lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Converted to C++ with R3.14

Browse Source
This commit is contained in:
Ron Sluiter
2003-05-22 17:36:58 +00:00
parent 75a425cb1b
commit c78c550b54
2 changed files with 0 additions and 1170 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/NewportSrc/devMM3000.c
-360
View File
@@ -1,360 +0,0 @@
/*
FILENAME... devMM3000.c
USAGE... Motor record device level support for Newport MM3000.
Version: $Revision: 1.7 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-07-05 19:25:10 $
*/
/*
* 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.
*/
#include <vxWorks.h>
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <semLib.h> /* jps: include for init_record wait */
#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 devMM3000----------------- */
/* static long report(); */
STATIC struct driver_table *drvtabptr;
STATIC long MM3000_init(int);
STATIC long MM3000_init_record(struct motorRecord *);
STATIC long MM3000_start_trans(struct motorRecord *);
STATIC long MM3000_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC long MM3000_end_trans(struct motorRecord *);
struct motor_dset devMM3000 =
{
{8, NULL, MM3000_init, MM3000_init_record, NULL},
motor_update_values,
MM3000_start_trans,
MM3000_build_trans,
MM3000_end_trans
};
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static int MM3000_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 **MM3000_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MM3000 stepper motor */
STATIC long MM3000_init(int after)
{
SYM_TYPE type;
long rtnval;
if (after == 0)
{
rtnval = symFindByNameEPICS(sysSymTbl, "_MM3000_access",
(char **) &drvtabptr, &type);
if (rtnval != OK)
return(rtnval);
/*
IF before DB initialization.
Initialize MM3000 driver (i.e., call init()). See comment in
drvMM3000.c init().
ENDIF
*/
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MM3000_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long MM3000_init_record(struct motorRecord *mr)
{
return(motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, drvtabptr, MM3000_cards));
}
/* start building a transaction */
STATIC long MM3000_start_trans(struct motorRecord *mr)
{
return(motor_start_trans_com(mr, MM3000_cards));
}
/* end building a transaction */
STATIC long MM3000_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] = NULL;
return(motor_end_trans_com(mr, drvtabptr));
}
/* add a part to the transaction */
STATIC long MM3000_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[30];
int axis, card;
int intval;
long rtnval;
rtnval = OK;
buff[0] = '\0';
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 = brdptr->DevicePrivate;
if (MM3000_table[command] > motor_call->type)
motor_call->type = MM3000_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 SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
{
double temp_dbl;
temp_dbl = parms[0] * 32767.0;
intval = NINT(temp_dbl);
break;
}
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:
intval = NINT(parms[0]);
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%dPA%d;", axis, intval);
break;
case MOVE_REL:
sprintf(buff, "%dPR%d;", axis, intval);
break;
case HOME_FOR:
case HOME_REV:
sprintf(buff, "%dOR1;", axis);
break;
case LOAD_POS:
if (*parms == 0.0)
sprintf(buff, "%dDH", axis);
else
rtnval = ERROR;
break;
case SET_VEL_BASE:
if (cntrl->type[axis - 1] == STEPPER)
{
if (intval < 100)
intval = 100;
sprintf(buff, "%dVB%d;", axis, intval);
}
break;
case SET_VELOCITY:
if (cntrl->type[axis - 1] == STEPPER && intval < 100)
intval = 100;
sprintf(buff, "%dVA%d;", axis, intval);
break;
case SET_ACCEL:
/*
* The value passed is in steps/sec/sec.
* Convert to user units/sec/sec
*/
if (cntrl->type[axis - 1] == STEPPER && intval < 15000)
intval = 15000;
if (cntrl->type[axis - 1] == DC && intval < 250)
intval = 250;
sprintf(buff, "%dAC%d;", axis, intval);
break;
case GO:
/*
* The MM3000 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/* MM3000 valid encoder ratio values < 10,000. */
while (parms[0] > 10000.0 || parms[1] > 10000.0)
{
parms[0] /= 10;
parms[1] /= 10;
}
if (cntrl->type[axis - 1] == STEPPER)
sprintf(buff, "%dER%d:%d", axis, (int) parms[0], (int) parms[1]);
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:
/*
* MM3000 does not have a jog command. Simulate with move absolute
* to the appropriate software limit. We can move to MM3000 soft limits.
