forked from epics_driver_modules/motorBase
Removed MXmotorSrc; Added motorMXmotor submodule
This commit is contained in:
kpetersn
@@ -91,3 +91,6 @@
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[submodule "modules/motorMotorSim"]
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path = modules/motorMotorSim
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url = https://github.com/epics-motor/motorMotorSim.git
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[submodule "modules/motorMXmotor"]
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path = modules/motorMXmotor
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url = https://github.com/epics-motor/motorMXmotor.git
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@@ -1,17 +0,0 @@
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d_spacing variable inline double "" "" 1 1 3.13555
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Io device scaler soft_scaler "" "" 0 0 0 timer1 energy 101 ./i0.dat 0
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It device scaler soft_scaler "" "" 0 0 0 timer1 energy 101 ./it.dat 0
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#rls:m2 device motor soft_motor "" "" 250000 0 -20000000 20000000 0 -1 -1 5e-05 0 deg 10000 0 2000
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energy device motor energy_motor "" "" 0 0 0 1e+08 0 -1 -1 1 0 eV rls:m1 d_spacing 0.017453
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timer1 device timer soft_timer "" ""
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#
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# Newport test records
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#
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newport_rs232 interface rs232 tty "" "" 9600 8 N 1 N 0x0d 0x0d /dev/ttyb
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newport interface generic mm4000 "" "" newport_rs232
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rls:m1 device motor mm4000_motor "" "" 0 0 -1.0e38 1.0e38 0 -1 -1 1 0 deg newport 1
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#
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# IMS test records
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#
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#ims_rs232 interface rs232 tty "" "" 9600 8 N 1 N 0x0d0a 0x0d0a /dev/ttyS0
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#rls:m3 device motor panther_hi "" "" 0 0 -10000000 10000000 0 -1 -1 1 0 steps ims_rs232 0 18340 2001 5 5 8 F 1 6 50 -1
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@@ -1,8 +0,0 @@
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TOP = ../..
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include $(TOP)/configure/CONFIG
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ARCH = vxWorks-68040
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#!ARCH = vxWorks-ppc604_long
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TARGETS = cdCommands
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TARGETS += envPaths
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include $(TOP)/configure/RULES.ioc
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@@ -1,29 +0,0 @@
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To build any examples;
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- in <motor>/configure/RELEASE: EPICS_BASE must be defined and,
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#!MOTOR=$(TOP) must be uncommented.
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- in <motor>/Makefile: the following two lines must be uncommented;
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#!DIRS := $(DIRS) $(filter-out $(DIRS), motorExApp)
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#!DIRS := $(DIRS) $(filter-out $(DIRS), iocBoot)
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To build the OMS example in this directory;
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- in <motor>/motorApp/Makefile: #!DIRS += OmsSrc must be uncommented.
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- in <motor>/motorExApp/Makefile: #!DIRS += NoAsyn must be uncommented.
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- in <motor>/motorExApp/NoAsyn/Makefile: #!NoAsynVx_LIBS += oms must be
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uncommented.
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Finally, cd <motor>; gnumake clean uninstall; gnumake
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To run the MX example, uncomment the following;
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in <motor>/motorExApp/NoAsyn/Makefile: #NoAsyn_LIBS += MXmotor
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in <motor>/motorExApp/NoAsyn/NoAsynInclude.dbd: #include "devMXmotor.dbd"
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and rebuild.
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Assuming the EPICS_HOST_ARCH environment variable is set correctly,
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start the ioc from this directory by executing the following command.
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../../bin/${EPICS_HOST_ARCH}/NoAsyn st.cmd.mx
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# This example if for running a motor record that uses the MX device
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# driver support on a Unix host. This example does not require Asyn.
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# Start errlog Task before any possible error messsage to prevent
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# erroneous "Interrupted system call" message on Linux OS host.
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errlogInit(0)
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dbLoadDatabase("../../dbd/NoAsyn.dbd",0,0)
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registerRecordDeviceDriver(pdbbase)
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dbLoadRecords("../../db/NoAsyn_MX.db","user=rls")
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MXmotorSetup(1, "MXexample.dat", 10)
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iocInit()
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@@ -23,6 +23,9 @@ SUBMODULES += motorMicos
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SUBMODULES += motorMicroMo
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SUBMODULES += motorMicronix
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SUBMODULES += motorMotorSim
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ifdef MX
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SUBMODULES += motorMXmotor
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endif
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SUBMODULES += motorNewFocus
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SUBMODULES += motorNPoint
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SUBMODULES += motorOmsAsyn
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Submodule
+1
Submodule modules/motorMXmotor added at 8f02e22db9
@@ -1,48 +0,0 @@
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/*
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FILENAME... MXRegister.cc
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USAGE... Register MX motor device driver shell commands.
