lin-epics-modules/motorBase
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Added support for binary I/O

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MarkRivers
2011-03-23 19:25:29 +00:00
parent 8050ab8fd4
commit 90e665cf5a
1 changed files with 69 additions and 5 deletions
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motorApp/ACRSrc/ACRMotorDriver.cpp
+69 -5
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@@ -23,7 +23,12 @@ March 4, 2011
#include "asynMotorDriver.h"
#include <epicsExport.h>
#define ACRJerkString "ACR_JERK"
// drvInfo strings for extra parameters that the ACR controller supports
#define ACRJerkString "ACR_JERK"
#define ACRBinaryInString "ACR_BINARY_IN"
#define ACRBinaryOutString "ACR_BINARY_OUT"
#define ACRBinaryOutRBVString "ACR_BINARY_OUT_RBV"
#define CtlY 25
#define ACR_TIMEOUT 1.0
@@ -57,6 +62,7 @@ public:
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
asynStatus writeFloat64(asynUser *pasynUser, epicsFloat64 value);
asynStatus writeUInt32Digital(asynUser *pasynUser, epicsUInt32 value, epicsUInt32 mask);
void report(FILE *fp, int level);
asynStatus moveAxis(asynUser *pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration);
@@ -75,7 +81,10 @@ public:
protected:
int ACRJerk;
#define FIRST_ACR_PARAM ACRJerk
#define LAST_ACR_PARAM ACRJerk
int ACRBinaryIn;
int ACRBinaryOut;
int ACRBinaryOutRBV;
#define LAST_ACR_PARAM ACRBinaryOutRBV
#define NUM_ACR_PARAMS (&LAST_ACR_PARAM - &FIRST_ACR_PARAM + 1)
@@ -89,12 +98,16 @@ private:
asynUser *pasynUserACR;
char outString[MAX_ACR_STRING_SIZE];
char inString[MAX_ACR_STRING_SIZE];
int binaryIn;
int binaryOutRBV;
int binaryInReg;
int binaryOutReg;
};
ACRMotorController::ACRMotorController(const char *portName, const char *ACRPortName, int numAxes, int movingPollPeriod, int idlePollPeriod)
: asynMotorDriver(portName, numAxes, NUM_ACR_PARAMS,
asynInt32Mask | asynFloat64Mask,
asynInt32Mask | asynFloat64Mask,
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
asynInt32Mask | asynFloat64Mask | asynUInt32DigitalMask,
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
@@ -110,9 +123,14 @@ ACRMotorController::ACRMotorController(const char *portName, const char *ACRPort
this->movingPollPeriod = movingPollPeriod/1000.;
this->pAxes = (ACRMotorAxis**) calloc(numAxes, sizeof(ACRMotorAxis*));
this->pollEventId = epicsEventMustCreate(epicsEventEmpty);
this->binaryInReg = 4096;
this->binaryOutReg = 4097;
// Create controller-specific parameters
createParam(ACRJerkString, asynParamFloat64, &this->ACRJerk);
createParam(ACRJerkString, asynParamFloat64, &this->ACRJerk);
createParam(ACRBinaryInString, asynParamUInt32Digital, &this->ACRBinaryIn);
createParam(ACRBinaryOutString, asynParamUInt32Digital, &this->ACRBinaryOut);
createParam(ACRBinaryOutRBVString, asynParamUInt32Digital, &this->ACRBinaryOutRBV);
/* Connect to ACR controller */
status = pasynOctetSyncIO->connect(ACRPortName, 0, &this->pasynUserACR, NULL);
@@ -182,6 +200,8 @@ void ACRMotorController::report(FILE *fp, int level)
this->portName, this->numAxes, this->movingPollPeriod, this->idlePollPeriod);
if (level > 0) {
fprintf(fp, " binary input = 0x%x\n", this->binaryIn);
fprintf(fp, " binary output readback = 0x%x\n", this->binaryOutRBV);
for (axis=0; axis<this->numAxes; axis++) {
pAxis = this->pAxes[axis];
fprintf(fp, " axis %d\n"
@@ -303,6 +323,24 @@ asynStatus ACRMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 va
return status;
}
asynStatus ACRMotorController::writeUInt32Digital(asynUser *pasynUser, epicsUInt32 value, epicsUInt32 mask)
{
// This function is limited to writing a single bit, because we use the BIT command.
// It writes to least significant bit that is set in the mask
int bit, tmask=0x1;
asynStatus status;
//static const char *functionName = "writeUInt32Digital";
for (bit=0; bit<32; bit++) {
if (mask & tmask) break;
tmask = tmask << 1;
}
sprintf(this->outString, "BIT %d=%d", 32+bit, value);
status = writeACR();
return(status);
}
asynStatus ACRMotorController::moveAxis(asynUser*pasynUser, double position, int relative, double min_velocity, double max_velocity, double acceleration)
{
ACRMotorAxis *pAxis = this->getAxis(pasynUser);
@@ -428,6 +466,7 @@ void ACRMotorController::ACRMotorPoller()
int limit;
ACRMotorAxis *pAxis;
int status;
epicsUInt32 newBits, changedBits;
asynStatus comStatus;
timeout = this->idlePollPeriod;
@@ -491,10 +530,35 @@ void ACRMotorController::ACRMotorPoller()
driveOn = strstr(this->inString, "ON") ? 1:0;
setIntegerParam(i, motorStatusPowerOn, driveOn);
setIntegerParam(i, motorStatusProblem, 0);
done:
setIntegerParam(i, motorStatusProblem, comStatus?1:0);
callParamCallbacks(i);
}
// Read the binary inputs
sprintf(this->outString, "?P%d", this->binaryInReg);
comStatus = this->writeReadACR();
if (!comStatus) {
newBits = atoi(this->inString);
changedBits = newBits ^ this->binaryIn;
this->binaryIn = newBits;
setUIntDigitalParam(0, ACRBinaryIn, this->binaryIn, 0xFFFFFFFF);
setUInt32DigitalInterrupt(0, ACRBinaryIn, changedBits, interruptOnBoth);
}
// Read the binary outputs
sprintf(this->outString, "?P%d", this->binaryOutReg);
comStatus = this->writeReadACR();
if (!comStatus) {
newBits = atoi(this->inString);
changedBits = newBits ^ this->binaryOutRBV;
this->binaryOutRBV = newBits;
setUIntDigitalParam(0, ACRBinaryOutRBV, this->binaryOutRBV, 0xFFFFFFFF);
setUInt32DigitalInterrupt(0, ACRBinaryOut, changedBits, interruptOnBoth);
}
callParamCallbacks(0);
this->unlock();
if (forcedFastPolls > 0) {
timeout = this->movingPollPeriod;