lin-epics-modules/motorBase
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drvMAXv_trajectory.cc folded into drvMAXv.cc, build MAX_trajectoryScan.st if SNCSEQ is defined

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This commit is contained in:
timmmooney
2013-06-10 21:38:17 +00:00
parent 72c0ea0061
commit a1db2979bc
2 changed files with 84 additions and 24 deletions
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motorApp/OmsSrc/devOms.dbd
+1 -1
View File
@@ -17,5 +17,5 @@ driver(drvOmsPC68)
registrar(OmsPC68Register)
variable(drvOmsPC68debug)
#!registrar(MAX_trajectoryScanRegistrar)
registrar(MAX_trajectoryScanRegistrar)
motorApp/OmsSrc/drvMAXv.cc
+83 -23
View File
@@ -106,6 +106,7 @@ HeadURL: $URL$
#include <devLib.h>
#include <dbAccess.h>
#include <epicsThread.h>
#include <epicsMutex.h>
#include <epicsInterrupt.h>
#include <iocsh.h>
#include <epicsExit.h>
@@ -118,6 +119,8 @@ HeadURL: $URL$
#include "epicsExport.h"
#define MUTEX(card) ((struct MAXvController *)(motor_state[card]->DevicePrivate))->message_mutex
/* Define for return test on devNoResponseProbe() */
#define PROBE_SUCCESS(STATUS) ((STATUS)==S_dev_addressOverlap)
@@ -186,6 +189,40 @@ static void query_done(int, int, struct mess_node *);
static int set_status(int, int);
static RTN_STATUS send_mess(int, char const *, char *);
static int recv_mess(int, char *, int);
static int getPositions(int card, epicsInt32 *positions, int nPositions);
static int send_recv_mess(int card, char const * command, char *axis, char *buf, int nMessages);
extern "C" {
int MAXV_send_mess(int card, char const * command, char *axis) {
return (int)send_mess(card, command, axis);
}
int MAXV_recv_mess(int card, char *buf, int nMessages) {
return recv_mess(card, buf, nMessages);
}
int MAXV_send_recv_mess(int card, char const * command, char *axis, char *buf, int nMessages) {
return send_recv_mess(card, command, axis, buf, nMessages);
}
int MAXV_getPositions(int card, epicsInt32 *positions, int nPositions) {
return getPositions(card, positions, nPositions);
}
}
static int getPositions(int card, epicsInt32 *positions, int nPositions) {
volatile struct MAXv_motor *pmotor;
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
int i;
for (i=0; i<nPositions; i++) {
positions[i] = pmotor->cmndPos[i];
Debug(5, "getPositions: motor %d position=%d\n", i, positions[i]);
}
return(0);
}
static void motorIsr(int);
static int motor_init();
static void MAXv_reset(void *);
@@ -273,8 +310,7 @@ static void query_done(int card, int axis, struct mess_node *nodeptr)
{
char buffer[MAX_IDENT_LEN];
send_mess(card, DONE_QUERY, MAXv_axis[axis]);
recv_mess(card, buffer, 1);
send_recv_mess(card, DONE_QUERY, MAXv_axis[axis], buffer, 1);
if (nodeptr->status.Bits.RA_PROBLEM)
send_mess(card, AXIS_STOP, MAXv_axis[axis]);
@@ -349,8 +385,7 @@ static int set_status(int card, int signal)
if (MAXvdata.fwver[card] >= 1.33)
{
send_mess(card, "#WS", (char) NULL);
recv_mess(card, q_buf, 1);
send_recv_mess(card, "#WS", (char) NULL, q_buf, 1);
if (strcmp(q_buf, "=0") != 0)
{
errlogPrintf(wdctrmsg, card, q_buf);
@@ -366,15 +401,13 @@ static int set_status(int card, int signal)
if (motor_info->encoder_present == YES)
{
/* get 4 pieces of info from axis */
send_mess(card, ALL_INFO, MAXv_axis[signal]);
recv_mess(card, q_buf, 2);
send_recv_mess(card, ALL_INFO, MAXv_axis[signal], q_buf, 2);
got_encoder = true;
}
else
{
/* get 2 pieces of info from axis */
send_mess(card, AXIS_INFO, MAXv_axis[signal]);
recv_mess(card, q_buf, 1);
send_recv_mess(card, AXIS_INFO, MAXv_axis[signal], q_buf, 1);
got_encoder = false;
}
@@ -451,8 +484,7 @@ static int set_status(int card, int signal)
status.Bits.RA_PROBLEM = 0;
/* get command velocity */
send_mess(card, "RV", MAXv_axis[signal]);
recv_mess(card, q_buf, 1);
send_recv_mess(card, "RV", MAXv_axis[signal], q_buf, 1);
motor_info->velocity = atoi(q_buf);
/* Get encoder position */
@@ -553,6 +585,21 @@ errorexit: errMessage(-1, "Invalid device directive");
return (rtn_state);
}
/**************************************************
* send a message to the OMS board and get the reply
**************************************************/
static int send_recv_mess(int card, char const * command, char *axis, char *buf, int nMessages) {
int retval;
if (!epicsMutexTryLock(MUTEX(card))) {
Debug(1, "send_recv_mess: waiting for mutex\n");
epicsMutexLock(MUTEX(card));
}
retval = (int)send_mess(card, command, axis);
retval |= recv_mess(card, buf, nMessages);
epicsMutexUnlock(MUTEX(card));
return(retval);
}
/*****************************************************/