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*/
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/*****************************************************************
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COPYRIGHT NOTIFICATION
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*****************************************************************
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(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
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This software was developed under a United States Government license
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described on the COPYRIGHT_UniversityOfChicago file included as part
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of this distribution.
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**********************************************************************/
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#include <stdlib.h>
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#include <stddef.h>
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#include <string.h>
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#include <stdio.h>
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#include <iocsh.h>
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#include "MXmotor.h"
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#include "epicsExport.h"
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extern "C"
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{
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// MXmotorSetup
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static const iocshArg setupArg0 = {"Max. motor #", iocshArgInt};
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static const iocshArg setupArg1 = {"MX data file", iocshArgString};
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static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
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static const iocshArg * const mxmotorArgs[3] = {&setupArg0, &setupArg1, &setupArg2};
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static const iocshFuncDef setupFuncDef = {"MXmotorSetup", 3, mxmotorArgs};
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static void setupCallFunc(const iocshArgBuf *args)
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{
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MXmotorSetup(args[0].ival, args[1].sval, args[2].ival);
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}
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static void MXmotorRegister(void)
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{
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iocshRegister(&setupFuncDef, setupCallFunc);
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}
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epicsExportRegistrar(MXmotorRegister);
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} // extern "C"
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@@ -1,59 +0,0 @@
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/*
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FILENAME... MXmotor.h
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USAGE... This file contains "include" information that is specific to
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MX motor device driver support.
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||||
|
||||
*/
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||||
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||||
/*
|
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* Original Author: Ron Sluiter
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||||
* Date: 11/12/02
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*
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||||
* Experimental Physics and Industrial Control System (EPICS)
|
||||
*
|
||||
* Copyright 1991, the Regents of the University of California,
|
||||
* and the University of Chicago Board of Governors.
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||||
*
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||||
* This software was produced under U.S. Government contracts:
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* (W-7405-ENG-36) at the Los Alamos National Laboratory,
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* and (W-31-109-ENG-38) at Argonne National Laboratory.
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*
|
||||
* Initial development by:
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* The Controls and Automation Group (AT-8)
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||||
* Ground Test Accelerator
|
||||
* Accelerator Technology Division
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||||
* Los Alamos National Laboratory
|
||||
*
|
||||
* Co-developed with
|
||||
* The Controls and Computing Group
|
||||
* Accelerator Systems Division
|
||||
* Advanced Photon Source
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||||
* Argonne National Laboratory
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||||
*
|
||||
*
|
||||
*
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||||
* Modification Log:
|
||||
* -----------------
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||||
*/
|
||||
|
||||
#ifndef INCMXmotorh
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||||
#define INCMXmotorh 1
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||||
|
||||
#include "motor.h"
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||||
extern "C"
|
||||
{
|
||||
#include <mx_record.h>
|
||||
#include <mx_motor.h>
|
||||
}
|
||||
|
||||
struct MXcontroller
|
||||
{
|
||||
CALLBACK_VALUE callback_flag;
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||||
MX_RECORD *MXmotor_record;
|
||||
};
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||||
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||||
RTN_STATUS MXmotorSetup(int, char const *, int);
|
||||
extern MX_RECORD *MXmotor_record_list;
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||||
|
||||
#endif /* INCMXmotorh */
|
||||
|
||||
@@ -1,27 +0,0 @@
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||||
# Makefile
|
||||
TOP = ../..
