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Added PI C-848 controller support.

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This commit is contained in:
Ron Sluiter
2005-10-04 19:45:52 +00:00
parent 607aec1c73
commit 6f79bbfc7f
4 changed files with 1069 additions and 0 deletions
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motorApp/PiSrc/PIC848Register.cc
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/*
FILENAME... PIC848Register.cc
USAGE... Register PI motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-10-04 19:45:52 $
*/
/*****************************************************************
COPYRIGHT NOTIFICATION
*****************************************************************
(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
This software was developed under a United States Government license
described on the COPYRIGHT_UniversityOfChicago file included as part
of this distribution.
**********************************************************************/
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <iocsh.h>
#include "motor.h"
#include "drvPIC848.h"
#include "epicsExport.h"
extern "C"
{
// Pi Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// Pi Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg configArg2 = {"asyn address (GPIB)", iocshArgInt};
static const iocshArg * const PIC848SetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const PIC848ConfigArgs[3] = {&configArg0, &configArg1,
&configArg2};
static const iocshFuncDef setupPIC848 = {"PIC848Setup", 2, PIC848SetupArgs};
static const iocshFuncDef configPIC848 = {"PIC848Config", 3, PIC848ConfigArgs};
static void setupPIC848CallFunc(const iocshArgBuf *args)
{
PIC848Setup(args[0].ival, args[1].ival);
}
static void configPIC848CallFunc(const iocshArgBuf *args)
{
PIC848Config(args[0].ival, args[1].sval, args[2].ival);
}
static void PIC848motorRegister(void)
{
iocshRegister(&setupPIC848, setupPIC848CallFunc);
iocshRegister(&configPIC848, configPIC848CallFunc);
}
epicsExportRegistrar(PIC848motorRegister);
} // extern "C"
motorApp/PiSrc/devPIC848.cc
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/*
FILENAME... devPIC848.cc
USAGE... Motor record device level support for Physik Instrumente (PI)
GmbH & Co. C-848 motor controller.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-10-04 19:45:52 $
*/
/*
* Original Author: Ron Sluiter
* Date: 12/17/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 12/17/03 rls - copied from devIM483PL.cc
* .02 01/22/03 rls - fix INIT field processing; support HOME and PID commands.
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPIC848.h"
#include "epicsExport.h"
extern struct driver_table PIC848_access;
/* ----------------Create the dsets for devPIC848----------------- */
static struct driver_table *drvtabptr;
static long PIC848_init(void *);
static long PIC848_init_record(void *);
static long PIC848_start_trans(struct motorRecord *);
static RTN_STATUS PIC848_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS PIC848_end_trans(struct motorRecord *);
struct motor_dset devPIC848 =
{
{8, NULL, (DEVSUPFUN) PIC848_init, (DEVSUPFUN) PIC848_init_record, NULL},
motor_update_values,
PIC848_start_trans,
PIC848_build_trans,
PIC848_end_trans
};
extern "C" {epicsExportAddress(dset,devPIC848);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PIC848_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 **PIC848_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PIC848 stepper motor */
static long PIC848_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &PIC848_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC848_cards);
return(rtnval);
}
/* initialize a record instance */
static long PIC848_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIC848_cards));
}
/* start building a transaction */
static long PIC848_start_trans(struct motorRecord *mr)
{
motor_start_trans_com(mr, PIC848_cards);
return(OK);
}
/* end building a transaction */
static RTN_STATUS PIC848_end_trans(struct motorRecord *mr)
{
motor_end_trans_com(mr, drvtabptr);
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS PIC848_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct PIC848controller *cntrl;
char buff[110];
int card, maxdigits;
unsigned int size;
double dval, cntrl_units, res;
RTN_STATUS rtnval;
bool send;
send = true; /* Default to send motor command. */
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
rtnval = (RTN_STATUS) motor_start_trans_com(mr, PIC848_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PIC848controller *) brdptr->DevicePrivate;
res = cntrl->drive_resolution[motor_call->signal];
