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initial checkin of thorlabs mdt695 piezo control support

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jsullivan-anl
2006-09-27 20:32:37 +00:00
parent 150031d7a8
commit 79cbdc7857
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motorApp/ThorLabsSrc/Makefile
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# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
USR_CXXFLAGS += -DDEBUG
OPT_CXXFLAGS = -g -O0
DBD += devThorLabs.dbd
LIBRARY_IOC = ThorLabs
# Intelligent Motion Systems driver support.
SRCS += ThorLabsRegister.cc
SRCS += devMDT695.cc drvMDT695.cc
ThorLabs_LIBS += motor asyn
ThorLabs_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/ThorLabsSrc/README
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ThorLabs Piezo Control Modules
==============================================================================
Controller Model: MDT695 (Plug in motion control card)
Driver Models: MDT694 (1 axis)
MDT603 (3 axis)
RS232 Configuration
----------------------------------
Default: 115200, 8, 1, N (DB9)
Internal DIP Switch Setting to 19200 (D1=OFF, D2=ON, D3=OFF)
Cabling:
Requires custom cable from ThorLabs(DB9-Male to DB9-Female)
RX - Pin 2
TX - Pin 3
Controller Specifications
------------------------------------------
No Software configuration available
Position Units: Volts (format %.1f)
Precision: 0.1 volts
Limits: 0.0 to 150.0
Velocity Units: NONE
ASCII Commands
------------------------------------------
Set Voltage (##.# format) (X, Y and Z)
'XV<voltage>'
'YV<voltage>'
'ZV<voltage>'
Read Voltage (##.# format) (X, Y and Z)
'XR?'
'YR?'
'ZR?'
NO Status information is available (Done, Limit Switch ... etc)
Assume motion is always done (0.1 readback delay set)
============== Build Info ======================
xxxApp/src
Makefile
--------
xxx_Common_LIBS += ThorLabs
xxCommonInclude.dbd
-------------------
include "devMDT695.dbd"
============= IOC Boot info ======================
iocBoot/iocLinux
serial.cmd
----------
# serial 1 is a RS232 link to a Oriel Encoder Mike Controller
drvAsynSerialPortConfigure("serial1", "/dev/ttyS0", 0, 0, 0)
asynSetOption(serial1,0,baud,4800)
asynOctetSetOutputEos("serial1",0,"\r")
asynOctetSetInputEos("serial1",0,"\r")
.
.
# ThorLabs MDT695 Piezo - driver setup parameters:
# (1) maximum number of controllers in system
# (2) motor task polling rate (min=1Hz, max=60Hz)
MDT695Setup(2, 60)
# Thor driver configuration parameters:
# (1) controller being configured
# (2) asyn port name (string)
MDT695Config(0, "serial1")
MDT695Config(1, "serial3")
motor.substitutions
-------------------
Set the DTYPE column to "MDT695"
motorApp/ThorLabsSrc/ThorLabsRegister.cc
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/*
FILENAME... ThorLabslRegister.cc
USAGE... Register ThorLabs motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-27 20:32:37 $
*/
/*****************************************************************
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 <iocsh.h>
#include "ThorLabsRegister.h"
#include "epicsExport.h"
extern "C"
{
// ThorLabs Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// ThorLabs Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg * const ThorLabsSetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const ThorLabsConfigArgs[2] = {&configArg0, &configArg1};
static const iocshFuncDef setupMDT695 = {"MDT695Setup",2, ThorLabsSetupArgs};
static const iocshFuncDef configMDT695 = {"MDT695Config", 2, ThorLabsConfigArgs};
static void setupMDT695CallFunc(const iocshArgBuf *args)
{
MDT695Setup(args[0].ival, args[1].ival);
}
static void configMDT695CallFunc(const iocshArgBuf *args)
{
MDT695Config(args[0].ival, args[1].sval);
}
static void ThorLabsRegister(void)
{
iocshRegister(&setupMDT695, setupMDT695CallFunc);
iocshRegister(&configMDT695, configMDT695CallFunc);
}
epicsExportRegistrar(ThorLabsRegister);
} // extern "C"
motorApp/ThorLabsSrc/ThorLabsRegister.h
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/*
FILENAME... ThorLabsRegister.h
USAGE... This file contains function prototypes for ThorLabs IOC shell commands.
