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Ron Sluiter
2003-05-23 16:01:53 +00:00
parent cf6566ccef
commit 9bd0d78d2f
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motorApp/NewportSrc/devESP300.cc
+322
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/*
FILENAME... devESP300.cc
USAGE... Motor record device level support for Newport ESP300.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-23 16:01:51 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/16/97
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .00 10-16-97 mlr initialized from devOms58
* .01 07-19-99 rls initialized from drvMM4000
* .02 04-21-01 rls Added jog velocity motor command.
* .03 05-23-03 rls Converted to R3.14.x.
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMMCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table ESP300_access;
/* ----------------Create the dsets for devESP300----------------- */
/* static long report(); */
STATIC struct driver_table *drvtabptr;
STATIC long ESP300_init(void *);
STATIC long ESP300_init_record(void *);
STATIC long ESP300_start_trans(struct motorRecord *);
STATIC RTN_STATUS ESP300_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS ESP300_end_trans(struct motorRecord *);
struct motor_dset devESP300 =
{
{8, NULL, (DEVSUPFUN) ESP300_init, (DEVSUPFUN) ESP300_init_record, NULL},
motor_update_values,
ESP300_start_trans,
ESP300_build_trans,
ESP300_end_trans
};
epicsExportAddress(dset,devESP300);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types ESP300_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOG_VELOCITY */
};
static struct board_stat **ESP300_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for ESP300 stepper motor */
STATIC long ESP300_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &ESP300_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &ESP300_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long ESP300_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, ESP300_cards);
/* Initialize "drive_resolution" to mres. */
{
int card = mr->out.value.vmeio.card;
int axis = mr->out.value.vmeio.signal;
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct controller *brdptr = (*trans->tabptr->card_array)[card];
if (brdptr != NULL)
{
struct MMcontroller *cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
cntrl->drive_resolution[axis] = mr->mres;
}
}
return(rtnval);
}
/* start building a transaction */
STATIC long ESP300_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, ESP300_cards));
}
/* end building a transaction */
STATIC RTN_STATUS ESP300_end_trans(struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
char *msgptr;
int last;
/* Remove trailing ';'s from message. */
motor_call = &(trans->motor_call);
msgptr = motor_call->message;
last = strlen(msgptr) - 1;
if (msgptr[last] == ';')
msgptr[last] = (char) NULL;
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS ESP300_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct MMcontroller *cntrl;
char buff[80];
int axis, card;
unsigned int size;
double dval, cntrl_units;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[axis - 1];
if (ESP300_table[command] > motor_call->type)
motor_call->type = ESP300_table[command];
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, "\r");
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%.2dPA%f;", axis, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%.2dPR%f;", axis, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%.2dOR;", axis);
break;
case LOAD_POS:
sprintf(buff, "%.2dDH%f", axis, cntrl_units);
break;
case SET_VEL_BASE:
sprintf(buff, "%.2dVB%f;", axis, cntrl_units);
break;
case SET_VELOCITY:
sprintf(buff, "%.2dVA%f;", axis, cntrl_units);
break;
case SET_ACCEL:
sprintf(buff, "%.2dAC%f;", axis, cntrl_units);
break;
case GO:
/*
* The ESP300 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/* MRES and drive_resolution must be equal. */
cntrl->drive_resolution[axis - 1] = mr->mres;
break;
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(buff, "%.2dST;", axis);
break;
case JOG:
sprintf(buff, "%.2dVA%f;", axis, fabs(cntrl_units));
strcat(motor_call->message, buff);
if (cntrl_units > 0)
sprintf(buff, "%.2dMV+;", axis);
else
sprintf(buff, "%.2dMV-;", axis);
break;
case SET_PGAIN:
sprintf(buff, "%dKP%f;%dUF;", axis, cntrl_units, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%f;%dUF;", axis, cntrl_units, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%f;%dUF;", axis, cntrl_units, axis);
break;
case ENABLE_TORQUE:
sprintf(buff, "%.2dMO;", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "%.2dMF;", axis);
break;
case SET_HIGH_LIMIT:
sprintf(buff, "%.2dSR%f;", axis, cntrl_units);
break;
case SET_LOW_LIMIT:
sprintf(buff, "%.2dSL%f;", axis, cntrl_units);
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("ESP300_build_trans(): buffer overflow.\n");
else
strcat(motor_call->message, buff);
return(rtnval);
}
motorApp/NewportSrc/devPM500.cc
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/*
FILENAME... devPM500.cc
USAGE... Motor record device level support for the Newport PM500 motor
controller.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-23 16:01:52 $
*/
/*
* Original Author: Mark Rivers
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .00 10-25-98 mlr initialized from devPM500
* .01 06-02-00 rls integrated into standard motor record
* .02 04-21-01 rls Added jog velocity motor command.
