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fix various problems related to position readback and

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multi-axis motion. Inmotion position readback was eliminated.
This commit is contained in:
jsullivan-anl
2006-11-02 21:05:56 +00:00
parent 76b3041239
commit 9329ad6a7c
4 changed files with 121 additions and 66 deletions
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motorApp/OrielSrc/README
+12
View File
@@ -119,6 +119,18 @@ iocBoot/iocLinux
Set the DTYPE column to "EMC18011"
=================== Motor Record Setup ================================
EGU = microns
VELO = [0.5 to 200] Maximum and Base velocity not used
BDST = 0 Controller does its own backlash
MRES = .010 (set to velocity resolution, position resolution is .10 microns)
RDBD = .05 (position resolution is only 0.1 - will be rounded up)
motorApp/OrielSrc/devEMC18011.cc
+50 -32
View File
@@ -2,9 +2,9 @@
FILENAME... devEMC18011.cc
USAGE... Motor record device level support for Parker Compumotor drivers
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-07 21:19:43 $
Last Modified: $Date: 2006-11-02 21:05:56 $
*/
/*
@@ -46,6 +46,7 @@ Last Modified: $Date: 2006-09-07 21:19:43 $
#include "drvEMC18011.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table EMC18011_access;
@@ -160,11 +161,13 @@ STATIC RTN_STATUS EMC18011_build_trans(motor_cmnd command, double *parms, struct
double dval, cntrl_units;
unsigned int size;
bool sendMsg;
bool switchMotor;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
sendMsg = true;
switchMotor = false;
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
intval = (parms == NULL) ? 0 : NINT(parms[0]);
@@ -180,10 +183,11 @@ STATIC RTN_STATUS EMC18011_build_trans(motor_cmnd command, double *parms, struct
motor_call->type = EMC18011_table[command];
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct EMC18011Controller *) brdptr->DevicePrivate;
/* 6K Controllers expect Velocity and Acceleration settings in Revs/sec/sec */
cntrl_units = dval * cntrl->drive_resolution;
@@ -194,47 +198,63 @@ STATIC RTN_STATUS EMC18011_build_trans(motor_cmnd command, double *parms, struct
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
strcat(motor_call->message, EMC18011_OUT_EOS);
}
/* SPECIAL: This controller can only address one motor at a time
* Other motion requests have to wait until the current motion
* is complete. Depend on motorRecord retries to complete pending
* requests. Allow record to stop current motion.
* Switch message type to INFO to get done flag
*/
switch (command)
{
case JOG:
case SET_VELOCITY:
/* Before a motion is started - assure that the proper motor
* is selected. First Stop current motion - if any */
if (cntrl->motorSelect != signal)
case LOAD_POS:
case SET_VELOCITY:
case GET_INFO:
/* Try to get motorLock then switch active motor */
if (cntrl->motorLock->tryWait())
{
strcat(motor_call->message, "S");
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, EMC18011_cards);
motor_call->type = EMC18011_table[command];
if (cntrl->motorSelect != signal)
{
cntrl->motorSelect = signal;
sprintf(buff, "M%d", axis);
strcat(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, EMC18011_cards);
motor_call->type = EMC18011_table[command];
/* Keep track of currently selected motor */
cntrl->motorSelect = signal;
sprintf(buff, "M%d", axis);
strcat(motor_call->message, buff);
motor_call->type = IMMEDIATE; /* Assure message gets sent */
