carrier interrupt level (0 ~ 7)
|
||||
ipac_irqEnable 0 = OK
|
||||
ipac_irqDisable 0 = OK
|
||||
ipac_irqPoll >0 if the interrupt line is active, else 0
|
||||
(other commands) S_IPAC_notImplemented
|
||||
|
||||
|
||||
Hy8601 IP Asyn Driver Usage
|
||||
============================
|
||||
|
||||
1). Configuration shell command
|
||||
-------------------------------
|
||||
|
||||
The configuration ioc shell command takes the form below.
|
||||
|
||||
int Hytec8601Configure(char *portName,
|
||||
epicsUInt16 numAxes,
|
||||
epicsUInt16 movingPollPeriod,
|
||||
epicsUInt16 idlePollPeriod,
|
||||
epicsUInt16 cardnum,
|
||||
epicsUInt16 ip_carrier,
|
||||
epicsUInt16 ipslot,
|
||||
epicsUInt16 vector,
|
||||
epicsUInt16 useencoder,
|
||||
epicsDouble encoderRatio0,
|
||||
epicsDouble encoderRatio1,
|
||||
epicsDouble encoderRatio2,
|
||||
epicsDouble encoderRatio3)
|
||||
|
||||
Where:
|
||||
(1) portName asyn port name
|
||||
(2) numAxes number of axes
|
||||
(3) movingPollPeriod status polling time period when motor is moving in ms
|
||||
(4) idlePollPeriod status polling time period when motor is stopped in ms
|
||||
(5) cardnum Arbitrary card number to assign to this controller (currently not used)
|
||||
(6) ip_carrier which previously configured IP carrier in the IOC
|
||||
(7) ipslot which IP Slot on carrier card (0=A etc.)
|
||||
(8) vector which Interrupt Vector (0 - Find One ?)
|
||||
(9) useencoder - bit0 for axis0, bit1 for axis1, bit2 for axis2 and bit3 for axis3.
|
||||
Other bits not used. 1=use encoder, 0=don't use encoder !
|
||||
(10) encoderRatio0 - axis0 hardware encoder ratio
|
||||
(11) encoderRatio1 - axis1 hardware encoder ratio
|
||||
(12) encoderRatio2 - axis2 hardware encoder ratio
|
||||
(13) encoderRatio3 - axis3 hardware encoder ratio
|
||||
|
||||
Example:
|
||||
|
||||
Hytec8601Configure("Hy8601", 4, 500, 1000, 0, IPAC0, 0, 70, 15, 0.25, 0.25, 0.25, 0.25)
|
||||
|
||||
This configures the 8601 card with
|
||||
port name: Hy8601
|
||||
4 axes
|
||||
poll status every 500ms when moving
|
||||
poll status every 1000ms when stopped
|
||||
card number = 0
|
||||
carrier serial number = 0
|
||||
ipslot = site A
|
||||
interrupt vector = 70
|
||||
all 4 axes use encoder
|
||||
all 4 axes have quardrature encoder hence their ratios are 0.25
|
||||
|
||||
Please note, since the parameters in the function is more than 10, in VxWorks, the start up
|
||||
script loading will complain about " too many parameters..." In this case, adding
|
||||
|
||||
iocsh()
|
||||
|
||||
before this routine in start up script will solve the problem.
|
||||
|
||||
|
||||
2). Database definition file
|
||||
----------------------------
|
||||
|
||||
Database definition file is: HytecMotorDriver.dbd.
|
||||
|
||||
3). Databases
|
||||
-------------
|
||||
|
||||
Two databases can be loaded:
|
||||
|
||||
dbLoadRecords("db/basic_asyn_motor.db")
|
||||
dbLoadRecords("db/HytecMotorControl.db", "dev=IP8601,area=TEST,locn=LAB,PORT=Hy8601")
|
||||
|
||||
Where:
|
||||
basic_asyn_motor.db is the motor record database. It initialises 4 axes.
|
||||
HytecMotorControl.db is the special controls for Hy8601 motor controller. It contains few extra asyn records
|
||||
including POWER, BRAKE controls, synchronous read of absolute position and enocder position and firmware
|
||||
version etc as below.