Version: 1.4
Modified By: rivers
Last Modified: 2004/07/28 18:45:16
*/
/*
* Original Author: Ron Sluiter
* Date: 05/19/03
*
* 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:
* -----------------
*/
#include "motor.h"
#include "motordrvCom.h"
/* Function prototypes. */
extern RTN_STATUS MDT695Setup(int, int);
extern RTN_STATUS MDT695Config(int, const char *);
extern RTN_STATUS MDT695UpLoad(int, const char *, const char *);
motorApp/ThorLabsSrc/devMDT695.cc
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/*
FILENAME... devMDT695.cc
USAGE... Motor record device level support for ThorLabs Piezo Control
Module (MDT695)
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-27 20:32:37 $
*/
/*
* Original Author: Joe Sullivan
* Date: 9/27/2006
*
* 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 09-27-06 jps initialized from devEMC18011.cc
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMDT695.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table MDT695_access;
/* ----------------Create the dsets for devMDT695----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MDT695_init(void *);
STATIC long MDT695_init_record(void *);
STATIC long MDT695_start_trans(struct motorRecord *);
STATIC RTN_STATUS MDT695_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS MDT695_end_trans(struct motorRecord *);
struct motor_dset devMDT695 =
{
{8, NULL, (DEVSUPFUN) MDT695_init, (DEVSUPFUN) MDT695_init_record, NULL},
motor_update_values,
MDT695_start_trans,
MDT695_build_trans,
MDT695_end_trans
};
extern "C" {epicsExportAddress(dset,devMDT695);}
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MDT695_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 **MDT695_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MDT695 stepper motor */
STATIC long MDT695_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &MDT695_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MDT695_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MDT695_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
/* Disable change of direction testing in record support */
/* This device does it's own backlash correction */
mr->ntm = menuYesNoNO;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MDT695_cards));
}
/* start building a transaction */
STATIC long MDT695_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, MDT695_cards));
}
/* end building a transaction */
STATIC RTN_STATUS MDT695_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS MDT695_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 mess_info *motor_info;
struct MDT695Controller *cntrl;
char buff[110];
int signal, card, intval;
double dval, cntrl_units;
unsigned int size;
bool sendMsg;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
sendMsg = true;
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
dval = (parms == NULL) ? 0 : *parms;
motor_call = &(trans->motor_call);
card = motor_call->card;
signal = motor_call->signal;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MDT695Controller *) brdptr->DevicePrivate;
/* 6K Controllers expect Velocity and Acceleration settings in Revs/sec/sec */
cntrl_units = dval * cntrl->drive_resolution;
if (MDT695_table[command] > motor_call->type)
motor_call->type = MDT695_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);
strcat(motor_call->message, MDT695_OUT_EOS);
}
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, MDT695_OUT_EOS);
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
/* ThorLabs Piezo driver - voltage set command only */
switch (command)
{
case MOVE_REL:
// No relative move available
break;
case MOVE_ABS:
sprintf(buff, "#V%.*f", 1, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
break;
case LOAD_POS:
break;
case SET_VEL_BASE:
break; /* MDT695 does not use base velocity */
case SET_VELOCITY:
break;
case SET_ACCEL:
break;
case GO:
break;
case SET_ENC_RATIO:
rtnval = ERROR;
break;
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:
break;
case JOG:
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
rtnval = ERROR;
break;
case ENABLE_TORQUE:
case DISABL_TORQUE:
rtnval = ERROR;
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
rtnval = ERROR;
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("MDT695_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
}
return(rtnval);
}
motorApp/ThorLabsSrc/devThorLabs.dbd
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# ThorLabs Piezo Device Driver support.
device(motor,VME_IO,devMDT695,"MDT695")
driver(drvMDT695)
registrar(ThorLabsRegister)
variable(drvMDT695debug)
motorApp/ThorLabsSrc/drvMDT695.cc
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/*
FILENAME... drvMDT695.cc
USAGE... Motor record driver level support for ThorLabs
Piezo Control Module (Model: MDT695)
Compatable with MDT694, MDT693
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-27 20:32:37 $
*/
/*
* Original Author: Joe Sullivan
* Date: 9/27/2006
*
* 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 09-27-06 jps initialized from drvEMC18011.cc
*/
#include <string.h>
#include <ctype.h> /* isascii functions */
#include <math.h>
#include <stdio.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "ThorLabsRegister.h"
#include "drvMDT695.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define CMD_ID "I"
#define CMD_DEV "D"
#define CMD_POS "#R?"