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, EMC18011_cards);
motor_call->type = EMC18011_table[command];
}
}
break;
default:
break;
}
/* Only communicate to selected motor */
if (cntrl->motorSelect != signal)
{
/* Assure continuous retries until other motion complete */
motor_call->type = INFO;
if (mr->rcnt > 0)
mr->rcnt--;
return(rtnval = OK);
}
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, EMC18011_cards);
motor_call->type = EMC18011_table[command];
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
@@ -257,17 +277,16 @@ STATIC RTN_STATUS EMC18011_build_trans(motor_cmnd command, double *parms, struct
case MOVE_ABS:
case MOVE_REL:
{
char *xstart = &buff[1];
buff[0] = (command == MOVE_ABS) ? 'G' : 'T';
buff[0] = (command == MOVE_ABS) ? 'G' : 'T';
/* Maximum length for distance is 7 characters. */
sprintf(xstart, "%.1f", cntrl_units);
if (strlen(xstart) > 7)
/* Sacrifice precision for quantity */
sprintf(xstart, "%.0f", cntrl_units);
if (strlen(xstart) > 7)
{
/* Put out maximum distance string */
@@ -277,7 +296,6 @@ STATIC RTN_STATUS EMC18011_build_trans(motor_cmnd command, double *parms, struct
strcpy(xstart, "9999999");
}
}
break;
case HOME_FOR:
motorApp/OrielSrc/drvEMC18011.cc
+55 -32
View File
@@ -3,9 +3,9 @@ FILENAME... drvEMC18011.cc
USAGE... Motor record driver level support for Spectra-Physics
Encoder Mike Controller (Model: 18011)
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-07 21:19:43 $
Last Modified: $Date: 2006-11-02 21:05:56 $
*/
@@ -61,6 +61,8 @@ Last Modified: $Date: 2006-09-07 21:19:43 $
#define CMD_SELECT "M"
#define RTN_REMOTE "ON LINE"
#define RTN_READY "RE" // READY
#define RTN_OVERLOAD "OV" // OVERLOAD
#define EMC18011_NUM_CARDS 16
@@ -224,12 +226,14 @@ static int set_status(int card, int signal)
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char send_buff[80];
char Zstatus[2];
char *startptr, *endptr;
char Zstatus;
char *recvStr;
char *brkptr, *endptr;
int rtn_state;
int recvCnt;
int motorData;
int motor;
double datad;
bool recvRetry;
bool plusdir, ls_active = false;
msta_field status;
@@ -242,35 +246,45 @@ static int set_status(int card, int signal)
recvRetry = true;
/* Initialize motorData in-order to detect motor not moving */
motorData = motor_info->position;
/* Status updates only available on selected motor */
if (signal == cntrl->motorSelect)
{
startptr = cntrl->recv_string[0];
send_mess(card, CMD_POS, NULL);
if ((recvCnt = recv_mess(card, startptr, 0)))
recvStr = cntrl->recv_string[0];
/* Get Zstatus (one character motion indicator) */
recvCnt = send_recv_mess(card, CMD_STATUS, recvStr, 1);
if (recvCnt == 1)
{
double datad;
/* Test for valid reply */
Zstatus = *recvStr;
if (Zstatus >= Z_STOPPED && Zstatus <= Z_LSUP)
recvRetry = false;
else
Zstatus = Z_RUNUP;
/* Convert position and check for error */
datad = strtod(startptr, &endptr);
if (startptr != endptr)
/* Update position after motion has stopped */
/* NOTE: This controller does not provide reliable position
* feedback during motion (BUG?) */
if (Zstatus != Z_RUNUP && Zstatus != Z_RUNDOWN)
{
motorData = NINT(datad / cntrl->drive_resolution);
recvRetry = false;
if (motorData == motor_info->position && motor_info->no_motion_count)
recvCnt = send_recv_mess(card, CMD_POS, recvStr);
if (recvCnt > 0)
{
Zstatus[0] = Zstatus[1] = 0x0; // Null terminate
send_mess(card, CMD_STATUS, NULL);
recvCnt = recv_mess(card, Zstatus, 0, 1);
/* Check for valid response */