|
||||
|
||||
record(bo,"$(dev):$(area):$(locn):POWER") {
|
||||
field(DTYP,"asynInt32")
|
||||
field(OUT,"@asyn($(PORT) 0)HYTEC_POWER")
|
||||
field(VAL, "1")
|
||||
field(ONAM, "On")
|
||||
field(ZNAM, "Off")
|
||||
}
|
||||
|
||||
record(bo,"$(dev):$(area):$(locn):BRAKE") {
|
||||
field(DTYP,"asynInt32")
|
||||
field(OUT,"@asyn($(PORT) 0)HYTEC_BRAKE")
|
||||
field(VAL, "1")
|
||||
field(ZNAM, "Set")
|
||||
field(ONAM, "Rls")
|
||||
}
|
||||
|
||||
record(ai,"$(dev):$(area):$(locn):POSN") {
|
||||
field(PINI, "YES")
|
||||
field(DTYP,"asynInt32")
|
||||
field(INP,"@asyn($(PORT) 0)MOTOR_POSITION")
|
||||
field(SCAN, "1 second")
|
||||
}
|
||||
|
||||
record(ai,"$(dev):$(area):$(locn):EN_POSN") {
|
||||
field(PINI, "YES")
|
||||
field(DTYP,"asynInt32")
|
||||
field(INP,"@asyn($(PORT) 0)MOTOR_ENCODER_POSITION")
|
||||
field(SCAN, "1 second")
|
||||
}
|
||||
|
||||
record(ai,"$(dev):$(area):$(locn):FIRMWARE_VERSION") {
|
||||
field(PINI, "YES")
|
||||
field(DTYP,"asynInt32")
|
||||
field(INP,"@asyn($(PORT) 0)HYTEC_FWVERSION")
|
||||
field(SCAN, "1 second")
|
||||
}
|
||||
|
||||
There are other records in the HytecMotorControl.db which can return the positions synchronously etc.
|
||||
|
||||
These positions are raw values in terms of the "counts". These records can be read by "ai" records
|
||||
and can be converted to engineering values by EGUF, EGUL etc.
|
||||
|
||||
Notes:
|
||||
|
||||
- The power control uses AUX1 of the 8601 CSR. As it indicates in the record above, command
|
||||
|
||||
caput $(dev):$(area):$(locn):POWER 1
|
||||
|
||||
means power "On" and it sets the AUX1 bit, i.e. AUX1 output high (1).
|
||||
|
||||
caput $(dev):$(area):$(locn):POWER 0
|
||||
|
||||
means power "Off" so it clears AUX1 bit, i.e. AUX1 output low (0). Command
|
||||
|
||||
- The brake control uses AUX2 of the 8601 CSR. As it indicates in the record above, command
|
||||
|
||||
caput $(dev):$(area):$(locn):BRAKE 1
|
||||
|
||||
means to release the brake. It clears AUX2 bit, i.e. AUX2 output low (0). Command
|
||||
|
||||
caput $(dev):$(area):$(locn):BRAKE 0
|
||||
|
||||
means set the brake. It sets the AUX2 bit, i.e. AUX2 output high (1).
|
||||
|
||||
- The firmware version record returns the IP card PCB board issue number and the firmware version
|
||||
|
||||
caget $(dev):$(area):$(locn):FIRMWARE_VERSION
|
||||
|
||||
will return something like '2210' for example, whereas the first 2 is the PCB issue number and
|
||||
210 is the firmware version.
|
||||
|
||||
4). To build an example application
|
||||
-----------------------------------
|
||||
|
||||
To build an example to test the 8601 asyn driver, use EPICS makeBaseApp.pl script to create
|
||||
the example as usual. Then modify the following files to include the driver module(s).
|
||||
|
||||
- <TOP>/configure/RELEASE
|
||||
|
||||
Change the EPICS_BASE and SUPPORT to the proper directories.
|
||||
Add ASYN, IPAC and MOTOR moudles:
|
||||
|
||||
ASYN=$(SUPPORT)/asyn/asyn4-14
|
||||
IPAC=$(SUPPORT)/ipac/ipac-2.11
|
||||
MOTOR=<the motor module dir>/motorR6-5-2
|
||||
|
||||
- <TOP>xxxApp/src/Makefile
|
||||
|
||||
In the Makefile of the example src, add following lines:
|
||||
|
||||
example_DBD += asyn.dbd
|
||||
example_DBD += motorSupport.dbd
|
||||
example_DBD += motorRecord.dbd
|
||||
example_DBD += drvIpac.dbd
|
||||
example_DBD += HytecMotorDriver.dbd
|
||||
|
||||
example_LIBS += HytecMotor
|
||||
example_LIBS += motor
|
||||
example_LIBS += Ipac
|
||||
example_LIBS += asyn
|
||||
|
||||
|
||||
- <TOP>/xxxApp/Db/Makefile
|
||||
|
||||
Copy HytecMotorControl.db to the Db directory and add the following lines in the Makefile of
|
||||
the Db directory:
|
||||
|
||||
DB += basic_asyn_motor.db
|
||||
DB += HytecMotorControl.db
|
||||
|
||||
- Build the application from <TOP>
|
||||
|
||||
- Modify st.cmd in iocBoot/iocexample as per next section and run the start up script from here.
|
||||
|
||||
5). Start up script example
|
||||
---------------------------
|
||||
|
||||
The following example is for an IOC that uses RTEMS R4.9.4, MVME5500 processor board.
|
||||
|
||||
# Change directory to TOP of application
|
||||
cd("../..")
