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Ron Sluiter
2003-02-14 15:15:29 +00:00
parent 73bf777414
commit d36ecc4af1
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motorApp/MXmotorSrc/MXRegister.cc
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/*
FILENAME... MXRegister.cc
USAGE... Register MX motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-02-14 15:15:26 $
*/
/*****************************************************************
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 "MXmotor.h"
extern "C"
{
// MXmotorSetup
static const iocshArg setupArg0 = {"Max. motor #", iocshArgInt};
static const iocshArg setupArg1 = {"MX data file", iocshArgString};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
static const iocshArg * const mxmotorArgs[3] = {&setupArg0, &setupArg1, &setupArg2};
static const iocshFuncDef setupFuncDef = {"MXmotorSetup", 3, mxmotorArgs};
static void setupCallFunc(const iocshArgBuf *args)
{
MXmotorSetup(args[0].ival, args[1].sval, args[2].ival);
}
static void mxmotorRegister(void)
{
iocshRegister(&setupFuncDef, setupCallFunc);
}
class MXmotorRegister
{
public:
MXmotorRegister() {mxmotorRegister();}
};
static MXmotorRegister MXmotorRegisterObj;
} // extern "C"
motorApp/MXmotorSrc/MXmotor.h
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/*
FILENAME... MXmotor.h
USAGE... This file contains "include" information that is specific to
MX motor device driver support.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-02-14 15:15:27 $
*/
/*
* Original Author: Ron Sluiter
* Date: 11/12/02
*
* 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:
* -----------------
*/
#ifndef INCMXmotorh
#define INCMXmotorh 1
#include "motor.h"
extern "C"
{
#include <mx_record.h>
#include <mx_motor.h>
}
struct MXcontroller
{
CALLBACK_VALUE callback_flag;
MX_RECORD *MXmotor_record;
};
RTN_STATUS MXmotorSetup(int, char const *, int);
extern MX_RECORD *MXmotor_record_list;
#endif /* INCMXmotorh */
motorApp/MXmotorSrc/Makefile
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# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
#----------------------------------------
# ADD MACRO DEFINITIONS AFTER THIS LINE
# The following are used for debugging messages.
USR_CFLAGS += -DDEBUG
USR_CXXFLAGS += -DDEBUG
DBD += devMXmotor.dbd
LIBRARY_IOC = MXmotor
# The following is required for the Soft Channel (i.e., MotorSoft) device driver.
SRCS_DEFAULT += devMXmotor.cc drvMXmotor.cc
SRCS_vxWorks += -nil-
OBJS_DEFAULT += MXRegister
OBJS_vxWorks += -nil-
include $(TOP)/configure/RULES
#----------------------------------------
# ADD RULES AFTER THIS LINE
motorApp/MXmotorSrc/devMXmotor.cc
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/*
FILENAME... devMXmotor.cc
USAGE... Motor record device level support for MX device driver.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-02-14 15:15:28 $
*/
/*
* Original Author: Ron Sluiter
* Date: 06/15/99
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contract
* W-31-109-ENG-38 at Argonne National Laboratory.
*
* Beamline Controls & Data Acquisition Group
* Experimental Facilities Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
*/
#include <registryDriverSupport.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "MXmotor.h"
extern int MXmotor_num_cards;
extern struct driver_table MXmotor_access;
/* ----------------Create the dsets for devMXmotor----------------- */
static long MXmotor_init(void *);
static long MXmotor_init_record(void *);
static long MXmotor_start_trans(struct motorRecord *);
static RTN_STATUS MXmotor_build(motor_cmnd, double *, struct motorRecord *);
static RTN_STATUS MXmotor_end_trans(struct motorRecord *);
struct motor_dset devMXmotor =
{
{8, NULL, MXmotor_init, MXmotor_init_record, NULL},
motor_update_values,
MXmotor_start_trans,
MXmotor_build,
MXmotor_end_trans
};
/* This table is used to define the command types */
/* WARNING! this must match "motor_cmnd" in motor.h */
static msg_types MXmotor_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 **MXmotor_cards;
static const char errmsg[] = {"\n\n!!!ERROR!!! - MX driver uninitialized.\n"};
/* initialize device support for MX motor */
static long MXmotor_init(void *after)
{
int before_after = (int) after;
long rtnval = 0;
if (*(MXmotor_access.init_indicator) == NO)