* .03 05-23-03 rls Converted to R3.14.x.
*/
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMMCom.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table PM500_access;
/* ----------------Create the dsets for devPM500----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long PM500_init(void *);
STATIC long PM500_init_record(void *);
STATIC long PM500_start_trans(struct motorRecord *);
STATIC RTN_STATUS PM500_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS PM500_end_trans(struct motorRecord *);
static char PM500_axis_names[] = {'X', 'Y', 'Z', 'A', 'B', 'C', 'D', 'E', 'F',
'G', 'H', 'I'};
struct motor_dset devPM500 =
{
{8, NULL, (DEVSUPFUN) PM500_init, (DEVSUPFUN) PM500_init_record, NULL},
motor_update_values,
PM500_start_trans,
PM500_build_trans,
PM500_end_trans
};
epicsExportAddress(dset,devPM500);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types PM500_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY /* JOG_VELOCITY */
};
static struct board_stat **PM500_cards;
/* --------------------------- program data --------------------- */
/* Initialize device support for PM500 controller. */
STATIC long PM500_init(void *arg)
{
long rtnval;
int after = (int) arg;
if (after == 0)
{
drvtabptr = &PM500_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PM500_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PM500_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, PM500_cards));
}
/* start building a transaction */
STATIC long PM500_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, PM500_cards));
}
/* end building a transaction */
STATIC RTN_STATUS PM500_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC RTN_STATUS PM500_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct MMcontroller *cntrl;
char axis_name;
char buff[110];
int axis, card, maxdigits;
unsigned int size;
double dval, cntrl_units;
RTN_STATUS rtnval;
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
axis_name = PM500_axis_names[axis - 1];
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[axis - 1];
maxdigits = cntrl->res_decpts[axis - 1];
if (PM500_table[command] > motor_call->type)
motor_call->type = PM500_table[command];
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, "\r");
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%cG%.*f;", axis_name, maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%cR%.*f;", axis_name, maxdigits, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%cF0;", axis_name);
break;
case LOAD_POS:
break;
case SET_VEL_BASE:
break; /* PM500 does not use base velocity */
case SET_VELOCITY:
/* PM500 uses mm/sec and karc-sec/sec for velocity, but microns and
* arc-sec for position. Divide by 1000 here.
*/
cntrl_units /= 1000.0;
sprintf(buff, "%cV%.*f;", axis_name, maxdigits, cntrl_units);
break;
case SET_ACCEL:
/* PM500 uses mm/sec^2 and karc-sec/sec^2 for acceleration, but
* microns and arc-sec for position. Divide by 1000 here.
*/
cntrl_units /= 1000.0;
sprintf(buff, "%cACCEL%.*f;", axis_name, maxdigits, cntrl_units);
break;
case GO:
/*
* The PM500 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The PM500 does not have the concept of encoder ratio, ignore this
* command
*/
break;
case GET_INFO:
sprintf(buff, "%cR;", axis_name);
break;
case STOP_AXIS:
sprintf(buff, "%cT;", axis_name);
break;
case JOG:
/* PM500 uses mm/sec and karc-sec/sec for velocity, but microns and
* arc-sec for position. Divide by 1000 here.
