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This commit is contained in:
Ron Sluiter
2004-02-13 18:21:20 +00:00
parent 80901f0181
commit bd0883b1aa
6 changed files with 1008 additions and 0 deletions
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motorApp/MicosSrc/Makefile
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# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
#USR_CXXFLAGS += -DDEBUG
DBD += devMicos.dbd
LIBRARY_IOC = Micos
# Intelligent Motion Systems driver support.
SRCS += MicosRegister.cc
SRCS += devMicos.cc drvMicos.cc
Micos_LIBS += motor motorCOM_mpf
Micos_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES
motorApp/MicosSrc/MicosRegister.cc
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/*
FILENAME... MicosRegister.cc
USAGE... Register Micos MoCo dc motor controller device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-02-13 18:21:19 $
*/
/*****************************************************************
COPYRIGHT NOTIFICATION
*****************************************************************
(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
This software was developed under a United States Government license
described on the COPYRIGHT_UniversityOfChicago file included as part
of this distribution.
**********************************************************************/
#include <stdlib.h>
#include <stddef.h>
#include <string.h>
#include <stdio.h>
#include <iocsh.h>
#include "motor.h"
#include "drvMicos.h"
#include "epicsExport.h"
extern "C"
{
// Micos Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Max. motor count", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// Micos Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"MPF server location", iocshArgInt};
static const iocshArg configArg2 = {"MPF server task name", iocshArgString};
static const iocshArg * const MicosSetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const MicosConfigArgs[3] = {&configArg0, &configArg1,
&configArg2};
static const iocshFuncDef setupMicos = {"MicosSetup", 3, MicosSetupArgs};
static const iocshFuncDef configMicos = {"MicosConfig", 3, MicosConfigArgs};
static void setupMicosCallFunc(const iocshArgBuf *args)
{
MicosSetup(args[0].ival, args[1].ival, args[2].ival);
}
static void configMicosCallFunc(const iocshArgBuf *args)
{
MicosConfig(args[0].ival, args[1].ival, args[2].sval);
}
static void MicosmotorRegister(void)
{
iocshRegister(&setupMicos, setupMicosCallFunc);
}
epicsExportRegistrar(MicosmotorRegister);
} // extern "C"
motorApp/MicosSrc/devMicos.cc
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/* File: devMicos.cc */
/* Device Support Routines for Micos MoCo dc motor controller. */
/*
* Original Author: Kurt Goetze
* Date: 11-24-2003
*
* Modification Log:
* -----------------
* .00 11-24-2003 kag initialized from drvMCB4B.c
* .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR".
* .02 02-12-2004 rls copied from devMicos.c; ported to R3.14.x
*/
#define VERSION 2.00
#include <string.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMicos.h"
#include "epicsExport.h"
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int devMicosDebug = 0;
#define Debug(l, f, args...) {if (l <= devMicosDebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* Debugging levels:
* devMicosDebug >= 3 Print new part of command and command string so far
* at the end of Micos_build_trans
*/
extern struct driver_table Micos_access;
/* ----------------Create the dsets for devMicos----------------- */
static struct driver_table *drvtabptr;
static long Micos_init(void *);
static long Micos_init_record(void *);
static long Micos_start_trans(struct motorRecord *);
static RTN_STATUS Micos_build_trans(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS Micos_end_trans(struct motorRecord *);
struct motor_dset devMicos =
{
{8, NULL, (DEVSUPFUN) Micos_init, (DEVSUPFUN) Micos_init_record, NULL},
motor_update_values,
Micos_start_trans,
Micos_build_trans,
Micos_end_trans
};
epicsExportAddress(dset,devMicos);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types Micos_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 */
};
static struct board_stat **Micos_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for Micos DC motor */
static long Micos_init(void *arg)
{
long rtnval;
int after = (int) arg;
Debug(5, "Micos_init: entry\n");
if (after == 0)
{
drvtabptr = &Micos_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &Micos_cards);
Debug(5, "Micos_init: exit\n");
return(rtnval);
}
/* initialize a record instance */
static long Micos_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
Debug(5, "Micos_init_record: entry\n");