cntrl_units = dval;
maxdigits = 5;
if (PIC848_table[command] > motor_call->type)
motor_call->type = PIC848_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
strcat(motor_call->message, mr->init);
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "MOV #%.*f", maxdigits, (cntrl_units * res));
break;
case MOVE_REL:
sprintf(buff, "MVR #%+.*f", maxdigits, (cntrl_units * res));
break;
case HOME_FOR:
sprintf(buff, "REF #");
break;
case HOME_REV:
sprintf(buff, "REF #");
break;
case LOAD_POS:
if (cntrl_units == 0.0)
sprintf(buff, "DFH #");
else
rtnval = ERROR;
break;
case SET_VEL_BASE:
send = false; /* DC motor; not base velocity. */
break;
case SET_VELOCITY:
sprintf(buff, "VEL # %.*f", maxdigits, (cntrl_units * res));
break;
case ENABLE_TORQUE:
case DISABL_TORQUE:
case SET_ACCEL:
/* The PIC848 does not support acceleration commands. */
case GO:
/* The PIC848 starts moving immediately on move commands, GO command
* does nothing. */
send = false;
break;
case PRIMITIVE:
case GET_INFO:
/* These commands are 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, "HLT #");
break;
case JOG_VELOCITY:
case JOG:
sprintf(buff, "VEL #%.*f", maxdigits, cntrl_units);
break;
case SET_PGAIN:
cntrl_units *= 32767;
sprintf(buff, "SPA #1 %.*f", maxdigits, cntrl_units);
break;
case SET_IGAIN:
cntrl_units *= 32767;
sprintf(buff, "SPA #2 %.*f", maxdigits, cntrl_units);
break;
case SET_DGAIN:
cntrl_units *= 32767;
sprintf(buff, "SPA #3 %.*f", maxdigits, cntrl_units);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
case SET_ENC_RATIO:
trans->state = IDLE_STATE; /* No command sent to the controller. */
send = false;
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)
errlogMessage("PIC848_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
motorApp/PiSrc/drvPIC848.cc
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/*
FILENAME... drvPIC848.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. C-848 motor controller.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-10-04 19:45:51 $
*/
/*
* Original Author: Ron Sluiter
* Date: 12/17/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 12/17/03 rls - copied from drvIM483PL.cc
* .02 02/03/04 rls - Eliminate erroneous "Motor motion timeout ERROR".
* .03 07/12/04 rls - Converted from MPF to asyn.
* .04 09/09/04 rls - Retry on initial comm. (PIC844 comm. locks up when IOC
* is power cycled).
* .05 09/21/04 rls - support for 32axes/controller.
* .06 12/16/04 rls - asyn R4.0 support.
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* .07 08/31/04 rls - Bug fix for no "break"'s in axis #4 switch/case stmts.
* in set_status().
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the PIC848 must be powered-on when EPICS is first
booted up.
2 - The PIC848 cannot be power cycled while EPICS is up and running. The
consequences are permanent communication lose with the PIC848 until
EPICS is rebooted.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "drvPIC848.h"
#include "epicsExport.h"
#define GET_IDENT "*IDN?"
#define PIC848_NUM_CARDS 8
#define MAX_AXES 4
#define BUFF_SIZE 100 /* Maximum length of string to/from PIC848 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPIC848debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPIC848debug = 0;
extern "C" {epicsExportAddress(int, drvPIC848debug);}
/* --- Local data. --- */
int PIC848_num_cards = 0;
static char *PIC848_axis[4] = {"A", "B", "C", "D"};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int set_status(int, int);
static long report(int);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table PIC848_access =
{
motor_init,
motor_send,
motor_free,
motor_card_info,
motor_axis_info,
&mess_queue,
&queue_lock,
&free_list,
&freelist_lock,
&motor_sem,
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
set_status,
query_done,
NULL,
&initialized,
PIC848_axis
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvPIC848 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPIC848);}
static struct thread_args targs = {SCAN_RATE, &PIC848_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIC848_num_cards <=0)
printf(" No PIC848 controllers configured.\n");
else
{
for (card = 0; card < PIC848_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIC848 controller %d connection failed.\n", card);
else
{
struct PIC848controller *cntrl;
cntrl = (struct PIC848controller *) brdptr->DevicePrivate;
printf(" PIC848 controller #%d, port=%s, id: %s \n", card,
cntrl->asyn_port, brdptr->ident);
}
}
}
return(OK);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (PIC848_num_cards <= 0)
{
Debug(1, "init(): PIC848 driver disabled. PIC848Setup() missing from startup script.\n");