*/
cntrl_units /= 1000.0;
sprintf(buff, "%cS%f;", axis_name, cntrl_units);
break;
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
break;
case ENABLE_TORQUE:
sprintf(buff, "%cT;", axis_name);
break;
case DISABL_TORQUE:
sprintf(buff, "%cM;", axis_name);
break;
case SET_HIGH_LIMIT:
sprintf(buff, "%cPSLIM%.*f;", axis_name, maxdigits, cntrl_units);
break;
case SET_LOW_LIMIT:
sprintf(buff, "%cNSLIM%.*f;", axis_name, maxdigits, cntrl_units);
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
errlogMessage("PM500_build_trans(): buffer overflow.\n");
else
strcat(motor_call->message, buff);
return(rtnval);
}
motorApp/NewportSrc/drvESP300.cc
+734
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/*
FILENAME... drvESP300.cc
USAGE... Motor record driver level support for Newport ESP300.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-23 16:01:52 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 19-02-03 rls copied from drvMM3000
* .02 05-23-03 rls Converted to R3.14.x.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "NewportRegister.h"
#include "drvMMCom.h"
#include "serialIO.h"
#include "epicsExport.h"
#define STATIC static
#define READ_POSITION "%.2dTP"
#define STOP_AXIS "%.2dST"
#define GET_IDENT "VE?"
#define ESP300_NUM_CARDS 4
#define BUFF_SIZE 100 /* Maximum length of string to/from ESP300 */
/* The ESP300 does not respond for 2 to 5 seconds after hitting a travel limit. */
#define GPIB_TIMEOUT 5000 /* Command timeout in msec. */
#define SERIAL_TIMEOUT 5000 /* Command timeout in msec. */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvESP300debug = 0;
#define Debug(l, f, args...) { if(l<=drvESP300debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
int ESP300_num_cards = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvESP300ReadbackDelay = 0.;
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, char const *com, char c);
STATIC int set_status(int card, int signal);
static long report(int level);
static long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table ESP300_access =
{
motor_init,
motor_send,
motor_free,
motor_card_info,
motor_axis_info,
&mess_queue,
&queue_lock,
&free_list,
&freelist_lock,
&motor_sem,
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
set_status,
query_done,
NULL,
&initialized,
NULL
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvESP300 = {2, report, init};
epicsExportAddress(drvet, drvESP300);
STATIC struct thread_args targs = {SCAN_RATE, &ESP300_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (ESP300_num_cards <=0)
printf(" No ESP300 controllers configured.\n");
else
{
for (card = 0; card < ESP300_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" ESP300 controller %d connection failed.\n", card);
else
{
struct MMcontroller *cntrl;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" ESP300 controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
case GPIB_PORT:
printf(" ESP300 controller %d port type = GPIB, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" ESP300 controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
}
}
}
return(OK);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (ESP300_num_cards <= 0)
{
Debug(1, "init(): ESP300 driver disabled. ESP300Setup() missing from startup script.\n");
}
return((long) 0);
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
STATIC int set_status(int card, int signal)
{
struct MMcontroller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char *cptr, *tok_save;
char inbuff[BUFF_SIZE], outbuff[BUFF_SIZE];
int rtn_state, charcnt;
long mstatus;
double motorData;
bool power, done, plusdir, ls_active = false;
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
sprintf(outbuff, "%.2dMD", signal + 1);
send_mess(card, outbuff, (char) NULL);
charcnt = recv_mess(card, inbuff, 1);
if (charcnt == 3)
{
cntrl->status = NORMAL;
motor_info->status &= ~CNTRL_COMM_ERR;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
return(0);
}
else
{
cntrl->status = COMM_ERR;
motor_info->status |= CNTRL_COMM_ERR;
motor_info->status |= RA_PROBLEM;
return(1);
}
}
done = atoi(inbuff) ? true : false;
if (done == true)
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The ESP300 has reported that the
* motor is done moving, which means that the "jerk time" is done. However,
* the axis can still be settling. For now we put in a delay and poll the
* motor position again. This is not a good long-term solution.
*/
if (motor_info->pid_present == YES && drvESP300ReadbackDelay != 0.)
