diff --git a/.gitmodules b/.gitmodules index a9e36ecf..48720720 100644 --- a/.gitmodules +++ b/.gitmodules @@ -52,3 +52,6 @@ [submodule "modules/motorAcs"] path = modules/motorAcs url = https://github.com/epics-motor/motorAcs.git +[submodule "modules/motorMicos"] + path = modules/motorMicos + url = https://github.com/epics-motor/motorMicos.git diff --git a/iocBoot/iocWithAsyn/motor.cmd.SMChydra b/iocBoot/iocWithAsyn/motor.cmd.SMChydra deleted file mode 100644 index b2f1f17e..00000000 --- a/iocBoot/iocWithAsyn/motor.cmd.SMChydra +++ /dev/null @@ -1,44 +0,0 @@ -### motor.cmd.SMChydra -# -# This file is designed to be sourced: -# * after the communication port has been configured -# * before iocInit -# -# Example ethernet port configuration: -# drvAsynIPPortConfigure("hydraEth","192.168.1.17:400", 0, 0, 0) -# - -# Ethernet -HydraPort = "hydraEth" -# Serial -#!HydraPort = "serial5" - -# Show communication -#asynSetTraceMask(HydraPort, 0, 3) -# Only show errors -asynSetTraceMask(HydraPort, 0, 1) -# Leave ascii selected so traces can be turned on with a single click -asynSetTraceIOMask(HydraPort, 0, 1) - -# Set end-of-string terminators -asynOctetSetInputEos(HydraPort,0,"\r\n") -asynOctetSetOutputEos(HydraPort,0,"\r\n") - -dbLoadTemplate("motor.substitutions.SMChydra") - -# SMChydraCreateController( -# port name, -# asyn port name, -# num axes, -# moving poll period (ms), -# idle poll period (ms) ) -SMChydraCreateController("Hydra1", HydraPort, 2, 100, 500) -# Use the following line to disable idle polling -#!SMChydraCreateController("Hydra1", HydraPort, 2, 100, 0) - -# This sleep is useful when asyn traces are enabled -#!epicsThreadSleep(3.0) - -# Include an asyn record for each motor to make it easy to enable diagnostic messages -dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=hydraAsyn1,PORT=Hydra1,ADDR=0,OMAX=256,IMAX=256") -dbLoadRecords("$(ASYN)/db/asynRecord.db","P=IOC:,R=hydraAsyn2,PORT=Hydra1,ADDR=1,OMAX=256,IMAX=256") diff --git a/iocBoot/iocWithAsyn/motor.substitutions.SMChydra b/iocBoot/iocWithAsyn/motor.substitutions.SMChydra deleted file mode 100644 index 1e60736a..00000000 --- a/iocBoot/iocWithAsyn/motor.substitutions.SMChydra +++ /dev/null @@ -1,8 +0,0 @@ -file "$(TOP)/db/basic_asyn_motor.db" -{ - pattern - {P, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VMAX, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT} - {IOC:, m1, "asynMotor", Hydra1, 0, "m1", degrees, Pos, 15., 3., .05, .5, 0, 1.0, 2, 0.01, 2, 175, -175, ""} - {IOC:, m2, "asynMotor", Hydra1, 1, "m2", degrees, Pos, 15., 3., .05, .5, 0, 1.0, 2, 0.01, 2, 175, -175, ""} -} - diff --git a/iocBoot/iocWithAsyn/st.cmd.Vx b/iocBoot/iocWithAsyn/st.cmd.Vx index 418d0043..e834b7fc 100644 --- a/iocBoot/iocWithAsyn/st.cmd.Vx +++ b/iocBoot/iocWithAsyn/st.cmd.Vx @@ -57,27 +57,6 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:") #!drvPMNC87xxdebug=4 -# Micos MoCo driver setup parameters: -# Load MicosSetup once. -# (1) max # of controller groups. Controller groups are per serial -# port. -# (2) max # axes per controller group. Maximum 16. (addr 0-15) -# (3) motor task polling rate (min=1Hz, max=60Hz, 10Hz works well) -# Example: -# MicosSetup(1, 2, 10) 1 group. 2 axes (controllers) in the group. -# 10Hz poll. -#!MicosSetup(1, 2, 10) - -# Micos MoCo driver configuration parameters: -# Load one MicosConfig for each group of Micos drivers. -# (1) "Controller group" number -# (2) ASYN port name -#!MicosConfig(0, "a-Serial[0]") -#!drvMicosDebug = 4 - -# Micos SMC hydra -#!