forked from epics_driver_modules/motorBase
Merge remote-tracking branch 'upstream/master'
This commit is contained in:
Keenan Lang
Executable
+164
@@ -0,0 +1,164 @@
|
||||
#!/bin/sh
|
||||
set -e -x
|
||||
|
||||
SUPPORT=$HOME/.cache/support
|
||||
|
||||
install -d $SUPPORT
|
||||
|
||||
# Conditionally build IPAC
|
||||
if [ -n "$IPAC" ]; then
|
||||
IPAC_PATH=$SUPPORT/ipac
|
||||
else
|
||||
IPAC_PATH=
|
||||
fi
|
||||
|
||||
RELEASE_PATH=$TRAVIS_BUILD_DIR/configure/RELEASE
|
||||
EPICS_BASE=$SUPPORT/epics-base
|
||||
|
||||
cat << EOF > $RELEASE_PATH
|
||||
IPAC=$IPAC_PATH
|
||||
SNCSEQ=$SUPPORT/seq
|
||||
ASYN=$SUPPORT/asyn
|
||||
EPICS_BASE=$SUPPORT/epics-base
|
||||
EOF
|
||||
|
||||
# use default selection for MSI
|
||||
sed -i -e '/MSI/d' configure/CONFIG_SITE
|
||||
|
||||
if [ ! -e "$EPICS_BASE/built" ]
|
||||
then
|
||||
|
||||
git clone --depth 10 --branch $BASE https://github.com/epics-base/epics-base.git $EPICS_BASE
|
||||
|
||||
EPICS_HOST_ARCH=`sh $EPICS_BASE/startup/EpicsHostArch`
|
||||
|
||||
case "$STATIC" in
|
||||
static)
|
||||
cat << EOF >> "$EPICS_BASE/configure/CONFIG_SITE"
|
||||
SHARED_LIBRARIES=NO
|
||||
STATIC_BUILD=YES
|
||||
EOF
|
||||
;;
|
||||
*) ;;
|
||||
esac
|
||||
|
||||
case "$CMPLR" in
|
||||
clang)
|
||||
echo "Host compiler is clang"
|
||||
cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.Common.$EPICS_HOST_ARCH
|
||||
GNU = NO
|
||||
CMPLR_CLASS = clang
|
||||
CC = clang
|
||||
CCC = clang++
|
||||
EOF
|
||||
;;
|
||||
*) echo "Host compiler is default";;
|
||||
esac
|
||||
|
||||
# requires wine and g++-mingw-w64-i686
|
||||
if [ "$WINE" = "32" ]
|
||||
then
|
||||
echo "Cross mingw32"
|
||||
sed -i -e '/CMPLR_PREFIX/d' $EPICS_BASE/configure/os/CONFIG_SITE.linux-x86.win32-x86-mingw
|
||||
cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.linux-x86.win32-x86-mingw
|
||||
CMPLR_PREFIX=i686-w64-mingw32-
|
||||
EOF
|
||||
cat << EOF >> $EPICS_BASE/configure/CONFIG_SITE
|
||||
CROSS_COMPILER_TARGET_ARCHS+=win32-x86-mingw
|
||||
EOF
|
||||
fi
|
||||
|
||||
# set RTEMS to eg. "4.9" or "4.10"
|
||||
if [ -n "$RTEMS" ]
|
||||
then
|
||||
echo "Cross RTEMS${RTEMS} for pc386"
|
||||
install -d /home/travis/.cache
|
||||
curl -L "https://github.com/mdavidsaver/rsb/releases/download/travis-20160306-2/rtems${RTEMS}-i386-trusty-20190306-2.tar.gz" \
|
||||
| tar -C /home/travis/.cache -xj
|
||||
|
||||
sed -i -e '/^RTEMS_VERSION/d' -e '/^RTEMS_BASE/d' $EPICS_BASE/configure/os/CONFIG_SITE.Common.RTEMS
|
||||
cat << EOF >> $EPICS_BASE/configure/os/CONFIG_SITE.Common.RTEMS
|
||||
RTEMS_VERSION=$RTEMS
|
||||
RTEMS_BASE=/home/travis/.cache/rtems${RTEMS}-i386
|
||||
EOF
|
||||
cat << EOF >> $EPICS_BASE/configure/CONFIG_SITE
|
||||
CROSS_COMPILER_TARGET_ARCHS+=RTEMS-pc386
|
||||
EOF
|
||||
|
||||
fi
|
||||
|
||||
make -C "$EPICS_BASE" -j2
|
||||
# get MSI for 3.14
|
||||
case "$BASE" in
|
||||
3.14*)
|
||||
echo "Build MSI"
|
||||
install -d "$HOME/msi/extensions/src"
|
||||
curl https://www.aps.anl.gov/epics/download/extensions/extensionsTop_20120904.tar.gz | tar -C "$HOME/msi" -xvz
|
||||
curl https://www.aps.anl.gov/epics/download/extensions/msi1-7.tar.gz | tar -C "$HOME/msi/extensions/src" -xvz
|
||||
mv "$HOME/msi/extensions/src/msi1-7" "$HOME/msi/extensions/src/msi"
|
||||
|
||||
cat << EOF > "$HOME/msi/extensions/configure/RELEASE"
|
||||
EPICS_BASE=$EPICS_BASE
|
||||
EPICS_EXTENSIONS=\$(TOP)
|
||||
EOF
|
||||
make -C "$HOME/msi/extensions"
|
||||
cp "$HOME/msi/extensions/bin/$EPICS_HOST_ARCH/msi" "$EPICS_BASE/bin/$EPICS_HOST_ARCH/"
|
||||
echo 'MSI:=$(EPICS_BASE)/bin/$(EPICS_HOST_ARCH)/msi' >> "$EPICS_BASE/configure/CONFIG_SITE"
|
||||
|
||||
cat <<EOF >> configure/CONFIG_SITE
|
||||
MSI = \$(EPICS_BASE)/bin/\$(EPICS_HOST_ARCH)/msi
|
||||
EOF
|
||||
|
||||
;;
|
||||
*) echo "Use MSI from Base"
|
||||
;;
|
||||
esac
|
||||
|
||||
touch $EPICS_BASE/built
|
||||
else
|
||||
echo "Using cached epics-base!"