}
return((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/********************************************************************************
* *
* FUNCTION NAME: set_status *
* *
* LOGIC: *
* Initialize. *
* Send "Moving Status" query. *
* Read response. *
* IF normal response to query. *
* Set communication status to NORMAL. *
* ELSE *
* IF communication status is NORMAL. *
* Set communication status to RETRY. *
* NORMAL EXIT. *
* ELSE *
* Set communication status error. *
* ERROR EXIT. *
* ENDIF *
* ENDIF *
* *
* IF "Moving Status" indicates any motion (i.e. status != 0). *
* Clear "Done Moving" status bit. *
* ELSE *
* Set "Done Moving" status bit. *
* ENDIF *
* *
* *
********************************************************************************/
static int set_status(int card, int signal)
{
struct PIC848controller *cntrl;
struct mess_node *nodeptr;
struct mess_info *motor_info;
struct motorRecord *mr;
/* Message parsing variables */
char buff[BUFF_SIZE], axisID;
C848_Status_Reg mstat;
int rtn_state, convert_cnt, charcnt, tempInt;
epicsInt32 motorData;
bool plusdir, ls_active = false, plusLS, minusLS;
msta_field status;
cntrl = (struct PIC848controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
if (nodeptr != NULL)
mr = (struct motorRecord *) nodeptr->mrecord;
else
mr = NULL;
status.All = motor_info->status.All;
if (cntrl->status != NORMAL)
charcnt = recv_mess(card, buff, FLUSH);
send_mess(card, "STA? #", PIC848_axis[signal]);
charcnt = recv_mess(card, buff, 1);
if (charcnt > 2)
convert_cnt = sscanf(buff, "%c=%d\n", &axisID, &tempInt);
if (charcnt > 2 && convert_cnt == 2)
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
rtn_state = OK;
goto exit;
}
else
{
cntrl->status = COMM_ERR;
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
}
mstat.All = tempInt;
status.Bits.RA_DONE = (mstat.Bits.Done) ? 1 : 0;
status.Bits.EA_POSITION = (mstat.Bits.torque) ? 1 : 0;
plusLS = mstat.Bits.plus_ls;
minusLS = mstat.Bits.minus_ls;
send_mess(card, "POS? #", PIC848_axis[signal]);
recv_mess(card, buff, 1);
motorData = NINT(atof(&buff[2]) / cntrl->drive_resolution[signal]);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
motor_info->position = motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* Set limit switch error indicators. */
if (plusLS == true)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
if (minusLS == true)
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_MINUS_LS = 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send a message to the PIC848 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
struct PIC848controller *cntrl;
int comsize, namesize;
size_t nwrite;
comsize = (com == NULL) ? 0 : strlen(com);
namesize = (name == NULL) ? 0 : strlen(name);
if ((comsize + namesize) > MAX_MSG_SIZE)
{
errlogMessage("drvPIC848.cc:send_mess(); message size violation.\n");
return(ERROR);
}
else if (comsize == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvPIC848.cc:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
local_buff[0] = (char) NULL; /* Terminate local buffer. */
if (name == NULL)
strcat(local_buff, com); /* Make a local copy of the string. */
else
{
strcpy(local_buff, com);
local_buff[5] = *name; /* put in axis. */
}
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct PIC848controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
return(OK);
}
/*****************************************************/
/* receive a message from the PIC848 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct PIC848controller *cntrl;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PIC848controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
COMM_TIMEOUT, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* PIC848Setup() */
/*****************************************************/
RTN_STATUS
PIC848Setup(int num_cards, /* maximum number of controllers in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > PIC848_NUM_CARDS)
PIC848_num_cards = PIC848_NUM_CARDS;
else
PIC848_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before PIC848Config is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
motor_state = (struct controller **) malloc(PIC848_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIC848_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PIC848Config() */
/*****************************************************/
RTN_STATUS
PIC848Config(int card, /* card being configured */
const char *name, /* asyn port name */
int addr) /* asyn address (GPIB) */
{
struct PIC848controller *cntrl;
