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Added Physik Instrumente C-844 motor controller.

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This commit is contained in:
Ron Sluiter
2004-01-07 15:00:07 +00:00
parent 7c9857718b
commit 79d02fbe7b
6 changed files with 1196 additions and 0 deletions
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motorApp/PiSrc/Makefile
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# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
#USR_CXXFLAGS += -DDEBUG
DBD += devPIMotor.dbd
LIBRARY_IOC = PI
# Intelligent Motion Systems driver support.
SRCS += PiRegister.cc
SRCS += devPIC844.cc drvPIC844.cc
PI_LIBS += motor motorCOM_mpf
PI_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/PiSrc/PiRegister.cc
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/*
FILENAME... PiRegister.cc
USAGE... Register IMS motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:06 $
*/
/*****************************************************************
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 "drvPI.h"
#include "epicsExport.h"
extern "C"
{
// Pi Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"N/A", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// Pi Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"N/A - always RS232_PORT", iocshArgInt};
static const iocshArg configArg2 = {"MPF server location", iocshArgInt};
static const iocshArg configArg3 = {"MPF server task name", iocshArgString};
static const iocshArg * const PIC844SetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const PIC844ConfigArgs[4] = {&configArg0, &configArg1,
&configArg2, &configArg3};
static const iocshFuncDef setupPIC844 = {"PIC844Setup", 3, PIC844SetupArgs};
static const iocshFuncDef configPIC844 = {"PIC844Config", 4, PIC844ConfigArgs};
static void setupPIC844CallFunc(const iocshArgBuf *args)
{
PIC844Setup(args[0].ival, args[1].ival, args[2].ival);
}
static void configPIC844CallFunc(const iocshArgBuf *args)
{
PIC844Config(args[0].ival, args[1].ival, args[2].ival, args[3].sval);
}
static void PImotorRegister(void)
{
iocshRegister(&setupPIC844, setupPIC844CallFunc);
}
epicsExportRegistrar(PImotorRegister);
} // extern "C"
motorApp/PiSrc/devPIC844.cc
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/*
FILENAME... devPIC844.cc
USAGE... Motor record device level support for Physik Instrumente (PI)
GmbH & Co. C-844 motor controller.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:06 $
*/
/*
* 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
*/
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPI.h"
#include "epicsExport.h"
extern struct driver_table PIC844_access;
/* ----------------Create the dsets for devPIC844----------------- */
static struct driver_table *drvtabptr;
static long PIC844_init(void *);
static long PIC844_init_record(void *);
static long PIC844_start_trans(struct motorRecord *);
static RTN_STATUS PIC844_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS PIC844_end_trans(struct motorRecord *);
struct motor_dset devPIC844 =
{
{8, NULL, (DEVSUPFUN) PIC844_init, (DEVSUPFUN) PIC844_init_record, NULL},
motor_update_values,
PIC844_start_trans,
PIC844_build_trans,
PIC844_end_trans
};
epicsExportAddress(dset,devPIC844);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types PIC844_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 **PIC844_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for PIC844 stepper motor */
static long PIC844_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &PIC844_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIC844_cards);
return(rtnval);
}
/* initialize a record instance */
static long PIC844_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIC844_cards));
}
/* start building a transaction */
static long PIC844_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
static RTN_STATUS PIC844_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS PIC844_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 PIC844controller *cntrl;
char buff[110];
int axis, card, maxdigits, size;
double dval, cntrl_units;
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;
motor_start_trans_com(mr, PIC844_cards);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PIC844controller *) brdptr->DevicePrivate;
cntrl_units = dval;
maxdigits = 2;
if (PIC844_table[command] > motor_call->type)
motor_call->type = PIC844_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, "? ");
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, "TARG %.*f", maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "TARG:RPOS %+.*f", maxdigits, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
send = false; /* ?? Don't know ?? */
break;
case LOAD_POS:
sprintf(buff, "AXIS:POS %+.*f;TARG CURR", maxdigits, cntrl_units);
break;
case SET_VEL_BASE:
send = false; /* DC motor; not base velocity. */
break;
case SET_VELOCITY:
sprintf(buff, "MVEL %.*f;", maxdigits, cntrl_units);
break;
case SET_ACCEL:
sprintf(buff, "ACC %.*f;", maxdigits, cntrl_units);
break;
case GO:
/* The PIC844 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, "HALT");
break;
case JOG_VELOCITY:
case JOG:
send = false; /* No Jog. */
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
send = false;
break;
case ENABLE_TORQUE:
sprintf(buff, "AXIS:STAT ON");
break;
case DISABL_TORQUE:
sprintf(buff, "AXIS:STAT OFF");
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("PIC844_build_trans(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, drvtabptr);
}
return(rtnval);
}
motorApp/PiSrc/devPIMotor.dbd
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# Intelligent Motion Systems driver support.