|
||||
fi
|
||||
|
||||
# IPAC
|
||||
if [ -n "$IPAC" ]; then
|
||||
if [ ! -e "$SUPPORT/ipac/built" ]; then
|
||||
echo "Build ipac"
|
||||
install -d $SUPPORT/ipac
|
||||
git clone --depth 10 --branch $IPAC https://github.com/epics-modules/ipac.git $SUPPORT/ipac
|
||||
cat << EOF > $SUPPORT/ipac/configure/RELEASE
|
||||
EPICS_BASE=$SUPPORT/epics-base
|
||||
EOF
|
||||
make -C $SUPPORT/ipac
|
||||
touch $SUPPORT/ipac/built
|
||||
else
|
||||
echo "Using cached ipac"
|
||||
fi
|
||||
else
|
||||
echo "Skipping ipac"
|
||||
fi
|
||||
|
||||
|
||||
# sequencer
|
||||
if [ ! -e "$SUPPORT/seq/built" ]; then
|
||||
echo "Build sequencer"
|
||||
install -d $SUPPORT/seq
|
||||
curl -L "http://www-csr.bessy.de/control/SoftDist/sequencer/releases/seq-${SEQ}.tar.gz" | tar -C $SUPPORT/seq -xvz --strip-components=1
|
||||
cp $RELEASE_PATH $SUPPORT/seq/configure/RELEASE
|
||||
make -C $SUPPORT/seq
|
||||
touch $SUPPORT/seq/built
|
||||
else
|
||||
echo "Using cached seq"
|
||||
fi
|
||||
|
||||
|
||||
# asyn
|
||||
if [ ! -e "$SUPPORT/asyn/built" ]; then
|
||||
echo "Build asyn"
|
||||
install -d $SUPPORT/asyn
|
||||
curl -L "https://www.aps.anl.gov/epics/download/modules/asyn${ASYN}.tar.gz" | tar -C $SUPPORT/asyn -xvz --strip-components=1
|
||||
cp $RELEASE_PATH $SUPPORT/asyn/configure/RELEASE
|
||||
make -C "$SUPPORT/asyn" -j2
|
||||
touch $SUPPORT/asyn/built
|
||||
else
|
||||
echo "Using cached asyn"
|
||||
fi
|
||||
+27
@@ -0,0 +1,27 @@
|
||||
sudo: false
|
||||
dist: trusty
|
||||
language: c
|
||||
compiler:
|
||||
- gcc
|
||||
cache:
|
||||
directories:
|
||||
- $HOME/.cache
|
||||
addons:
|
||||
apt:
|
||||
packages:
|
||||
- libreadline6-dev
|
||||
- libncurses5-dev
|
||||
- perl
|
||||
- clang
|
||||
- g++-mingw-w64-i686
|
||||
- re2c
|
||||
env:
|
||||
- BASE=3.14 STATIC=shared SEQ=2.2.4 ASYN=4-31 IPAC=2.14
|
||||
- BASE=3.14 STATIC=static SEQ=2.2.4 ASYN=4-31 IPAC=2.14
|
||||
- BASE=3.15 STATIC=shared SEQ=2.2.4 ASYN=4-31 IPAC=2.14
|
||||
- BASE=3.15 STATIC=static SEQ=2.2.4 ASYN=4-31 IPAC=2.14
|
||||
- BASE=3.16 STATIC=shared RTEMS=4.10 SEQ=2.2.4 ASYN=4-31 IPAC=2.14
|
||||
- BASE=3.16 STATIC=shared CMPLR=clang WINE=32 SEQ=2.2.4 ASYN=4-31 IPAC=
|
||||
- BASE=3.16 STATIC=static WINE=32 SEQ=2.2.4 ASYN=4-31 IPAC=
|
||||
install: ./.ci/travis-prepare.sh
|
||||
script: make
|
||||
@@ -1,6 +1,8 @@
|
||||
# motor
|
||||
APS BCDA synApps module: motor
|
||||
|
||||
[](https://travis-ci.org/epics-modules/motor)
|
||||
|
||||
For more information, see:
|
||||
* [main page](http://htmlpreview.github.io/?https://github.com/epics-modules/motor/blob/master/documentation/motor.html)
|
||||
* [motor wiki](https://github.com/epics-modules/motor/wiki)
|
||||
|
||||
@@ -786,7 +786,7 @@ static long postProcess(motorRecord * pmr)
|
||||
double vbase = pmr->vbas / fabs(pmr->mres);
|
||||
double hpos = 0;
|
||||
double hvel = pmr->hvel / fabs(pmr->mres);
|
||||
double acc = (hvel - vbase) / pmr->accl;
|
||||
double acc = (hvel - vbase) > 0 ? ((hvel - vbase)/ pmr->accl): (hvel / pmr->accl);
|
||||
|
||||
motor_cmnd command;
|
||||
|
||||
@@ -858,7 +858,7 @@ static long postProcess(motorRecord * pmr)
|
||||
|
||||
if (pmr->mip & MIP_JOG_STOP)
|
||||
{
|
||||
double acc = (vel - vbase) / pmr->accl;
|
||||
double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl);
|
||||
|
||||
if (vel <= vbase)
|
||||
vel = vbase + 1;
|
||||
@@ -875,7 +875,7 @@ static long postProcess(motorRecord * pmr)
|
||||
else
|
||||
{
|
||||
double bvel = pmr->bvel / fabs(pmr->mres);
|
||||
double bacc = (bvel - vbase) / pmr->bacc;
|
||||
double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc);
|
||||
|
||||
if (bvel <= vbase)
|
||||
bvel = vbase + 1;
|
||||
@@ -911,7 +911,7 @@ static long postProcess(motorRecord * pmr)
|
||||
/* First part of jog done. Do backlash correction. */
|
||||
double bvel = pmr->bvel / fabs(pmr->mres);
|
||||
double vbase = pmr->vbas / fabs(pmr->mres);
|
||||
double bacc = (bvel - vbase) / pmr->bacc;
|
||||
double bacc = (bvel - vbase) > 0 ? ((bvel - vbase)/ pmr->bacc) : (bvel / pmr->bacc);
|
||||
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
|
||||
|
||||
/* Use if encoder or ReadbackLink is in use. */
|
||||
@@ -1935,7 +1935,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
|
||||
|
||||
vbase = pmr->vbas / fabs(pmr->mres);
|
||||
hvel = pmr->hvel / fabs(pmr->mres);
|
||||
acc = (hvel - vbase) / pmr->accl;
|
||||
acc = (hvel - vbase) > 0 ? ((hvel - vbase) / pmr->accl) : (hvel / pmr->accl);
|
||||
hpos = 0;
|
||||
|
||||
INIT_MSG();
|
||||
@@ -2147,13 +2147,13 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
|
||||
double newpos = pmr->dval / pmr->mres; /* where to go */
|
||||
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
|
||||
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
|
||||
double acc = (vel - vbase) / pmr->accl; /* normal accel. */
|
||||
double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl); /* normal accel. */
|
||||
/*
|
||||
* 'bpos' is one backlash distance away from 'newpos'.
