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Changed to *.cc with R3.14.

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Ron Sluiter
2003-05-19 19:19:22 +00:00
parent 03d1a4fb80
commit bc143c9b06
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motorApp/NewportSrc/devMM4000.c
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@@ -1,370 +0,0 @@
/*
FILENAME... devMM4000.c
USAGE... Motor record device level support for Newport MM4000.
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-07-05 19:25:12 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
*
* 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 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 04-21-01 rls Added jog velocity motor command.
*/
#include <vxWorks.h>
#include <stdio.h>
#include <string.h>
#include <math.h>
#include <semLib.h> /* jps: include for init_record wait */
#include <logLib.h>
#ifdef __cplusplus
extern "C" {
#include <epicsDynLink.h>
}
#else
#include <epicsDynLink.h>
#endif
#include <sysSymTbl.h> /* for sysSymTbl*/
#include <alarm.h>
#include <callback.h>
#include <dbDefs.h>
#include <dbAccess.h>
#include <dbCommon.h>
#include <fast_lock.h>
#include <recSup.h>
#include <devSup.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMMCom.h"
#define STATIC static
/* ----------------Create the dsets for devMM4000----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MM4000_init(int);
STATIC long MM4000_init_record(struct motorRecord *);
STATIC long MM4000_start_trans(struct motorRecord *);
STATIC long MM4000_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC long MM4000_end_trans(struct motorRecord *);
struct motor_dset devMM4000 =
{
{8, NULL, MM4000_init, MM4000_init_record, NULL},
motor_update_values,
MM4000_start_trans,
MM4000_build_trans,
MM4000_end_trans
};
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static int MM4000_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 **MM4000_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MM4000 stepper motor */
STATIC long MM4000_init(int after)
{
SYM_TYPE type;
long rtnval;
if (after == 0)
{
rtnval = symFindByNameEPICS(sysSymTbl, "_MM4000_access",
(char **) &drvtabptr, &type);
if (rtnval != OK)
return(rtnval);
/*
IF before DB initialization.
Initialize MM4000 driver (i.e., call init()). See comment in
drvMM4000.c init().
ENDIF
*/
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MM4000_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MM4000_init_record(struct motorRecord *mr)
{
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MM4000_cards));
}
/* start building a transaction */
STATIC long MM4000_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, MM4000_cards));
}
/* end building a transaction */
STATIC long MM4000_end_trans(struct motorRecord *mr)
{
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC long MM4000_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 mess_info *motor_info;
struct MMcontroller *cntrl;
char buff[110];
int axis, card, maxdigits, size;
double dval, cntrl_units;
long rtnval;
rtnval = OK;
buff[0] = '\0';
dval = *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];
maxdigits = cntrl->res_decpts[axis - 1];
if (MM4000_table[command] > motor_call->type)
motor_call->type = MM4000_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, "%dPA%.*f;", axis, maxdigits, cntrl_units);
break;
case MOVE_REL:
sprintf(buff, "%dPR%.*f;", axis, maxdigits, cntrl_units);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%dOR;", axis);
break;
case LOAD_POS:
if (cntrl->model == MM4000)
sprintf(buff, "%dSH%.*f;%dDH;%dSH%.*f", axis, maxdigits, cntrl_units,
axis, axis, maxdigits, cntrl->home_preset[axis - 1]);
break;
case SET_VEL_BASE:
break; /* MM4000 does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dVA%.*f;", axis, maxdigits, cntrl_units);
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
* Convert to user units/sec/sec
*/
sprintf(buff, "%dAC%.*f;", axis, maxdigits, cntrl_units);
break;
case GO:
/*
* The MM4000 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The MM4000 does not have the concept of encoder ratio, ignore this
* command
*/
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, "%dST;", axis);
break;
case JOG:
/*
* MM4000 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. We can move to MM4000 soft limits.
* If the record soft limits are set tighter than the MM4000 limits
* the record will prevent JOG motion beyond its soft limits
*/
sprintf(buff, "%dVA%.*f;", axis, maxdigits, fabs(cntrl_units));
strcat(motor_call->message, buff);
if (dval > 0.)