< motor.cmd.SMChydra - # IMS MDrive driver setup parameters: # (1) maximum number of controllers in system # (2) motor task polling rate (min=1Hz,max=60Hz) diff --git a/iocBoot/iocWithAsyn/st.cmd.unix b/iocBoot/iocWithAsyn/st.cmd.unix index 401e8160..0fcef594 100644 --- a/iocBoot/iocWithAsyn/st.cmd.unix +++ b/iocBoot/iocWithAsyn/st.cmd.unix @@ -37,24 +37,6 @@ asynSetOption("L0", -1, "crtscts", "N") #!IM483PLConfig(0, "L0") #!var drvIM483PLdebug 4 -# Micos MoCo driver setup parameters: -# Load MicosSetup once. -# (1) max # of controller groups. Controller groups are per serial -# port. -# (2) max # axes per controller group. Maximum 16. (addr 0-15) -# (3) motor task polling rate (min=1Hz, max=60Hz, 10Hz works well) -# Example: -# MicosSetup(1, 2, 10) 1 group. 2 axes (controllers) in the group. -# 10Hz poll. -#!MicosSetup(1, 2, 10) - -# Micos MoCo driver configuration parameters: -# Load one MicosConfig for each group of Micos drivers. -# (1) "Controller group" number -# (2) ASYN port name -#!MicosConfig(0, "L0") -#!var drvMicosDebug 4 - # IMS MDrive driver setup parameters: # (1) maximum number of controllers in system # (2) motor task polling rate (min=1Hz,max=60Hz) diff --git a/iocBoot/iocWithAsyn/st.cmd.win32 b/iocBoot/iocWithAsyn/st.cmd.win32 index e7fc9442..a7276cc4 100755 --- a/iocBoot/iocWithAsyn/st.cmd.win32 +++ b/iocBoot/iocWithAsyn/st.cmd.win32 @@ -26,24 +26,6 @@ dbLoadRecords("$(MOTOR)/db/motorUtil.db", "P=IOC:") #!IM483PLConfig(0, "L0") #!var drvIM483PLdebug 4 -# Micos MoCo driver setup parameters: -# Load MicosSetup once. -# (1) max # of controller groups. Controller groups are per serial -# port. -# (2) max # axes per controller group. Maximum 16. (addr 0-15) -# (3) motor task polling rate (min=1Hz, max=60Hz, 10Hz works well) -# Example: -# MicosSetup(1, 2, 10) 1 group. 2 axes (controllers) in the group. -# 10Hz poll. -#!MicosSetup(1, 2, 10) - -# Micos MoCo driver configuration parameters: -# Load one MicosConfig for each group of Micos drivers. -# (1) "Controller group" number -# (2) ASYN port name -#!MicosConfig(0, "L0") -#!var drvMicosDebug 4 - # IMS MDrive driver setup parameters: # (1) maximum number of controllers in system # (2) motor task polling rate (min=1Hz,max=60Hz) diff --git a/modules/Makefile b/modules/Makefile index bc11ac30..5f494341 100644 --- a/modules/Makefile +++ b/modules/Makefile @@ -15,6 +15,7 @@ SUBMODULES += motorHytec endif SUBMODULES += motorKohzu SUBMODULES += motorMclennan +SUBMODULES += motorMicos SUBMODULES += motorMicroMo SUBMODULES += motorMicronix SUBMODULES += motorNPoint diff --git a/modules/motorMicos b/modules/motorMicos new file mode 160000 index 00000000..132c52a6 --- /dev/null +++ b/modules/motorMicos @@ -0,0 +1 @@ +Subproject commit 132c52a645d0d6b3318e9bea9058dbed056ad5de diff --git a/motorApp/Makefile b/motorApp/Makefile index 627202de..8f09a601 100644 --- a/motorApp/Makefile +++ b/motorApp/Makefile @@ -27,9 +27,6 @@ ImsSrc_DEPEND_DIRS = MotorSrc DIRS += PIGCS2Src PIGCS2Src_DEPEND_DIRS = MotorSrc -DIRS += MicosSrc -MicosSrc_DEPEND_DIRS = MotorSrc - DIRS += PC6KSrc PC6KSrc_DEPEND_DIRS = MotorSrc diff --git a/motorApp/MicosSrc/Makefile b/motorApp/MicosSrc/Makefile deleted file mode 100644 index 86a68cbf..00000000 --- a/motorApp/MicosSrc/Makefile +++ /dev/null @@ -1,24 +0,0 @@ -# Makefile -TOP = ../.. -include $(TOP)/configure/CONFIG - -# Both the following line, and a line in the *.dbd file, -# must be uncommented to use diagnostic debugging messages. -#!USR_CXXFLAGS += -DDEBUG - -DBD += devMicos.dbd - -LIBRARY_IOC = Micos - -# Intelligent Motion Systems driver support. -SRCS += MicosRegister.cc -SRCS += devMicos.cc drvMicos.cc - -# SMC hydra support -SRCS += SMChydraDriver.cpp - -Micos_LIBS += motor asyn -Micos_LIBS += $(EPICS_BASE_IOC_LIBS) - -include $(TOP)/configure/RULES - diff --git a/motorApp/MicosSrc/MicosRegister.cc b/motorApp/MicosSrc/MicosRegister.cc deleted file mode 