|
||||
*/
|
||||
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
|
||||
double bvel = pmr->bvel / fabs(pmr->mres); /* backlash speed */
|
||||
double bacc = (bvel - vbase) / pmr->bacc; /* backlash accel. */
|
||||
double bacc = (bvel - vbase) > 0 ? ((bvel - vbase) / pmr->bacc) : (bvel / pmr->bacc); /* backlash accel. */
|
||||
bool use_rel, preferred_dir, too_small;
|
||||
double relpos = pmr->diff / pmr->mres;
|
||||
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
|
||||
|
||||
@@ -1380,6 +1380,8 @@ void oms58Registrar(void)
|
||||
iocshRegister(&oms58FuncDef, &oms58CallFunc);
|
||||
}
|
||||
|
||||
extern "C"{
|
||||
epicsExportRegistrar(oms58Registrar);
|
||||
}
|
||||
|
||||
/*---------------------------------------------------------------------*/
|
||||
|
||||
@@ -19,6 +19,7 @@ SRCS += devPIC862.cc drvPIC862.cc PIC862Register.cc
|
||||
SRCS += devPIC663.cc drvPIC663.cc PIC663Register.cc
|
||||
SRCS += devPIE710.cc drvPIE710.cc PIE710Register.cc
|
||||
SRCS += devPIE516.cc drvPIE516.cc PIE516Register.cc
|
||||
SRCS += devPIE517.cc drvPIE517.cc PIE517Register.cc
|
||||
SRCS += devPIE816.cc drvPIE816.cc PIE816Register.cc
|
||||
|
||||
|
||||
|
||||
Executable
+68
@@ -0,0 +1,68 @@
|
||||
/*
|
||||
FILENAME... PIE517Register.cc
|
||||
USAGE... Register PI motor device driver shell commands.
|
||||
|
||||
Version: $Revision: 1.1 $
|
||||
Modified By: $Author: sullivan $
|
||||
Last Modified: $Date: 2007-03-30 20:01:05 $
|
||||
*/
|
||||
|
||||
/*****************************************************************
|
||||
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 "drvPIE517.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 PIE517SetupArgs[2] = {&setupArg0, &setupArg1};
|
||||
static const iocshArg * const PIE517ConfigArgs[3] = {&configArg0, &configArg1,
|
||||
&configArg2};
|
||||
|
||||
static const iocshFuncDef setupPIE517 = {"PIE517Setup", 2, PIE517SetupArgs};
|
||||
static const iocshFuncDef configPIE517 = {"PIE517Config", 3, PIE517ConfigArgs};
|
||||
|
||||
static void setupPIE517CallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
PIE517Setup(args[0].ival, args[1].ival);
|
||||
}
|
||||
|
||||
|
||||
static void configPIE517CallFunc(const iocshArgBuf *args)
|
||||
{
|
||||
PIE517Config(args[0].ival, args[1].sval, args[2].ival);
|
||||
}
|
||||
|
||||
|
||||
static void PIE517motorRegister(void)
|
||||
{
|
||||
iocshRegister(&setupPIE517, setupPIE517CallFunc);
|
||||
iocshRegister(&configPIE517, configPIE517CallFunc);
|
||||
}
|
||||
|
||||
epicsExportRegistrar(PIE517motorRegister);
|
||||
|
||||
} // extern "C"
|
||||
Executable
+316
@@ -0,0 +1,316 @@
|
||||
/*
|
||||
FILENAME... devPIE517.cc
|
||||
USAGE... Motor record device level support for Physik Instrumente (PI)
|
||||
GmbH & Co. E-516 motor controller.