|
||||
include $(TOP)/configure/CONFIG
|
||||
#----------------------------------------
|
||||
# ADD MACRO DEFINITIONS AFTER THIS LINE
|
||||
|
||||
# The following are used for debugging messages.
|
||||
USR_CFLAGS += -DDEBUG
|
||||
USR_CXXFLAGS += -DDEBUG
|
||||
|
||||
DBD += devMXmotor.dbd
|
||||
|
||||
LIBRARY_IOC_DEFAULT = MXmotor
|
||||
LIBRARY_IOC_vxWorks = -nil-
|
||||
|
||||
SRCS_DEFAULT += MXRegister.cc
|
||||
|
||||
# The following is required for the Soft Channel (i.e., MotorSoft) device driver.
|
||||
SRCS_DEFAULT += devMXmotor.cc drvMXmotor.cc
|
||||
|
||||
MXmotor_LIBS += motor Mx
|
||||
MXmotor_LIBS += $(EPICS_BASE_IOC_LIBS)
|
||||
|
||||
include $(TOP)/configure/RULES
|
||||
#----------------------------------------
|
||||
# ADD RULES AFTER THIS LINE
|
||||
|
||||
@@ -1,230 +0,0 @@
|
||||
/*
|
||||
FILENAME... devMXmotor.cc
|
||||
USAGE... Motor record device level support for MX device driver.
|
||||
|
||||
*/
|
||||
|
||||
/*
|
||||
* Original Author: Ron Sluiter
|
||||
* Date: 06/15/99
|
||||
*
|
||||
* Experimental Physics and Industrial Control System (EPICS)
|
||||
*
|
||||
* Copyright 1991, the University of Chicago Board of Governors.
|
||||
*
|
||||
* This software was produced under U.S. Government contract
|
||||
* W-31-109-ENG-38 at Argonne National Laboratory.
|
||||
*
|
||||
* Beamline Controls & Data Acquisition Group
|
||||
* Experimental Facilities Division
|
||||
* Advanced Photon Source
|
||||
* Argonne National Laboratory
|
||||
*
|
||||
* Modification Log:
|
||||
* -----------------
|
||||
*/
|
||||
|
||||
#include <registryDriverSupport.h>
|
||||
|
||||
#include "motorRecord.h"
|
||||
#include "motor.h"
|
||||
#include "motordevCom.h"
|
||||
#include "MXmotor.h"
|
||||
#include "epicsExport.h"
|
||||
|
||||
extern int MXmotor_num_cards;
|
||||
extern struct driver_table MXmotor_access;
|
||||
|
||||
/* ----------------Create the dsets for devMXmotor----------------- */
|
||||
static long MXmotor_init(int);
|
||||
static long MXmotor_init_record(void *);
|
||||
static long MXmotor_start_trans(struct motorRecord *);
|
||||
static RTN_STATUS MXmotor_build(motor_cmnd, double *, struct motorRecord *);
|
||||
static RTN_STATUS MXmotor_end_trans(struct motorRecord *);
|
||||
|
||||
struct motor_dset devMXmotor =
|
||||
{
|
||||
{8, NULL, (DEVSUPFUN) MXmotor_init, (DEVSUPFUN) MXmotor_init_record, NULL},
|
||||
motor_update_values,
|
||||
MXmotor_start_trans,
|
||||
MXmotor_build,
|
||||
MXmotor_end_trans
|
||||
};
|
||||
|
||||
extern "C" {epicsExportAddress(dset,devMXmotor);}
|
||||
|
||||
|
||||
/* This table is used to define the command types */
|
||||
/* WARNING! this must match "motor_cmnd" in motor.h */
|
||||
|
||||
static msg_types MXmotor_table[] = {
|
||||
MOTION, /* MOVE_ABS */
|
||||
MOTION, /* MOVE_REL */
|
||||
MOTION, /* HOME_FOR */
|
||||
MOTION, /* HOME_REV */
|
||||
IMMEDIATE, /* LOAD_POS */
|
||||
IMMEDIATE, /* SET_VEL_BASE */
|
||||
IMMEDIATE, /* SET_VELOCITY */
|
||||
IMMEDIATE, /* SET_ACCEL */
|
||||
IMMEDIATE, /* GO */
|
||||
IMMEDIATE, /* SET_ENC_RATIO */
|
||||
INFO, /* GET_INFO */
|
||||
MOVE_TERM, /* STOP_AXIS */
|
||||
VELOCITY, /* JOG */
|
||||
IMMEDIATE, /* SET_PGAIN */
|
||||
IMMEDIATE, /* SET_IGAIN */
|
||||
IMMEDIATE, /* SET_DGAIN */
|
||||
IMMEDIATE, /* ENABLE_TORQUE */
|
||||
IMMEDIATE, /* DISABL_TORQUE */
|
||||
IMMEDIATE, /* PRIMITIVE */
|
||||
IMMEDIATE, /* SET_HIGH_LIMIT */
|
||||
IMMEDIATE, /* SET_LOW_LIMIT */
|
||||
VELOCITY /* JOG_VELOCITY */
|
||||
};
|
||||
|
||||
static struct board_stat **MXmotor_cards;
|
||||
static const char errmsg[] = {"\n\n!!!ERROR!!! - MX driver uninitialized.\n"};
|
||||
|
||||
/* initialize device support for MX motor */
|
||||
static long MXmotor_init(int after)
|
