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Reformatted.

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This commit is contained in:
Ron Sluiter
2007-01-17 15:39:43 +00:00
parent 4de9c7d9b8
commit bcb4abd457
1 changed files with 204 additions and 202 deletions
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motorApp/NewportSrc/drvPM500.cc
+204 -202
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@@ -2,15 +2,15 @@
FILENAME... drvPM500.cc
USAGE... Motor record driver level support for Newport PM500.
Version: $Revision: 1.19 $
Version: $Revision: 1.20 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2007-01-17 15:34:46 $
Last Modified: $Date: 2007-01-17 15:39:43 $
*/
/* Device Driver Support routines for PM500 motor controller */
/*
* Original Author: Mark Rivers
* Current Author: Ron Sluiter
* Current Author: Ron Sluiter
*
* Experimental Physics and Industrial Control System (EPICS)
*
@@ -84,9 +84,9 @@ Last Modified: $Date: 2007-01-17 15:34:46 $
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPM500debug) printf(f,## args); }
#define Debug(l, f, args...) { if(l<=drvPM500debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#define Debug(l, f, args...)
#endif
#else
#define Debug()
@@ -97,11 +97,12 @@ extern "C" {epicsExportAddress(int, drvPM500debug);}
/* --- Local data. --- */
int PM500_num_cards = 0;
static char *PM500_axis_names[] = {"X", "Y", "Z", "A", "B", "C", "D", "E", "F",
"G", "H", "I"};
"G", "H", "I"};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int recv_mess(int, char *, int);
static RTN_STATUS send_mess(int, char const *, char *);
@@ -161,42 +162,42 @@ static long report(int level)
int card;
if (PM500_num_cards <=0)
printf(" No PM500 controllers configured.\n");
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
for (card = 0; card < PM500_num_cards; card++)
{
struct MMcontroller *cntrl;
struct controller *brdptr = motor_state[card];
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
printf(" PM500 controller %d port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
if (brdptr == NULL)
printf(" PM500 controller #%d connection failed.\n", card);
else
{
struct MMcontroller *cntrl;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
printf(" PM500 controller %d port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
}
}
}
}
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
*/
/*
* 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");
Debug(1, "init(): PM500 driver disabled. PM500Setup() missing from startup script.\n");
}
return((long) 0);
}
@@ -237,25 +238,25 @@ static int set_status(int card, int signal)
rtnval = recv_mess(card, response, 1);
if (rtnval > 0)
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
rtn_state = 0;
goto exit;
}
else
{
cntrl->status = COMM_ERR;
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
rtn_state = 0;
goto exit;
}
else
{
cntrl->status = COMM_ERR;
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
}
status_char = response[1];
@@ -268,17 +269,17 @@ static int set_status(int card, int signal)
if (status_char == 'L')
{
ls_active = true;
if (dir_char == '+')
status.Bits.RA_PLUS_LS = 1;
else
status.Bits.RA_MINUS_LS = 1;
ls_active = true;
if (dir_char == '+')
status.Bits.RA_PLUS_LS = 1;
else
status.Bits.RA_MINUS_LS = 1;
}
else
{
ls_active = false;
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
ls_active = false;
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
}
status.Bits.RA_HOME = 0;
@@ -297,18 +298,18 @@ static int set_status(int card, int signal)
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
if (nodeptr != 0) /* Increment counter only if motor is moving. */
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->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->no_motion_count = 0;
}
status.Bits.RA_PROBLEM = 0;
@@ -319,19 +320,19 @@ static int set_status(int card, int signal)
motor_info->velocity = 0;
if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r");
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r");
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
@@ -354,16 +355,16 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPM500.c:send_mess(); message size violation.\n");
return(ERROR);
errlogMessage("drvPM500.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvPM500.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
errlogPrintf("drvPM500.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
@@ -403,13 +404,14 @@ static int recv_mess(int card, char *com, int flag)
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
return(ERROR);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
if (flag != FLUSH) {
if (flag != FLUSH)
{
flush=0;
timeout = SERIAL_TIMEOUT;
timeout = SERIAL_TIMEOUT;
}
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
@@ -417,14 +419,14 @@ static int recv_mess(int card, char *com, int flag)
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
com[0] = '\0';
nread = 0;
}
else
{
/* Test for "system error" response. */
if (strncmp(com, "SE", 2) == 0)
errlogMessage("recv_mess(): PM500 system error.\n");
/* 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);
@@ -438,32 +440,32 @@ static int recv_mess(int card, char *com, int flag)
/*****************************************************/
RTN_STATUS
PM500Setup(int num_cards, /* maximum number of controllers in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
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;
PM500_num_cards = PM500_NUM_CARDS;
else
PM500_num_cards = num_cards;
PM500_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= 60)
targs.motor_scan_rate = scan_rate;
targs.motor_scan_rate = scan_rate;
else
targs.motor_scan_rate = SCAN_RATE;
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
*/
/*
* 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 *));
sizeof(struct controller *));
for (itera = 0; itera < PM500_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
@@ -481,7 +483,7 @@ PM500Config(int card, /* card being configured */
struct MMcontroller *cntrl;
if (card < 0 || card >= PM500_num_cards)
return (ERROR);
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MMcontroller));
@@ -514,78 +516,78 @@ static int motor_init()
/* Check for setup */
if (PM500_num_cards <= 0)
return(ERROR);
return(ERROR);
for (card_index = 0; card_index < PM500_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
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;
brdptr = motor_state[card_index];
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
/* flush any junk at input port - should not be any data available */
if (success_rtn == asynSuccess)
{
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
/* 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);
/* 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);
/* 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 */
}
/* 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 (success_rtn == asynSuccess && 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);
strncpy(brdptr->ident, &buff[2], 50); /* Skip "XD" */
if (success_rtn == asynSuccess && 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);
strncpy(brdptr->ident, &buff[2], 50); /* 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++)
{
int axis_name = (int) *PM500_axis_names[total_axis];
brdptr->motor_info[total_axis].motor_motion = NULL;
sprintf(buff, "%cSTAT?", axis_name);
{
int axis_name = (int) *PM500_axis_names[total_axis];
brdptr->motor_info[total_axis].motor_motion = NULL;
sprintf(buff, "%cSTAT?", axis_name);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
if (buff[1] == 'E')
break;
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
@@ -598,72 +600,72 @@ static int motor_init()
*/
}
brdptr->total_axis = total_axis;
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;
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, "%sCONFIG?", axis_name);
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
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;
}
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;
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;
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.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
/* PM500 only supports DC motors. */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
motor_info->status.All = 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;
motor_info->encoder_present = NO;
motor_info->pid_present = NO;
cntrl->home_preset[motor_index] = 0;
cntrl->home_preset[motor_index] = 0;
set_status(card_index, motor_index); /* Read status of each motor */
set_status(card_index, motor_index); /* Read status of each motor */
}
}
}
else
motor_state[card_index] = (struct controller *) NULL;
else
motor_state[card_index] = (struct controller *) NULL;
}
any_motor_in_motion = 0;
@@ -675,8 +677,8 @@ static int motor_init()
free_list.tail = (struct mess_node *) NULL;
epicsThreadCreate((char *) "PM500_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}