forked from epics_driver_modules/motorBase
- Moving off limit switch fix for VME58 (see README item #3).
- oms_build_trans() logic documentation.
This commit is contained in:
Ron Sluiter
+183
-107
@@ -2,15 +2,16 @@
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FILENAME... devOmsCom.c
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USAGE... Data and functions common to all OMS device level support.
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Version: $Revision: 1.2 $
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Version: $Revision: 1.3 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2000-04-19 15:29:43 $
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Last Modified: $Date: 2000-06-14 16:23:49 $
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*/
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/*
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* Original Author: Jim Kowalkowski
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* Current Author: Joe Sullivan
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* Previous Author: Joe Sullivan
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* Date: 11/14/94
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* Current Author: Ron Sluiter
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*
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* Experimental Physics and Industrial Control System (EPICS)
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*
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@@ -89,7 +90,75 @@ struct motor_table const oms_table[] =
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};
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/* add a part to the transaction */
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/*
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FUNCTION... long oms_build_trans(motor_cmnd, double *, struct motorRecord *)
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USAGE... Add a part to the transaction.
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INPUT... command - index into oms_table[].
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*parms - one or more input parameters; determined by
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"num_parms" in oms_table.
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*mr - motor record pointer.
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LOGIC...
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Initialize pointers; return value to OK.
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Set highest command type priority.
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IF transaction is NOT initialized (i.e., state != BUILD_STATE)
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ERROR RETURN.
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ENDIF
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IF input command is a PRIMITIVE command, AND, the INIT field is not empty.
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IF input command is a "device directive".
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Find terminating '@'.
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IF valid "device directive" (i.e, directive bracketed by '@'s).
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IF "Driver Power Monitoring ON" directive.
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Flush response buffer.
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Read motor controller's GPIO configuration.
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IF bit corresponding to current axis is configured as an
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output bit.
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Set "Driver Power Monitoring" indicator ON.
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ELSE
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Output ERROR message.
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ENDIF
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ENDIF
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Strip device directive and copy rest of INIT field to local buffer.
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ELSE
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Copy INIT field to local buffer.
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ENDIF
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ELSE
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Copy INIT field to local buffer.
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ENDIF
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ELSE
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IF input command is set HIGH or LOW travel limit.
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Null command. Set transaction state to IDLE.
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ELSE
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IF input command is Proportional Gain, AND, gain < valid minimum.
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Set the gain and the PCOF field to the minimum.
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Set return indicator to ERROR.
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ELSE IF input command is STOP_AXIS.
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NOTE: This logic is here as a workaround for an OMS firmware
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error. When a STOP command was issued during the target move,
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the backlash acceleration would go into effect.
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Prefix command with ACCL field acceleration.
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ENDIF
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IF command type is MOTION or VELOCITY.
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Process PREM and POST fields.
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ENDIF
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IF Overtravel status indicator ON, AND, input command is a MOVE.
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NOTE: This logic is here as a workaround for the "Moving off a
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limit switch" OMS firmware error.
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IF incremental distance to target position is positive.
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Set OMS controller "direction logic" positive.
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ELSE
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Set OMS controller "direction logic" negative.
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ENDIF
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ENDIF
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Copy input command into output message.
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Copy input command parameters into output message.
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ENDIF
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ENDIF
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*/
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long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
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{
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struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
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@@ -106,123 +175,130 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
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motor_call->type = cmnd_type;
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/* concatenate onto the dpvt message field */
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if (trans->state == BUILD_STATE)
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{
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if ((command == PRIMITIVE) && (mr->init != NULL) &&
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(strlen(mr->init) != 0))
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{
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extern struct driver_table oms58_access;
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/* Test for a "device directive" in the Initialization string. */
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if ((mr->init[0] == '@') && (trans->tabptr == &oms58_access))
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{
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char *end = strrchr(&mr->init[1], '@');
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if (end != NULL)
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{
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struct driver_table *tabptr = trans->tabptr;
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int size = (end - &mr->init[0]) + 1;
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strncpy(buffer, mr->init, size);
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buffer[size] = NULL;
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if (strcmp(buffer, "@DPM_ON@") == 0)
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{
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int response, bitselect;
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char respbuf[10];
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if (trans->state != BUILD_STATE)
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return(rtnind = ERROR);
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(*tabptr->getmsg)(motor_call->card, respbuf, -1);
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(*tabptr->sendmsg)(motor_call->card, "RB\r",
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(char) NULL);
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(*tabptr->getmsg)(motor_call->card, respbuf, 1);
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if (sscanf(respbuf, "%x", &response) == 0)
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response = 0; /* Force an error. */
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bitselect = (1 << motor_call->signal);
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if ((response & bitselect) == 0)
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trans->dpm = ON;
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else
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logMsg((char *) "Invalid VME58 configuration; RB = 0x%x\n",
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response, 0, 0, 0, 0 ,0);
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}
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end++;
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strcpy(buffer, end);
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if ((command == PRIMITIVE) && (mr->init != NULL) &&
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(strlen(mr->init) != 0))
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{
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extern struct driver_table oms58_access;
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/* Test for a "device directive" in the Initialization string. */
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if ((mr->init[0] == '@') && (trans->tabptr == &oms58_access))
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{
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char *end = strrchr(&mr->init[1], '@');
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if (end != NULL)
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{
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struct driver_table *tabptr = trans->tabptr;
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int size = (end - &mr->init[0]) + 1;
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strncpy(buffer, mr->init, size);
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buffer[size] = NULL;
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if (strcmp(buffer, "@DPM_ON@") == 0)
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{
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int response, bitselect;
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char respbuf[10];