/* send a message to the OMS board */
@@ -582,6 +629,11 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
Debug(9, "send_mess: pmotor = %p\n", pmotor);
if (!epicsMutexTryLock(MUTEX(card))) {
Debug(1, "send_mess: waiting for mutex\n");
epicsMutexLock(MUTEX(card));
}
return_code = OK;
Debug(9, "send_mess: checking card %d status\n", card);
@@ -637,6 +689,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
return_code = ERROR;
}
epicsMutexUnlock(MUTEX(card));
return (return_code);
}
@@ -685,6 +738,11 @@ static int recv_mess(int card, char *com, int amount)
pmotor = (struct MAXv_motor *) motor_state[card]->localaddr;
if (!epicsMutexTryLock(MUTEX(card))) {
Debug(1, "recv_mess: waiting for mutex\n");
epicsMutexLock(MUTEX(card));
}
if (amount == -1)
{
if (pmotor->inGetIndex != pmotor->inPutIndex)
@@ -695,6 +753,7 @@ static int recv_mess(int card, char *com, int amount)
Debug(1, "recv_mess(): flushed - %s\n", junk);
}
epicsMutexUnlock(MUTEX(card));
return(0);
}
@@ -718,6 +777,7 @@ static int recv_mess(int card, char *com, int amount)
{
Debug(1, "Timeout occurred in recv_mess\n");
*bufptr = '\0';
epicsMutexUnlock(MUTEX(card));
return(-1);
}
@@ -731,6 +791,7 @@ static int recv_mess(int card, char *com, int amount)
}
} while (amount > 0);
epicsMutexUnlock(MUTEX(card));
Debug(4, "recv_mess(): card#%d - %s\n", card, com);
return(0);
}
@@ -947,7 +1008,7 @@ MAXvSetup(int num_cards, /* maximum number of cards in rack */
RTN_VALUES MAXvConfig(int card, /* number of card being configured */
const char *initstr, /* configuration string */
int config) /* initialization configuration */
int config) /* initialization configuration */
{
if (card < 0 || card >= MAXv_num_cards)
{
@@ -959,7 +1020,7 @@ RTN_VALUES MAXvConfig(int card, /* number of card being configur
if (strlen(initstr) > INITSTR_SIZE)
{
errlogPrintf("\n*** MAXvConfig ERROR ***\n");
errlogPrintf("Configuration string: %d bytes > %d maximum.\n\n", strlen(initstr), INITSTR_SIZE);
errlogPrintf("Configuration string: %d bytes > %d maximum.\n\n", (int)strlen(initstr), INITSTR_SIZE);
epicsThreadSleep(5.0);
return(ERROR);
}
@@ -1016,7 +1077,9 @@ static int motorIsrSetup(int card)
{
volatile struct MAXv_motor *pmotor;
STATUS1 status1_irq;
#ifdef USE_DEVLIB
long status;
#endif
Debug(5, "motorIsrSetup: Entry card#%d\n", card);
@@ -1069,12 +1132,12 @@ static int motor_init()
volatile struct controller *pmotorState;
volatile struct MAXv_motor *pmotor;
struct MAXvController *pvtdata;
long status;
long status=0;
int card_index, motor_index, itera;
char axis_pos[MAX_IDENT_LEN], encoder_pos[MAX_IDENT_LEN], **strptr;
char *tok_save, *pos_ptr;
int total_encoders = 0, total_axis = 0, total_pidcnt = 0;
volatile void *localaddr;
volatile void *localaddr=0;
void *probeAddr;
tok_save = NULL;
@@ -1157,6 +1220,7 @@ static int motor_init()
pmotorState->cmnd_response = false;
pvtdata = (struct MAXvController *) malloc(sizeof(struct MAXvController));
pvtdata->message_mutex = epicsMutexMustCreate();
pmotorState->DevicePrivate = pvtdata;
if (MAXvInterruptVector == 0)
@@ -1173,8 +1237,7 @@ static int motor_init()
send_mess(card_index, ERROR_CLEAR, (char) NULL);
send_mess(card_index, STOP_ALL, (char) NULL);
send_mess(card_index, GET_IDENT, (char) NULL);
recv_mess(card_index, (char *) pmotorState->ident, 1);
send_recv_mess(card_index, GET_IDENT, (char) NULL, (char *) pmotorState->ident, 1);
Debug(3, "Identification = %s\n", pmotorState->ident);
/* Save firmware version to static float array. */
@@ -1185,8 +1248,7 @@ static int motor_init()
if (MAXvdata.fwver[card_index] >= 1.33)
{
send_mess(card_index, "#WS", (char) NULL);
recv_mess(card_index, axis_pos, 1);
send_recv_mess(card_index, "#WS", (char) NULL, axis_pos, 1);
if (strcmp(axis_pos, "=0") != 0)
{
errlogPrintf(wdctrmsg, card_index, axis_pos);
@@ -1200,8 +1262,7 @@ static int motor_init()
{
send_mess(card_index, initstring[card_index], (char) NULL);
send_mess(card_index, ALL_POS, (char) NULL);
recv_mess(card_index, axis_pos, 1);
send_recv_mess(card_index, ALL_POS, (char) NULL, axis_pos, 1);
for (total_axis = 0, pos_ptr = epicsStrtok_r(axis_pos, ",", &tok_save);
pos_ptr; pos_ptr = epicsStrtok_r(NULL, ",", &tok_save), total_axis++)
@@ -1286,9 +1347,8 @@ static int motor_init()
motor_info->status.Bits.GAIN_SUPPORT = 1;
set_status(card_index, motor_index);
send_mess(card_index, DONE_QUERY, MAXv_axis[motor_index]); /* Is this needed??? */
recv_mess(card_index, axis_pos, 1);
/* Is this needed??? */
send_recv_mess(card_index, DONE_QUERY, MAXv_axis[motor_index], axis_pos, 1);
}
Debug(2, "motor_init: Init Address=%p\n", localaddr);