if (card < 0 || card >= PIC848_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC848controller));
cntrl = (struct PIC848controller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
cntrl->asyn_address = addr;
return(OK);
}
/*****************************************************/
/* initialize all software and hardware */
/* This is called from the initialization routine in */
/* device support. */
/* motor_init() */
/*****************************************************/
static int motor_init()
{
struct controller *brdptr;
struct PIC848controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis;
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\n";
static const char input_terminator[] = "\n";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIC848_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PIC848_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->ident[0] = (char) NULL; /* No controller identification message. */
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct PIC848controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int retry = 0;
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
do
{
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
/* Determine # of axes. Request stage name. See if it responds */
for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
{
send_mess(card_index, "CST? #", PIC848_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
if (strcmp(&buff[2],"NOSTAGE") == 0)
break;
}
brdptr->total_axis = total_axis;
}
if (success_rtn == asynSuccess && status > 0)
{
strcpy(brdptr->ident, &buff[0]);
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* PIC848 has DC motor support only */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
cntrl->drive_resolution[motor_index] = 0.0001;
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;
mess_queue.head = (struct mess_node *) NULL;
mess_queue.tail = (struct mess_node *) NULL;
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "PIC848_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
motorApp/PiSrc/drvPIC848.h
+82
View File
@@ -0,0 +1,82 @@
/* File: drvPIC848.h */
/* Device Driver Support definitions for motor */
/*
* Original Author: Ron Sluiter
* Current Author: Ron Sluiter
* Date: 09/20/2005
*
* Modification Log:
* -----------------
* .00 09/20/2005 rls copied from drvPIC630.h
*/
#ifndef INCdrvPIC848h
#define INCdrvPIC848h 1
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#define COMM_TIMEOUT 2 /* Timeout in seconds. */
#define POS_RES 0.001 /* Position resolution. */
struct PIC848controller
{
asynUser *pasynUser; /* asynUser structure */
int asyn_address; /* Use for GPIB or other address with asyn */
CommStatus status; /* Controller communication status. */
double drive_resolution[4];
char asyn_port[80]; /* asyn port name */
};
typedef union
{
epicsUInt16 All;
struct
{
#ifdef MSB_First
unsigned int na15 :1;
unsigned int na14 :1;
unsigned int axisID :2; /*12-13 - Axis ID; 0/A, 1/B, 2/C, 3/D */
unsigned int na11 :1;
unsigned int in_motion :1; /*10 - Axis in motion flag. */
unsigned int axis_on :1; /* 9 - Axis on; always on (1). */
unsigned int torque :1; /* 8 - Servo-control status. */
unsigned int cmnd_err :1; /* 7 - Command error flag. */
unsigned int minus_ls :1; /* 6 - Negative limit switch flag. */
unsigned int plus_ls :1; /* 5 - Positive limit switch flag. */
unsigned int max_pos_err :1; /* 4 - Maximum position error is exceeded. */
unsigned int index :1; /* 3 - Index pulse received flag. */
unsigned int breakpt :1; /* 2 - Breakpoint reached flag. */
unsigned int wrap_around :1; /* 1 - Position wrap-around flag. */
unsigned int Done :1; /* 0 - Axis trajectory complete. */
#else
unsigned int Done :1; /* 0 - Axis trajectory complete. */
unsigned int wrap_around :1; /* 1 - Position wrap-around flag. */
unsigned int breakpt :1; /* 2 - Breakpoint reached flag. */
unsigned int index :1; /* 3 - Index pulse received flag. */
unsigned int max_pos_err :1; /* 4 - Maximum position error is exceeded. */
unsigned int plus_ls :1; /* 5 - Positive limit switch flag. */
unsigned int minus_ls :1; /* 6 - Negative limit switch flag. */
unsigned int cmnd_err :1; /* 7 - Command error flag. */
unsigned int torque :1; /* 8 - Servo-control status. */
unsigned int axis_on :1; /* 9 - Axis on; always on (1). */
unsigned int in_motion :1; /*10 - Axis in motion flag. */
unsigned int na11 :1;
unsigned int axisID :2; /*12-13 - Axis ID; 0/A, 1/B, 2/C, 3/D */
unsigned int na14 :1;
unsigned int na15 :1;
#endif
} Bits;
} C848_Status_Reg;
/* Function prototypes. */
extern RTN_STATUS PIC848Setup(int, int);
extern RTN_STATUS PIC848Config(int, const char *, int);
#endif /* INCdrvPIC848h */