forked from epics_driver_modules/motorBase
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MarkRivers
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/*
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FILENAME... AG_CONEX.cpp
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USAGE... Motor driver support for the Newport Agilis UC series controllers.
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Mark Rivers
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April 11, 2013
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*/
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include <iocsh.h>
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#include <epicsThread.h>
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#include <asynOctetSyncIO.h>
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#include "AG_CONEX.h"
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#include <epicsExport.h>
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#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
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#define AGILIS_TIMEOUT 2.0
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#define LINUX_WRITE_DELAY 0.1
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/** Creates a new AG_CONEXController object.
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* \param[in] portName The name of the asyn port that will be created for this driver
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* \param[in] serialPortName The name of the drvAsynSerialPort that was created previously to connect to the Agilis controller
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* \param[in] numAxes The number of axes that this controller supports
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* \param[in] movingPollPeriod The time between polls when any axis is moving
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* \param[in] idlePollPeriod The time between polls when no axis is moving
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*/
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AG_CONEXController::AG_CONEXController(const char *portName, const char *serialPortName, int controllerID,
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double movingPollPeriod, double idlePollPeriod)
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: asynMotorController(portName, 1, NUM_AG_CONEX_PARAMS,
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0, // No additional interfaces beyond those in base class
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0, // No additional callback interfaces beyond those in base class
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ASYN_CANBLOCK | ASYN_MULTIDEVICE,
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1, // autoconnect
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0, 0), // Default priority and stack size
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controllerID_(controllerID)
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{
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asynStatus status;
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static const char *functionName = "AG_CONEXController::AG_CONEXController";
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/* Connect to Agilis controller */
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status = pasynOctetSyncIO->connect(serialPortName, 0, &pasynUserController_, NULL);
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if (status) {
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asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: cannot connect to Agilis controller\n",
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functionName);
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}
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// Flush any characters that controller has, read firmware version
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sprintf(outString_, "%dVE", controllerID_);
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status = writeReadController();
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printf("Agilis controller firmware version = %s\n", inString_);
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startPoller(movingPollPeriod, idlePollPeriod, 2);
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}
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/** Creates a new AG_CONEXController object.
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* Configuration command, called directly or from iocsh
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* \param[in] portName The name of the asyn port that will be created for this driver
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* \param[in] serialPortName The name of the drvAsynIPPPort that was created previously to connect to the Agilis controller
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* \param[in] numAxes The number of axes that this controller supports
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* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
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* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
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*/
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extern "C" {
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int AG_CONEXCreateController(const char *portName, const char *serialPortName, int controllerID,
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int movingPollPeriod, int idlePollPeriod)
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{
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new AG_CONEXController(portName, serialPortName, controllerID, movingPollPeriod/1000., idlePollPeriod/1000.);
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return(asynSuccess);
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}
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} // extern "C"
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/** Writes a string to the controller.
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* Calls writeAgilis() with a default location of the string to write and a default timeout. */
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asynStatus AG_CONEXController::writeAgilis()
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{
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return writeAgilis(outString_, AGILIS_TIMEOUT);
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}
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/** Writes a string to the controller.
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* \param[in] output The string to be written.
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* \param[in] timeout Timeout before returning an error.*/
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asynStatus AG_CONEXController::writeAgilis(const char *output, double timeout)
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{
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size_t nwrite;
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asynStatus status;
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// const char *functionName="writeAgilis";
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status = pasynOctetSyncIO->write(pasynUserController_, output,
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strlen(output), timeout, &nwrite);
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// On Linux it seems to be necessary to delay a short time between writes
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#ifdef linux
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epicsThreadSleep(LINUX_WRITE_DELAY);
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#endif
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return status ;
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}
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/** Reports on status of the driver
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* \param[in] fp The file pointer on which report information will be written
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* \param[in] level The level of report detail desired
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*
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* If details > 0 then information is printed about each axis.