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(*tabptr->getmsg)(motor_call->card, respbuf, -1);
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(*tabptr->sendmsg)(motor_call->card, "RB\r",
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(char) NULL);
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(*tabptr->getmsg)(motor_call->card, respbuf, 1);
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if (sscanf(respbuf, "%x", &response) == 0)
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response = 0; /* Force an error. */
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bitselect = (1 << motor_call->signal);
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if ((response & bitselect) == 0)
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trans->dpm = ON;
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else
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logMsg((char *) "Invalid VME58 configuration; RB = 0x%x\n",
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response, 0, 0, 0, 0 ,0);
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}
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else
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strcpy(buffer, mr->init);
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end++;
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strcpy(buffer, end);
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}
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else
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strcpy(buffer, mr->init);
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strcat(motor_call->message, " ");
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strcat(motor_call->message, buffer);
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}
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else
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strcpy(buffer, mr->init);
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strcat(motor_call->message, " ");
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strcat(motor_call->message, buffer);
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}
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else
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{
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int first_one, itera;
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if (command == SET_HIGH_LIMIT || command == SET_LOW_LIMIT)
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trans->state = IDLE_STATE; /* No command sent to the controller. */
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else
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{
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int first_one, itera;
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if (command == SET_HIGH_LIMIT || command == SET_LOW_LIMIT)
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trans->state = IDLE_STATE; /* No command sent to the controller. */
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else
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/* Silently enforce minimum range on KP command. */
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if (command == SET_PGAIN && *parms < 0.00005)
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{
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/* Silently enforce minimum range on KP command. */
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if (command == SET_PGAIN && *parms < 0.00005)
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{
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*parms = 0.00005;
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mr->pcof = 0.00005;
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rtnind = ERROR;
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}
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else if (command == STOP_AXIS)
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{
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double acc = (mr->velo / fabs(mr->res)) / mr->accl;
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/* Put in acceleration. */
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strcat(motor_call->message, oms_table[SET_ACCEL].command);
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sprintf(buffer, "%ld", NINT(acc));
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strcat(motor_call->message, buffer);
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}
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if (cmnd_type == MOTION || cmnd_type == VELOCITY)
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{
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if (strlen(mr->prem) != 0)
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{
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strcat(motor_call->message, mr->prem);
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strcat(motor_call->message, " ");
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}
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if (strlen(mr->post) != 0)
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motor_call->postmsgptr = (char *) &mr->post;
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}
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/* put in command */
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strcat(motor_call->message, oms_table[command].command);
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/* put in parameters */
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for (first_one = YES, itera = 0; itera < oms_table[command].num_parms;
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itera++)
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{
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if (first_one == YES)
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first_one = NO;
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else
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strcat(motor_call->message, ",");
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if (command == SET_PGAIN || command == SET_IGAIN ||
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command == SET_DGAIN)
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{
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*parms *= 1999.9;
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sprintf(buffer, "%.1f", parms[itera]);
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}
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else if (command == SET_VELOCITY) /* OMS errors if VB = VL. */
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{
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long vbase = NINT(mr->vbas / fabs(mr->res));
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long vel = NINT(parms[itera]);
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*parms = 0.00005;
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mr->pcof = 0.00005;
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rtnind = ERROR;
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}
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else if (command == STOP_AXIS)
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{
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double acc = (mr->velo / fabs(mr->res)) / mr->accl;
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/* Put in acceleration. */
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strcat(motor_call->message, oms_table[SET_ACCEL].command);
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sprintf(buffer, "%ld", NINT(acc));
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strcat(motor_call->message, buffer);
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}
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if (vel <= vbase)
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vel = vbase + 1;
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sprintf(buffer, "%ld", vel);
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}
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else
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sprintf(buffer, "%ld", NINT(parms[itera]));
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strcat(motor_call->message, buffer);
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if (cmnd_type == MOTION || cmnd_type == VELOCITY)
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{
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if (strlen(mr->prem) != 0)
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{
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strcat(motor_call->message, mr->prem);
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strcat(motor_call->message, " ");
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}
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if (strlen(mr->post) != 0)
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motor_call->postmsgptr = (char *) &mr->post;
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}
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/* Code to hide Oms58 moving off limit switch problem. */
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if (((mr->msta & RA_OVERTRAVEL) != 0) && (command == MOVE_ABS || command == MOVE_REL))
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{
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if (mr->rdif >= 0)
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strcat(motor_call->message, " MP");
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else
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strcat(motor_call->message, " MM");
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}
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/* put in command */
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strcat(motor_call->message, oms_table[command].command);
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/* put in parameters */
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for (first_one = YES, itera = 0; itera < oms_table[command].num_parms;
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itera++)
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{
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if (first_one == YES)
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first_one = NO;
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else
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strcat(motor_call->message, ",");
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if (command == SET_PGAIN || command == SET_IGAIN ||
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command == SET_DGAIN)
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{
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*parms *= 1999.9;
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sprintf(buffer, "%.1f", parms[itera]);
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}
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else if (command == SET_VELOCITY) /* OMS errors if VB = VL. */
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{
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long vbase = NINT(mr->vbas / fabs(mr->res));
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long vel = NINT(parms[itera]);
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if (vel <= vbase)
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vel = vbase + 1;
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sprintf(buffer, "%ld", vel);
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}
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else
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sprintf(buffer, "%ld", NINT(parms[itera]));
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strcat(motor_call->message, buffer);
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}
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}
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}
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else
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rtnind = ERROR;
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return(rtnind);
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}
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