{
errlogSevPrintf(errlogMinor, "%s", errmsg);
return(ERROR);
}
else
return(motor_init_com(before_after, MXmotor_num_cards, &MXmotor_access,
&MXmotor_cards));
}
static long MXmotor_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
struct motor_trans *trans;
struct controller *brdptr;
struct MXcontroller *cntrl;
MX_RECORD *motor_record;
long rtnval;
motor_record = mx_get_record(MXmotor_record_list, mr->name);
if (motor_record == NULL)
{
printf("Motor '%s' does not exist.\n", mr->name);
return(ERROR);
}
rtnval = motor_init_record_com(mr, MXmotor_num_cards, &MXmotor_access, MXmotor_cards);
trans = (struct motor_trans *) mr->dpvt;
brdptr = (*trans->tabptr->card_array)[mr->card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
cntrl->MXmotor_record = motor_record;
return(rtnval);
}
static long MXmotor_start_trans(struct motorRecord *mr)
{
long rtnval;
return(rtnval);
}
static RTN_STATUS MXmotor_build(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
int size;
char buff[110];
RTN_STATUS rtnval = OK;
bool send = true; /* Default to send motor command. */
struct controller *brdptr;
struct MXcontroller *cntrl;
float fparm;
mx_status_type mx_status;
brdptr = (*trans->tabptr->card_array)[mr->card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
buff[0] = '\0';
motor_start_trans_com(mr, MXmotor_cards);
motor_call = &(trans->motor_call);
if (MXmotor_table[command] > motor_call->type)
motor_call->type = MXmotor_table[command];
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%d %f", command, *parms);
fparm = *parms;
mx_status = mx_motor_raw_move_absolute(cntrl->MXmotor_record, fparm);
break;
case MOVE_REL:
sprintf(buff, "%d %f", command, *parms);
break;
default:
send = false;
rtnval = ERROR;
}
size = strlen(buff);
if (send == false)
return(rtnval);
else if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)
printf("MXmotor_build(): buffer overflow.\n");
else
{
strcat(motor_call->message, buff);
motor_end_trans_com(mr, &MXmotor_access);
}
return(rtnval);
}
static RTN_STATUS MXmotor_end_trans(struct motorRecord *mr)
{
RTN_STATUS rtnval = OK;
return(rtnval);
}
motorApp/MXmotorSrc/devMXmotor.dbd
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# Soft Channel driver support.
device(motor,VME_IO,devMXmotor,"MXmotor")
driver(drvMXmotor)
motorApp/MXmotorSrc/drvMXmotor.cc
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/*
FILENAME... drvMXmotor.cc
USAGE... Motor record driver level support for MX device driver.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-02-14 15:15:29 $
*/
/*
* Original Author: Ron Sluiter
* Date: 06/15/99
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contract
* W-31-109-ENG-38 at Argonne National Laboratory.
*
* Beamline Controls & Data Acquisition Group
* Experimental Facilities Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
*/
#include <epicsThread.h>
#include "motor.h"
#include "motordrvCom.h"
#include "MXmotor.h"
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvMXmotordebug = 0;
#define Debug(l, f, args...) { if(l<=drvMXmotordebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/* Global data. */
int MXmotor_num_cards = 0;
MX_RECORD *MXmotor_record_list;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* Common local function declarations. */
static long report(int level);
static long init();
static void query_done(int, int, struct mess_node *);
static int set_status(int card, int signal);
static RTN_STATUS send_mess(int card, char const *com, char c);
static int recv_mess(int, char *, int);
static int motor_init();
struct driver_table MXmotor_access =
{
NULL,
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;
long (*report) (int);
long (*init) (void);
} drvMXmotor = {2, report, init};
static struct thread_args targs = {SCAN_RATE, &MXmotor_access};
/*----------------functions-----------------*/
static long report(int level)
{
int card;
if (MXmotor_num_cards <= 0)
printf(" No MX motors configured.\n");
else
{
for (card = 0; card < MXmotor_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MX motor #%d not found.\n", card);
else
printf(" MX motor #%d\n", card);
}
}
return (0);
}
static long init()
{
initialized = true; /* Indicate that driver is initialized. */
(void) motor_init();
return ((long) 0);
}
static void query_done(int, int, struct mess_node *)