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, Micos_cards);
Debug(5, "Micos_init_record: exit\n");
return(rtnval);
}
/* start building a transaction */
static long Micos_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
static RTN_STATUS Micos_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
static RTN_STATUS Micos_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 MicosController *cntrl;
char buff[30];
int axis, card;
RTN_STATUS rtnval;
double dval; /* placeholder for double values passed from motor record */
long ival; /* placeholder for ints passed from motor record */
rtnval = OK;
buff[0] = '\0';
dval = parms[0];
ival = NINT(parms[0]);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
Debug(5, "Micos_build_trans: entry, motor_start_trans_com=%ld\n", rtnval);
motor_call = &(trans->motor_call);
motor_call->type = Micos_table[command];
card = motor_call->card; /* card is the group of drivers per unique serial port */
axis = motor_call->signal; /* axis is Micos address, up to 16 (0-15) per serial port */
/* Note: Each Micos driver drives _1_ motor */
brdptr = (*trans->tabptr->card_array)[card];
Debug(5, "Micos_build_trans: axis=%d, command=%d\n", axis, command);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MicosController *) brdptr->DevicePrivate;
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcpy(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
motor_call->type = Micos_table[command];
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcpy(motor_call->message, mr->prem);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards);
motor_call->type = Micos_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, ival);
break;
case MOVE_REL:
sprintf(motor_call->message, "%c%dmr%ld", CTLA, axis, ival);
break;
case HOME_FOR:
sprintf(motor_call->message, "%c%dgh", CTLA, axis);
break;
case HOME_REV:
sprintf(motor_call->message, "%c%dgh", CTLA, axis);
break;
case LOAD_POS: /* Micos allows you to define the zero position only */
if (dval == 0.0)
sprintf(motor_call->message, "%c%ddh,ud", CTLA, axis);
else
rtnval = ERROR;
break;
case SET_VEL_BASE:
trans->state = IDLE_STATE;
break; /* Micos does not use base velocity */
case SET_VELOCITY:
if (ival < 0) ival = 0;
if (ival > 1000000) ival = 1000000;
sprintf(motor_call->message, "%c%ddv%ld,ud", CTLA, axis, ival);
break;
case SET_ACCEL:
/* dval is acceleration in steps/sec/sec */
if (ival < 0) ival = 0;
if (ival > 1000000) ival = 1000000;
sprintf(motor_call->message, "%c%dda%ld,ud", CTLA, axis, ival);
break;
case GO:
/*
* The Micos starts moving immediately on move commands, GO command
* does nothing
*/
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The Micos does not have the concept of encoder ratio, ignore this
* command
*/
trans->state = IDLE_STATE;
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: /* (decelerate to a) stop */
sprintf(motor_call->message, "%c%dab1", CTLA, axis);
break;
case JOG:
/*
* Micos does not have a jog command. Simulate with move absolute
* to the appropriate software limit. The record will prevent JOG motion
* beyond its soft limits
*/
if (dval > 0.)
sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dhlm / mr->mres));
else
sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dllm / mr->mres));
break;
case SET_PGAIN:
if (ival < 0) ival = 0;
if (ival > 32767) ival = 32767;
sprintf(motor_call->message, "%c%ddp%ld,ud", CTLA, axis, ival);
break;
case SET_IGAIN:
if (ival < 0) ival = 0;
if (ival > 32767) ival = 32767;
sprintf(motor_call->message, "%c%ddi%ld,ud", CTLA, axis, ival);
break;
case SET_DGAIN:
if (ival < 0) ival = 0;
if (ival > 32767) ival = 32767;
sprintf(motor_call->message, "%c%ddd%ld,ud", CTLA, axis, ival);
break;
case ENABLE_TORQUE:
sprintf(motor_call->message, "%c%dmn", CTLA, axis);
break;
case DISABL_TORQUE:
sprintf(motor_call->message, "%c%dmf", CTLA, axis);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE;
break;
default:
rtnval = ERROR;
}
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "Micos_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval);
return (rtnval);
}
motorApp/MicosSrc/devMicos.dbd
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# Micos MoCo dc series support.
device(motor,VME_IO,devMicos,"Micos MoCo")
driver(drvMicos)
motorApp/MicosSrc/drvMicos.cc
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/* File: drvMicos.cc */
/* Device Driver Support routines for Micos MoCo dc motor controller. */
/*
* Original Author: Kurt Goetze
* Date: 11/24/2003
*
* Modification Log:
* -----------------
* .00 11-24-2003 kag initialized from drvMCB4B.c
* .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR".