|
||||
|
||||
Version: $Revision: 1.2 $
|
||||
Modified By: $Author: sluiter $
|
||||
Last Modified: $Date: 2008-03-14 20:21:37 $
|
||||
*/
|
||||
|
||||
/*
|
||||
* Original Author: Ron Sluiter
|
||||
* Date: 12/17/03
|
||||
* Current Author: Joe Sullivan
|
||||
*
|
||||
* 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 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc
|
||||
* .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller
|
||||
*/
|
||||
|
||||
|
||||
#include <string.h>
|
||||
#include "motorRecord.h"
|
||||
#include "motor.h"
|
||||
#include "motordevCom.h"
|
||||
#include "drvPIE517.h"
|
||||
#include "epicsExport.h"
|
||||
|
||||
extern struct driver_table PIE517_access;
|
||||
|
||||
/* ----------------Create the dsets for devPIE517----------------- */
|
||||
static struct driver_table *drvtabptr;
|
||||
static long PIE517_init(void *);
|
||||
static long PIE517_init_record(void *);
|
||||
static long PIE517_start_trans(struct motorRecord *);
|
||||
static RTN_STATUS PIE517_build_trans(motor_cmnd, double *, struct motorRecord *);
|
||||
static RTN_STATUS PIE517_end_trans(struct motorRecord *);
|
||||
|
||||
struct motor_dset devPIE517 =
|
||||
{
|
||||
{8, NULL, (DEVSUPFUN) PIE517_init, (DEVSUPFUN) PIE517_init_record, NULL},
|
||||
motor_update_values,
|
||||
PIE517_start_trans,
|
||||
PIE517_build_trans,
|
||||
PIE517_end_trans
|
||||
};
|
||||
|
||||
extern "C" {epicsExportAddress(dset,devPIE517);}
|
||||
|
||||
/* --------------------------- program data --------------------- */
|
||||
|
||||
/* This table is used to define the command types */
|
||||
/* WARNING! this must match "motor_cmnd" in motor.h */
|
||||
|
||||
static msg_types PIE517_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 **PIE517_cards;
|
||||
|
||||
/* --------------------------- program data --------------------- */
|
||||
|
||||
|
||||
/* initialize device support for PIE517 stepper motor */
|
||||
static long PIE517_init(void *arg)
|
||||
{
|
||||
long rtnval;
|
||||
int after = (arg == 0) ? 0 : 1;
|
||||
|
||||
if (after == 0)
|
||||
{
|
||||
drvtabptr = &PIE517_access;
|
||||
(drvtabptr->init)();
|
||||
}
|
||||
|
||||
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PIE517_cards);
|
||||
return(rtnval);
|
||||
}
|
||||
|
||||
|
||||
/* initialize a record instance */
|
||||
static long PIE517_init_record(void *arg)
|
||||
{
|
||||
struct motorRecord *mr = (struct motorRecord *) arg;
|
||||
/* Disable change of direction testing in record support */
|
||||
/* This is a closed-loop device */
|
||||
mr->ntm = menuYesNoNO;
|
||||
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PIE517_cards));
|
||||
}
|
||||
|
||||
|
||||
/* start building a transaction */
|
||||
static long PIE517_start_trans(struct motorRecord *mr)
|
||||
{
|
||||
motor_start_trans_com(mr, PIE517_cards);
|
||||
return(OK);
|
||||
}
|
||||
|
||||
|
||||
/* end building a transaction */
|
||||
static RTN_STATUS PIE517_end_trans(struct motorRecord *mr)
|
||||
{
|
||||
motor_end_trans_com(mr, drvtabptr);
|
||||
return(OK);
|
||||
}
|
||||
|
||||
|
||||
/* add a part to the transaction */
|
||||
static RTN_STATUS PIE517_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 PIE517controller *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, PIE517_cards);
|
||||
|
||||
motor_call = &(trans->motor_call);
|
||||
card = motor_call->card;
|
||||
brdptr = (*trans->tabptr->card_array)[card];
|
||||
if (brdptr == NULL)
|
||||
return(rtnval = ERROR);
|
||||
|
||||
cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
|
||||
res = cntrl->drive_resolution[motor_call->signal];
|
||||
cntrl_units = dval;
|
||||
maxdigits = 3;
|
||||
|
||||
if (PIE517_table[command] > motor_call->type)
|
||||
motor_call->type = PIE517_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, EOL_E517);
|
||||
}
|
||||
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));
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case MOVE_REL:
|
||||
sprintf(buff, "MVR # %.*f", maxdigits, (cntrl_units * res));
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case HOME_FOR:
|
||||
case HOME_REV:
|
||||
rtnval = ERROR;
|
||||
break;
|
||||
|
||||
case LOAD_POS:
|
||||
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));
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case ENABLE_TORQUE:
|
||||
strcpy(buff, "SVO #1");
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case DISABL_TORQUE:
|
||||
strcpy(buff, "SVO #0");
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case SET_ACCEL:
|
||||
/* The PIE517 does not support acceleration commands. */
|
||||
case GO:
|
||||
/* The PIE517 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:
|
||||
/* No stop command available - use move relative 0 */
|
||||
sprintf(buff, "STP #");
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case JOG_VELOCITY:
|
||||
case JOG:
|
||||
sprintf(buff, "VEL # %.*f", maxdigits, cntrl_units);
|
||||
strcat(buff, EOL_E517);
|
||||
break;
|
||||
|
||||
case SET_PGAIN:
|
||||
send = false;
|
||||
break;
|
||||
case SET_IGAIN:
|
||||
send = false;
|
||||
break;
|
||||
case SET_DGAIN:
|
||||
send = false;
|
||||
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("PIE517_build_trans(): buffer overflow.\n");
|
||||
else
|
||||
{
|
||||
strcat(motor_call->message, buff);
|
||||
rtnval = motor_end_trans_com(mr, drvtabptr);
|
||||
}
|
||||
return(rtnval);
|
||||
}
|
||||
@@ -46,6 +46,12 @@ driver(drvPIE516)
|
||||
registrar(PIE516motorRegister)
|
||||
variable(drvPIE516debug)
|
||||
|
||||
# Physik Instrumente (PI) GmbH & Co. E-517 driver support.
|
||||
device(motor,VME_IO,devPIE517,"PIE517")
|
||||
driver(drvPIE517)
|
||||
registrar(PIE517motorRegister)
|
||||
variable(drvPIE517debug)
|
||||
|
||||
# Physik Instrumente (PI) GmbH & Co. E-816 driver support.
|
||||
device(motor,VME_IO,devPIE816,"PIE816")
|
||||
driver(drvPIE816)
|
||||
|
||||
Executable
+680
@@ -0,0 +1,680 @@
|
||||
/*
|
||||
FILENAME... drvPIE517.cc
|
||||
USAGE... Motor record driver level support for Physik Instrumente (PI)
|
||||
GmbH & Co. E-516 motor controller.