* If the record soft limits are set tighter than the MM3000 limits
* the record will prevent JOG motion beyond its soft limits
*/
sprintf(buff, "%dVA%d;", axis, abs(intval));
strcat(motor_call->message, buff);
if (intval > 0)
sprintf(buff, "%dPA%d;", axis, (int) (mr->dhlm / mr->mres));
else
sprintf(buff, "%dPA%d;", axis, (int) (mr->dllm / mr->mres));
break;
case SET_PGAIN:
sprintf(buff, "%dKP%d;%dUF;", axis, intval, axis);
break;
case SET_IGAIN:
sprintf(buff, "%dKI%d;%dUF;", axis, intval, axis);
break;
case SET_DGAIN:
sprintf(buff, "%dKD%d;%dUF;", axis, intval, axis);
break;
case ENABLE_TORQUE:
sprintf(buff, "MO;");
break;
case DISABL_TORQUE:
sprintf(buff, "MF;");
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
sprintf(buff, "%dSL%d;", axis, intval);
break;
default:
rtnval = ERROR;
}
strcat(motor_call->message, buff);
return(rtnval);
}
motorApp/NewportSrc/drvMM3000.c
-810
View File
@@ -1,810 +0,0 @@
/*
FILENAME... drvMM3000.c
USAGE... Motor record driver level support for Newport MM3000.
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-07-05 19:27:22 $
*/
/*
* 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 04-18-00 rls MM3000 takes 2 to 5 seconds to respond to queries after
* hitting a hard travel limit. Adjusted GPIB and SERIAL
* timeouts accordingly. Deleted communication retries.
* Reworked travel limit processing so that direction
* status bit matches limit switch. Copied recv_mess()
* logic from drvMM4000.c. Use TPE command to determine
* if motor has an encoder.
* .06 10/02/01 rls - allow one retry after a communication error.
* - use motor status response bit-field.
*/
#include <vxWorks.h>
#include <stdio.h>
#include <sysLib.h>
#include <string.h>
#include <taskLib.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 REMOTE_MODE "MR;"
#define GET_IDENT "VE"
#define INPUT_TERMINATOR '\n'
/* 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 MM3000_NUM_CARDS 4
#define BUFF_SIZE 100 /* Maximum length of string to/from MM3000 */
/* The MM3000 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 DEBUG
#define Debug(l, f, args...) { if(l<=drvMM3000debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
int MM3000_num_cards = 0;
volatile int drvMM3000debug = 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 drvMM3000ReadbackDelay = 0.;
/*----------------functions-----------------*/
STATIC int recv_mess(int card, char *com, int flag);
STATIC int 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 MM3000_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
} drvMM3000 = {2, report, init};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MM3000_num_cards <=0)
printf(" No MM3000 controllers configured.\n");
else
{
for (card = 0; card < MM3000_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MM3000 controller %d connection failed.\n", card);
else
{
struct MMcontroller *cntrl;
cntrl = (struct MMcontroller *) brdptr->DevicePrivate;
switch (cntrl->port_type)
{
case RS232_PORT:
printf(" MM3000 controller %d port type = RS-232, id: %s \n",
card,
brdptr->ident);
break;
case GPIB_PORT:
printf(" MM3000 controller %d port type = GPIB, id: %s \n",
card,
brdptr->ident);
break;
default:
printf(" MM3000 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 (MM3000_num_cards <= 0)
{
Debug(1, "init(): MM3000 driver disabled. MM3000Setup() 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];
MOTOR_STATUS mstat;
int rtn_state, charcnt;
double motorData;
BOOLEAN plusdir, ls_active = OFF;
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
sprintf(outbuff, "%dMS", signal + 1);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
if (charcnt > 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);
}
}
mstat.All = inbuff[0];
Debug(5, "set_status(): status byte = %x\n", mstat.All);
nodeptr = motor_info->motor_motion;
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 MM3000 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 && drvMM3000ReadbackDelay != 0.)