||||
{
|
||||
if (*(MXmotor_access.init_indicator) == NO)
|
||||
{
|
||||
errlogSevPrintf(errlogMinor, "%s", errmsg);
|
||||
return(ERROR);
|
||||
}
|
||||
else
|
||||
return(motor_init_com(after, MXmotor_num_cards, &MXmotor_access,
|
||||
&MXmotor_cards));
|
||||
}
|
||||
|
||||
|
||||
static long MXmotor_init_record(void *arg)
|
||||
{
|
||||
struct motorRecord *mr = (struct motorRecord *) arg;
|
||||
struct motor_trans *trans;
|
||||
struct controller *brdptr;
|
||||
struct MXcontroller *cntrl;
|
||||
MX_RECORD *motor_record;
|
||||
long rtnval;
|
||||
|
||||
motor_record = mx_get_record(MXmotor_record_list, mr->name);
|
||||
if (motor_record == NULL)
|
||||
{
|
||||
printf("Motor '%s' does not exist.\n", mr->name);
|
||||
return(ERROR);
|
||||
}
|
||||
|
||||
rtnval = motor_init_record_com(mr, MXmotor_num_cards, &MXmotor_access, MXmotor_cards);
|
||||
|
||||
trans = (struct motor_trans *) mr->dpvt;
|
||||
brdptr = (*trans->tabptr->card_array)[mr->out.value.vmeio.card];
|
||||
if (brdptr == NULL)
|
||||
return(rtnval = ERROR);
|
||||
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
|
||||
cntrl->MXmotor_record = motor_record;
|
||||
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
|
||||
static long MXmotor_start_trans(struct motorRecord *mr)
|
||||
{
|
||||
long rtnval;
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
|
||||
static RTN_STATUS MXmotor_build(motor_cmnd command, double *parms, struct motorRecord *mr)
|
||||
{
|
||||
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
|
||||
struct mess_node *motor_call;
|
||||
unsigned int size;
|
||||
char buff[110];
|
||||
RTN_STATUS rtnval = OK;
|
||||
bool send = true; /* Default to send motor command. */
|
||||
|
||||
struct controller *brdptr;
|
||||
struct MXcontroller *cntrl;
|
||||
|
||||
brdptr = (*trans->tabptr->card_array)[mr->card];
|
||||
if (brdptr == NULL)
|
||||
return(rtnval = ERROR);
|
||||
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
|
||||
|
||||
buff[0] = '\0';
|
||||
|
||||
motor_start_trans_com(mr, MXmotor_cards);
|
||||
|
||||
motor_call = &(trans->motor_call);
|
||||
|
||||
if (MXmotor_table[command] > motor_call->type)
|
||||
motor_call->type = MXmotor_table[command];
|
||||
|
||||
switch (command)
|
||||
{
|
||||
case MOVE_ABS:
|
||||
sprintf(buff, "%d %f", command, *parms);
|
||||
break;
|
||||
|
||||
case MOVE_REL:
|
||||
sprintf(buff, "%d %f", command, *parms);
|
||||
break;
|
||||
|
||||
case HOME_FOR:
|
||||
sprintf(buff, "%d %d", command, 1);
|
||||
break;
|
||||
|
||||
case HOME_REV:
|
||||
sprintf(buff, "%d %d", command, -1);
|
||||
break;
|
||||
|
||||
case LOAD_POS:
|
||||
sprintf(buff, "%d %f", command, *parms);
|
||||
break;
|
||||
|
||||
case SET_VEL_BASE:
|
||||
case SET_VELOCITY:
|
||||
case SET_ACCEL:
|
||||
sprintf(buff, "%d %f", command, *parms);
|
||||
break;
|
||||
|
||||
case GO:
|
||||
send = false;
|
||||
break;
|
||||
|
||||
case GET_INFO:
|
||||
/* This command is not actually done by sending a message, but
|
||||
rather they will indirectly cause the driver to read the status
|
||||
of all motors */
|
||||
break;
|
||||
|
||||
case STOP_AXIS:
|
||||
sprintf(buff, "%d", command);
|
||||
break;
|
||||
|
||||
default:
|
||||
send = false;
|
||||
rtnval = ERROR;
|
||||
}
|
||||
|
||||
size = strlen(buff);
|
||||
if (send == false)
|
||||
return(rtnval);
|
||||
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
|
||||
printf("MXmotor_build(): buffer overflow.\n");
|
||||
else
|
||||
{
|
||||
strcat(motor_call->message, buff);
|
||||
motor_end_trans_com(mr, &MXmotor_access);
|
||||
}
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
|
||||
static RTN_STATUS MXmotor_end_trans(struct motorRecord *mr)
|
||||
{
|
||||
RTN_STATUS rtnval = OK;
