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- Previous driver releases not working. Fixed by adding

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Kevin Peterson's eat_garbage() function.
- Added support for encoder detection via "ident".
This commit is contained in:
Ron Sluiter
2004-03-15 21:01:44 +00:00
parent 915eb875cb
commit d5cab4fc8b
1 changed files with 65 additions and 19 deletions
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motorApp/ImsSrc/drvMDrive.cc
+65 -19
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@@ -1,11 +1,11 @@
/*
FILENAME... drvMDrive.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. IM483(I/IE).
Systems, Inc. MDrive series; M17, M23, M34.
Version: $Revision: 1.8 $
Version: $Revision: 1.9 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-02-03 19:51:50 $
Last Modified: $Date: 2004-03-15 21:01:44 $
*/
/*
@@ -37,6 +37,9 @@ Last Modified: $Date: 2004-02-03 19:51:50 $
* -----------------
* .01 03/21/03 rls copied from drvIM483PL.c
* .02 02/03/04 rls Eliminate erroneous "Motor motion timeout ERROR".
* .03 03/15/04 rls Previous driver releases not working. Fixed by adding
* Kevin Peterson's eat_garbage() function. Added support
* for encoder detection via "ident".
*/
/*
@@ -65,8 +68,9 @@ DESIGN LIMITATIONS...
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
volatile int MDrive_num_cards = 0;
volatile int drvMDrivedebug = 0;
#define Debug(l, f, args...) {if (l <= drvMDrivedebug) printf(f, ## args);}
epicsExportAddress(int, drvMDrivedebug);
#else
#define Debug(l, f, args...)
#endif
@@ -82,6 +86,7 @@ STATIC char MDrive_axis[8] = {'1', '2', '3', '4', '5', '6', '7', '8'};
#include "motordrvComCode.h"
/*----------------functions-----------------*/
static int eat_garbage(int, char *, int);
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, char const *com, char c);
STATIC int set_status(int card, int signal);
@@ -108,7 +113,7 @@ struct driver_table MDrive_access =
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
eat_garbage,
set_status,
query_done,
NULL,
@@ -272,7 +277,8 @@ STATIC int set_status(int card, int signal)
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
send_mess(card, "? PR MV", MDrive_axis[signal]);
send_mess(card, "?PR MV", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
rtn_state = recv_mess(card, buff, 1);
if (rtn_state > 0)
{
@@ -307,7 +313,8 @@ STATIC int set_status(int card, int signal)
* Skip to substring for this motor, convert to double
*/
send_mess(card, "? PR P", MDrive_axis[signal]);
send_mess(card, "?PR P", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
recv_mess(card, buff, 1);
motorData = atof(buff);
@@ -329,7 +336,8 @@ STATIC int set_status(int card, int signal)
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
send_mess(card, "? PR IN", MDrive_axis[signal]);
send_mess(card, "?PR IN", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
recv_mess(card, buff, 1);
inputs.All = atoi(buff);
@@ -366,9 +374,10 @@ STATIC int set_status(int card, int signal)
motor_info->encoder_position = 0;
else
{
send_mess(card, "? z 0", MDrive_axis[signal]);
send_mess(card, "?PR C2", MDrive_axis[signal]);
eat_garbage(card, buff, 1);
recv_mess(card, buff, 1);
motorData = atof(&buff[5]);
motorData = atof(buff);
motor_info->encoder_position = (int32_t) motorData;
}
@@ -442,6 +451,42 @@ STATIC RTN_STATUS send_mess(int card, char const *com, char inchar)
}
/*****************************************************/
/* eat garbage characters from the MDrive board */
/* eat_garbage() */
/*****************************************************/
static int eat_garbage(int card, char *com, int flag)
{
struct IM483controller *cntrl;
char localbuf[BUFF_SIZE];
int timeout;
int len=0;
/* Check that card exists */
if (!motor_state[card])
return (-1);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
/* Get the response. */
len = cntrl->serialInfo->serialIORecv(localbuf, BUFF_SIZE, (char *) "\r\n", timeout);
Debug(2, "eat_garbage(): len = %i\n", len);
if (len != 2)
Debug(2, "eat_garbage(): localbuf = \"%s\"\n", localbuf);
com[0] = '\0';
/*Debug(2, "eat_garbage(): message = \"%s\"\n", com);*/
return (len);
}
/*****************************************************/
/* receive a message from the MDrive board */
/* recv_mess() */
@@ -465,14 +510,14 @@ STATIC int recv_mess(int card, char *com, int flag)
timeout = SERIAL_TIMEOUT;
/* Get the response. */
len = cntrl->serialInfo->serialIORecv(localbuf, BUFF_SIZE, (char *) "?", timeout);
len = cntrl->serialInfo->serialIORecv(localbuf, BUFF_SIZE, (char *) "\r\n", timeout);
if (len == 0)
com[0] = '\0';
else
{
localbuf[len - 3] = '\0'; /* Strip off trailing "<CR><LF>?". */
strcpy(com, &localbuf[2]); /* Strip off leading <CR LF>. */
localbuf[len - 2] = '\0'; /* Strip off trailing <CR LF>. */
strcpy(com, localbuf);
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
@@ -598,6 +643,7 @@ STATIC int motor_init()
do
{
send_mess(card_index, "?PR VR", MDrive_axis[total_axis]);
eat_garbage(card_index, buff, 1);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
@@ -618,22 +664,22 @@ STATIC int motor_init()
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
int loop_state;
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Assume encoder support, i.e., IM483IE. */
/* Assume no encoder support. */
motor_info->encoder_present = NO;
/* Determine if encoder present based on open/closed loop mode. */
loop_state = 0;
if (loop_state != 0)
/* Determine if encoder present based last character of "ident". */
if (brdptr->ident[strlen(brdptr->ident) - 1] == 'E')
{
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
}
set_status(card_index, motor_index); /* Read status of each motor */