lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Modified to support interrupts from OMS PC68/78 modules.

Browse Source
This commit is contained in:
David Kline
2007-02-13 13:02:27 +00:00
parent a55bcdcb49
commit 800266fbca
2 changed files with 113 additions and 31 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/OmsSrc/drvOmsPC68.cc
+82 -25
View File
@@ -2,9 +2,9 @@
FILENAME... drvOmsPC68.cc
USAGE... Motor record driver level support for OMS PC68 serial device.
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-08-18 21:12:33 $
Version: $Revision: 1.3 $
Modified By: $Author: dkline $
Last Modified: $Date: 2007-02-13 13:02:27 $
*/
/*
@@ -49,6 +49,7 @@ Last Modified: $Date: 2006-08-18 21:12:33 $
* .03 08/11/06 rls - work around for erroneous response after response to
* "?KP" command at boot-up; resulted in 1st axis having
* same position (RP command) as last axis.
* .04 02/09/07 dmk - modified to support interrupts.
*/
#include <string.h>
@@ -62,10 +63,10 @@ Last Modified: $Date: 2006-08-18 21:12:33 $
#include "drvOmsPC68Com.h"
#include "epicsExport.h"
#define PC68_MAX_NUM_CARDS 10 /* Maximum # of cards. */
#define BUFF_SIZE 100 /* Maximum length of string to/from OmsPC68 */
#define PC68_MAX_NUM_CARDS (10) /* Maximum # of cards. */
#define BUFF_SIZE (100) /* Maximum length of command string */
#define TIMEOUT 2.0 /* Command timeout in sec. */
#define TIMEOUT (2.0) /* Command timeout in sec. */
/*----------------debugging-----------------*/
#ifdef __GNUG__
@@ -165,8 +166,8 @@ static long report(int level)
struct OmsPC68controller *cntrl;
cntrl = (struct OmsPC68controller *) brdptr->DevicePrivate;
printf(" PC68 controller #%d, port=%s, id: %s \n", card,
cntrl->asyn_port, brdptr->ident);
printf(" PC68 controller #%d, port=%s, id: %s - err %d\n", card,
cntrl->asyn_port, brdptr->ident,cntrl->errcnt);
}
}
}
@@ -476,9 +477,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
cntrl = (struct OmsPC68controller *) motor_state[card]->DevicePrivate;
error_code = pasynOctetSyncIO->write(cntrl->pasynUser, outbuf, size,
TIMEOUT, &nwrite);
error_code = cntrl->pasynOctet->write(cntrl->octetPvt,cntrl->pasynUser,outbuf,size,&nwrite);
if (error_code == OK)
{
Debug(4, "sent message: (%s)\n", outbuf);
@@ -556,7 +555,7 @@ static int recv_mess(int card, char *com, int amount)
/* Process request to flush receive queue */
Debug(7, "recv flush -------------");
cntrl = (struct OmsPC68controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->flush(cntrl->pasynUser);
cntrl->pasynOctet->flush(cntrl->octetPvt,cntrl->pasynUser);
return(0);
}
@@ -647,11 +646,38 @@ static int omsGet(int card, char *pchar)
struct OmsPC68controller *cntrl;
cntrl = (struct OmsPC68controller *) motor_state[card]->DevicePrivate;
status = pasynOctetSyncIO->read(cntrl->pasynUser, pchar, 1, TIMEOUT, &nread, &eomReason);
status = cntrl->pasynOctet->read(cntrl->octetPvt,cntrl->pasynUser,pchar,1,&nread,&eomReason);
return(nread);
}
static void asynCallback(void *drvPvt,asynUser *pasynUser,char *data,size_t len, int eomReason)
{
int d,cnt,stat,done;
OmsPC68controller* pcntrl;
struct controller* pstate;
d = *(int*)data;
cnt = (d & 0xFFFF0000) >> 16;
stat = (d & 0x0000FF00) >> 8;
done = (d & 0x000000FF);
pcntrl = (OmsPC68controller*)drvPvt;
pstate = motor_state[pcntrl->card];
//printf("drvOmsPC68:asynCallback - %2.2d - cnt %6.6d - stat 0x%2.2X - done 0x%2.2X\n",pcntrl->card,cnt,stat,done);
if( pcntrl->card >= total_cards || pstate == NULL )
{
errlogPrintf("Invalid entry-card #%d\n", pcntrl->card);
return;
}
if( stat & STAT_DONE )
if( stat & STAT_ERROR_MSK )
++pcntrl->errcnt;
else
motor_sem.signal();
}
//_____________________________________________________________________________
/*****************************************************/
/* initialize all software and hardware */
@@ -665,6 +691,8 @@ static int motor_init()
struct OmsPC68controller* cntrl;
int card_index, status, success_rtn, total_axis, motor_index;
char axis_pos[50], encoder_pos[50], *tok_save, *pos_ptr;
asynUser *pasynUser;
asynInterface *pasynInterface;
/* Check for setup */
if (OmsPC68_num_cards <= 0)
@@ -684,9 +712,37 @@ static int motor_init()