|
||||
|
||||
Version: $Revision: 1.1 $
|
||||
Modified By: $Author: sullivan $
|
||||
Last Modified: $Date: 2007-03-30 20:01:05 $
|
||||
*/
|
||||
|
||||
/*
|
||||
* Original Author: Ron Sluiter
|
||||
* Date: 10/18/05
|
||||
* Current Author: Joe Sullivan
|
||||
*
|
||||
* 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 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from devPIE516.cc.
|
||||
* .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller.
|
||||
* Tested on PI VER:
|
||||
* FW_DSP: 02.034
|
||||
* FW_FPGA: 02.040
|
||||
* FW_MCU: 1.22.6
|
||||
*/
|
||||
|
||||
/*
|
||||
DESIGN LIMITATIONS...
|
||||
1 - Like all controllers, the PIE517 must be powered-on when EPICS is first
|
||||
booted up.
|
||||
*/
|
||||
|
||||
#include <string.h>
|
||||
#include <epicsThread.h>
|
||||
#include <drvSup.h>
|
||||
#include "motorRecord.h"
|
||||
#include "motor.h"
|
||||
#include "drvPIE517.h"
|
||||
#include "epicsExport.h"
|
||||
|
||||
#define GET_IDENT "VER?"
|
||||
#define SET_ONLINE "ONL # 1" /* Set Online Mode ON */
|
||||
#define SET_VELCTRL "VCO # 1" /* Set Velocity Control Mode - Required for DONE */
|
||||
#define READ_ONLINE "ONL? #" /* Read Online Mode */
|
||||
#define READ_POS "POS? #" /* Read position */
|
||||
#define READ_OVERFLOW "OVF? #" /* Read Servo Overflow Status */
|
||||
#define READ_ONTARGET "ONT? #" /* Read Position ON Target */
|
||||
#define READ_SERVO "SVO? #" /* Read Servo Enable Status */
|
||||
|
||||
|
||||
#define PIE517_NUM_CARDS 10
|
||||
#define MAX_AXES 3
|
||||
#define BUFF_SIZE 100 /* Maximum length of string to/from PIE517 */
|
||||
|
||||
/*----------------debugging-----------------*/
|
||||
volatile int drvPIE517debug = 0;
|
||||
extern "C" {epicsExportAddress(int, drvPIE517debug);}
|
||||
static inline void Debug(int level, const char *format, ...) {
|
||||
#ifdef DEBUG
|
||||
if (level < drvPIE517debug) {
|
||||
va_list pVar;
|
||||
va_start(pVar, format);
|
||||
vprintf(format, pVar);
|
||||
va_end(pVar);
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
/* --- Local data. --- */
|
||||
int PIE517_num_cards = 0;
|
||||
static char *PIE517_axis[] = {"1 ", "2 ", "3 "}; //{"A", "B", "C"};
|
||||
|
||||
/* 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 PIE517_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,
|
||||
PIE517_axis
|
||||
};
|
||||
|
||||
struct
|
||||
{
|
||||
long number;
|
||||
long (*report) (int);
|
||||
long (*init) (void);
|
||||
} drvPIE517 = {2, report, init};
|
||||
|
||||
extern "C" {epicsExportAddress(drvet, drvPIE517);}
|
||||
|
||||
static struct thread_args targs = {SCAN_RATE, &PIE517_access, 0.0};
|
||||
|
||||
/*********************************************************
|
||||
* Print out driver status report
|
||||
*********************************************************/
|
||||
static long report(int level)
|
||||
{
|
||||
int card;
|
||||
|
||||
if (PIE517_num_cards <=0)
|
||||
printf(" No PIE517 controllers configured.\n");
|
||||
else
|
||||
{
|
||||
for (card = 0; card < PIE517_num_cards; card++)
|
||||
{
|
||||
struct controller *brdptr = motor_state[card];
|
||||
|
||||
if (brdptr == NULL)
|
||||
printf(" PIE517 controller %d connection failed.\n", card);
|
||||
else
|
||||
{
|
||||
struct PIE517controller *cntrl;
|
||||
|
||||
cntrl = (struct PIE517controller *) brdptr->DevicePrivate;
|
||||
printf(" PIE517 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 (PIE517_num_cards <= 0)
|
||||
{
|
||||
Debug(1, "init(): PIE517 driver disabled. PIE517Setup() 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 PIE517controller *cntrl;
|
||||
struct mess_node *nodeptr;
|
||||
struct mess_info *motor_info;
|
||||
struct motorRecord *mr;
|
||||
/* Message parsing variables */
|
||||
char buff[BUFF_SIZE];
|
||||
int rtn_state;
|
||||
unsigned int overflow_status, ontarget_status, servo_status, online_status;
|
||||
epicsInt32 motorData;
|
||||
bool plusdir, ls_active, plusLS, minusLS;
|
||||
bool readOK;
|
||||
msta_field status;
|
||||
|
||||
cntrl = (struct PIE517controller *) 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;
|
||||
|
||||
recv_mess(card, buff, FLUSH);
|
||||
|
||||
readOK = false;
|
||||
// send_mess(card, READ_ONLINE, PIE517_axis[signal]);
|
||||
// if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &online_status))
|
||||
// {
|
||||
// if (!online_status)
|
||||
// {
|
||||
// /* Assume Controller Reboot - Set ONLINE and Velocity Control ON */
|
||||
// send_mess(card, SET_ONLINE, PIE517_axis[signal]);
|
||||
// //send_mess(card, SET_VELCTRL, (char) NULL);
|
||||
// }
|
||||
|
||||
send_mess(card, READ_ONTARGET, PIE517_axis[signal]);
|
||||
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &ontarget_status))
|
||||
{
|
||||
send_mess(card, READ_OVERFLOW, PIE517_axis[signal]);
|
||||
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &overflow_status))
|
||||
{
|
||||
send_mess(card, READ_SERVO, PIE517_axis[signal]);
|
||||
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &servo_status))
|
||||
{
|
||||
send_mess(card, READ_POS, PIE517_axis[signal]);
|
||||
if (recv_mess(card, buff, 1))
|
||||
{
|
||||
motorData = NINT(atof(buff) / cntrl->drive_resolution[signal]);
|
||||
readOK = true;
|
||||
}
|
||||
}
|
||||
}
|
||||
}
|
||||
// }
|
||||
|
||||
if (readOK)
|
||||
{
|
||||
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;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
/* Always DONE if torque disabled */
|
||||
status.Bits.RA_DONE = (ontarget_status) ? 1 : 0;
|
||||
status.Bits.RA_HOME = status.Bits.RA_DONE;
|
||||
|
||||
status.Bits.EA_POSITION = (servo_status) ? 1 : 0; /* Torgue disabled flag */
|
||||
|
||||
ls_active = plusLS = minusLS = false;
|
||||
|
||||
/* LS status may be true but servo is not within position error - keep updating */
|
||||
/* No Limit switches but if the Servo Controller overflows indicate with a + LS */
|
||||
if (status.Bits.RA_DONE)
|
||||
plusLS = overflow_status ? true : false;
|
||||
|
||||
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 PIE517 board */
|
||||
/* send_mess() */
|
||||
/*****************************************************/
|
||||
static RTN_STATUS send_mess(int card, char const *com, char *name)
|
||||
{
|
||||
char local_buff[MAX_MSG_SIZE];
|
||||
char *pbuff;
|
||||
struct PIE517controller *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("drvPIE517.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("drvPIE517.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);
|
||||
pbuff = strchr(local_buff, '#');
|
||||
if (pbuff != NULL)
|
||||
*pbuff = *name;
|
||||
else
|
||||
Debug(1, "send_mess(): NAME ERROR: message = %s\n", local_buff);
|
||||
}
|
||||
|
||||
Debug(2, "send_mess(): message = %s\n", local_buff);
|
||||
|
||||
cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
|
||||
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
|
||||
COMM_TIMEOUT, &nwrite);
|
||||
|
||||
return(OK);
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************/
|
||||
/* receive a message from the PIE517 board */
|
||||
/* recv_mess() */
|
||||
/*****************************************************/
|
||||
static int recv_mess(int card, char *com, int flag)
|
||||
{
|
||||
struct PIE517controller *cntrl;
|
||||
size_t nread = 0;
|
||||
asynStatus status = asynError;
|
||||
int eomReason;
|
||||
char *pos;
|
||||
|
||||
/* Check that card exists */
|
||||
if (!motor_state[card])
|
||||
return(ERROR);
|
||||
|
||||
cntrl = (struct PIE517controller *) motor_state[card]->DevicePrivate;
|
||||
|
||||
if (flag == FLUSH)
|
||||
pasynOctetSyncIO->flush(cntrl->pasynUser);
|
||||
else
|
||||
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
|
||||
COMM_TIMEOUT, &nread, &eomReason);
|
||||
pos=strchr(com,'=');
|