100644 index 8821555d..00000000 --- a/motorApp/MicosSrc/MicosRegister.cc +++ /dev/null @@ -1,64 +0,0 @@ -/* -FILENAME... MicosRegister.cc -USAGE... Register Micos MoCo dc motor controller device driver shell commands. - -*/ - -/***************************************************************** - 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 -#include -#include -#include -#include -#include "motor.h" -#include "drvMicos.h" -#include "epicsExport.h" - -extern "C" -{ - -// Micos Setup arguments -static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt}; -static const iocshArg setupArg1 = {"Max. motor count", iocshArgInt}; -static const iocshArg setupArg2 = {"Polling rate", iocshArgInt}; -// Micos Config arguments -static const iocshArg configArg0 = {"Card being configured", iocshArgInt}; -static const iocshArg configArg1 = {"asyn port name", iocshArgString}; - -static const iocshArg * const MicosSetupArgs[3] = {&setupArg0, &setupArg1, - &setupArg2}; -static const iocshArg * const MicosConfigArgs[2] = {&configArg0, &configArg1}; - -static const iocshFuncDef setupMicos = {"MicosSetup", 3, MicosSetupArgs}; -static const iocshFuncDef configMicos = {"MicosConfig", 2, MicosConfigArgs}; - -static void setupMicosCallFunc(const iocshArgBuf *args) -{ - MicosSetup(args[0].ival, args[1].ival, args[2].ival); -} - - -static void configMicosCallFunc(const iocshArgBuf *args) -{ - MicosConfig(args[0].ival, args[1].sval); -} - - -static void MicosmotorRegister(void) -{ - iocshRegister(&setupMicos, setupMicosCallFunc); -} - -epicsExportRegistrar(MicosmotorRegister); - -} // extern "C" diff --git a/motorApp/MicosSrc/SMChydraDriver.cpp b/motorApp/MicosSrc/SMChydraDriver.cpp deleted file mode 100644 index 4ed4fe5b..00000000 --- a/motorApp/MicosSrc/SMChydraDriver.cpp +++ /dev/null @@ -1,496 +0,0 @@ -/* -FILENAME... SMChydraDriver.cpp -USAGE... Motor driver support for the Micos SMC hydra controller. - -Note: This driver was tested with the Micos SMC hydra CM and - motor forms 0 (stepper) and 1 (linear). - -*/ - - -#include -#include -#include -#include - -#include -#include - -#include - -#include "asynMotorController.h" -#include "asynMotorAxis.h" - -#include -#include "SMChydraDriver.h" - -#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5) - -/** Creates a new SMChydraController object. - * \param[in] portName The name of the asyn port that will be created for this driver - * \param[in] SMChydraPortName The name of the drvAsynSerialPort that was created previously to connect to the SMC hydra controller - * \param[in] numAxes The number of axes that this controller supports - * \param[in] movingPollPeriod The time between polls when any axis is moving - * \param[in] idlePollPeriod The time between polls when no axis is moving - */ -SMChydraController::SMChydraController(const char *portName, const char *SMChydraPortName, int numAxes, - double movingPollPeriod, double idlePollPeriod) - : asynMotorController(portName, numAxes, NUM_SMCHYDRA_PARAMS, - 0, // No additional interfaces beyond those in base class - 0, // No additional callback interfaces beyond those in base class - ASYN_CANBLOCK | ASYN_MULTIDEVICE, - 1, // autoconnect - 0, 0) // Default priority and stack size -{ - int axis; - asynStatus status; - SMChydraAxis *pAxis; - static const char *functionName = "SMChydraController::SMChydraController"; - - /* Connect to SMC hydra controller */ - status = pasynOctetSyncIO->connect(SMChydraPortName, 0, &pasynUserController_, NULL); - if (status) { - asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR, - "%s: cannot connect to SMC hydra controller\n", - functionName); - } - for (axis=0; axis 0 then information is printed about each axis. - * After