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- created a bit-field for motor status response.

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- start_status() allows one retry after a communication error.
- set_status() sets RA_PROBLEM along with CNTRL_COMM_ERR to terminate node.
This commit is contained in:
Ron Sluiter
2001-10-02 21:33:56 +00:00
parent 5b091da7c1
commit 906cd47b80
1 changed files with 82 additions and 38 deletions
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motorApp/NewportSrc/drvMM4000.c
+82 -38
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@@ -2,9 +2,9 @@
FILENAME... drvMM4000.c
USAGE... Motor record driver level support for Newport MM4000.
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2000-07-17 17:19:28 $
Last Modified: $Date: 2001-10-02 21:33:56 $
*/
/*
@@ -35,12 +35,17 @@ Last Modified: $Date: 2000-07-17 17:19:28 $
*
* Modification Log:
* -----------------
* .01 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor
* positions at the end of a move.
* .05 10-13-99 rls modified for standardized motor record.
* .01 10-20-97 mlr initialized from drvOms58
* .02 10-30-97 mlr Replaced driver calls with gpipIO functions
* .03 10-30-98 mlr Minor code cleanup, improved formatting
* .04 02-01-99 mlr Added temporary fix to delay reading motor positions at
* the end of a move.
* .05 10-13-99 rls modified for standardized motor record.
* .06 09-17-01 rls
* - created a bit-field for motor status response.
* - start_status() allows one retry after a communication error.
* - set_status() sets RA_PROBLEM along with CNTRL_COMM_ERR to terminate
* node.
*/
@@ -159,6 +164,24 @@ struct
} drvMM4000 = {2, report, init};
/* Motor status. */
typedef union
{
uint8_t All;
struct
{
BOOLEAN bit7 :1; /* Bit #7 N/A. */
BOOLEAN bit6 :1; /* Bit #6 N/A. */
BOOLEAN homels :1; /* Home LS. */
BOOLEAN minusTL :1; /* Minus Travel Limit. */
BOOLEAN plustTL :1; /* Plus Travel Limit. */
BOOLEAN direction :1; /* Motor direction: 0 - minus; 1 - plus. */
BOOLEAN NOT_power :1; /* Motor power 0 - ON; 1 - OFF. */
BOOLEAN inmotion :1; /* In-motion indicator. */
} Bits;
} MOTOR_STATUS;
/*********************************************************
* Print out driver status report
*********************************************************/
@@ -243,14 +266,19 @@ STATIC void start_status(int card)
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
send_mess(card, READ_STATUS, NULL);
status = recv_mess(card, cntrl->status_string, 1);
if (status <= 0)
cntrl->status = COMM_ERR;
else
if (status > 0)
{
cntrl->status = NORMAL;
send_mess(card, READ_POSITION, NULL);
recv_mess(card, cntrl->position_string, 1);
}
else
{
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
}
}
else
{
@@ -264,10 +292,15 @@ STATIC void start_status(int card)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
status = recv_mess(itera, cntrl->status_string, 1);
if (status <= 0)
cntrl->status = COMM_ERR;
else
if (status > 0)
cntrl->status = NORMAL;
else
{
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
}
}
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_POSITION, NULL);
@@ -293,12 +326,27 @@ STATIC int set_status(int card, int signal)
/* Message parsing variables */
char *p, *tok_save;
char buff[BUFF_SIZE];
int i, pos, status;
int itera, pos;
MOTOR_STATUS mstat;
int rtn_state;
double motorData;
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
if (cntrl->status != NORMAL)
{
if (cntrl->status == COMM_ERR)
{
motor_info->status |= CNTRL_COMM_ERR;
motor_info->status |= RA_PROBLEM;
return(1);
}
else
return(0);
}
else
motor_info->status &= ~CNTRL_COMM_ERR;
nodeptr = motor_info->motor_motion;
/*
@@ -307,17 +355,15 @@ STATIC int set_status(int card, int signal)
* bytes for the motors
*/
pos = signal*5 + 3; /* Offset in status string */
status = cntrl->status_string[pos];
Debug(5, "set_status(): status byte = %x\n", status);
mstat.All = cntrl->status_string[pos];
Debug(5, "set_status(): status byte = %x\n", mstat.All);
if (status & M_MOTOR_DIRECTION)
motor_info->status |= RA_DIRECTION;
else
if (mstat.Bits.direction == OFF)
motor_info->status &= ~RA_DIRECTION;
if (status & M_AXIS_MOVING)
motor_info->status &= ~RA_DONE;
else
motor_info->status |= RA_DIRECTION;
if (mstat.Bits.inmotion == OFF)
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The MM4000 has reported that the
@@ -332,21 +378,23 @@ STATIC int set_status(int card, int signal)
recv_mess(card, cntrl->position_string, 1);
}
}
if ((status & M_PLUS_LIMIT) || (status & M_MINUS_LIMIT))
motor_info->status |= RA_OVERTRAVEL;
else
motor_info->status &= ~RA_DONE;
if (mstat.Bits.plustTL == OFF && mstat.Bits.minusTL == OFF)
motor_info->status &= ~RA_OVERTRAVEL;
if (status & M_HOME_SIGNAL)
motor_info->status |= RA_HOME;
else
motor_info->status |= RA_OVERTRAVEL;
if (mstat.Bits.homels == OFF)
motor_info->status &= ~RA_HOME;
if (status & M_MOTOR_POWER)
motor_info->status &= ~EA_POSITION;
else
motor_info->status |= RA_HOME;
if (mstat.Bits.NOT_power == OFF)
motor_info->status |= EA_POSITION;
else
motor_info->status &= ~EA_POSITION;
/* encoder status */
motor_info->status &= ~EA_SLIP;
@@ -362,7 +410,8 @@ STATIC int set_status(int card, int signal)
strcpy(buff, cntrl->position_string);
tok_save = NULL;
p = strtok_r(buff, ",", &tok_save);
for (i=0; i<signal; i++) p = strtok_r(NULL, ",", &tok_save);
for (itera = 0; itera < signal; itera++)
p = strtok_r(NULL, ",", &tok_save);
Debug(6, "set_status(): position substring = %s\n", p);
motorData = atof(p+3) / cntrl->drive_resolution[signal];
@@ -401,11 +450,6 @@ STATIC int set_status(int card, int signal)
nodeptr->postmsgptr = NULL;
}
if (cntrl->status == COMM_ERR)
motor_info->status |= CNTRL_COMM_ERR;
else
motor_info->status &= ~CNTRL_COMM_ERR;
return(rtn_state);
}