{
epicsThreadSleep(drvESP300ReadbackDelay);
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
}
}
else
motor_info->status &= ~RA_DONE;
/* Get motor position. */
sprintf(outbuff, READ_POSITION, signal + 1);
send_mess(card, outbuff, (char) NULL);
charcnt = recv_mess(card, inbuff, 1);
motorData = atof(inbuff) / cntrl->drive_resolution[signal];
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
if (newposition >= motor_info->position)
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
/* Get travel limit switch status. */
sprintf(outbuff, "%.2dPH", signal + 1);
send_mess(card, outbuff, (char) NULL);
charcnt = recv_mess(card, inbuff, 1);
cptr = strchr(inbuff, 'H');
if (cptr == NULL)
{
Debug(2, "set_status(): PH error = %s\n", inbuff);
return(1);
}
mstatus = strtol(inbuff, &cptr, 16);
/* Set Travel limit switch status bits. */
if (((mstatus >> signal) & 0x01) == false)
motor_info->status &= ~RA_PLUS_LS;
else
{
motor_info->status |= RA_PLUS_LS;
if (plusdir == true)
ls_active = true;
}
if (((mstatus >> (signal + 8)) & 0x01) == false)
motor_info->status &= ~RA_MINUS_LS;
else
{
motor_info->status |= RA_MINUS_LS;
if (plusdir == false)
ls_active = true;
}
/* Set home switch status. */
cptr += 2;
tok_save = strchr(inbuff, 'H');
mstatus = strtol(cptr, &tok_save, 16);
if (((mstatus >> signal) & 0x01) == false)
motor_info->status &= ~RA_HOME;
else
motor_info->status |= RA_HOME;
/* Get motor power on/off status. */
sprintf(outbuff, "%.2dMO?", signal + 1);
send_mess(card, outbuff, (char) NULL);
charcnt = recv_mess(card, inbuff, 1);
power = atoi(inbuff) ? true : false;
if (power == true)
motor_info->status |= EA_POSITION;
else
motor_info->status &= ~EA_POSITION;
/* encoder status */
motor_info->status &= ~EA_SLIP;
motor_info->status &= ~EA_SLIP_STALL;
motor_info->status &= ~EA_HOME;
motor_info->status &= ~RA_PROBLEM;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(outbuff, nodeptr->postmsgptr);
send_mess(card, outbuff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
return (rtn_state);
}
/*****************************************************/
/* send a message to the ESP300 board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
{
struct MMcontroller *cntrl;
char local_buff[BUFF_SIZE];
int size;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvESP300:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvESP300:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
if (inchar != (char) NULL)
{
errlogPrintf("drvESP300:send_mess() - invalid argument = %c\n", inchar);
return(ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
strcpy(local_buff, com);
strcat(local_buff, "\r");
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
if (cntrl->port_type == GPIB_PORT)
;
// gpibIOSend(cntrl->gpibInfo, local_buff, strlen(local_buff), GPIB_TIMEOUT);
else
serialIOSend(cntrl->serialInfo, local_buff, strlen(local_buff), SERIAL_TIMEOUT);
return(OK);
}
/*
* FUNCTION... recv_mess(int card, char *com, int flag)
*
* INPUT ARGUMENTS...
* card - controller card # (0,1,...).
* *com - caller's response buffer.
* flag | FLUSH = flush controller's output buffer; set timeout = 0.
* | !FLUSH = retrieve response into caller's buffer; set timeout.
*
* LOGIC...
* Initialize:
* - receive timeout to zero
* - received string length to zero.
*
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
*
* SWITCH on port type.
* CASE port type is GPIB.
* BREAK.
* CASE port type is RS232.
* IF input "flag" indicates NOT flushing the input buffer.
* Set receive timeout nonzero.
* ENDIF
* Call serialIORecv().
*
* NOTE: The ESP300 sometimes responds to an MS command with an error
* message (see ESP300 User's Manual Appendix A). This is an
* unconfirmed ESP300 bug. Retry read if this is a Hard Travel
* limit switch error. This effectively flushes the error message.
*
* IF input "com" buffer length is > 3 characters, AND, the 1st
* character is an "E" (Maybe this an unsolicited error
* message response?).
* Call serialIORecv().
* ENDIF
* BREAK
* ENDSWITCH
*
* NORMAL RETURN.
*/
STATIC int recv_mess(int card, char *com, int flag)
{
struct MMcontroller *cntrl;
int timeout = 0;
int len = 0;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
switch (cntrl->port_type)
{
case GPIB_PORT:
if (flag != FLUSH)
timeout = GPIB_TIMEOUT;
// len = gpibIORecv(cntrl->gpibInfo, com, BUFF_SIZE, (char *) "\n", timeout);
break;
case RS232_PORT:
if (flag != FLUSH)
timeout = SERIAL_TIMEOUT;
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE, (char *) "\n", timeout);
if (len > 3 && com[0] == 'E')
{
long error;
error = strtol(&com[1], NULL, 0);
if (error >= 35 && error <= 42)
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE,
(char *) "\n", timeout);
}
break;
}
if (len <= 0)
{
com[0] = '\0';
len = 0;
}
else
/* ESP300 responses are always terminated with CR/LF combination (see
* ESP300 User' Manual Sec. 3.4 NOTE). Strip both CR&LF from buffer
* before returning to caller.