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
@@ -1,6 +0,0 @@
|
||||
# Soft Channel driver support.
|
||||
device(motor,VME_IO,devMXmotor,"MXmotor")
|
||||
driver(drvMXmotor)
|
||||
registrar(MXmotorRegister)
|
||||
|
||||
|
||||
@@ -1,404 +0,0 @@
|
||||
/*
|
||||
FILENAME... drvMXmotor.cc
|
||||
USAGE... Motor record driver level support for MX device driver.
|
||||
|
||||
*/
|
||||
|
||||
/*
|
||||
* Original Author: Ron Sluiter
|
||||
* Date: 06/15/99
|
||||
*
|
||||
* Experimental Physics and Industrial Control System (EPICS)
|
||||
*
|
||||
* Copyright 1991, the University of Chicago Board of Governors.
|
||||
*
|
||||
* This software was produced under U.S. Government contract
|
||||
* W-31-109-ENG-38 at Argonne National Laboratory.
|
||||
*
|
||||
* Beamline Controls & Data Acquisition Group
|
||||
* Experimental Facilities Division
|
||||
* Advanced Photon Source
|
||||
* Argonne National Laboratory
|
||||
*
|
||||
* Modification Log:
|
||||
* -----------------
|
||||
*/
|
||||
|
||||
#include <epicsThread.h>
|
||||
#include <drvSup.h>
|
||||
|
||||
#include "motor.h"
|
||||
#include "motordrvCom.h"
|
||||
#include "MXmotor.h"
|
||||
#include "epicsExport.h"
|
||||
|
||||
/*----------------debugging-----------------*/
|
||||
volatile int drvMXmotordebug = 0;
|
||||
extern "C" {epicsExportAddress(int, drvMXmotordebug);}
|
||||
|
||||
static inline void Debug(int level, const char *format, ...) {
|
||||
#ifdef DEBUG
|
||||
if (level < drvMXmotordebug) {
|
||||
va_list pVar;
|
||||
va_start(pVar, format);
|
||||
vprintf(format, pVar);
|
||||
va_end(pVar);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/* Global data. */
|
||||
int MXmotor_num_cards = 0;
|
||||
MX_RECORD *MXmotor_record_list;
|
||||
|
||||
/* Local data required for every driver; see "motordrvComCode.h" */
|
||||
#include "motordrvComCode.h"
|
||||
|
||||
/* Common local function declarations. */
|
||||
|
||||
static long report(int level);
|
||||
static long init();
|
||||
static void query_done(int, int, struct mess_node *);
|
||||
static int set_status(int card, int signal);
|
||||
static RTN_STATUS send_mess(int, char const *, char *);
|
||||
static int recv_mess(int, char *, int);
|
||||
static int motor_init();
|
||||
|
||||
struct driver_table MXmotor_access =
|
||||
{
|
||||
NULL,
|
||||
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;
|
||||
long (*report) (int);
|
||||
long (*init) (void);
|
||||
} drvMXmotor = {2, report, init};
|
||||
|
||||
extern "C" {epicsExportAddress(drvet,drvMXmotor);}
|
||||
|
||||
static struct thread_args targs = {SCAN_RATE, &MXmotor_access, 0.0};
|
||||
|
||||
/*----------------functions-----------------*/
|
||||
|
||||
static long report(int level)
|
||||
{
|
||||
int card;
|
||||
|
||||
if (MXmotor_num_cards <= 0)
|
||||
printf(" No MX motors configured.\n");
|
||||
else
|
||||
{
|
||||
for (card = 0; card < MXmotor_num_cards; card++)
|
||||
{
|
||||
struct controller *brdptr = motor_state[card];
|
||||
|
||||
if (brdptr == NULL)
|
||||