printing controller-specific information it calls asynMotorController::report() - */ -void SMChydraController::report(FILE *fp, int level) -{ - fprintf(fp, "SMC hydra motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n", - this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_); - - // Call the base class method - asynMotorController::report(fp, level); -} - -/** Returns a pointer to an SMChydraAxis object. - * Returns NULL if the axis number encoded in pasynUser is invalid. - * \param[in] pasynUser asynUser structure that encodes the axis index number. */ -SMChydraAxis* SMChydraController::getAxis(asynUser *pasynUser) -{ - return static_cast(asynMotorController::getAxis(pasynUser)); -} - -/** Returns a pointer to an SMChydraAxis object. - * Returns NULL if the axis number encoded in pasynUser is invalid. - * \param[in] axisNo Axis index number. */ -SMChydraAxis* SMChydraController::getAxis(int axisNo) -{ - return static_cast(asynMotorController::getAxis(axisNo)); -} - - -// These are the SMChydraAxis methods - -/** Creates a new SMChydraAxis object. - * \param[in] pC Pointer to the SMChydraController to which this axis belongs. - * \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1. - * - * Initializes register numbers, etc. - */ -SMChydraAxis::SMChydraAxis(SMChydraController *pC, int axisNo) - : asynMotorAxis(pC, axisNo), - pC_(pC) -{ - sprintf(pC_->outString_, "%i getmotor", (axisNo + 1)); - pC_->writeReadController(); - motorForm_ = atoi( (char *) &pC_->inString_ ); - - sprintf(pC_->outString_, "%i getpitch", (axisNo + 1)); - pC_->writeReadController(); - pitch_ = atof( (char *) &pC_->inString_ ); - - sprintf(pC_->outString_, "%i getpolepairs", (axisNo + 1)); - pC_->writeReadController(); - polePairs_ = atoi( (char *) &pC_->inString_ ); - - sprintf(pC_->outString_, "%i getclperiod", (axisNo + 1)); - pC_->writeReadController(); - clPeriod_ = atof( (char *) &pC_->inString_ ); - - switch (motorForm_) - { - case 0: - // Stepper motor - axisRes_ = pitch_ / ( 4.0 * polePairs_); - break; - - case 1: - // Linear or torque motor - axisRes_ = clPeriod_; - break; - - default: - // For now assume clPeriod_ works for other motor forms - axisRes_ = clPeriod_; - break; - } - - /* Enable gain support so that the CNEN field can be used to send - the init command to clear a motor fault for stepper motors, even - though they lack closed-loop support. */ - setIntegerParam(pC_->motorStatusGainSupport_, 1); - - // Determine the travel limits (will change after homing) - sprintf(pC_->outString_, "%i getnlimit", (axisNo + 1)); - pC_->writeReadController(); - sscanf(pC_->inString_, "%lf %lf", &negTravelLimit_, &posTravelLimit_); - -} - -/** Reports on status of the axis - * \param[in] fp The file pointer on which report information will be written - * \param[in] level The level of report detail desired - * - * After printing device-specific information calls asynMotorAxis::report() - */ -void SMChydraAxis::report(FILE *fp, int level) -{ - if (level > 0) { - fprintf(fp, " axis %d\n", axisNo_); - fprintf(fp, " motorForm %d\n", motorForm_); - fprintf(fp, " pitch %f\n", pitch_); - fprintf(fp, " polePairs %d\n", polePairs_); - fprintf(fp, " clPeriod %f\n", clPeriod_); - fprintf(fp, " axisRes %f\n", axisRes_); - fprintf(fp, " lowLimitConfig %d\n", lowLimitConfig_); - fprintf(fp, " highLimitConfig %d\n", highLimitConfig_); - fprintf(fp, " posTravelLimit %f\n", posTravelLimit_); - fprintf(fp, " negTravelLimit %f\n", negTravelLimit_); - } - - // Call the base class method - asynMotorAxis::report(fp, level); -} - -asynStatus SMChydraAxis::sendAccelAndVelocity(double acceleration, double velocity) -{ - asynStatus status; - // static const char *functionName = "SMChydraAxis::sendAccelAndVelocity"; - - // Send the velocity - sprintf(pC_->outString_, "%f %i snv", (velocity * axisRes_), (axisNo_ + 1)); - status = pC_->writeController(); - - // Send the acceleration - // acceleration is in units/sec/sec - sprintf(pC_->outString_, "%f %i sna", (acceleration * axisRes_), (axisNo_ + 1)); - status = pC_->writeController(); - return status; -} - - -asynStatus SMChydraAxis::move(double position, int relative, double baseVelocity, double slewVelocity, double acceleration) -{ - asynStatus status; - // static const char *functionName = "SMChydraAxis::move"; - - status = sendAccelAndVelocity(acceleration, slewVelocity); - - if (relative) { - sprintf(pC_->outString_, "%f %i nr", (position * axisRes_), (axisNo_ + 1)); - } else { - sprintf(pC_->outString_, "%f %i nm", (position * axisRes_), (axisNo_ + 1)); - } - status = pC_->writeController(); - return status; -} - -asynStatus SMChydraAxis::home(double baseVelocity, double slewVelocity, double acceleration, int forwards) -{ - asynStatus status; - // static const char *functionName = "SMChydraAxis::home"; - - status = sendAccelAndVelocity(acceleration, slewVelocity); - - if (forwards) { - sprintf(pC_->outString_, "%i nrm", (axisNo_ + 1)); - } else { - sprintf(pC_->outString_, "%i ncal", (axisNo_ + 1)); - } - status = pC_->writeController(); - return status; -} - -asynStatus SMChydraAxis::moveVelocity(double baseVelocity, double slewVelocity, double acceleration) -{ - asynStatus status; - static const char *functionName = "SMChydraAxis::moveVelocity"; - - asynPrint(pasynUser_, ASYN_TRACE_FLOW, - "%s: baseVelocity=%f, slewVelocity=%f, acceleration=%f\n", - functionName, baseVelocity, slewVelocity, acceleration); - - /* SMC hydra does not have jog command. Move to a limit*/ - if (slewVelocity > 0.) { - status = sendAccelAndVelocity(acceleration, slewVelocity); - sprintf(pC_->outString_, "%f %i nm", posTravelLimit_, (axisNo_ + 1)); - } else { - status = sendAccelAndVelocity(acceleration, (slewVelocity * -1.0)); - sprintf(pC_->outString_, "%f %i nm", negTravelLimit_, (axisNo_ + 1)); - } - status = pC_->writeController(); - return status; -} - -asynStatus SMChydraAxis::stop(double acceleration ) -{ - asynStatus status; - //static const char *functionName = "SMChydraAxis::stop"; - - // Set stop deceleration (will be overridden by accel if accel is higher) - sprintf(pC_->outString_, "%f %i ssd", (acceleration * axisRes_), (axisNo_ + 1)); - status = pC_->writeController(); - - sprintf(pC_->outString_, "%i nabort", (axisNo_ + 1)); - status = pC_->writeController(); - return status; -} - -asynStatus SMChydraAxis::setPosition(double position) -{ - asynStatus status; - //static const char *functionName = "SMChydraAxis::setPosition"; - - // The argument to the setnpos command is the distance from the current position of the - // desired origin, which is why the position needs to be multiplied by -1.0 - sprintf(pC_->outString_, "%f %i setnpos", (position * axisRes_ * -1.0), (axisNo_ + 1)); - status = pC_->writeController(); - return status; -} - -asynStatus SMChydraAxis::setClosedLoop(bool closedLoop) -{ - asynStatus status = asynSuccess; - //static const char *functionName = "SMChydraAxis::setClosedLoop"; - - switch (motorForm_) - { - case 0: - // Stepper motor - - // reinit to clear a motor fault when CNEN=1 - if (closedLoop) - { - sprintf(pC_->outString_, "%i init", (axisNo_ + 1)); - status = pC_->writeController(); - - // a delay is required after the init command is sent - epicsThreadSleep(0.2); - - } - - break; - - case 1: - // Linear or torque motor - - // enable closed-loop control - sprintf(pC_->outString_, "%i %i setcloop", closedLoop ? 