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- Set MAXv motor type at boot-up.

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- Use MAXv motor type to support MRES and ERES with different polarities.
- Fix SSI bit flag registration.
This commit is contained in:
Ron Sluiter
2011-11-04 18:20:09 +00:00
parent 370d0fe2dc
commit d007745eee
3 changed files with 72 additions and 27 deletions
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motorApp/OmsSrc/devOmsCom.cc
+19 -7
View File
@@ -66,6 +66,8 @@ HeadURL: $URL$
* .20 07-24-08 rls For MAXv, normalize PID values based on 32,767 maximum.
* .21 03-01-10 rls Some MR commands still ignored; change fraction to .9.
* .22 11-10-10 rls Error check for valid acceleration rate on STOP command.
* .23 10-26-11 rls Use MAXv motor type to support MRES and ERES with
* different polarity (signs).
*
*/
@@ -81,6 +83,7 @@ HeadURL: $URL$
#include "motor.h"
#include "motordevCom.h"
#include "devOmsCom.h"
#include "drvMAXv.h"
/* WARNING... The following is a COPY of a motorRecord.cc definition.
@@ -203,12 +206,12 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct MAXvController *MAXvCntrl;
char buffer[40];
msg_types cmnd_type;
RTN_STATUS rtnind;
static bool invalid_velmsg_latch = false;
bool MAXv = false;
bool MAXv_PSE = false;
int card, signal;
long valid_acc;
@@ -226,16 +229,15 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
return(rtnind = ERROR);
brdptr = (*trans->tabptr->card_array)[card];
if (strncmp(brdptr->ident, "MAXv", 4) == 0)
{
MAXv = true;
if (brdptr->motor_info[signal].encoder_present == YES &&
brdptr->motor_info[signal].pid_present == NO)
MAXv_PSE = true;
MAXvCntrl = (struct MAXvController *) brdptr->DevicePrivate;
/* Error check; ER command only for MAXv PSE type motors. */
if (command == SET_ENC_RATIO && MAXv_PSE == false)
if (command == SET_ENC_RATIO && MAXvCntrl->typeID[signal] != PSE)
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
trans->state = IDLE_STATE; /* No command sent to the controller. */
return(rtnind);
}
}
@@ -514,6 +516,17 @@ errorexit: errMessage(-1, "Invalid device directive");
break;
case LOAD_POS:
if ((MAXv == true) && (MAXvCntrl->typeID[signal] != PSO))
{
long int ref = NINT(parms[0]);
long int fdbk = ref;
if ((mr->mres > 0.0 && mr->eres < 0.0) ||
(mr->mres < 0.0 && mr->eres > 0.0))
fdbk *= -1;
sprintf(motor_call->message, "LO%ld LPE%ld;", ref, fdbk);
}
break;
case JOG:
case JOG_VELOCITY:
strcat(motor_call->message, ";");
@@ -526,4 +539,3 @@ errorexit: errMessage(-1, "Invalid device directive");
return(rtnind);
}
motorApp/OmsSrc/drvMAXv.cc
+40 -20
View File
@@ -42,6 +42,7 @@ HeadURL: $URL$
* - MAXv ver:1.31 (fixes DPRAM encoder position data problem when using
* mixed motor types.)
* - MAXv ver:1.33, FPGA:B2:A6 BOOT:1.2 (Watchdog Timeout Counter added)
* - MAXv ver:1.34, FPGA:03:A6 BOOT:1.3
*
* Modification Log:
* -----------------
@@ -88,6 +89,11 @@ HeadURL: $URL$
* 21 02-04-11 rls - Added counter to send_mess()'s "waiting for message
* acknowledgement" loop to prevent infinite loop.
* 22 09-23-11 ajr - Added configuration word MAXvConfig.
* 23 10-26-11 rls - Changed Debug() to Mark River's variable arguments macro.
* - Added MAXvController data structure using private data in
* motor record to store motor type. Motor type used in
* device support (devOmsCom.cc) to allow MRES and ERES with
* different polarity (signs).