||||
if(pos != NULL)
|
||||
strcpy(com,&pos[1]);
|
||||
|
||||
if ((status != asynSuccess) || (nread <= 0))
|
||||
{
|
||||
com[0] = '\0';
|
||||
nread = 0;
|
||||
}
|
||||
|
||||
Debug(2, "recv_mess(): message = \"%s\"\n", com);
|
||||
return(nread);
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************/
|
||||
/* Setup system configuration */
|
||||
/* PIE517Setup() */
|
||||
/*****************************************************/
|
||||
RTN_STATUS
|
||||
PIE517Setup(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 > PIE517_NUM_CARDS)
|
||||
PIE517_num_cards = PIE517_NUM_CARDS;
|
||||
else
|
||||
PIE517_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 PIE517Config 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(PIE517_num_cards *
|
||||
sizeof(struct controller *));
|
||||
|
||||
for (itera = 0; itera < PIE517_num_cards; itera++)
|
||||
motor_state[itera] = (struct controller *) NULL;
|
||||
|
||||
return(OK);
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************/
|
||||
/* Configure a controller */
|
||||
/* PIE517Config() */
|
||||
/*****************************************************/
|
||||
RTN_STATUS
|
||||
PIE517Config(int card, /* card being configured */
|
||||
const char *name, /* asyn port name */
|
||||
int addr) /* asyn address (GPIB) */
|
||||
{
|
||||
struct PIE517controller *cntrl;
|
||||
|
||||
if (card < 0 || card >= PIE517_num_cards)
|
||||
return(ERROR);
|
||||
|
||||
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
|
||||
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIE517controller));
|
||||
cntrl = (struct PIE517controller *) 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 PIE517controller *cntrl;
|
||||
int card_index, motor_index;
|
||||
char buff[BUFF_SIZE], *pbuff;
|
||||
int total_axis;
|
||||
int status;
|
||||
int version;
|
||||
bool online;
|
||||
asynStatus success_rtn;
|
||||
static const char output_terminator[] = EOL_E517;
|
||||
static const char input_terminator[] = EOL_E517;
|
||||
|
||||
initialized = true; /* Indicate that driver is initialized. */
|
||||
|
||||
/* Check for setup */
|
||||
if (PIE517_num_cards <= 0)
|
||||
return(ERROR);
|
||||
|
||||
for (card_index = 0; card_index < PIE517_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 PIE517controller *) brdptr->DevicePrivate;
|
||||
|
||||
status = version = 0;
|
||||
|
||||
/* 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);
|
||||
|
||||
/* Assure that Controller is ONLINE */
|
||||
online = true;
|
||||
//do
|
||||
//{
|
||||
// online = false;
|
||||
// /* Set Controller to ONLINE mode */
|
||||
// send_mess(card_index, SET_ONLINE, (char) NULL);
|
||||
// send_mess(card_index, READ_ONLINE, (char) NULL);
|
||||
// if ((status = recv_mess(card_index, buff, 1)))
|
||||
//online = (atoi(buff)==1) ? true : false;
|
||||
// else
|
||||
//retry++;
|
||||
//} while (online == false && retry < 3);
|
||||
|
||||
//send_mess(card_index, GET_IDENT, (char) NULL);
|
||||
//status = recv_mess(card_index, buff, 1);
|
||||
|
||||
/* Parse out E517 revision (2 decimal places) and convert to int */
|
||||
if ((pbuff = strchr(buff, 'V')))
|
||||
version = NINT(atof(pbuff+1) * 100);
|
||||
else
|
||||
version = 0;
|
||||
}
|
||||
|
||||
if (success_rtn == asynSuccess && online == true)
|
||||
{
|
||||
strcpy(brdptr->ident, buff);
|
||||
brdptr->localaddr = (char *) NULL;
|
||||
brdptr->motor_in_motion = 0;
|
||||
|
||||
/* Check for E517 versions that need the status word shifted up 8 bits */
|
||||
/*if (version >= 311)
|
||||
cntrl->versionSupport = true;
|
||||
else
|
||||
cntrl->versionSupport = false;*/
|
||||
|
||||
/* Determine # of axes. Request stage name. See if it responds */
|
||||
for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
|
||||
{
|
||||
send_mess(card_index, READ_POS, PIE517_axis[total_axis]);
|
||||
status = recv_mess(card_index, buff, 1);
|
||||
if (!status)
|
||||
break;
|
||||
}
|
||||
brdptr->total_axis = total_axis;
|
||||
|
||||
/* Turn ON velocity control mode - All axis */
|
||||
//send_mess(card_index, SET_VELCTRL, (char) NULL);
|
||||
|
||||
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;
|
||||
/* PIE517 has DC motor support only */
|
||||
motor_info->encoder_present = YES;
|
||||
motor_info->status.Bits.EA_PRESENT = 1;
|
||||
motor_info->pid_present = NO;
|
||||
motor_info->status.Bits.GAIN_SUPPORT = 1;
|
||||
|
||||
cntrl->drive_resolution[motor_index] = POS_RES;
|
||||
|
||||
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 *) "PIE517_motor", epicsThreadPriorityMedium,
|
||||
epicsThreadGetStackSize(epicsThreadStackMedium),
|
||||
(EPICSTHREADFUNC) motor_task, (void *) &targs);
|
||||
|
||||
return(OK);
|
||||
}
|
||||
|
||||
|
||||
Executable
+75
@@ -0,0 +1,75 @@
|
||||
/* File: drvPIE516.h */
|
||||
|
||||
|
||||
/* Device Driver Support definitions for motor */
|
||||
/*
|
||||
* Original Author: Ron Sluiter
|
||||
* Current Author: Joe Sullivan
|
||||
* Date: 09/20/2005
|
||||
*
|
||||
* Modification Log:
|
||||
* -----------------
|
||||
* .01 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - copied from drvPIE516.h
|
||||
* .02 08/10/16 Bruno Luvizotto (brunoluvizotto@gmail.com) - edited the files for the E517 controller
|
||||
*/
|
||||
|
||||
#ifndef INCdrvPIE517h
|
||||
#define INCdrvPIE517h 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. */
|
||||
|
||||
#define EOL_E517 "\n" /* Command End-Of-Line = LF (0x10) */
|
||||
|
||||
struct PIE517controller
|
||||
{
|
||||
asynUser *pasynUser; /* asynUser structure */
|
||||
int asyn_address; /* Use for GPIB or other address with asyn */
|
||||
CommStatus status; /* Controller communication status. */
|
||||
double drive_resolution[4];
|
||||
bool versionSupport; /* Track supported Versions - include in Report */
|
||||
char asyn_port[80]; /* asyn port name */
|
||||
};
|
||||
|
||||
|
||||
typedef union
|
||||
{
|
||||
epicsUInt16 All;
|
||||
struct
|
||||
{
|
||||
#ifdef MSB_First
|
||||
unsigned int cmnd_err :1; /* 15 - Command Error */
|
||||
unsigned int na6 :1; /* 14 - */
|
||||
unsigned int autozero :1; /* 13 - AutoZero function is running */
|
||||
unsigned int plus_ls :1; /* 12 - Positive limit switch flag. */
|
||||
unsigned int minus_ls :1; /* 11 - Negative limit switch flag. */
|
||||
unsigned int moving :1; /* 10 - Moving indicator - position error outside tolerance */
|
||||
unsigned int volt_limit :1; /* 9 - piezo voltage limit reached */
|
||||
unsigned int torque :1; /* 8 - Servo-control status */
|
||||
unsigned int nabyte :8;
|
||||
|
||||
#else
|
||||
unsigned int nabyte :8;
|
||||
unsigned int torque :1; /* 8 - Servo-control status */
|
||||
unsigned int volt_limit :1; /* 9 - piezo voltage limit reached */
|
||||
unsigned int moving :1; /* 10 - Moving indicator - position error outside tolerance */
|
||||
unsigned int minus_ls :1; /* 11 - Negative limit switch flag. */
|
||||
unsigned int plus_ls :1; /* 12 - Positive limit switch flag. */
|
||||
unsigned int autozero :1; /* 13 - AutoZero function is running */
|
||||
unsigned int na6 :1; /* 14 - */
|
||||
unsigned int cmnd_err :1; /* 15 - Command Error */
|
||||
#endif
|
||||
} Bits;
|
||||
} E517_Status_Reg;
|
||||
|
||||
|
||||
/* Function prototypes. */
|
||||
extern RTN_STATUS PIE517Setup(int, int);
|
||||
extern RTN_STATUS PIE517Config(int, const char *, int);
|
||||
|
||||
#endif /* INCdrvPIE517h */
|
||||
@@ -0,0 +1,60 @@
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<resources/>
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@@ -0,0 +1,76 @@
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<?xml version="1.0" encoding="UTF-8"?>
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@@ -0,0 +1,92 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<class>MainWindow</class>
