diff --git a/motorApp/PiSrc/Makefile b/motorApp/PiSrc/Makefile new file mode 100644 index 00000000..c5484d07 --- /dev/null +++ b/motorApp/PiSrc/Makefile @@ -0,0 +1,20 @@ +# 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 + diff --git a/motorApp/PiSrc/PiRegister.cc b/motorApp/PiSrc/PiRegister.cc new file mode 100644 index 00000000..e1a34289 --- /dev/null +++ b/motorApp/PiSrc/PiRegister.cc @@ -0,0 +1,71 @@ +/* +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 +#include +#include +#include +#include +#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" diff --git a/motorApp/PiSrc/devPIC844.cc b/motorApp/PiSrc/devPIC844.cc new file mode 100644 index 00000000..3ff8324a --- /dev/null +++ b/motorApp/PiSrc/devPIC844.cc @@ -0,0 +1,301 @@ +/* +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 +#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); +} diff --git a/motorApp/PiSrc/devPIMotor.dbd b/motorApp/PiSrc/devPIMotor.dbd new file mode 100644 index 00000000..badc986b --- /dev/null +++ b/motorApp/PiSrc/devPIMotor.dbd @@ -0,0 +1,5 @@ +# Intelligent Motion Systems driver support. +device(motor,VME_IO,devPIC844,"PIC844") +driver(drvPIC844) + + diff --git a/motorApp/PiSrc/drvPI.h b/motorApp/PiSrc/drvPI.h new file mode 100644 index 00000000..f6a81d8e --- /dev/null +++ b/motorApp/PiSrc/drvPI.h @@ -0,0 +1,117 @@ +/* +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 */ + diff --git a/motorApp/PiSrc/drvPIC844.cc b/motorApp/PiSrc/drvPIC844.cc new file mode 100644 index 00000000..6b7eb079 --- /dev/null +++ b/motorApp/PiSrc/drvPIC844.cc @@ -0,0 +1,682 @@ +/* +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 +#include +#include +#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); +} +