printf(" MX motor #%d not found.\n", card);
|
||||
else
|
||||
printf(" MX motor #%d\n", card);
|
||||
}
|
||||
}
|
||||
return (0);
|
||||
}
|
||||
|
||||
static long init()
|
||||
{
|
||||
initialized = true; /* Indicate that driver is initialized. */
|
||||
(void) motor_init();
|
||||
return ((long) 0);
|
||||
}
|
||||
|
||||
|
||||
static void query_done(int, int, struct mess_node *)
|
||||
{
|
||||
}
|
||||
|
||||
|
||||
RTN_STATUS MXmotorSetup(int max_motors, /* Maximum number of motors. */
|
||||
char const *filename, /* MX data file. */
|
||||
int scan_rate) /* polling rate - 1/60 sec units */
|
||||
{
|
||||
RTN_STATUS rtnval = OK;
|
||||
mx_status_type mx_status;
|
||||
|
||||
if (max_motors > 1000)
|
||||
MXmotor_num_cards = 1000;
|
||||
else if (max_motors < 0)
|
||||
MXmotor_num_cards = 0;
|
||||
else
|
||||
MXmotor_num_cards = max_motors;
|
||||
|
||||
mx_status = mx_setup_database(&MXmotor_record_list, (char *) filename);
|
||||
if (mx_status.code != MXE_SUCCESS)
|
||||
{
|
||||
printf("MXmotorSetup: database setup error.\n");
|
||||
return(ERROR);
|
||||
}
|
||||
|
||||
/* 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;
|
||||
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
|
||||
/* Initialize all MX. */
|
||||
static int motor_init()
|
||||
{
|
||||
struct controller *pmotorState;
|
||||
int card_index, motor_index;
|
||||
int total_encoders = 0, total_axis = 0;
|
||||
|
||||
/* Check for setup */
|
||||
if (MXmotor_num_cards <= 0)
|
||||
{
|
||||
Debug(1, "motor_init: *OMS driver disabled* \n omsSetup() is missing from startup script.\n");
|
||||
return (ERROR);
|
||||
}
|
||||
|
||||
/* allocate space for total number of motors */
|
||||
motor_state = (struct controller **) malloc(MXmotor_num_cards *
|
||||
sizeof(struct controller *));
|
||||
|
||||
/* allocate structure space for each motor present */
|
||||
|
||||
total_cards = MXmotor_num_cards;
|
||||
|
||||
for (card_index = 0; card_index < MXmotor_num_cards; card_index++)
|
||||
{
|
||||
Debug(2, "motor_init: card %d\n", card_index);
|
||||
|
||||
motor_state[card_index] = (struct controller *) malloc(sizeof(struct controller));
|
||||
motor_state[card_index]->DevicePrivate = malloc(sizeof(struct MXcontroller));
|
||||
pmotorState = motor_state[card_index];
|
||||
strcpy(pmotorState->ident, "MXmotor");
|
||||
pmotorState->localaddr = (char *) 0;
|
||||
pmotorState->motor_in_motion = 0;
|
||||
pmotorState->cmnd_response = false;
|
||||
|
||||
Debug(3, "Total axis = %d\n", total_axis);
|
||||
pmotorState->total_axis = total_axis = 1;
|
||||
|
||||
for (total_encoders = 0, motor_index = 0; motor_index < total_axis; motor_index++)
|
||||
pmotorState->motor_info[motor_index].encoder_present = NO;
|
||||
|
||||
for (motor_index = 0; motor_index < total_axis; motor_index++)
|
||||
{
|
||||
pmotorState->motor_info[motor_index].motor_motion = NULL;
|
||||
pmotorState->motor_info[motor_index].status = 0;
|
||||
pmotorState->motor_info[motor_index].no_motion_count = 0;
|
||||
pmotorState->motor_info[motor_index].encoder_position = 0;