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dhlm);
else
sprintf(buff, "%dPA%.*f;", axis, maxdigits, mr->dllm);
break;
case SET_PGAIN:
sprintf(buff, "%dKP%f;%dUF;", axis, dval, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%f;%dUF;", axis, dval, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%f;%dUF;", axis, dval, axis);
break;
case ENABLE_TORQUE:
sprintf(buff, "MO;");
break;
case DISABL_TORQUE:
sprintf(buff, "MF;");
break;
case SET_HIGH_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (cntrl_units > motor_info->high_limit)
{
mr->dhlm = motor_info->high_limit;
rtnval = ERROR;
}
break;
case SET_LOW_LIMIT:
motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis - 1];
trans->state = IDLE_STATE; /* No command sent to the controller. */
if (cntrl_units < motor_info->low_limit)
{
mr->dllm = motor_info->low_limit;
rtnval = ERROR;
}
break;
default:
rtnval = ERROR;
}
size = strlen(buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
logMsg((char *) "devMM4000.c:MM4000_build_trans(): buffer overflow.\n",
0, 0, 0, 0, 0, 0);
else
strcat(motor_call->message, buff);
return(rtnval);
}
motorApp/NewportSrc/drvMM4000.c
-830
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@@ -1,830 +0,0 @@
/*
FILENAME... drvMM4000.c
USAGE... Motor record driver level support for Newport MM4000.
Version: $Revision: 1.9 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-07-05 19:27:23 $
*/
/*
* 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 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.
*/
#include <vxWorks.h>
#include <stdio.h>
#include <sysLib.h>
#include <string.h>
#include <taskLib.h>
#include <math.h>
#include <rngLib.h>
#include <alarm.h>
#include <dbDefs.h>
#include <dbAccess.h>
#include <fast_lock.h>
#include <recSup.h>
#include <devSup.h>
#include <errMdef.h>
#include <logLib.h>
#include "motor.h"
#include "drvMMCom.h"
#include "gpibIO.h"
#include "serialIO.h"
#define STATIC static
#define READ_RESOLUTION "TU;"
#define READ_STATUS "MS;"
#define READ_POSITION "TP;"
#define STOP_ALL "ST;"
#define MOTOR_ON "MO;"
#define GET_IDENT "VE;"
#define INPUT_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 MM4000_NUM_CARDS 4
#define BUFF_SIZE 100 /* Maximum length of string to/from MM4000 */
#define GPIB_TIMEOUT 2000 /* Command timeout in msec. */
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec. */
/*----------------debugging-----------------*/
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvMM4000debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
/* --- Local data. --- */
int MM4000_num_cards = 0;
volatile int drvMM4000debug = 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 drvMM4000ReadbackDelay = 0.;
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC int send_mess(int card, char const *com, char c);
STATIC void start_status(int card);
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 MM4000_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,
start_status,
&initialized,
NULL
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvMM4000 = {2, report, init};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MM4000_num_cards <=0)
printf(" No MM4000 controllers configured.\n");
else
{
for (card = 0; card < MM4000_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MM4000 controller %d connection failed.\n", card);
else
{
struct MMcontroller *cntrl;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" MM4000 controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
case GPIB_PORT:
printf(" MM4000 controller %d port type = GPIB, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" MM4000 controller %d port type = Unknown, id: %s \n",
card,
brdptr->ident);
break;
}
}
}
}
return (0);
}
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 (MM4000_num_cards <= 0)
{
Debug(1, "init(): MM4000 driver disabled. MM4000Setup() missing from startup script.\n");
}
return ((long) 0);
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/*********************************************************
* Read the status and position of all motors on a card
* start_status(int card)
* if card == -1 then start all cards
*********************************************************/
STATIC void start_status(int card)
{
struct MMcontroller *cntrl;
int itera, status;
if (card >= 0)
{
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 = 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
{
/*
* For efficiency we send messages to all cards, then read all
* responses. This minimizes the latency due to processing on each card
*/
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
send_mess(itera, READ_STATUS, NULL);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
status = recv_mess(itera, cntrl->status_string, 1);
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);
for (itera = 0; (itera < total_cards) && motor_state[itera]; itera++)
{
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
recv_mess(itera, cntrl->position_string, 1);
}
}
}
/**************************************************************
* 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 *p, *tok_save;
char buff[BUFF_SIZE];
int itera, pos;
MOTOR_STATUS mstat;
int rtn_state;
double motorData;
BOOLEAN plusdir, ls_active = OFF;
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;
/*
* Parse the status string
* Status string format: 1MSx,2MSy,3MSz,... where x, y and z are the status
* bytes for the motors
*/
pos = signal*5 + 3; /* Offset in status string */
mstat.All = cntrl->status_string[pos];
Debug(5, "set_status(): status byte = %x\n", mstat.All);
if (mstat.Bits.direction == OFF)
motor_info->status &= ~RA_DIRECTION;
else
motor_info->status |= RA_DIRECTION;
plusdir = (motor_info->status & RA_DIRECTION) ? ON : OFF;
if (mstat.Bits.inmotion == OFF)
{
motor_info->status |= RA_DONE;
/* TEMPORARY FIX, Mark Rivers, 2/1/99. The MM4000 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 && drvMM4000ReadbackDelay != 0.)