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<string notr="true">P=$(P),M=$(M2)</string>
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<string notr="true">motorxU.ui</string>
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<header>caInclude</header>
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<resources/>
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<connections/>
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@@ -0,0 +1,108 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<property name="macro">
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<string notr="true">P=$(P),M=$(M2)</string>
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<string notr="true">motorxU.ui</string>
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<string notr="true">P=$(P),M=$(M3)</string>
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<string notr="true">motorxU.ui</string>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M5)</string>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M5)</string>
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<property name="filename" stdset="0">
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<string notr="true">motorxU.ui</string>
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<customwidgets>
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<customwidget>
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<class>caInclude</class>
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<extends>QWidget</extends>
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<header>caInclude</header>
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<resources/>
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<connections/>
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</ui>
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@@ -0,0 +1,124 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<string>MainWindow</string>
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<string notr="true">P=$(P),M=$(M1)</string>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M2)</string>
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<string notr="true">motorxU.ui</string>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M3)</string>
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<string notr="true">motorxU.ui</string>
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<string notr="true">P=$(P),M=$(M4)</string>
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<string notr="true">motorxU.ui</string>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M5)</string>
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<string notr="true">motorxU.ui</string>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M6)</string>
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<string notr="true">motorxU.ui</string>
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<class>caInclude</class>
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<header>caInclude</header>
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<resources/>
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<connections/>
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@@ -0,0 +1,140 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<ui version="4.0">
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<property name="windowTitle">
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<string>MainWindow</string>
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<widget class="QWidget" name="centralwidget">
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<widget class="caInclude" name="cainclude">
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<property name="macro">
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<string notr="true">P=$(P),M=$(M1)</string>
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<property name="filename" stdset="0">
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<string notr="true">motorxU.ui</string>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M2)</string>
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</property>
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<property name="filename" stdset="0">
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||||
<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_3">
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<property name="geometry">
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<rect>
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<x>352</x>
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<y>0</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M3)</string>
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||||
</property>
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||||
<property name="filename" stdset="0">
|
||||
<string notr="true">motorxU.ui</string>
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||||
</property>
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</widget>
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<widget class="caInclude" name="cainclude_4">
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<property name="geometry">
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<rect>
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<x>528</x>
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<y>0</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M4)</string>
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</property>
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<property name="filename" stdset="0">
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||||
<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_5">
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<property name="geometry">
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<rect>
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<x>0</x>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M5)</string>
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</property>
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<property name="filename" stdset="0">
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<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_6">
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<property name="geometry">
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<rect>
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<x>176</x>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M6)</string>
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</property>
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<property name="filename" stdset="0">
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<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_7">
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<property name="geometry">
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<rect>
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<x>352</x>
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<y>282</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M7)</string>
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</property>
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<property name="filename" stdset="0">
|
||||
<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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</widget>
|
||||
</widget>
|
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<customwidgets>
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<customwidget>
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<class>caInclude</class>
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<extends>QWidget</extends>