|
||||
iocBoot=pwd()
|
||||
ld( "bin/RTEMS-mvme5500/MotionControl.obj")
|
||||
#ld < bin/vxWorks-ppc604_long/MotionControl.munch #for VxWorks
|
||||
|
||||
## Set common environment variables
|
||||
#< all/pre_st.cmd
|
||||
epicsEnvSet("IOC_NAME", "MC02")
|
||||
epicsEnvSet("LOCA_NAME", "B025")
|
||||
epicsEnvSet("ENGINEER", "Condamoor, Shantha")
|
||||
|
||||
epicsEnvSet( "EPICS_CA_MAX_ARRAY_BYTES", "30000")
|
||||
|
||||
# Register all support components
|
||||
dbLoadDatabase( "dbd/MotionControl.dbd")
|
||||
MotionControl_registerRecordDeviceDriver( pdbbase)
|
||||
|
||||
bspExtVerbosity=0
|
||||
|
||||
###########################################################
|
||||
# Configure Hytec 8002 carriers
|
||||
# 8002 carrier VME slot: 3
|
||||
# INT level: 5
|
||||
# Memory per IP: 1MB
|
||||
# Memory mapping offset: 8384
|
||||
# ===================================================================
|
||||
#The typical output on beatnik looks like this:
|
||||
# Cexp@till35>BSP_VMEOutboundPortsShow()
|
||||
# Tsi148 Outbound Ports:
|
||||
# Port VME-Addr Size PCI-Adrs Mode:
|
||||
# 0: 0x20000000 0x0e000000 0x90000000 A32, SUP, D32, SCT
|
||||
# 1: 0x00000000 0x00ff0000 0x9f000000 A24, SUP, D32, SCT
|
||||
# 2: 0x00000000 0x00010000 0x9fff0000 A16, SUP, D32, SCT
|
||||
# 7: 0x00000000 0x01000000 0x9e000000 CSR, SUP, D32, SCT
|
||||
# ===================================================================
|
||||
|
||||
# A32 space configured to start here: 0x20000000
|
||||
# Tell the carrier not to use geographic addressing
|
||||
IPAC0=ipacAddHy8002("3,5,IPMEM=1,MEMOFFS=8384")
|
||||
|
||||
#
|
||||
# Hytec MDS-8 8601 driver setup parameters:
|
||||
# int Hytec8601Configure(char *portName,
|
||||
# epicsUInt16 numAxes,
|
||||
# epicsUInt16 movingPollPeriod,
|
||||
# epicsUInt16 idlePollPeriod,
|
||||
# epicsUInt16 cardnum,
|
||||
# epicsUInt16 ip_carrier,
|
||||
# epicsUInt16 ipslot,
|
||||
# epicsUInt16 vector,
|
||||
# epicsUInt16 useencoder,
|
||||
# epicsDouble encoderRatio0,
|
||||
# epicsDouble encoderRatio1,
|
||||
# epicsDouble encoderRatio2,
|
||||
# epicsDouble encoderRatio3)
|
||||
# (1) portName asyn port name
|
||||
# (2) numAxes number of axes
|
||||
# (3) movingPollPeriod status polling time period when motor is moving in ms
|
||||
# (4) idlePollPeriod status polling time period when motor is stopped in ms
|
||||
# (5) cardnum Arbitrary card number to assign to this controller, not used
|
||||
# (6) ip_carrier which previously configured IP carrier in the IOC
|
||||
# (7) ipslot which IP Slot on carrier card (0=A etc.)
|
||||
# (8) vector which Interrupt Vector (0 - Find One ?)
|
||||
# (9) useencoder - bit0 for axis0, bit1 for axis1, bit2 for axis2 and bit3 for axis3.
|
||||
# Other bits not used. 1=use encoder, 0=don't use encoder !
|
||||
# (10) encoderRatio0 - axis0 hardware encoder ratio
|
||||
# (11) encoderRatio1 - axis1 hardware encoder ratio
|
||||
# (12) encoderRatio2 - axis2 hardware encoder ratio
|
||||
# (13) encoderRatio3 - axis3 hardware encoder ratio
|
||||
|
||||
Hytec8601Configure("Hy8601", 4, IPAC0, 0, 0, 70, 0, 0.25, 0.25, 0.25, 0.25)
|
||||
|
||||
|
||||
# ========================================================
|
||||
# New Hytec Motor Databases
|
||||
# =======================================================
|
||||
dbLoadRecords("db/basic_asyn_motor.db")
|
||||
dbLoadRecords("db/HytecMotorControl.db", "dev=IP8601,area=TEST,locn=LAB,PORT=Hy8601")
|
||||
# ========================================================
|
||||
|
||||
iocInit()
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@@ -66,12 +66,6 @@ KohzuSrc_DEPEND_DIRS = MotorSrc
|
||||
DIRS += AerotechSrc
|
||||
AerotechSrc_DEPEND_DIRS = MotorSrc
|
||||
|
||||
# The Hytec support requires ipac
|
||||
ifdef IPAC
|
||||
DIRS += HytecSrc
|
||||
HytecSrc_DEPEND_DIRS = MotorSrc
|
||||
endif
|
||||
|
||||
DIRS += ACRSrc
|
||||
ACRSrc_DEPEND_DIRS = MotorSrc
|
||||
|
||||
|
||||
Reference in New Issue
Block a user