device(motor,VME_IO,devPIC844,"PIC844")
driver(drvPIC844)
motorApp/PiSrc/drvPI.h
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/*
FILENAME... drvPI.h
USAGE... This file contains driver "include" information that is specific to
Physik Instrumente (PI) GmbH & Co. motor controller driver support.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:07 $
*/
/*
* 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 drvIM483.h
*/
#ifndef INCdrvPIh
#define INCdrvPIh 1
#include "motor.h"
#include "motordrvCom.h"
#include "serialIO.h"
#define GPIB_TIMEOUT 2000 /* Command timeout in msec */
#define SERIAL_TIMEOUT 5000 /* Command timeout in msec */
/* PIC844 specific data is stored in this structure. */
struct PIC844controller
{
int port_type; /* GPIB_PORT or RS232_PORT */
serialIO *serialInfo; /* For RS-232 */
int gpib_link;
int gpib_address;
struct gpibInfo *gpibInfo; /* For GPIB */
int serial_card; /* Card on which Hideos is running */
char serial_task[20]; /* Hideos task name for serial port */
CommStatus status; /* Controller communication status. */
};
/* Motion Condition register */
typedef union
{
unsigned short All;
struct
{
#ifdef MSB_First
unsigned int axis4ML :1; /* Axis#4 Minus Limit Switch */
unsigned int axis3ML :1; /* Axis#3 Minus Limit Switch */
unsigned int axis2ML :1; /* Axis#2 Minus Limit Switch */
unsigned int axis1ML :1; /* Axis#1 Minus Limit Switch */
unsigned int axis4PL :1; /* Axis#4 Plus Limit Switch */
unsigned int axis3PL :1; /* Axis#3 Plus Limit Switch */
unsigned int axis2PL :1; /* Axis#2 Plus Limit Switch */
unsigned int axis1PL :1; /* Axis#1 Plus Limit Switch */
unsigned int axis4ME :1; /* Axis#4 Motion-Error */
unsigned int axis3ME :1; /* Axis#3 Motion-Error */
unsigned int axis2ME :1; /* Axis#2 Motion-Error */
unsigned int axis1ME :1; /* Axis#1 Motion-Error */
unsigned int axis4IM :1; /* Axis#4 in motion */
unsigned int axis3IM :1; /* Axis#3 in motion */
unsigned int axis2IM :1; /* Axis#2 in motion */
unsigned int axis1IM :1; /* Axis#1 in motion */
#else
unsigned int axis1IM :1; /* Axis#1 in motion */
unsigned int axis2IM :1; /* Axis#2 in motion */
unsigned int axis3IM :1; /* Axis#3 in motion */
unsigned int axis4IM :1; /* Axis#4 in motion */
unsigned int axis1ME :1; /* Axis#1 Motion-Error */
unsigned int axis2ME :1; /* Axis#2 Motion-Error */
unsigned int axis3ME :1; /* Axis#3 Motion-Error */
unsigned int axis4ME :1; /* Axis#4 Motion-Error */
unsigned int axis1PL :1; /* Axis#1 Plus Limit Switch */
unsigned int axis2PL :1; /* Axis#2 Plus Limit Switch */
unsigned int axis3PL :1; /* Axis#3 Plus Limit Switch */
unsigned int axis4PL :1; /* Axis#4 Plus Limit Switch */
unsigned int axis1ML :1; /* Axis#1 Minus Limit Switch */
unsigned int axis2ML :1; /* Axis#2 Minus Limit Switch */
unsigned int axis3ML :1; /* Axis#3 Minus Limit Switch */
unsigned int axis4ML :1; /* Axis#4 Minus Limit Switch */
#endif
} Bits;
} C844_Cond_Reg;
/* Function prototypes. */
extern RTN_STATUS PIC844Setup(int, int, int);
extern RTN_STATUS PIC844Config(int, int, int, const char *);
#endif /* INCdrvPIh */
motorApp/PiSrc/drvPIC844.cc
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/*
FILENAME... drvPIC844.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. C-844 motor controller.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-01-07 15:00:07 $
*/
/*
* 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
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the PIC844 must be powered-on when EPICS is first
booted up.