1:0, (axisNo_ + 1)); - status = pC_->writeController(); - - // reinit so the closed-loop setting takes effect - sprintf(pC_->outString_, "%i init", (axisNo_ + 1)); - status = pC_->writeController(); - - // a delay is required after the init command is sent - epicsThreadSleep(0.2); - - break; - - default: - // Do nothing - break; - } - - return status; -} - -/** Polls the axis. - * This function reads the motor position, the limit status, the home status, the moving status, - * and the drive power-on status. - * It calls setIntegerParam() and setDoubleParam() for each item that it polls, - * and then calls callParamCallbacks() at the end. - * \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */ -asynStatus SMChydraAxis::poll(bool *moving) -{ - int done; - int driveOn; - int lowLimit; - int highLimit; - int ignoreLowLimit; - int ignoreHighLimit; - int axisStatus=-1; - double position=0.0; - asynStatus comStatus; - - static const char *functionName = "SMChydraAxis::poll"; - - // Read the current motor position - sprintf(pC_->outString_, "%i np", (axisNo_ + 1)); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - // The response string is a double - position = atof( (char *) &pC_->inString_); - setDoubleParam(pC_->motorPosition_, (position / axisRes_) ); - setDoubleParam(pC_->motorEncoderPosition_, (position / axisRes_) ); - - // Read the status of this motor - sprintf(pC_->outString_, "%i nst", (axisNo_ + 1)); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - // The response string is an int - axisStatus = atoi( (char *) &pC_->inString_); - - // Check the moving bit - done = !(axisStatus & 0x1); - setIntegerParam(pC_->motorStatusDone_, done); - setIntegerParam(pC_->motorStatusMoving_, !done); - *moving = done ? false:true; - - // Read the commanded velocity and acceleration - sprintf(pC_->outString_, "%i gnv", (axisNo_ + 1)); - comStatus = pC_->writeReadController(); - - sprintf(pC_->outString_, "%i gna", (axisNo_ + 1)); - comStatus = pC_->writeReadController(); - - // Check the limit bit (0x40) - if (axisStatus & 0x40) - { - asynPrint(this->pasynUser_, ASYN_TRACEIO_DRIVER, - "%s: axis %i limit indicator active.\n", - functionName, (axisNo_ + 1)); - - // query limits? - } - - // Check the e-stop bit (0x80) - if (axisStatus & 0x80) - { - asynPrint(this->pasynUser_, ASYN_TRACEIO_DRIVER, - "%s: axis %i emergency stopped.\n", - functionName, (axisNo_ + 1)); - } - - // Check the e-stop switch active bit (0x200) - if (axisStatus & 0x200) - { - asynPrint(this->pasynUser_, ASYN_TRACEIO_DRIVER, - "%s: axis %i emergency stop switch active.\n", - functionName, (axisNo_ + 1)); - setIntegerParam(pC_->motorStatusProblem_, 1); - } - else{ - setIntegerParam(pC_->motorStatusProblem_, 0); - } - - // Check the device busy bit (0x400) - if (axisStatus & 0x400) - { - asynPrint(this->pasynUser_, ASYN_TRACE_ERROR, - "%s: axis %i device is busy - move commands discarded.\n", - functionName, (axisNo_ + 1)); - } - - // Read the limit status - // Note: calibration switch = low limit; range measure switch = high limit - // also need to read the switch confiruation to see if limits are ignored" - - // Read switch confiruation - // Bit 0: polarity (0 = NO, 1 = NC) - // Bit 1: mask (0 = enabled, 1 = disabled) - sprintf(pC_->outString_, "%i getsw", (axisNo_ + 1)); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - sscanf(pC_->inString_, "%i %i", &lowLimitConfig_, &highLimitConfig_); - ignoreLowLimit = lowLimitConfig_ & 0x2; - ignoreHighLimit = highLimitConfig_ & 0x2; - - // Read status of switches 0=inactive 1=active - sprintf(pC_->outString_, "%i getswst", (axisNo_ + 1)); - comStatus = pC_->writeReadController(); - if (comStatus) goto skip; - // The response string is of the form "0 0" - sscanf(pC_->inString_, "%i %i", &lowLimit, &highLimit); - // - if (ignoreLowLimit) - setIntegerParam(pC_->motorStatusLowLimit_, 0); - else - setIntegerParam(pC_->motorStatusLowLimit_, lowLimit); - - if (ignoreHighLimit) - setIntegerParam(pC_->motorStatusHighLimit_, 0); - else - setIntegerParam(pC_->motorStatusHighLimit_, highLimit); - - /*setIntegerParam(pC_->motorStatusAtHome_, limit);*/ - - // Check the drive power bit (0x100) - driveOn = (axisStatus & 0x100) ? 