pmotorState = motor_state[card_index];
/* Initialize communications channel */
cntrl = (struct OmsPC68controller *) pmotorState->DevicePrivate;
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
cntrl = (struct OmsPC68controller*)pmotorState->DevicePrivate;
pasynUser = pasynManager->createAsynUser(0,0);
pasynUser->userPvt = cntrl;
cntrl->pasynUser = pasynUser;
success_rtn = pasynManager->connectDevice(pasynUser,cntrl->asyn_port,0);
if( success_rtn )
{
Debug(1,"can't connect to port %s: %s\n",cntrl->asyn_port,pasynUser->errorMessage);
return(ERROR);
}
pasynInterface = pasynManager->findInterface(pasynUser,asynOctetType,1);
if( pasynInterface )
{
cntrl->pasynOctet = (asynOctet*)pasynInterface->pinterface;
cntrl->octetPvt = pasynInterface->drvPvt;
}
else
{
Debug(1,"%s driver not supported\n",asynOctetType);
return(ERROR);
}
success_rtn = cntrl->pasynOctet->registerInterruptUser(cntrl->octetPvt,pasynUser,asynCallback,cntrl,&cntrl->registrarPvt);
if( success_rtn )
{
Debug(1,"registerInterruptUser failed - %s: %s\n",cntrl->asyn_port,pasynUser->errorMessage);
return(ERROR);
}
if (success_rtn == asynSuccess)
{
@@ -694,7 +750,7 @@ static int motor_init()
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should be no data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
cntrl->pasynOctet->flush(cntrl->octetPvt,cntrl->pasynUser);
/* Try 3 times to connect to controller. */
do
@@ -738,12 +794,12 @@ static int motor_init()
else
pmotorState->motor_info[motor_index].encoder_present = YES;
/* Test if motor has PID parameters. */
send_mess(card_index, PID_QUERY, oms_axis[motor_index]);
/* Test if motor has PID parameters. */
send_mess(card_index, PID_QUERY, oms_axis[motor_index]);
if (recv_mess(card_index, encoder_pos, 1) == -1)
pmotorState->motor_info[motor_index].pid_present = NO;
pmotorState->motor_info[motor_index].pid_present = NO;
else
pmotorState->motor_info[motor_index].pid_present = YES;
pmotorState->motor_info[motor_index].pid_present = YES;
}
/* Testing for PID parameters (?KP) causes erroneous response from
@@ -840,11 +896,12 @@ RTN_STATUS OmsPC68Config(int card, const char *name)
if (card < 0 || card >= OmsPC68_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct OmsPC68controller));
cntrl = (struct OmsPC68controller *) motor_state[card]->DevicePrivate;
motor_state[card] = (struct controller*)calloc(1,sizeof(struct controller));
motor_state[card]->DevicePrivate = calloc(1,sizeof(struct OmsPC68controller));
cntrl = (struct OmsPC68controller*) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
cntrl->card = card;
strcpy(cntrl->asyn_port,name);
return(OK);
}
motorApp/OmsSrc/drvOmsPC68Com.h
+31 -6
View File
@@ -2,9 +2,9 @@
FILENAME... drvOmsPC68Com.h
USAGE... This file contains information common to all OMS PC68/78 controllers.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-04-24 18:11:59 $
Version: $Revision: 1.2 $
Modified By: $Author: dkline $
Last Modified: $Date: 2007-02-13 13:02:27 $
*/
/*
@@ -42,15 +42,40 @@ Last Modified: $Date: 2006-04-24 18:11:59 $
#include "motor.h"
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#include "asynOctet.h"
/* status register */
#define STAT_IRQ 0x80
#define STAT_TRANS_BUF_EMPTY 0x40
#define STAT_INPUT_BUF_FULL 0x20
#define STAT_DONE 0x10
#define STAT_OVERTRAVEL 0x08
#define STAT_ENCODER_REQ 0x04
#define STAT_UNUSED 0x02
#define STAT_ERROR 0x01
#define STAT_ERROR_MSK 0x0F
/* done flag register */
#define DONE_X 0x01
#define DONE_Y 0x02
#define DONE_Z 0x04
#define DONE_T 0x08
#define DONE_U 0x10
#define DONE_V 0x20
#define DONE_R 0x40
#define DONE_S 0x80
/* OmsPC68 specific data is stored in this structure. */
struct OmsPC68controller
{
asynUser *pasynUser; /* For RS-232 */
int card;
int errcnt;
char asyn_port[80]; /* asyn port name */
CommStatus status; /* Controller communication status. */
asynUser* pasynUser;
asynOctet* pasynOctet;
void* octetPvt;
void* registrarPvt;
};
@@ -75,7 +100,7 @@ struct encoder_status
#define AXIS_INFO "QA RP"
#define ENCODER_QUERY "EA"
#define DONE_QUERY "RA"
#define PID_QUERY "?KP"
#define PID_QUERY "?KP"
/* Function prototypes. */
extern RTN_STATUS OmsPC68Setup(int, int);