2 - The PIC844 cannot be power cycled while EPICS is up and running. The
consequences are permanent communication lose with the PIC844 until
EPICS is rebooted.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvPI.h"
#include "serialIO.h"
#include "epicsExport.h"
#define GET_IDENT "*IDN?"
#define PIC844_NUM_CARDS 8
#define MAX_AXES 8
#define BUFF_SIZE 100 /* Maximum length of string to/from PIC844 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvPIC844debug = 0;
#define Debug(l, f, args...) { if(l<=drvPIC844debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* --- Local data. --- */
int PIC844_num_cards = 0;
static char PIC844_axis[4] = {'1', '2', '3', '4'};
/* 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 card, char const *com, char c);
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 PIC844_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,
PIC844_axis
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvPIC844 = {2, report, init};
epicsExportAddress(drvet, drvPIC844);
static struct thread_args targs = {SCAN_RATE, &PIC844_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIC844_num_cards <=0)
printf(" No PIC844 controllers configured.\n");
else
{
for (card = 0; card < PIC844_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIC844 controller %d connection failed.\n", card);
else
{
struct PIC844controller *cntrl;
cntrl = (struct PIC844controller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" PIC844 controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" PIC844 controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
}
}
}
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 (PIC844_num_cards <= 0)
{
Debug(1, "init(): PIC844 driver disabled. PIC844Setup() 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 PIC844controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
C844_Cond_Reg mstat;
int rtn_state, charcnt;
double motorData;
bool plusdir, ls_active = false, inmotion, plusLS, minusLS;
msta_field status;
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
/* With out this delay, the following transaction results in a timeout,
* followed by communication out of synch. This could be due to jumpering
* out RS-232 hardware handshaking.
*/
epicsThreadSleep(epicsThreadSleepQuantum() * 2.0);
send_mess(card, "MOT:COND?", (char) NULL);
charcnt = recv_mess(card, buff, 1);
if (charcnt == 1)
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
rtn_state = 0;
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 = atoi(&buff[0]);
switch(signal)
{
case 0:
inmotion = mstat.Bits.axis1IM;
break;
case 1:
inmotion = mstat.Bits.axis2IM;
break;
case 2:
inmotion = mstat.Bits.axis3IM;
break;
case 3:
inmotion = mstat.Bits.axis4IM;
}
status.Bits.RA_DONE = (inmotion == YES) ? 0 : 1;
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
send_mess(card, "CURR:TPOS?", PIC844_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
switch(signal)
{
case 0:
plusLS = mstat.Bits.axis1PL;
minusLS = mstat.Bits.axis1ML;
break;
case 1:
plusLS = mstat.Bits.axis2PL;
minusLS = mstat.Bits.axis2ML;
break;
case 2:
plusLS = mstat.Bits.axis3PL;
minusLS = mstat.Bits.axis3ML;
break;
case 3:
plusLS = mstat.Bits.axis4PL;
minusLS = mstat.Bits.axis4ML;
}
/* 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;
send_mess(card, "AXIS:STAT?", (char) NULL);
recv_mess(card, buff, 1);
if (strcmp(buff, "ON") == 0)
status.Bits.EA_POSITION = 1;
else
status.Bits.EA_POSITION = 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
send_mess(card, "AXIS:POS?", (char) NULL);
recv_mess(card, buff, 1);
motorData = atof(buff);
motor_info->encoder_position = (int32_t) motorData;
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 PIC844 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char inchar)
{
char local_buff[MAX_MSG_SIZE];
struct PIC844controller *cntrl;
int size;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPIC844.cc:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvPIC844.cc:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
