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- Added PMACcontroller.

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- ToDo: fix axis_name[].
This commit is contained in:
Ron Sluiter
2004-09-15 18:47:31 +00:00
parent 58094d3a61
commit cba7e965da
1 changed files with 36 additions and 26 deletions
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motorApp/DeltaTauSrc/drvPmac.cc
+36 -26
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@@ -2,9 +2,9 @@
FILENAME... drvPmac.cc
USAGE... Driver level support for Delta Tau PMAC model.
Version: $Revision: 1.1 $
Version: $Revision: 1.2 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-06-07 19:27:05 $
Last Modified: $Date: 2004-09-15 18:47:31 $
*/
/*
@@ -94,7 +94,7 @@ static char *Mbox_addrs = 0x0; /* Base address of Mailbox. */
static epicsAddressType Pmac_ADDRS_TYPE;
static volatile unsigned PmacInterruptVector = 0;
static volatile epicsUInt8 PmacInterruptLevel = Pmac_INT_LEVEL;
static char Pmac_axis[] = {'1', '2', '3', '4', '5', '6', '7', '8'};
static char Pmac_axis[] = {'1', '2', '3', '4', '5', '6', '7', '8', '9'};
static double quantum;
/*----------------functions-----------------*/
@@ -178,18 +178,12 @@ static long init()
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
char buffer[40];
send_mess(card, DONE_QUERY, Pmac_axis[axis]);
recv_mess(card, buffer, 1);
if (nodeptr->status.Bits.RA_PROBLEM)
send_mess(card, AXIS_STOP, Pmac_axis[axis]);
}
static int set_status(int card, int signal)
{
struct PMACcontroller *cntrl;
struct mess_node *nodeptr;
MOTOR_STATUS motorstat;
struct mess_info *motor_info;
@@ -200,6 +194,7 @@ static int set_status(int card, int signal)
bool plusdir, ls_active = false, plusLS, minusLS;
msta_field status;
cntrl = (struct PMACcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
@@ -209,20 +204,15 @@ static int set_status(int card, int signal)
rtn_state = sscanf(buff, "%4hx%4hx%4hx", &motorstat.word1.All, &motorstat.word2.All,
&motorstat.word3.All);
status.Bits.RA_DONE = (motorstat.word3.Bits.in_position == YES) ? 0 : 1;
status.Bits.RA_DONE = (motorstat.word3.Bits.in_position == YES) ? 1 : 0;
status.Bits.EA_POSITION = (motorstat.word1.Bits.amp_enabled == YES) ? 1 : 0;
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
sprintf(outbuf, "M%.2d61", (signal + 1));
sprintf(outbuf, "M%.2d61", (signal + 1)); // Get Commanded Position.
send_mess(card, outbuf, (char) NULL);
recv_mess(card, buff, 1);
motorData = atof(buff);
motorData /= 32.0; /* Shift out fractionial data. */
if (motorData == motor_info->position)
{
@@ -267,10 +257,10 @@ static int set_status(int card, int signal)
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
send_mess(card, "P", (char) NULL);
sprintf(outbuf, "M%.2d62", (signal + 1));
send_mess(card, outbuf, (char) NULL); // Get Actual Position.
recv_mess(card, buff, 1);
motorData = atof(buff);
motorData *= 32.0; /* "P" command units are in 1/32 of a count. */
motor_info->encoder_position = (int32_t) motorData;
status.Bits.RA_PROBLEM = 0;
@@ -610,9 +600,9 @@ static void motorIsrDisable(int card)
/* areas. PmacSetup() */
/*****************************************************/
int PmacSetup(int num_cards, /* maximum number of cards in rack */
int addrs_type, /* VME address type; 24 - A24 or 32 - A32. */
void *mbox, /* Mailbox base address. */
void *addrs, /* DPRAM Base Address */
int addrs_type, /* VME address type; 24 - A24 or 32 - A32. */
unsigned vector, /* noninterrupting(0), valid vectors(64-255) */
int int_level, /* interrupt level (1-6) */
int scan_rate) /* polling rate - in HZ */
@@ -630,7 +620,7 @@ int PmacSetup(int num_cards, /* maximum number of cards in rack */
case 24:
Pmac_ADDRS_TYPE = atVMEA24;
if ((uint32_t) mbox & 0xF)
if ((uint32_t) mbox & 0xF0000000)
erraddr = mbox;
else if ((uint32_t) addrs & 0xF)
erraddr = addrs;
@@ -647,18 +637,20 @@ int PmacSetup(int num_cards, /* maximum number of cards in rack */
break;
}
status = devNoResponseProbe(Pmac_ADDRS_TYPE, (unsigned int) mbox, 1);
// Test MailBox address
Mbox_addrs = (char *) mbox;
status = devNoResponseProbe(Pmac_ADDRS_TYPE, (unsigned int) (Mbox_addrs + 0x121), 1);
if (status == 0)
if (PROBE_SUCCESS(status))
{
Pmac_addrs = (char *) addrs;
Mbox_addrs = (char *) mbox;
*(Mbox_addrs + 0x121) = (char) ((unsigned long) Pmac_addrs >> 14); /* Select VME A19-A14 for DPRAM. */
}
else
{
errlogPrintf("%s(%d): Mailbox bus error - 0x%X\n", __FILE__, __LINE__,
(unsigned int) mbox);
(unsigned int) (Mbox_addrs + 0x121));
Mbox_addrs = (char *) NULL;
Pmac_num_cards = 0;
}
@@ -700,6 +692,7 @@ static int motor_init()
{
volatile struct controller *pmotorState;
volatile struct pmac_dpram *pmotor;
struct PMACcontroller *cntrl;
long status;
int card_index, motor_index;
char axis_pos[50], encoder_pos[50];
@@ -774,6 +767,10 @@ static int motor_init()
pmotorState->motor_in_motion = 0;
pmotorState->cmnd_response = false;
cntrl = (struct PMACcontroller *) malloc(sizeof(struct PMACcontroller));
pmotorState->DevicePrivate = cntrl;
cntrl->irqEnable = FALSE;
/* Initialize DPRAM communication. */
pmotor = (struct pmac_dpram *) pmotorState->localaddr;
pmotor->out_cntrl_wd = 0; /* Clear "Data ready from host" bit indicator. */
@@ -804,6 +801,19 @@ static int motor_init()
{
pmotorState->motor_info[total_axis].motor_motion = NULL;
pmotorState->motor_info[total_axis].status.All = 0;
// Set Ixx20=1 and Ixx21=0; control acceleration via Ixx19.
sprintf(outbuf, "I%.2d20=1", (total_axis + 1));
send_mess(card_index, outbuf, (char) NULL);
sprintf(outbuf, "I%.2d21=0", (total_axis + 1));
send_mess(card_index, outbuf, (char) NULL);
/* ????? Read and save Position Scale Factor. ??????
sprintf(outbuf, "I%.2d08", (total_axis + 1));
send_mess(card_index, outbuf, (char) NULL);
recv_mess(card_index, axis_pos, 1);
cntrl->pos_scaleFac[total_axis] = atof(axis_pos) * 32.0;
*/
}
else
{