{
}
RTN_STATUS MXmotorSetup(int max_motors, /* Maximum number of motors. */
char const *filename, /* MX data file. */
int scan_rate) /* polling rate - 1/60 sec units */
{
RTN_STATUS rtnval = OK;
mx_status_type mx_status;
if (max_motors > 1000)
MXmotor_num_cards = 1000;
else if (max_motors < 0)
MXmotor_num_cards = 0;
else
MXmotor_num_cards = max_motors;
mx_status = mx_setup_database(&MXmotor_record_list, (char *) filename);
if (mx_status.code != MXE_SUCCESS)
{
printf("MXmotorSetup: database setup error.\n");
return(ERROR);
}
/* 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;
return(rtnval);
}
/* Initialize all MX. */
static int motor_init()
{
struct controller *pmotorState;
long status;
int card_index, motor_index;
char axis_pos[50], encoder_pos[50];
int total_encoders = 0, total_axis = 0;
/* Check for setup */
if (MXmotor_num_cards <= 0)
{
Debug(1, "motor_init: *OMS driver disabled* \n omsSetup() is missing from startup script.\n");
return (ERROR);
}
/* allocate space for total number of motors */
motor_state = (struct controller **) malloc(MXmotor_num_cards *
sizeof(struct controller *));
/* allocate structure space for each motor present */
total_cards = MXmotor_num_cards;
for (card_index = 0; card_index < MXmotor_num_cards; card_index++)
{
Debug(2, "motor_init: card %d\n", card_index);
motor_state[card_index] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card_index]->DevicePrivate = malloc(sizeof(struct MXcontroller));
pmotorState = motor_state[card_index];
strcpy(pmotorState->ident, "MXmotor");
pmotorState->localaddr = (char *) 0;
pmotorState->motor_in_motion = 0;
pmotorState->cmnd_response = false;
pmotorState->irqdata = (struct irqdatastr *) NULL;
Debug(3, "Total axis = %d\n", total_axis);
pmotorState->total_axis = total_axis = 1;
for (total_encoders = 0, motor_index = 0; motor_index < total_axis; motor_index++)
pmotorState->motor_info[motor_index].encoder_present = NO;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
pmotorState->motor_info[motor_index].motor_motion = NULL;
pmotorState->motor_info[motor_index].status = 0;
pmotorState->motor_info[motor_index].no_motion_count = 0;
pmotorState->motor_info[motor_index].encoder_position = 0;
pmotorState->motor_info[motor_index].position = 0;
if (pmotorState->motor_info[motor_index].encoder_present == YES)
pmotorState->motor_info[motor_index].status |= EA_PRESENT;
}
}
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;
Debug(3, "Motors initialized\n");
epicsThreadCreate((const char *) "MX_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
Debug(3, "Started motor_task\n");
return (0);
}
static int set_status(int card, int signal)
{
struct mess_info *motor_info;
struct controller *brdptr;
struct MXcontroller *cntrl;
mx_status_type mx_status;
int rtn_state;
bool plusdir, ls_active = false;
unsigned long status;
double motorData;
brdptr = motor_state[card];
motor_info = &(brdptr->motor_info[signal]);
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
mx_status = mx_motor_get_status(cntrl->MXmotor_record, &status);
if (mx_status.code != MXE_SUCCESS)
return(rtn_state = ERROR);
if (status & MXSF_MTR_IS_BUSY )
motor_info->status &= ~RA_DONE;
else
motor_info->status |= RA_DONE;
mx_status = mx_motor_get_position(cntrl->MXmotor_record, &motorData);
if (mx_status.code != MXE_SUCCESS)
return(rtn_state = ERROR);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
if (newposition >= motor_info->position)
motor_info->status |= RA_DIRECTION;
else
motor_info->status &= ~RA_DIRECTION;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
return(rtn_state);
}
static RTN_STATUS send_mess(int card, char const *com, char inchar)
{
struct controller *brdptr;
struct MXcontroller *cntrl;
motor_cmnd command;
mx_status_type mx_status;
char *cmndptr, *posptr;
float position;
brdptr = motor_state[card];
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
posptr = NULL;
cmndptr = strtok_r((char *) com, " ", &posptr);
command = (motor_cmnd) atoi(cmndptr);
position = atof(posptr);
switch (command)
{
case MOVE_ABS:
mx_status = mx_motor_raw_move_absolute(cntrl->MXmotor_record, position);
break;
default:
break;
}
if (mx_status.code != MXE_SUCCESS)
return(ERROR);
return(OK);
}
static int recv_mess(int card, char *com, int amount)
{
return (0);
}