local_buff[0] = (char) NULL; /* Terminate local buffer. */
if (inchar != (char) NULL)
{
strcpy(local_buff, "AXIS ");
local_buff[5] = inchar; /* put in axis. */
local_buff[6] = (char) NULL;
strcat(local_buff, ";"); /* put in comman seperator. */
}
/* Make a local copy of the string and add the command line terminator. */
strcat(local_buff, com);
strcat(local_buff, "\n");
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
if (cntrl->port_type == GPIB_PORT)
;
// gpibIOSend(cntrl->gpibInfo, local_buff, strlen(local_buff), GPIB_TIMEOUT);
else
cntrl->serialInfo->serialIOSend(local_buff, strlen(local_buff), SERIAL_TIMEOUT);
return(OK);
}
/*****************************************************/
/* receive a message from the PIC844 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct PIC844controller *cntrl;
int timeout;
int len=0;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
switch (cntrl->port_type)
{
case GPIB_PORT:
if (flag != FLUSH)
timeout = GPIB_TIMEOUT;
// len = gpibIORecv(cntrl->gpibInfo, com, BUFF_SIZE, (char *) "\n", timeout);
break;
case RS232_PORT:
if (flag != FLUSH)
timeout = SERIAL_TIMEOUT;
len = cntrl->serialInfo->serialIORecv(com, BUFF_SIZE, (char *) "\n", timeout);
break;
}
if (len == 0)
com[0] = '\0';
else
{
com[len - 1] = '\0';
len -= 1;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(len);
}
/*****************************************************/
/* Setup system configuration */
/* PIC844Setup() */
/*****************************************************/
RTN_STATUS
PIC844Setup(int num_cards, /* maximum number of controllers in system. */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > PIC844_NUM_CARDS)
PIC844_num_cards = PIC844_NUM_CARDS;
else
PIC844_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 PIC844Config 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(PIC844_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIC844_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PIC844Config() */
/*****************************************************/
RTN_STATUS
PIC844Config(int card, /* card being configured */
int port_type, /* GPIB_PORT or RS232_PORT */
int location, /* MPF server location */
const char *name) /* MPF server task name */
{
struct PIC844controller *cntrl;
if (card < 0 || card >= PIC844_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC844controller));
cntrl = (struct PIC844controller *) motor_state[card]->DevicePrivate;
switch (port_type)
{
/*
case GPIB_PORT:
cntrl->port_type = port_type;
cntrl->gpib_link = location;
cntrl->gpib_address = addr2;
break;
*/
case RS232_PORT:
cntrl->port_type = port_type;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
break;
default:
return (ERROR);
}
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 PIC844controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis;
int status;
bool success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIC844_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PIC844_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 PIC844controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = false;
switch (cntrl->port_type)
{
/*
case GPIB_PORT:
cntrl->gpibInfo = gpibIOInit(cntrl->gpib_link,
cntrl->gpib_address);
if (cntrl->gpibInfo == NULL)
success_rtn = true;
break;
*/
case RS232_PORT:
cntrl->serialInfo = new serialIO(cntrl->serial_card,
cntrl->serial_task, &success_rtn);
break;
}
if (success_rtn == true)
{
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
do
recv_mess(card_index, buff, FLUSH);
while (strlen(buff) != 0);
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
}
if (success_rtn == true && status > 0)
{
strcpy(brdptr->ident, &buff[0]);
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
brdptr->total_axis = total_axis = 4;
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;
/* PIC844 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;
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 *) "PIC844_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}