|
||||
pmotorState->motor_info[motor_index].position = 0;
|
||||
|
||||
if (pmotorState->motor_info[motor_index].encoder_present == YES)
|
||||
pmotorState->motor_info[motor_index].status |= EA_PRESENT;
|
||||
}
|
||||
}
|
||||
|
||||
any_motor_in_motion = 0;
|
||||
|
||||
mess_queue.head = (struct mess_node *) NULL;
|
||||
mess_queue.tail = (struct mess_node *) NULL;
|
||||
|
||||
free_list.head = (struct mess_node *) NULL;
|
||||
free_list.tail = (struct mess_node *) NULL;
|
||||
|
||||
Debug(3, "Motors initialized\n");
|
||||
|
||||
epicsThreadCreate((const char *) "MX_motor", epicsThreadPriorityMedium,
|
||||
epicsThreadGetStackSize(epicsThreadStackMedium),
|
||||
(EPICSTHREADFUNC) motor_task, (void *) &targs);
|
||||
|
||||
Debug(3, "Started motor_task\n");
|
||||
return (0);
|
||||
}
|
||||
|
||||
|
||||
static int set_status(int card, int signal)
|
||||
{
|
||||
struct mess_info *motor_info;
|
||||
|
||||
struct controller *brdptr;
|
||||
struct MXcontroller *cntrl;
|
||||
mx_status_type mx_status;
|
||||
|
||||
int rtn_state;
|
||||
bool plusdir, ls_active = false;
|
||||
unsigned long status;
|
||||
double motorData;
|
||||
|
||||
brdptr = motor_state[card];
|
||||
motor_info = &(brdptr->motor_info[signal]);
|
||||
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
|
||||
|
||||
mx_status = mx_motor_get_extended_status(cntrl->MXmotor_record, &motorData,
|
||||
&status);
|
||||
if (mx_status.code != MXE_SUCCESS)
|
||||
return(rtn_state = ERROR);
|
||||
|
||||
if (status & MXSF_MTR_IS_BUSY )
|
||||
motor_info->status &= ~RA_DONE;
|
||||
else
|
||||
motor_info->status |= RA_DONE;
|
||||
|
||||
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;
|
||||
|
||||
/* Set limit switch error indicators. */
|
||||
if (status & MXSF_MTR_POSITIVE_LIMIT_HIT)
|
||||
{
|
||||
motor_info->status |= RA_PLUS_LS;
|
||||
if (plusdir == true)
|
||||
ls_active = true;
|
||||
}
|
||||
else
|
||||
motor_info->status &= ~RA_PLUS_LS;
|
||||
|
||||
if (status & MXSF_MTR_NEGATIVE_LIMIT_HIT)
|
||||
{
|
||||
motor_info->status |= RA_MINUS_LS;
|
||||
if (plusdir == false)
|
||||
ls_active = true;
|
||||
}
|
||||
else
|
||||
motor_info->status &= ~RA_MINUS_LS;
|
||||
|
||||
if (status & MXSF_MTR_ERROR)
|
||||
motor_info->status |= RA_PROBLEM;
|
||||
else
|
||||
motor_info->status &= ~RA_PROBLEM;
|
||||
|
||||
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
|
||||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
|
||||
|
||||
return(rtn_state);
|
||||
}
|
||||
|
||||
static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
{
|
||||
struct controller *brdptr;
|
||||
struct MXcontroller *cntrl;
|
||||
motor_cmnd command;
|
||||
mx_status_type mx_status;
|
||||
char *cmndptr, *argptr;
|
||||
double darg;
|
||||
int iarg, flags = MXF_MTR_IGNORE_BACKLASH;
|
||||
|
||||
brdptr = motor_state[card];
|
||||
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
|
||||
|
||||
argptr = NULL;
|
||||
cmndptr = strtok_r((char *) com, " ", &argptr);
|
||||
if (cmndptr == NULL)
|
||||
return(OK);
|
||||