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* After printing controller-specific information it calls asynMotorController::report()
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*/
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void AG_CONEXController::report(FILE *fp, int level)
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{
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fprintf(fp, "Agilis CONEX motor driver %s, controllerID=%d, moving poll period=%f, idle poll period=%f\n",
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this->portName, cointrollerID_, movingPollPeriod_, idlePollPeriod_);
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// Call the base class method
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asynMotorController::report(fp, level);
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}
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/** Returns a pointer to an AG_CONEXAxis object.
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* Returns NULL if the axis number encoded in pasynUser is invalid.
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* \param[in] pasynUser asynUser structure that encodes the axis index number. */
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AG_CONEXAxis* AG_CONEXController::getAxis(asynUser *pasynUser)
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{
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return static_cast<AG_CONEXAxis*>(asynMotorController::getAxis(pasynUser));
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}
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/** Returns a pointer to an AG_CONEXAxis object.
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* Returns NULL if the axis number encoded in pasynUser is invalid.
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* \param[in] axisNo Axis index number. */
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AG_CONEXAxis* AG_CONEXController::getAxis(int axisNo)
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{
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return static_cast<AG_CONEXAxis*>(asynMotorController::getAxis(axisNo));
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}
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// These are the AG_CONEXAxis methods
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/** Creates a new AG_CONEXAxis object.
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* \param[in] pC Pointer to the AG_CONEXController to which this axis belongs.
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* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
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*
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* Initializes register numbers, etc.
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*/
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AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
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: asynMotorAxis(pC, 0),
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pC_(pC),
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currentPosition_(0), positionOffset_(0)
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{
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sprintf(pC_->outString_, "%dSU?", pC->controllerID_);
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pC_->writeReadAgilis();
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}
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/** Reports on status of the axis
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* \param[in] fp The file pointer on which report information will be written
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* \param[in] level The level of report detail desired
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*
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* After printing device-specific information calls asynMotorAxis::report()
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*/
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void AG_CONEXAxis::report(FILE *fp, int level)
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{
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if (level > 0) {
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fprintf(fp, " axis %d, hasLimits=%d, forwardAmplitude=%d, reverseAmplitude=%d\n",
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axisID_, hasLimits_, forwardAmplitude_, reverseAmplitude_);
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}
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// Call the base class method
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asynMotorAxis::report(fp, level);
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}
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asynStatus AG_CONEXAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
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{
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asynStatus status;
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int steps = NINT(position);
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// static const char *functionName = "AG_CONEXAxis::move";
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if (relative) {
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sprintf(pC_->outString_, "%dPR%d", axisID_, steps);
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} else {
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steps = NINT(position - currentPosition_);
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sprintf(pC_->outString_, "%dPR%d", axisID_, steps);
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}
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status = pC_->writeAgilis();
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return status;
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}
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asynStatus AG_CONEXAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
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{
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asynStatus status;
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//static const char *functionName = "AG_CONEXAxis::home";
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sprintf(pC_->outString_, "%dOR, pC_->controllerID_);
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status = pC_->writeAgilis();
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return status;
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}
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asynStatus AG_CONEXAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
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{
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asynStatus status;
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//static const char *functionName = "AG_CONEXAxis::moveVelocity";
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sprintf(pC_->outString_, "%dJA%d", axisID_, velocityToSpeedCode(maxVelocity));
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status = pC_->writeAgilis();
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return status;
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}
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asynStatus AG_CONEXAxis::stop(double acceleration )
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{
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asynStatus status;
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//static const char *functionName = "AG_CONEXAxis::stop";
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sprintf(pC_->outString_, "%dST", axisID_);
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status = pC_->writeAgilis();
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return status;
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}
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asynStatus AG_CONEXAxis::setPosition(double position)
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{
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//static const char *functionName = "AG_CONEXAxis::setPosition";
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positionOffset_ = NINT(position) - currentPosition_;
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return asynSuccess;
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}
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/** Polls the axis.
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* This function reads the motor position, the limit status, the home status, the moving status,
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* and the drive power-on status.