0 : 1; - setIntegerParam(pC_->motorStatusPowerOn_, driveOn); - setIntegerParam(pC_->motorStatusProblem_, 0); - - skip: - setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0); - callParamCallbacks(); - return comStatus ? asynError : asynSuccess; -} - -/** Code for iocsh registration */ -static const iocshArg SMChydraCreateControllerArg0 = {"Port name", iocshArgString}; -static const iocshArg SMChydraCreateControllerArg1 = {"SMC hydra port name", iocshArgString}; -static const iocshArg SMChydraCreateControllerArg2 = {"Number of axes", iocshArgInt}; -static const iocshArg SMChydraCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt}; -static const iocshArg SMChydraCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt}; -static const iocshArg * const SMChydraCreateControllerArgs[] = {&SMChydraCreateControllerArg0, - &SMChydraCreateControllerArg1, - &SMChydraCreateControllerArg2, - &SMChydraCreateControllerArg3, - &SMChydraCreateControllerArg4}; -static const iocshFuncDef SMChydraCreateControllerDef = {"SMChydraCreateController", 5, SMChydraCreateControllerArgs}; -static void SMChydraCreateControllerCallFunc(const iocshArgBuf *args) -{ - SMChydraCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival); -} - -static void SMChydraRegister(void) -{ - iocshRegister(&SMChydraCreateControllerDef, SMChydraCreateControllerCallFunc); -} - -extern "C" { -epicsExportRegistrar(SMChydraRegister); -} diff --git a/motorApp/MicosSrc/SMChydraDriver.h b/motorApp/MicosSrc/SMChydraDriver.h deleted file mode 100644 index 7496f629..00000000 --- a/motorApp/MicosSrc/SMChydraDriver.h +++ /dev/null @@ -1,56 +0,0 @@ -/* -FILENAME... SMChydraDriver.h -USAGE... Motor driver support for the Micos SMC hydra controller. - -*/ - -#include "asynMotorController.h" -#include "asynMotorAxis.h" - -#define MAX_SMCHYDRA_AXES 2 - -// No controller-specific parameters yet -#define NUM_SMCHYDRA_PARAMS 0 - -class epicsShareClass SMChydraAxis : public asynMotorAxis -{ -public: - /* These are the methods we override from the base class */ - SMChydraAxis(class SMChydraController *pC, int axis); - void report(FILE *fp, int level); - asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration); - asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration); - asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards); - asynStatus stop(double acceleration); - asynStatus poll(bool *moving); - asynStatus setPosition(double position); - asynStatus setClosedLoop(bool closedLoop); - -private: - SMChydraController *pC_; /* Pointer to the asynMotorController to which this axis belongs. - Abbreviated because it is used very frequently */ - asynStatus sendAccelAndVelocity(double accel, double velocity); - int motorForm_; - double pitch_; - int polePairs_; - double clPeriod_; - double axisRes_; - double mres_; - int lowLimitConfig_; - int highLimitConfig_; - double posTravelLimit_; - double negTravelLimit_; - -friend class SMChydraController; -}; - -class epicsShareClass SMChydraController : public asynMotorController { -public: - SMChydraController(const char *portName, const char *SMChydraPortName, int numAxes, double movingPollPeriod, double idlePollPeriod); - - void report(FILE *fp, int level); - SMChydraAxis* getAxis(asynUser *pasynUser); - SMChydraAxis* getAxis(int axisNo); - -friend class SMChydraAxis; -}; diff --git a/motorApp/MicosSrc/devMicos.cc b/motorApp/MicosSrc/devMicos.cc deleted file mode 100644 index c075d964..00000000 --- a/motorApp/MicosSrc/devMicos.cc +++ /dev/null @@ -1,317 +0,0 @@ -/* File: devMicos.cc */ - -/* Device Support Routines for Micos MoCo dc motor controller. */ -/* - * Original Author: Kurt Goetze - * Date: 11-24-2003 - * - * Modification Log: - * ----------------- - * .00 11-24-2003 kag initialized from drvMCB4B.c - * .