*/
com[len-2] = '\0';
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(len);
}
/*****************************************************/
/* Setup system configuration */
/* ESP300Setup() */
/*****************************************************/
RTN_STATUS
ESP300Setup(int num_cards, /* maximum number of controllers in system. */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > ESP300_NUM_CARDS)
ESP300_num_cards = ESP300_NUM_CARDS;
else
ESP300_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before ESP300Config is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
motor_state = (struct controller **) malloc(ESP300_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < ESP300_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* ESP300Config() */
/*****************************************************/
RTN_STATUS
ESP300Config(int card, /* card being configured */
PortType port_type, /* GPIB_PORT or RS232_PORT */
int location, /* = link for GPIB or MPF serial server location */
const char *name) /* GPIB address or MPF serial server task name */
{
struct MMcontroller *cntrl;
if (card < 0 || card >= ESP300_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MMcontroller));
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
switch (port_type)
{
/*
case GPIB_PORT:
cntrl->port_type = port_type;
cntrl->gpib_link = addr1;
cntrl->gpib_address = addr2;
break;
*/
case RS232_PORT:
cntrl->port_type = port_type;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
break;
default:
return (ERROR);
}
return(OK);
}
/*****************************************************/
/* initialize all software and hardware */
/* This is called from the initialization routine in */
/* device support. */
/* motor_init() */
/*****************************************************/
STATIC int motor_init()
{
struct controller *brdptr;
struct MMcontroller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
char *tok_save;
int total_axis = 0;
int status;
bool errind;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (ESP300_num_cards <= 0)
return(ERROR);
tok_save = NULL;
for (card_index = 0; card_index < ESP300_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = false;
switch (cntrl->port_type)
{
/*
case GPIB_PORT:
cntrl->gpibInfo = gpibIOInit(cntrl->gpib_link,
cntrl->gpib_address);
if (cntrl->gpibInfo == NULL)
errind = true;
break;
*/
case RS232_PORT:
cntrl->serialInfo = serialIOInit(cntrl->serial_card,
cntrl->serial_task);
if (cntrl->serialInfo == NULL)
errind = true;
break;
}
if (errind == false)
{
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
do
recv_mess(card_index, buff, FLUSH);
while (strlen(buff) != 0);
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
/* Return value is length of response string */
}
if (errind == false && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
strcpy(brdptr->ident, &buff[1]); /* Skip "\n" */
send_mess(card_index, "ZU", (char) NULL);
recv_mess(card_index, buff, 1);
total_axis = buff[0] >> 4;
if (total_axis > 4)
{
Debug(2, "motor_init(): ZU = %s\n", buff);
total_axis = 4;
}
/* The return string will tell us how many axes this controller has */
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
sprintf(buff, STOP_AXIS, motor_index + 1); /* Stop motor */
send_mess(card_index, buff, (char) NULL);
/* Initialize. */
brdptr->motor_info[motor_index].motor_motion = NULL;
}
brdptr->total_axis = total_axis;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
motor_info->encoder_present = YES;
if (motor_info->encoder_present == YES)
{
motor_info->status |= EA_PRESENT;
motor_info->pid_present = YES;
motor_info->status |= GAIN_SUPPORT;
}
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;
mess_queue.head = (struct mess_node *) NULL;
mess_queue.tail = (struct mess_node *) NULL;
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "ESP300_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
/*---------------------------------------------------------------------*/
motorApp/NewportSrc/drvPM500.cc
+759
View File
@@ -0,0 +1,759 @@
/*
FILENAME... drvPM500.cc
USAGE... Motor record driver level support for Newport PM500.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-23 16:01:53 $
*/
/* Device Driver Support routines for PM500 motor controller */
/*
* Original Author: Mark Rivers
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 11-19-98 mlr Initial development, based on drvMM4000.c
* .02 06-02-00 rls integrated into standard motor record
* .03 10/02/01 rls allow one retry after a communication error.