{
taskDelay((int)(drvMM3000ReadbackDelay * sysClkRateGet()));
send_mess(card, READ_POSITION, NULL);
recv_mess(card, cntrl->position_string, 1);
}
}
else
motor_info->status &= ~RA_DONE;
/* Set Travel limit switch status bits. */
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;
sprintf(outbuff, "%dTP", signal + 1);
send_mess(card, outbuff, NULL);
charcnt = recv_mess(card, inbuff, 1);
if (charcnt > 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);
}
}
tok_save = NULL;
cptr = strtok_r(inbuff, " ", &tok_save);
motorData = atof(cptr);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
motor_info->position = (epicsInt32) 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(outbuff, nodeptr->postmsgptr);
send_mess(card, outbuff, NULL);
nodeptr->postmsgptr = NULL;
}
return (rtn_state);
}
/*****************************************************/
/* send a message to the MM3000 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 *) "drvMM3000:send_mess(); message size violation.\n",
0, 0, 0, 0, 0, 0);
return (-1);
}
if (!motor_state[card])
{
logMsg((char *) "drvMM3000:send_mess() - invalid card #%d\n", card,
0, 0, 0, 0, 0);
return (-1);
}
if (inchar != (char) NULL)
{
logMsg((char *) "drvMM3000: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;
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 (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...
* 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 MM3000 sometimes responds to an MS command with an error
* message (see MM3000 User's Manual Appendix A). This is an
* unconfirmed MM3000 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 (-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);
if (len > 3 && com[0] == 'E')
{
long error;
error = strtol(&com[1], NULL, NULL);
if (error >= 35 && error <= 42)
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE,
INPUT_TERMINATOR, timeout);
}
break;
}
if (len <= 0)
{
com[0] = '\0';
len = 0;
}
else
/* MM3000 responses are always terminated with CR/LF combination (see
* MM3000 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 */
/* MM3000Setup() */
/*****************************************************/
int MM3000Setup(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 > MM3000_NUM_CARDS)
MM3000_num_cards = MM3000_NUM_CARDS;
else
MM3000_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 MM3000Config 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(MM3000_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < MM3000_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return (0);
}
/*****************************************************/
/* Configure a controller */
/* MM3000Config() */
/*****************************************************/
int MM3000Config(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 >= MM3000_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, *bufptr;
int total_axis = 0;
int status;
BOOLEAN errind;
initialized = ON; /* Indicate that driver is initialized. */
/* Check for setup */
if (MM3000_num_cards <= 0)
return (ERROR);
tok_save = NULL;
for (card_index = 0; card_index < MM3000_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)
{
/* 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, NULL);
status = recv_mess(card_index, axis_pos, 1);
/* Return value is length of response string */
}
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[0]); /* Skip "VE" */
send_mess(card_index, "RC", NULL);
recv_mess(card_index, buff, 1);
bufptr = strtok_r(buff, "=", &tok_save);
bufptr = strtok_r(NULL, " ", &tok_save);
/* The return string will tell us how many axes this controller has */
for (total_axis = 0; bufptr != NULL; total_axis++)
{
if (strcmp(bufptr, "unused") == 0)
{
cntrl->type[total_axis] = UNUSED;
bufptr = NULL;
}
else
{
if (strcmp(bufptr, "stepper1.5M") == 0)
cntrl->type[total_axis] = STEPPER;
else if (strcmp(bufptr, "dc") == 0)
cntrl->type[total_axis] = DC;
else
logMsg((char *) "drvMM3000:motor_init() - invalid RC response = %s\n",
(int) bufptr, 0, 0, 0, 0, 0);
bufptr = strtok_r(NULL, "=", &tok_save);
bufptr = strtok_r(NULL, " ", &tok_save);
}
/* Initialize. */
brdptr->motor_info[total_axis].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;
if (cntrl->type[total_axis] == DC)
motor_info->encoder_present = YES;
else
{
sprintf(buff, "%dTPE", motor_index + 1);
send_mess(card_index, buff, NULL);
recv_mess(card_index, buff, 1);
if (strcmp(buff, "E01") == 0)
motor_info->encoder_present = NO;
else
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;
}
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) (&MM3000_access);
arg4 = 0;
}
else
{
arg3 = (int) ((long) &MM3000_access >> 16);
arg4 = (int) ((long) &MM3000_access & 0xFFFF);
}
taskSpawn((char *) "MM3000_motor", 64, VX_FP_TASK | VX_STDIO, 5000, motor_task,
motor_scan_rate, arg3, arg4, 0, 0, 0, 0, 0, 0, 0);
return (0);
}
/*---------------------------------------------------------------------*/