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* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
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* and then calls callParamCallbacks() at the end.
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* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
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asynStatus AG_CONEXAxis::poll(bool *moving)
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{
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int done;
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int lim, limit=0;
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int position;
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asynStatus comStatus;
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// Read the current motor position
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sprintf(pC_->outString_, "%dTP", axisID_);
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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// The response string is of the form "1TPxxx"
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position = atoi(&pC_->inString_[3]);
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currentPosition_ = position + positionOffset_;
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setDoubleParam(pC_->motorPosition_, double(currentPosition_));
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// Read the moving status of this motor
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sprintf(pC_->outString_, "%dTS", axisID_);
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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// The response string is of the form "1TSn"
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done = (pC_->inString_[3] == '0') ? 1:0;
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setIntegerParam(pC_->motorStatusDone_, done);
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*moving = done ? false:true;
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// Read the limit status
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sprintf(pC_->outString_, "PH");
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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// The response string is of the form "PHn"
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lim = atoi(&pC_->inString_[2]);
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if ((axisID_ == 1) && (lim == 1 || lim == 3)) limit = 1;
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if ((axisID_ == 2) && (lim == 3 || lim == 3)) limit = 1;
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setIntegerParam(pC_->motorStatusLowLimit_, limit);
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setIntegerParam(pC_->motorStatusHighLimit_, limit);
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skip:
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setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
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callParamCallbacks();
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return comStatus ? asynError : asynSuccess;
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}
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/** Code for iocsh registration */
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static const iocshArg AG_CONEXCreateControllerArg0 = {"Port name", iocshArgString};
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static const iocshArg AG_CONEXCreateControllerArg1 = {"Serial port name", iocshArgString};
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static const iocshArg AG_CONEXCreateControllerArg2 = {"Controller ID", iocshArgInt};
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static const iocshArg AG_CONEXCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
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static const iocshArg AG_CONEXCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
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static const iocshArg * const AG_CONEXCreateControllerArgs[] = {&AG_CONEXCreateControllerArg0,
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&AG_CONEXCreateControllerArg1,
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&AG_CONEXCreateControllerArg2,
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&AG_CONEXCreateControllerArg3,
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&AG_CONEXCreateControllerArg4};
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static const iocshFuncDef AG_CONEXCreateControllerDef = {"AG_CONEXCreateController", 5, AG_CONEXCreateControllerArgs};
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static void AG_CONEXCreateContollerCallFunc(const iocshArgBuf *args)
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{
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AG_CONEXCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
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}
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static void AG_CONEXRegister(void)
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{
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iocshRegister(&AG_CONEXCreateControllerDef, AG_CONEXCreateContollerCallFunc);
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}
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extern "C" {
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epicsExportRegistrar(AG_CONEXRegister);
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}
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@@ -0,0 +1,51 @@
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/*
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FILENAME... AG_CONEX.h
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USAGE... Motor driver support for the Newport Agilis AG-UC series of controllers.
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Mark Rivers
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April 11, 2013
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*/
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#include "asynMotorController.h"
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#include "asynMotorAxis.h"
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// No controller-specific parameters yet
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#define NUM_AG_CONEX_PARAMS 0
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class AG_CONEXAxis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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AG_CONEXAxis(class AG_CONEXController *pC);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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private:
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AG_CONEXController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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int currentPosition_;
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int positionOffset_;
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int controllerID_;
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friend class AG_CONEXController;
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};
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class AG_CONEXController : public asynMotorController {
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public:
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AG_CONEXController(const char *portName, const char *serialPortName, int controllerID, double movingPollPeriod, double idlePollPeriod);
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void report(FILE *fp, int level);
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AG_CONEXAxis* getAxis(asynUser *pasynUser);
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AG_CONEXAxis* getAxis(int axisNo);
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asynStatus writeAgilis();
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asynStatus writeAgilis(const char *output, double timeout);
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friend class AG_CONEXAxis;
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};
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