* .02 02-12-2004 rls Copied from drvMicos.c. Upgraded from R3.14.x
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvMicos.h"
#include "serialIO.h"
#include "epicsExport.h"
#define WAIT 1
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */
#define BUFF_SIZE 100 /* Maximum length of string to/from Micos */
struct mess_queue
{
struct mess_node *head;
struct mess_node *tail;
};
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvMicosDebug = 0;
#define Debug(l, f, args...) {if (l <= drvMicosDebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* Debugging notes:
* drvMicosDebug == 0 No debugging information is printed
* drvMicosDebug >= 1 Warning information is printed
* drvMicosDebug >= 2 Time-stamped messages are printed for each string
* sent to and received from the controller
* drvMicosDebug >= 3 Additional debugging messages
*/
volatile int Micos_num_cards = 0;
volatile int Micos_num_axis = 0;
/* 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 card, const char *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 Micos_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
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvMicos = {2, report, init};
epicsExportAddress(drvet, drvMicos);
static struct thread_args targs = {SCAN_RATE, &Micos_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (Micos_num_cards <=0)
printf(" NO Micos controllers found\n");
else
{
for (card = 0; card < Micos_num_cards; card++)
if (motor_state[card])
printf(" Micos controller group %d, id: %s \n",
card,
motor_state[card]->ident);
}
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 (Micos_num_cards <= 0)
{
Debug(1, "init: *Micos driver disabled*\n");
Debug(1, "MicosSetup() is missing from startup script.\n");
return (ERROR);
}
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)
{
/* The Micos cannot query status or positions of all axes with a
* single command. This needs to be done on an axis-by-axis basis,
* so this function does nothing
*/
}
/**************************************************************
* Query position and status for an axis
* set_status()
************************************************************/
static int set_status(int card, int signal)
{
register struct mess_info *motor_info;
char command[BUFF_SIZE];
char response[BUFF_SIZE];
struct mess_node *nodeptr;
int rtn_state, i, j;
long motorData;
long bytes[7];
char temp[5];
char buff[BUFF_SIZE];
bool ls_active = false;
msta_field status;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
/* Request the moving status of this motor */
/* MM4000 has a delay in case the motor is not done due to servo PID-related settling.. do we need this delay? */
/* ...after some testing, it doesn't look like we need the delay */
/* Get the motor status (ts) */
sprintf(command, "%c%dts", CTLA, signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "byte0 byte1 ... byte6" */
/* Convert ASCII characters to hex */
temp[0]='0'; temp[1]='x'; temp[2]='0', temp[3]='0', temp[4]='\0';
if (signal > 9) j = 5;
else j = 4;
for (i = 0; i < 7; i++) {
temp[2] = response[j];
temp[3] = response[j+1];
bytes[i] = strtol(temp, (char **)NULL, 0);
j += 3;
}
/* check to see if motor is moving */
status.Bits.RA_DONE = (bytes[0] & 0x04) ? 1 : 0;
/* check limits */
status.Bits.RA_PLUS_LS = status.Bits.RA_MINUS_LS = 0;
if ((bytes[5] & 0x04) & (bytes[3] & 0x04)) { /* if +lim AND pos move */
status.Bits.RA_PLUS_LS = 1;
ls_active = true;
}
if ((bytes[5] & 0x01) & !(bytes[3] & 0x04)) { /* if -lim AND neg move */
status.Bits.RA_MINUS_LS = 1;
ls_active = true;
}
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_POSITION = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
if ((bytes[3] & 0x08) | (bytes[3] & 0x40)) {
printf("drvMicos: set_status: EA_SLIP_STALL = 1, %ld\n", bytes[3]);
status.Bits.EA_SLIP_STALL = 1;
}
/* Request the position of this motor */
sprintf(command, "%c%dtp", CTLA, signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "0P0:+00001000" */
if (signal > 9)
motorData = atoi(&response[5]);
else
motorData = atoi(&response[4]);
/* derive direction information */
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
status.Bits.RA_DIRECTION = (bytes[3] & 0x04) ? 1 : 0;
motor_info->position = motorData;
motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0;
}
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
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)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char) NULL);
/* The Micos will not send back a response for a 'set' command, don't need next line */
/* recv_mess(card, buff, WAIT); */
nodeptr->postmsgptr = NULL;
}
motor_info->status.All = status.All;
return (rtn_state);
}
/*****************************************************/
/* send a message to the Micos board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, const char *com, char c)
{
char buff[BUFF_SIZE];
struct MicosController *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("send_mess - invalid card #%d\n", card);
return(ERROR);
}
/* If the string is NULL just return */
if (strlen(com) == 0) return(OK);
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
strcpy(buff, com);
strcat(buff, OUTPUT_TERMINATOR);
Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n",
tickGet()/60., card, buff);
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
cntrl->serialInfo->serialIOSend(buff, strlen(buff), SERIAL_TIMEOUT);
return (OK);
}
/*****************************************************/
/* Read a response string from the Micos board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
int timeout;
int len=0;
struct MicosController *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("recv_mess - invalid card #%d\n", card);
return (-1);
}
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
Debug(3, "%.2f : recv_mess entry: card %d, flag=%d\n",
tickGet()/60., card, flag);
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
len = cntrl->serialInfo->serialIORecv(com, BUFF_SIZE, (char *) "\3", timeout);
/* The response from the Micos is terminated with <CR><LF><ETX>. Remove */
if (len < 3) com[0] = '\0';
else com[len-3] = '\0';
if (len > 0) {
Debug(2, "%.2f : recv_mess: card %d, message = \"%s\"\n",
tickGet()/60., card, com);
}
if (len == 0) {
if (flag != FLUSH) {
Debug(1, "%.2f: recv_mess: card %d ERROR: no response\n",
tickGet()/60., card);
} else {
Debug(3, "%.2f: recv_mess: card %d flush returned no characters\n",
tickGet()/60., card);
}
}
return (len);
}
/*****************************************************/
/* Setup system configuration */
/* MicosSetup() */
/*****************************************************/
RTN_STATUS
MicosSetup(int num_cards, /* maximum number of "controllers" in system */
int num_channels, /* max number of drivers */
int scan_rate) /* polling rate - 1/60 sec units */
{
int itera;
if (num_cards < 1 || num_cards > MICOS_NUM_CARDS)
Micos_num_cards = MICOS_NUM_CARDS;
else
Micos_num_cards = num_cards;
if (num_channels < 1 || num_channels > MICOS_NUM_AXIS)
Micos_num_axis = MICOS_NUM_AXIS;
else
Micos_num_axis = num_channels;
/* 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 structure pointers. Note this must be done
* before MicosConfig 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 since this is just
* an array of pointers.