#define MDT695_NUM_CARDS 16
#define BUFF_SIZE 120 /* Maximum length of string to/from MDT695 */
#define TIMEOUT 2.0 /* Command timeout in sec. */
/* Delay after START_MOTION before a status update is possible */
#define MOTION_DELAY 0.1
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvMDT695debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvMDT695debug = 0;
extern "C" {epicsExportAddress(int, drvMDT695debug);}
/* --- Local data. --- */
int MDT695_num_cards = 0;
static char *MDT694_axis[] = {"X", "Y", "Z"};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvMDT695ReadbackDelay = 0.;
/*----------------functions-----------------*/
static int recv_mess(int card, char *com, int flag);
static RTN_STATUS send_mess(int card, char const *, char *name);
static int set_status(int card, int signal);
static long report(int level);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table MDT695_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,
MDT694_axis
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvMDT695 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvMDT695);}
static struct thread_args targs = {SCAN_RATE, &MDT695_access, MOTION_DELAY};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MDT695_num_cards <=0)
printf(" No MDT695 controllers configured.\n");
else
{
for (card = 0; card < MDT695_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MDT695 controller %d connection failed.\n", card);
else
{
struct MDT695Controller *cntrl;
cntrl = (struct MDT695Controller *) brdptr->DevicePrivate;
printf(" MDT695 controller %d, port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
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 (MDT695_num_cards <= 0)
{
Debug(1, "init(): MDT695 driver disabled. MDT695Setup() missing from startup script.\n");
}
return((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/*********************************************************
* Read the status and position of all motors on a card
* start_status(int card)
* if card == -1 then start all cards
*********************************************************/
// static void start_status(int card)
//{
//}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
static int set_status(int card, int signal)
{
struct MDT695Controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char send_buff[80];
char *startptr, *endptr;
int rtn_state;
int recvCnt;
int motorData;
int motor;
bool recvRetry;
bool ls_active = false;
msta_field status;
cntrl = (struct MDT695Controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
status.All = motor_info->status.All;
motor = signal+1;
recvRetry = true;
startptr = cntrl->recv_string;
send_mess(card, CMD_POS, MDT694_axis[signal]);
if ((recvCnt = recv_mess(card, startptr, 0)) > 0)
{
double datad;
/* Convert position and check for error */
datad = strtod(&startptr[2], &endptr);
if (&startptr[2] != endptr)
{
motorData = NINT(datad / cntrl->drive_resolution);
recvRetry = false;
}
}
/* Check for normal look termination - all queries successful */
if (recvRetry == false)
cntrl->status = NORMAL;
else
{
if (cntrl->status == NORMAL)
{
epicsThreadSleep(MOTION_DELAY);
cntrl->status = RETRY;
}
else
cntrl->status = COMM_ERR;
}
if (cntrl->status != NORMAL)
{
if (cntrl->status == COMM_ERR)
{
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
else
{
rtn_state = 0;
goto exit;
}
}
else
status.Bits.CNTRL_COMM_ERR = 0;
nodeptr = motor_info->motor_motion;
/*
* There is no status information available - assume motion complete
*/
Debug(5, "set_status(): status = %s\n", "Done");
status.Bits.RA_DONE = 1;
status.Bits.RA_DIRECTION = 1;
status.Bits.RA_HOME = 0;
/* Set Travel limit switch status bits. */
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
ls_active = (status.Bits.RA_PLUS_LS || status.Bits.RA_MINUS_LS) ? true : false;
/* encoder status */
status.Bits.EA_POSITION = 0;
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->position = motorData;
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
}
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
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)
{
strncpy(send_buff, nodeptr->postmsgptr, 80);
send_mess(card, send_buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send a message to the MDT695 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct MDT695Controller *cntrl;
char local_buff[MAX_MSG_SIZE];
char *pname;
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("drvMDT695.c: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("drvMDT695.c: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);
// Look for name substitution
if ((pname = strchr(local_buff, '#')))
*pname = *name;
}
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct MDT695Controller *) motor_state[card]->DevicePrivate;
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(com),
TIMEOUT, &nwrite);
return(OK);
}
/*
* FUNCTION... recv_mess(int card, char *com, int flag)
*
* INPUT ARGUMENTS...
* card - controller card # (0,1,...).
* *com - caller's response buffer.
* flag | FLUSH = this flag is ignored - the receive buffer is flushed
* on every write (see write_mess())
* LOGIC...
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
* NORMAL RETURN.