*
*/
@@ -128,21 +134,21 @@ HeadURL: $URL$
#define DONE_QUERY "RA" /* ?? Is this needed?? */
#define PID_QUERY "?KA ID"
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvMAXvdebug) \
errlogPrintf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug
#endif
volatile int drvMAXvdebug = 0;
extern "C" {epicsExportAddress(int, drvMAXvdebug);}
static inline void Debug(int level, const char *format, ...) {
#ifdef DEBUG
if (level < drvMAXvdebug) {
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
}
#endif
}
#define pack2x16(p) ((epicsUInt32)(((p[0])<<16)|(p[1])))
#define INITSTR_SIZE 300 /* 300 byte configuration string. */
@@ -332,7 +338,7 @@ static int set_status(int card, int signal)
bool got_encoder;
msta_field status;
int absoluteAxis = (configurationFlags[card] & (1 << signal));
int absoluteAxis = (configurationFlags[card] & (1 << signal));
int rtn_state;
@@ -451,9 +457,9 @@ static int set_status(int card, int signal)
/* Get encoder position */
if (absoluteAxis)
motorData = pmotor->absPos[signal];
motorData = pmotor->absPos[signal];
else
motorData = pmotor->encPos[signal];
motorData = pmotor->encPos[signal];
motor_info->encoder_position = motorData;
@@ -1062,6 +1068,7 @@ static int motor_init()
struct mess_info *motor_info;
volatile struct controller *pmotorState;
volatile struct MAXv_motor *pmotor;
struct MAXvController *pvtdata;
long status;
int card_index, motor_index, itera;
char axis_pos[MAX_IDENT_LEN], encoder_pos[MAX_IDENT_LEN], **strptr;
@@ -1149,6 +1156,9 @@ static int motor_init()
pmotorState->motor_in_motion = 0;
pmotorState->cmnd_response = false;
pvtdata = (struct MAXvController *) malloc(sizeof(struct MAXvController));
pmotorState->DevicePrivate = pvtdata;
if (MAXvInterruptVector == 0)
pmotor->IACK_vector = 0;
else
@@ -1205,6 +1215,7 @@ static int motor_init()
for (total_encoders = total_pidcnt = 0, motor_index = 0; motor_index < total_axis; motor_index++)
{
motor_info = (struct mess_info *) &pmotorState->motor_info[motor_index];
STATUS1 flag1;
/* Test if motor has an encoder. */
@@ -1215,14 +1226,14 @@ static int motor_init()
if (pmotor->status1_flag.Bits.cmndError)
{
Debug(2, "motor_init: No encoder on axis %d\n", motor_index);
pmotorState->motor_info[motor_index].encoder_present = NO;
motor_info->encoder_present = NO;
flag1.All = pmotor->status1_flag.All; /* Clear command error. */
pmotor->status1_flag.All = flag1.All;
}
else
{
total_encoders++;
pmotorState->motor_info[motor_index].encoder_present = YES;
motor_info->encoder_present = YES;
recv_mess(card_index, encoder_pos, 1);
}
@@ -1233,16 +1244,24 @@ static int motor_init()
if (pmotor->status1_flag.Bits.cmndError)
{
Debug(2, "motor_init: No PID parameters on axis %d\n", motor_index);
pmotorState->motor_info[motor_index].pid_present = NO;
motor_info->pid_present = NO;
flag1.All = pmotor->status1_flag.All; /* Clear command error. */
pmotor->status1_flag.All = flag1.All;
}
else
{
total_pidcnt++;
pmotorState->motor_info[motor_index].pid_present = YES;
motor_info->pid_present = YES;
recv_mess(card_index, encoder_pos, FLUSH); /* Flush response. */
}
// Set motor type.
if (motor_info->pid_present == YES)
pvtdata->typeID[motor_index] = PSM;
else if (motor_info->encoder_present == YES)
pvtdata->typeID[motor_index] = PSE;
else
pvtdata->typeID[motor_index] = PSO;
}
/* Enable interrupt-when-done if selected */
@@ -1335,14 +1354,15 @@ extern "C"
// Oms Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"configuration string", iocshArgString};
static const iocshArg configArg2 = {"configuration flags", };
static const iocshArg * const OmsSetupArgs[6] = {&setupArg0, &setupArg1,
&setupArg2, &setupArg3, &setupArg4, &setupArg5};
static const iocshArg * const OmsConfigArgs[2] = {&configArg0, &configArg1};
static const iocshArg * const OmsConfigArgs[3] = {&configArg0, &configArg1, &configArg2};
static const iocshFuncDef setupMAXv = {"MAXvSetup", 6, OmsSetupArgs};
static const iocshFuncDef configMAXv = {"MAXvConfig", 2, OmsConfigArgs};
static const iocshFuncDef configMAXv = {"MAXvConfig", 3, OmsConfigArgs};
static void setupMAXvCallFunc(const iocshArgBuf *args)
{
motorApp/OmsSrc/drvMAXv.h
+13
View File
@@ -38,6 +38,8 @@ HeadURL: $URL$
* Modification Log:
* -----------------
* 01 04-05-04 rls Copied for drvOms58.h
* 02 10-26-11 rls motor_init() sets motor typeID as boot-up. Used by device
* support to allow MRES and ERES to be opposite sign.
*
*/
@@ -54,6 +56,17 @@ HeadURL: $URL$
#define BUFFER_SIZE 1024
enum MotorTypes {PSO, // Stepper; w/o encoder
PSE, // Stepper; with encoder
PSM}; // Servo
struct MAXvController
{
MotorTypes typeID[8];
};
/* MAXv DUAL-PORT MEMORY MAP */