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<header>caInclude</header>
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</customwidget>
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</customwidgets>
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||||
<resources/>
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<connections/>
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</ui>
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@@ -0,0 +1,156 @@
|
||||
<?xml version="1.0" encoding="UTF-8"?>
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||||
<ui version="4.0">
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<class>MainWindow</class>
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<widget class="QMainWindow" name="MainWindow">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>704</width>
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<height>564</height>
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</rect>
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</property>
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<property name="windowTitle">
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<string>MainWindow</string>
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</property>
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<widget class="QWidget" name="centralwidget">
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<widget class="caInclude" name="cainclude">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>0</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M1)</string>
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</property>
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_2">
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<property name="geometry">
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<rect>
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<x>176</x>
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<y>0</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
|
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<string notr="true">P=$(P),M=$(M2)</string>
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</property>
|
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
|
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_3">
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<property name="geometry">
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<rect>
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<x>352</x>
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<y>0</y>
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<width>176</width>
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<height>282</height>
|
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</rect>
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</property>
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<property name="macro">
|
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<string notr="true">P=$(P),M=$(M3)</string>
|
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</property>
|
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
|
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_4">
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<property name="geometry">
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<rect>
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<x>528</x>
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<y>0</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
|
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<string notr="true">P=$(P),M=$(M4)</string>
|
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</property>
|
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
|
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_5">
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<property name="geometry">
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<rect>
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<x>0</x>
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<y>282</y>
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<width>176</width>
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<height>282</height>
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M5)</string>
|
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</property>
|
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_6">
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<property name="geometry">
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<rect>
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<x>176</x>
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<y>282</y>
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<width>176</width>
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<height>282</height>
|
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</rect>
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</property>
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<property name="macro">
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<string notr="true">P=$(P),M=$(M6)</string>
|
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</property>
|
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
|
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</property>
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</widget>
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<widget class="caInclude" name="cainclude_7">
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<property name="geometry">
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<rect>
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<x>352</x>
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<y>282</y>
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<width>176</width>
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<height>282</height>
|
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</rect>
|
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</property>
|
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<property name="macro">
|
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<string notr="true">P=$(P),M=$(M7)</string>
|
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</property>
|
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<property name="filename" stdset="0">
|
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<string notr="true">motorxU.ui</string>
|
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</property>
|
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</widget>
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<widget class="caInclude" name="cainclude_8">
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<property name="geometry">
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<rect>
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<x>528</x>
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<width>176</width>
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<height>282</height>
|
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</rect>
|
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</property>
|
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<property name="macro">
|
||||
<string notr="true">P=$(P),M=$(M8)</string>
|
||||
</property>
|
||||
<property name="filename" stdset="0">
|
||||
<string notr="true">motorxU.ui</string>
|
||||
</property>
|
||||
</widget>
|
||||
</widget>
|
||||
</widget>
|
||||
<customwidgets>
|
||||
<customwidget>
|
||||
<class>caInclude</class>
|
||||
<extends>QWidget</extends>
|
||||
<header>caInclude</header>
|
||||
</customwidget>
|
||||
</customwidgets>
|
||||
<resources/>
|
||||
<connections/>
|
||||
</ui>
|
||||
Reference in New Issue
Block a user