*/
static int recv_mess(int card, char *com, int flag)
{
struct MDT695Controller *cntrl;
double timeout = 0.;
size_t nread = 0;
asynStatus status;
int eomReason;
int rtnVal;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct MDT695Controller *) motor_state[card]->DevicePrivate;
timeout = TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if (nread > 0)
Debug(2, "recv_mess(): message = '%s'\n", com);
if (status != asynSuccess)
{
com[0] = '\0';
rtnVal = -1;
Debug(1, "recv_mess(): TIMEOUT \n");
}
else
rtnVal = (int)nread;
return(rtnVal);
}
/*****************************************************/
/* Setup system configuration */
/* MDT695Setup() */
/*****************************************************/
RTN_STATUS
MDT695Setup(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 > MDT695_NUM_CARDS)
MDT695_num_cards = MDT695_NUM_CARDS;
else
MDT695_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 MDT695Config 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(MDT695_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < MDT695_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* MDT695Config() */
/*****************************************************/
RTN_STATUS
MDT695Config(int card, /* card being configured */
const char *name) /* asyn port name */
{
struct MDT695Controller *cntrl;
if (card < 0 || card >= MDT695_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MDT695Controller));
cntrl = (struct MDT695Controller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
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 MDT695Controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis = 0;
int recvCnt, retryCnt;
bool cardFound = false;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (MDT695_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < MDT695_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct MDT695Controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
MDT695_IN_EOS,strlen(MDT695_IN_EOS));
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser,
MDT695_OUT_EOS,strlen(MDT695_OUT_EOS));
/* Send a message to the board, see if it exists */
retryCnt = 0;
do
{
/* Read device type */
send_mess(card_index, CMD_DEV, NULL);
recvCnt = recv_mess(card_index, buff, 0);
/* Check for valid response -- if not retry */
if ((recvCnt > 0) && strstr(buff, "MDT"))
cardFound = true;
} while(!cardFound && ++retryCnt < 3);
}
if (cardFound)
{
/* Check for 1 or 3 axis models */
if (strstr(buff, "694"))
total_axis = 1;
else
total_axis = 3;
/* Get controller ID info -- multi-line response */
*brdptr->ident = (char)NULL;
send_mess(card_index, CMD_ID, NULL);
do
{
recvCnt = recv_mess(card_index, buff, 0);
if (recvCnt > 0)
{
if (strstr(buff, "Model"))
strcpy(brdptr->ident, buff);
else if (strstr(buff, "Version"))
{
strcat(brdptr->ident, ", ");
strcat(brdptr->ident, buff);
}
}
} while(recvCnt >= 0);
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
brdptr->total_axis = total_axis;
cntrl->drive_resolution = MDT695_RESOLUTION;
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;
/* NO Encoder support - internal closed loop controller */
motor_info->encoder_present = NO;
motor_info->status.Bits.EA_PRESENT = 0;
motor_info->pid_present = NO;
motor_info->status.Bits.GAIN_SUPPORT = 0;
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 *) "MDT695_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadCreate((char *) "MDT695_motor",
epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
motorApp/ThorLabsSrc/drvMDT695.h
+76
View File
@@ -0,0 +1,76 @@
/*
FILENAME... drvMDT695.h
USAGE... This file contains ThorLabs Piezo Control Module (MDT695)
motorRecord driver information .
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-27 20:32:37 $
*/
/*
* Original Author: Mark Rivers
* Current Author: J. Sullivan
* Date: 10/16/97
*
* 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 09-27-06 jps initialized from drvEMC18011.h
*/
#ifndef INCdrvMDT695h
#define INCdrvMDT695h 1
#include "motor.h"
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#define MDT695_MAX_MOTORS 3
#define MDT695_MSG_SIZE 120
#define MDT695_STATUS_RETRY 10
/* End-of-string defines */
#define MDT695_OUT_EOS "\r" /* Command */
#define MDT695_IN_EOS "\r" /* Reply */
/* Positition resolution is fixed at 0.1 volts */
#define MDT695_RESOLUTION 0.1
#
/* Motion Master specific data is stored in this structure. */
struct MDT695Controller
{
asynUser *pasynUser; /* For RS-232 */
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
char recv_string[MDT695_MSG_SIZE]; /* Position Query result strings */
double drive_resolution; /* This controller has a fixed drive resolution */
CommStatus status; /* Controller communication status. */
};
#endif /* INCdrvMDT695h */