if (recvCnt && *Zstatus >= Z_STOPPED && *Zstatus <= Z_LSUP)
recvRetry = false;
datad = strtod(recvStr, &endptr);
if (brkptr != endptr)
{
motorData = NINT(datad / cntrl->drive_resolution);
/* Release motor */
cntrl->motorSelect = -1;
cntrl->motorLock->signal();
recvRetry = false;
}
else
/* Invalid response - assume the motor is still moving */
*Zstatus = Z_RUNUP;
/* Don't indicate done until we get a valid position */
Zstatus = Z_RUNUP;
}
else
*Zstatus = Z_RUNUP;
}
}
}
@@ -278,10 +292,12 @@ static int set_status(int card, int signal)
{
/* Not the selected motor - no new information */
recvRetry = false;
motorData = motor_info->position;
Zstatus[0] = Z_STOPPED;
Zstatus = Z_STOPPED;
epicsThreadSleep(0.1); /* Pretend we did something - in-case of record retry loop */
}
/* Check for normal look termination - all queries successful */
if (recvRetry == false)
cntrl->status = NORMAL;
@@ -320,19 +336,19 @@ static int set_status(int card, int signal)
* Parse the status/fault string
*/
Debug(5, "set_status(): status = %s\n", Zstatus);
Debug(5, "set_status(): status = %c\n", Zstatus);
plusdir = (*Zstatus == Z_STOPPED || *Zstatus == Z_RUNUP || *Zstatus == Z_LSUP) ? true : false;
plusdir = (Zstatus == Z_STOPPED || Zstatus == Z_RUNUP || Zstatus == Z_LSUP) ? true : false;
status.Bits.RA_DIRECTION = plusdir ? 1 : 0;
status.Bits.RA_HOME = 0;
status.Bits.RA_DONE = (*Zstatus == Z_STOPPED) ? 1 : 0;
status.Bits.RA_DONE = (Zstatus == Z_STOPPED) ? 1 : 0;
/* Set Travel limit switch status bits. */
status.Bits.RA_PLUS_LS = (*Zstatus == Z_LSUP) ? 1 : 0;
status.Bits.RA_MINUS_LS = (*Zstatus == Z_LSDOWN) ? 1 : 0;
status.Bits.RA_PLUS_LS = (Zstatus == Z_LSUP) ? 1 : 0;
status.Bits.RA_MINUS_LS = (Zstatus == Z_LSDOWN) ? 1 : 0;
ls_active = (status.Bits.RA_PLUS_LS || status.Bits.RA_MINUS_LS) ? true : false;
@@ -343,7 +359,9 @@ static int set_status(int card, int signal)
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
if (motorData == motor_info->position)
/* Disable no motion test - this driver does not update position */
// if (motorData == motor_info->position)
if (false)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
@@ -643,6 +661,8 @@ static int motor_init()
total_cards = card_index + 1;
cntrl = (struct EMC18011Controller *) brdptr->DevicePrivate;
cntrl->motorLock = new epicsEvent;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
@@ -693,6 +713,9 @@ static int motor_init()
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
brdptr->motor_info[motor_index].motor_motion = NULL;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motorApp/OrielSrc/drvEMC18011.h
+4 -2
View File
@@ -3,9 +3,9 @@ FILENAME... drvEMC18011.h
USAGE... This file contains Parker Compumotor driver "include"
information that is specific to the 6K series serial controller
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-09-07 21:19:43 $
Last Modified: $Date: 2006-11-02 21:05:56 $
*/
/*
@@ -46,6 +46,7 @@ Last Modified: $Date: 2006-09-07 21:19:43 $
#include "motordrvCom.h"
#include "asynDriver.h"
#include "asynOctetSyncIO.h"
#include "epicsEvent.h"
#define EMC18011_MAX_MOTORS 3
#define EMC18011_MSG_SIZE 120
@@ -77,6 +78,7 @@ struct EMC18011Controller
int motorSelect; /* Keep track of currently selected motor - this */
/* is the only one that can get status information */
double drive_resolution; /* This controller has a fixed drive resolution */
epicsEvent *motorLock; /* Only one axis can move at a time */
CommStatus status; /* Controller communication status. */
};