* .04 05-23-03 rls Converted to R3.14.x.
*/
#include <string.h>
#include <math.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "NewportRegister.h"
#include "drvMMCom.h"
#include "serialIO.h"
#include "epicsExport.h"
#define STATIC static
#define READ_RESOLUTION ""
#define READ_STATUS ""
#define READ_POSITION ""
#define MOTOR_ON ""
#define GET_IDENT "SVN?"
#define OUTPUT_TERMINATOR "\r"
/* Status byte bits */
#define M_AXIS_MOVING 0x01
#define M_MOTOR_POWER 0x02
#define M_MOTOR_DIRECTION 0x04
#define M_PLUS_LIMIT 0x08
#define M_MINUS_LIMIT 0x10
#define M_HOME_SIGNAL 0x20
#define PM500_NUM_CARDS 4
#define PM500_NUM_CHANNELS 12
#define BUFF_SIZE 100 /* Maximum length of string to/from PM500 */
#define GPIB_TIMEOUT 2000 /* Command timeout in msec. */
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec. */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvPM500debug = 0;
#define Debug(l, f, args...) { if(l<=drvPM500debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* --- Local data. --- */
int PM500_num_cards = 0;
static char PM500_axis_names[PM500_NUM_CHANNELS] = {'X', 'Y', 'Z', 'A', 'B',
'C', 'D', 'E', 'F', 'G', 'H', 'I'};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvPM500ReadbackDelay = 0.;
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, char const *com, char c);
STATIC int set_status(int card, int signal);
static long report(int level);
static long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table PM500_access =
{
motor_init,
motor_send,
motor_free,
motor_card_info,
motor_axis_info,
&mess_queue,
&queue_lock,
&free_list,
&freelist_lock,
&motor_sem,
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
set_status,
query_done,
NULL,
&initialized,
PM500_axis_names
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvPM500 = {2, report, init};
epicsExportAddress(drvet, drvPM500);
STATIC struct thread_args targs = {SCAN_RATE, &PM500_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PM500_num_cards <=0)
printf(" No PM500 controllers configured.\n");
else
{
for (card = 0; card < PM500_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PM500 controller #%d connection failed.\n", card);
else
{
struct MMcontroller *cntrl;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" PM500 controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
case GPIB_PORT:
printf(" PM500 controller %d port type = GPIB, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" PM500 controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
}
}
}
return(OK);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (PM500_num_cards <= 0)
{
Debug(1, "init(): PM500 driver disabled. PM500Setup() missing from startup script.\n");
}
return((long) 0);
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
STATIC int set_status(int card, int signal)
{
struct MMcontroller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char axis_name, status_char, dir_char, buff[BUFF_SIZE],
response[BUFF_SIZE];
int status, rtn_state = 0;
double motorData;
bool ls_active;
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
axis_name = PM500_axis_names[signal];
/* Request the status and position of this motor */
sprintf(buff, "%cR", axis_name);
send_mess(card, buff, (char) NULL);
status = recv_mess(card, response, 1);
if (status > 0)
{
cntrl->status = NORMAL;
motor_info->status &= ~CNTRL_COMM_ERR;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
return(0);
}
else
{
cntrl->status = COMM_ERR;
motor_info->status |= CNTRL_COMM_ERR;
motor_info->status |= RA_PROBLEM;
return(1);
}
}
status_char = response[1];
dir_char = response[2];
motorData = atof(&response[2]) / cntrl->drive_resolution[signal];
if (status_char == 'B')
motor_info->status &= ~RA_DONE;
else
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The PM500 has reported that the
* motor is done moving, which means that the "jerk time" is done. However,
* the axis can still be settling. For now we put in a delay and poll the
* motor position again. This is not a good long-term solution.
*/
if (motor_info->pid_present == YES && drvPM500ReadbackDelay != 0.)