command = (motor_cmnd) atoi(cmndptr);
|
||||
|
||||
switch (command)
|
||||
{
|
||||
case MOVE_ABS:
|
||||
case MOVE_REL:
|
||||
case LOAD_POS:
|
||||
case SET_VEL_BASE:
|
||||
case SET_VELOCITY:
|
||||
darg = atof(argptr);
|
||||
break;
|
||||
|
||||
case HOME_FOR:
|
||||
case HOME_REV:
|
||||
iarg = atoi(argptr);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
|
||||
switch (command)
|
||||
{
|
||||
case MOVE_ABS:
|
||||
mx_status = mx_motor_move_absolute(cntrl->MXmotor_record, darg, flags);
|
||||
break;
|
||||
|
||||
case MOVE_REL:
|
||||
mx_status = mx_motor_move_relative(cntrl->MXmotor_record, darg, flags);
|
||||
break;
|
||||
|
||||
case HOME_FOR:
|
||||
case HOME_REV:
|
||||
mx_status = mx_motor_find_home_position(cntrl->MXmotor_record, iarg);
|
||||
break;
|
||||
|
||||
case SET_VEL_BASE:
|
||||
mx_status = mx_motor_set_base_speed(cntrl->MXmotor_record, darg);
|
||||
break;
|
||||
|
||||
case SET_VELOCITY:
|
||||
mx_status = mx_motor_set_speed(cntrl->MXmotor_record, darg);
|
||||
break;
|
||||
|
||||
case SET_ACCEL:
|
||||
break;
|
||||
|
||||
case LOAD_POS:
|
||||
mx_status = mx_motor_set_position(cntrl->MXmotor_record, darg);
|
||||
break;
|
||||
|
||||
case STOP_AXIS:
|
||||
mx_status = mx_motor_soft_abort(cntrl->MXmotor_record);
|
||||
break;
|
||||
|
||||
default:
|
||||
break;
|
||||
}
|
||||
|
||||
if (mx_status.code != MXE_SUCCESS)
|
||||
return(ERROR);
|
||||
|
||||
return(OK);
|
||||
}
|
||||
|
||||
|
||||
static int recv_mess(int card, char *com, int amount)
|
||||
{
|
||||
return (0);
|
||||
}
|
||||
|
||||
|
||||
@@ -15,10 +15,6 @@ SoftMotorSrc_DEPEND_DIRS = MotorSrc
|
||||
# Install the edl files
|
||||
#DIRS += opi
|
||||
|
||||
ifdef MX
|
||||
DIRS += MXmotorSrc
|
||||
endif
|
||||
|
||||
DIRS += Db
|
||||
|
||||
include $(TOP)/configure/RULES_DIRS
|
||||
|
||||
@@ -17,7 +17,6 @@ PROD_IOC_vxWorks = NoAsynVx
|
||||
COMMONDBDS = base.dbd
|
||||
COMMONDBDS += motorRecord.dbd
|
||||
COMMONDBDS += devSoftMotor.dbd
|
||||
#!COMMONDBDS += devMXmotor.dbd
|
||||
|
||||
DBD += NoAsyn.dbd
|
||||
NoAsyn_DBD += $(COMMONDBDS)
|
||||
@@ -31,7 +30,6 @@ NoAsyn_SRCS += NoAsyn_registerRecordDeviceDriver.cpp
|
||||
NoAsyn_SRCS_DEFAULT += NoAsynMain.cpp
|
||||
NoAsynVx_SRCS += NoAsynVx_registerRecordDeviceDriver.cpp
|
||||
|
||||
#!COMMONLIBS += MXmotor
|
||||
COMMONLIBS += softMotor
|
||||
COMMONLIBS += motor
|
||||
|
||||
|
||||
@@ -13,7 +13,6 @@ PROD_IOC_vxWorks = WithAsynVx
|
||||
COMMONDBDS = base.dbd
|
||||
COMMONDBDS += motorSupport.dbd
|
||||
COMMONDBDS += devSoftMotor.dbd
|
||||
COMMONDBDS += motorSimSupport.dbd
|
||||
COMMONDBDS += asyn.dbd
|
||||
COMMONDBDS += drvAsynSerialPort.dbd
|
||||
COMMONDBDS += drvAsynIPPort.dbd
|
||||
@@ -48,7 +47,6 @@ WithAsynVx_SRCS += WithAsynVx_registerRecordDeviceDriver.cpp
|
||||
WithAsyn_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary
|
||||
|
||||
COMMONLIBS += softMotor
|
||||
COMMONLIBS += motorSimSupport
|
||||
COMMONLIBS += motor
|
||||
|
||||
# Needed for SNL programs
|
||||
|
||||
Reference in New Issue
Block a user