{
taskDelay((int)(drvMM4000ReadbackDelay * sysClkRateGet()));
send_mess(card, READ_POSITION, NULL);
recv_mess(card, cntrl->position_string, 1);
}
}
else
motor_info->status &= ~RA_DONE;
if (mstat.Bits.plustTL == OFF)
motor_info->status &= ~RA_PLUS_LS;
else
{
motor_info->status |= RA_PLUS_LS;
if (plusdir == ON)
ls_active = ON;
}
if (mstat.Bits.minusTL == OFF)
motor_info->status &= ~RA_MINUS_LS;
else
{
motor_info->status |= RA_MINUS_LS;
if (plusdir == OFF)
ls_active = ON;
}
if (mstat.Bits.homels == OFF)
motor_info->status &= ~RA_HOME;
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;
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
*/
strcpy(buff, cntrl->position_string);
tok_save = NULL;
p = strtok_r(buff, ",", &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];
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 == ON ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == ON) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, NULL);
nodeptr->postmsgptr = NULL;
}
return(rtn_state);
}
/*****************************************************/
/* send a message to the MM4000 board */
/* send_mess() */
/*****************************************************/
STATIC int send_mess(int card, char const *com, char inchar)
{
struct MMcontroller *cntrl;
char local_buff[BUFF_SIZE];
if (strlen(com) > MAX_MSG_SIZE)
{
logMsg((char *) "drvMM4000.c:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
return (-1);
}
if (!motor_state[card])
{
logMsg((char *) "drvMM4000.c:send_mess() - invalid card #%d\n", card,
0, 0, 0, 0, 0);
return (-1);
}
if (inchar != (char) NULL)
{
logMsg((char *) "drvMM4000.c:send_mess() - invalid argument = %c\n", inchar,
0, 0, 0, 0, 0);
return (-1);
}
/* 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;
switch (cntrl->port_type)
{
case GPIB_PORT:
gpibIOSend(cntrl->gpibInfo, local_buff, strlen(local_buff), GPIB_TIMEOUT);
break;
case RS232_PORT:
serialIOSend(cntrl->serialInfo, local_buff, strlen(local_buff), SERIAL_TIMEOUT);
break;
}
return (0);
}
/*
* 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 (-1);
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, INPUT_TERMINATOR,
timeout);
break;
case RS232_PORT:
if (flag != FLUSH)
timeout = SERIAL_TIMEOUT;
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE,
INPUT_TERMINATOR, timeout);
break;
}
if (len <= 0)
{
com[0] = '\0';
len = 0;
}
else
com[len-1] = '\0';
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return (len);
}
/*****************************************************/
/* Setup system configuration */
/* MM4000Setup() */
/*****************************************************/
int MM4000Setup(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 > MM4000_NUM_CARDS)
MM4000_num_cards = MM4000_NUM_CARDS;
else
MM4000_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= sysClkRateGet())
motor_scan_rate = sysClkRateGet() / scan_rate;
else
motor_scan_rate = SCAN_RATE;
/*
* Allocate space for motor_state structures. Note this must be done
* before MM4000Config 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(MM4000_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < MM4000_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return (0);
}
/*****************************************************/
/* Configure a controller */
/* MM4000Config() */
/*****************************************************/
int MM4000Config(int card, /* card being configured */
PortType port_type, /* GPIB_PORT or RS232_PORT */
int addr1, /* = link for GPIB or hideos_card for RS-232 */
int addr2) /* GPIB address or hideos_task */
{
struct MMcontroller *cntrl;
if (card < 0 || card >= MM4000_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 = addr1;
strcpy(cntrl->serial_task, (char *) addr2);
break;
default:
return (ERROR);
}
return (0);
}
/*****************************************************/
/* 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, arg3, arg4;
char axis_pos[BUFF_SIZE];
char buff[BUFF_SIZE];
char *tok_save, *pos_ptr;