{
epicsThreadSleep(drvPM500ReadbackDelay);
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
}
}
if (status_char == 'E')
motor_info->status |= RA_PROBLEM;
else
motor_info->status &= ~RA_PROBLEM;
if (dir_char == '+')
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
if (status_char == 'L')
{
ls_active = true;
if (dir_char == '+')
motor_info->status |= RA_PLUS_LS;
else
motor_info->status |= RA_MINUS_LS;
}
else
{
ls_active = false;
motor_info->status &= ~RA_PLUS_LS;
motor_info->status &= ~RA_MINUS_LS;
}
motor_info->status &= ~RA_HOME;
/* encoder status */
motor_info->status &= ~EA_POSITION;
motor_info->status &= ~EA_SLIP;
motor_info->status &= ~EA_SLIP_STALL;
motor_info->status &= ~EA_HOME;
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
motor_info->position = NINT(motorData);
if (motor_state[card]->motor_info[signal].encoder_present == YES)
motor_info->encoder_position = (epicsInt32) motorData;
else
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
}
motor_info->status &= ~RA_PROBLEM;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r");
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
return(rtn_state);
}
/*****************************************************/
/* send a message to the PM500 board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
{
struct MMcontroller *cntrl;
char local_buff[BUFF_SIZE];
int size;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPM500.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvPM500.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
strcpy(local_buff, com);
strcat(local_buff, OUTPUT_TERMINATOR);
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
if (cntrl->port_type == GPIB_PORT)
;
// gpibIOSend(cntrl->gpibInfo, local_buff, strlen(local_buff), GPIB_TIMEOUT);
else
serialIOSend(cntrl->serialInfo, local_buff, strlen(local_buff), SERIAL_TIMEOUT);
return(OK);
}
/*
* FUNCTION... recv_mess(int card, char *com, int flag)
*
* INPUT ARGUMENTS...
* card - controller card # (0,1,...).
* *com - caller's response buffer.
* flag | FLUSH = flush controller's output buffer; set timeout = 0.
* | !FLUSH = retrieve response into caller's buffer; set timeout.
*
* LOGIC...
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
* NORMAL RETURN.
*/
STATIC int recv_mess(int card, char *com, int flag)
{
struct MMcontroller *cntrl;
int timeout = 0;
int len = 0;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
switch (cntrl->port_type)
{
case GPIB_PORT:
if (flag != FLUSH)
timeout = GPIB_TIMEOUT;
// len = gpibIORecv(cntrl->gpibInfo, com, BUFF_SIZE, (char *) "\r", timeout);
break;
case RS232_PORT:
if (flag != FLUSH)
timeout = SERIAL_TIMEOUT;
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE, (char *) "\r", timeout);
break;
}
if (len <= 0)
{
com[0] = '\0';
len = 0;
}
else
{
com[len-1] = '\0';
/* Test for "system error" response. */
if (strncmp(com, "SE", 2) == 0)
errlogMessage("recv_mess(): PM500 system error.\n");
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(len);
}
/*****************************************************/
/* Setup system configuration */
/* PM500Setup() */
/*****************************************************/
RTN_STATUS
PM500Setup(int num_cards, /* maximum number of controllers in system. */
int num_channels, /* NOT Used. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > PM500_NUM_CARDS)
PM500_num_cards = PM500_NUM_CARDS;
else
PM500_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before PM500Config is called, so it cannot be done in motor_init()
* This means that we must allocate space for a card without knowing
* if it really exists, which is not a serious problem
*/
motor_state = (struct controller **) malloc(PM500_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PM500_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PM500Config() */
/*****************************************************/
RTN_STATUS
PM500Config(int card, /* card being configured */
PortType port_type, /* GPIB_PORT or RS232_PORT */
int location, /* = link for GPIB or MPF serial server location */
const char *name) /* GPIB address or MPF serial server task name */
{
struct MMcontroller *cntrl;
if (card < 0 || card >= PM500_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MMcontroller));
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
switch (port_type)
{
/*
case GPIB_PORT:
cntrl->port_type = port_type;
cntrl->gpib_link = addr1;
cntrl->gpib_address = addr2;
break;
*/
case RS232_PORT:
cntrl->port_type = port_type;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
break;
default:
return (ERROR);
}
return(OK);
}
/*****************************************************/
/* initialize all software and hardware */
/* This is called from the initialization routine in */
/* device support. */
/* motor_init() */
/*****************************************************/
STATIC int motor_init()
{
struct controller *brdptr;
struct MMcontroller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis = 0;
int status, digits;
bool errind;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PM500_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PM500_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = false;
switch (cntrl->port_type)
{
/*
case GPIB_PORT:
cntrl->gpibInfo = gpibIOInit(cntrl->gpib_link,
cntrl->gpib_address);
if (cntrl->gpibInfo == NULL)
errind = true;
break;
*/
case RS232_PORT:
cntrl->serialInfo = serialIOInit(cntrl->serial_card,
cntrl->serial_task);
if (cntrl->serialInfo == NULL)
errind = true;
break;
}
if (errind == false)
{
/* flush any junk at input port - should not be any data available */
do
recv_mess(card_index, buff, FLUSH);
while (strlen(buff) != 0);
/* Send a SCUM 1 command to put device in this mode. */
send_mess(card_index, "SCUM 1", (char) NULL);
recv_mess(card_index, buff, 1);
/* Set up basic controller parameters
* "ENAINT $AF" means the following:
* Bit 0=1, only affected axis halts on limit
* Bit 1=1, No message when moving axis beyond limit
* Bit 2=1, No query echo, prepends status character to axis.