*/
motor_state = (struct controller **) malloc(Micos_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < Micos_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* MicosConfig() */
/*****************************************************/
RTN_STATUS
MicosConfig(int card, /* "controller" being configured */
int location, /* MPF server location */
const char *name) /* MPF server task name */
{
struct MicosController *cntrl;
if (card < 0 || card >= Micos_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct MicosController));
cntrl = (struct MicosController *) motor_state[card]->DevicePrivate;
cntrl->serial_card = location;
strcpy(cntrl->serial_task, name);
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 MicosController *cntrl;
int card_index, motor_index;
char cmd[BUFF_SIZE];
char buff[BUFF_SIZE];
int total_axis = 0;
int status = 0;
bool errind, success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (Micos_num_cards <= 0)
{
Debug(1, "motor_init: *Micos driver disabled*\n");
Debug(1, "MicosSetup() is missing from startup script.\n");
return (ERROR);
}
for (card_index = 0; card_index < Micos_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
total_cards = card_index + 1;
cntrl = (struct MicosController *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = false;
success_rtn = false;
cntrl->serialInfo = new serialIO(cntrl->serial_card,
cntrl->serial_task, &success_rtn);
if (success_rtn == true)
{
int retry = 0;
/* Each "controller" can have max 16 axes. */
total_axis = Micos_num_axis;
brdptr->total_axis = total_axis;
/* 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 message to each Micos driver. See if it responds */
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
do
{
sprintf(cmd, "%c%dts", CTLA, motor_index);
send_mess(card_index, cmd, 0);
status = recv_mess(card_index, buff, WAIT);
retry++;
/* Return value is length of response string */
} while(status == 0 && retry < 3);
if (status == 0) break;
}
}
if (success_rtn == true && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
brdptr->cmnd_response = false;
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
brdptr->motor_info[motor_index].motor_motion = NULL;
/* turn off echo */
sprintf(buff, "%c%def", CTLA, motor_index);
send_mess(card_index, buff, 0);
/* Don't turn on motor power, too dangerous */
/*sprintf(buff,"#%02dW=1", motor_index); */
/* send_mess(card_index, buff, 0); */
/* Stop motor */
sprintf(buff,"%c%dab1", CTLA, motor_index);
send_mess(card_index, buff, 0);
/* recv_mess(card_index, buff, WAIT); Throw away response */
strcpy(brdptr->ident, "MICOS");
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
Debug(3, "motor_init: spawning motor task\n");
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 *) "tMicos", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
return (0);
}
motorApp/MicosSrc/drvMicos.h
+40
View File
@@ -0,0 +1,40 @@
/* File: drvMicos.h */
/* Device Driver Support definitions for Micos MoCo dc motor controller. */
/*
* Original Author: Kurt Goetze
* Current Author: Kurt Goetze
* Date: 11/24/2003
*
* Modification Log:
* -----------------
* .00 11/24/2003 kag initialized from drvMCB4B.h
*/
#ifndef INCdrvMicosh
#define INCdrvMicosh 1
#include "motor.h"
#include "motordrvCom.h"
#include "serialIO.h"
/* Micos default profile. */
#define MICOS_NUM_CARDS 16
#define MICOS_NUM_AXIS 16
#define CTLA 1
#define OUTPUT_TERMINATOR "\r"
struct MicosController
{
serialIO *serialInfo; /* For RS-232 */
int serial_card; /* Card on which Hideos/MPF is running */
char serial_task[20]; /* Hideos/MPF task/server name for serial port */
};
/* Function prototypes. */
extern RTN_STATUS MicosSetup(int, int, int);
extern RTN_STATUS MicosConfig(int, int, const char *);
#endif /* INCdrvMicosh */