int total_axis = 0;
int status, model_num, digits;
BOOLEAN errind;
initialized = ON; /* Indicate that driver is initialized. */
/* Check for setup */
if (MM4000_num_cards <= 0)
return (ERROR);
for (card_index = 0; card_index < MM4000_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = OFF;
total_cards = card_index + 1;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = OFF;
switch (cntrl->port_type)
{
case GPIB_PORT:
cntrl->gpibInfo = gpibIOInit(cntrl->gpib_link,
cntrl->gpib_address);
if (cntrl->gpibInfo == NULL)
errind = ON;
break;
case RS232_PORT:
cntrl->serialInfo = serialIOInit(cntrl->serial_card,
cntrl->serial_task);
if (cntrl->serialInfo == NULL)
errind = ON;
break;
}
if (errind == OFF)
{
int retry = 0;
/* 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);
do
{
send_mess(card_index, READ_POSITION, NULL);
status = recv_mess(card_index, axis_pos, 1);
retry++;
/* Return value is length of response string */
} while(status == 0 && retry < 3);
}
if (errind == OFF && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
send_mess(card_index, STOP_ALL, NULL); /* Stop all motors */
send_mess(card_index, GET_IDENT, NULL); /* Read controller ID string */
recv_mess(card_index, buff, 1);
strcpy(brdptr->ident, &buff[2]); /* Skip "VE" */
/* Set Motion Master model indicator. */
pos_ptr = strstr(brdptr->ident, "MM");
model_num = atoi(pos_ptr + 2);
if (model_num == 4000)
cntrl->model = MM4000;
else if (model_num == 4005)
cntrl->model = MM4005;
else
{
logMsg((char *) "drvMM4000.c:motor_init() - invalid model = %s\n", (int) brdptr->ident,
0, 0, 0, 0, 0);
return (ERROR);
}
send_mess(card_index, READ_POSITION, NULL);
recv_mess(card_index, axis_pos, 1);
/* The return string will tell us how many axes this controller has */
for (total_axis = 0, tok_save = NULL, pos_ptr = strtok_r(axis_pos, ",", &tok_save);
pos_ptr != 0; pos_ptr = strtok_r(NULL, ",", &tok_save), total_axis++)
brdptr->motor_info[total_axis].motor_motion = NULL;
brdptr->total_axis = total_axis;
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
int loop_state;
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
/* Determine if encoder present based on open/closed loop mode. */
sprintf(buff, "%dTC", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
loop_state = atoi(&buff[3]); /* Skip first 3 characters */
if (loop_state != 0)
{
motor_info->encoder_present = YES;
motor_info->status |= EA_PRESENT;
motor_info->pid_present = YES;
motor_info->status |= GAIN_SUPPORT;
}
/* Determine drive resolution. */
sprintf(buff, "%dTU", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
cntrl->drive_resolution[motor_index] = atof(&buff[3]);
digits = -log10(cntrl->drive_resolution[motor_index]) + 2;
if (digits < 1)
digits = 1;
cntrl->res_decpts[motor_index] = digits;
/* Save home preset position. */
sprintf(buff, "%dXH", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
cntrl->home_preset[motor_index] = atof(&buff[3]);
/* Determine low limit */
sprintf(buff, "%dTL", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
motor_info->low_limit = atof(&buff[3]);
/* Determine high limit */
sprintf(buff, "%dTR", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
motor_info->high_limit = atof(&buff[3]);
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
motor_sem = semBCreate(SEM_Q_PRIORITY, SEM_EMPTY);
any_motor_in_motion = 0;
FASTLOCKINIT(&queue_lock);
FASTLOCK(&queue_lock);
mess_queue.head = (struct mess_node *) NULL;
mess_queue.tail = (struct mess_node *) NULL;
FASTUNLOCK(&queue_lock);
FASTLOCKINIT(&freelist_lock);
FASTLOCK(&freelist_lock);
free_list.head = (struct mess_node *) NULL;
free_list.tail = (struct mess_node *) NULL;
FASTUNLOCK(&freelist_lock);
if (sizeof(int) >= sizeof(char *))
{
arg3 = (int) (&MM4000_access);
arg4 = 0;
}
else
{
arg3 = (int) ((long) &MM4000_access >> 16);
arg4 = (int) ((long) &MM4000_access & 0xFFFF);
}
taskSpawn((char *) "MM4000_motor", 64, VX_FP_TASK | VX_STDIO, 5000, motor_task,
motor_scan_rate, arg3, arg4, 0, 0, 0, 0, 0, 0, 0);
return (0);
}