* Bit 3=1, NO status character inserted in responses.
* Bit 4=0, No acknowledgement when command is received
* Bit 5=1, Disable sign-on message at power-up
* Bit 6=0, No echo
* Bit 7=1, CR terminator only on commands and responses
* Bit 8=0, CR terminator only on commands and responses
* Bit 9=0, No EOI sent
* Bit 10=0, CR terminator only on commands and responses
* Bit 11=0, CR terminator only on commands and responses
* Bit 12=0, Decimal number format
* Bit 13=0, Eearly serial poll mapping
* Bit 14=0, No SRQ assertion
*/
send_mess(card_index, "SENAINT $AF", (char) NULL);
recv_mess(card_index, buff, 1);
/* Send a message and read response from controller to see if
* it exists */
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
/* Return value is length of response string */
}
if (errind == false && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
send_mess(card_index, GET_IDENT, (char) NULL); /* Read controller ID string */
recv_mess(card_index, buff, 1);
strcpy(brdptr->ident, &buff[2]); /* Skip "XD" */
/* Figure out how many axes this controller has.
* Do this by querying status of each axis in order */
for (total_axis = 0; total_axis < PM500_NUM_CHANNELS; total_axis++)
{
brdptr->motor_info[total_axis].motor_motion = NULL;
sprintf(buff, "%cSTAT?", PM500_axis_names[total_axis]);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
if (buff[1] == 'E')
break;
/* Determine axis type and resolution.
* This is a real pain, since the only way to get this
* information is to ask for the axis firmware and use a
* lookup table. We only have translators, so I don't
* really know how to tell them apart. Our translators
* return 302 (50nm stages) or 309 (25nm stages) at the end of
* the configuration string.
* I assume rotators return something different, but I don't
* know what it is.
*/
}
brdptr->total_axis = total_axis;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
char *firmware, axis_name = PM500_axis_names[motor_index];
double res = 0.0;
sprintf(buff, "%cCONFIG?", axis_name);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
firmware = &buff[8];
Debug(3, "motor_init: firmware = %s\n", firmware);
if (!strcmp(firmware, "302"))
{
/* 50 nm translator */
res = .01;
Debug(3, "motor_init: axis %d is a 50 nm translator\n", motor_index);
}
else if (!strcmp(firmware, "309"))
{
/* 25 nm translator */
res = .01;
Debug(3, "motor_init: axis %d is a 25 nm translator\n", motor_index);
}
else if (!strcmp(firmware, "300"))
{
/* ????? translator ?????? */
res = .01;
Debug(3, "motor_init: axis %d is a ?????? translator\n", motor_index);
}
else if (!strcmp(firmware, "XXX"))
{
/* Rotator */
res = .01;
}
/* Set drive resolution. */
cntrl->drive_resolution[motor_index] = res;
digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
if (digits < 1)
digits = 1;
cntrl->res_decpts[motor_index] = digits;
/* PM500 only supports DC motors. */
motor_info->encoder_present = YES;
motor_info->status |= EA_PRESENT;
motor_info->pid_present = YES;
motor_info->status |= GAIN_SUPPORT;
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
motor_info->encoder_present = NO;
motor_info->pid_present = NO;
cntrl->home_preset[motor_index] = 0;
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;
mess_queue.head = (struct mess_node *) NULL;
mess_queue.tail = (struct mess_node *) NULL;
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "PM500_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}