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR". - * .02 02-12-2004 rls copied from devMicos.c; ported to R3.14.x - */ - - -#define VERSION 2.00 - -#include -#include "motorRecord.h" -#include "motor.h" -#include "motordevCom.h" -#include "drvMicos.h" -#include "epicsExport.h" - -/*----------------debugging-----------------*/ -volatile int devMicosDebug = 0; -extern "C" {epicsExportAddress(int, devMicosDebug);} - -static inline void Debug(int level, const char *format, ...) { - #ifdef DEBUG - if (level < devMicosDebug) { - va_list pVar; - va_start(pVar, format); - vprintf(format, pVar); - va_end(pVar); - } - #endif -} - -/* Debugging levels: - * devMicosDebug >= 3 Print new part of command and command string so far - * at the end of Micos_build_trans - */ - -extern struct driver_table Micos_access; - -/* ----------------Create the dsets for devMicos----------------- */ -static struct driver_table *drvtabptr; -static long Micos_init(int); -static long Micos_init_record(void *); -static long Micos_start_trans(struct motorRecord *); -static RTN_STATUS Micos_build_trans(motor_cmnd, double *, struct motorRecord *); -static RTN_STATUS Micos_end_trans(struct motorRecord *); - -struct motor_dset devMicos = -{ - {8, NULL, (DEVSUPFUN) Micos_init, (DEVSUPFUN) Micos_init_record, NULL}, - motor_update_values, - Micos_start_trans, - Micos_build_trans, - Micos_end_trans -}; - -extern "C" {epicsExportAddress(dset,devMicos);} - -/* --------------------------- program data --------------------- */ -/* This table is used to define the command types */ - -static msg_types Micos_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 */ -}; - - -static struct board_stat **Micos_cards; - -/* --------------------------- program data --------------------- */ - - -/* initialize device support for Micos DC motor */ -static long Micos_init(int after) -{ - long rtnval; - - Debug(5, "Micos_init: entry\n"); - if (!after) - { - drvtabptr = &Micos_access; - (drvtabptr->init)(); - } - - rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &Micos_cards); - Debug(5, "Micos_init: exit\n"); - return(rtnval); -} - - -/* initialize a record instance */ -static long Micos_init_record(void *arg) -{ - struct motorRecord *mr = (struct motorRecord *) arg; - long rtnval; - - Debug(5, "Micos_init_record: entry\n"); - rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr, - drvtabptr, Micos_cards); - Debug(5, "Micos_init_record: exit\n"); - return(rtnval); -} - - -/* start building a transaction */ -static long Micos_start_trans(struct motorRecord *mr) -{ - return(OK); -} - - -/* end building a transaction */ -static RTN_STATUS Micos_end_trans(struct motorRecord *mr) -{ - return(OK); -} - -/* add a part to the transaction */ -static RTN_STATUS Micos_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 MicosController *cntrl; - char buff[30]; - int axis, card; - RTN_STATUS rtnval; - double dval; /* placeholder for double values passed from motor record */ - long ival; /* placeholder for ints passed from motor record */ - - rtnval = OK; - buff[0] = '\0'; - /* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */ - dval = (parms == NULL) ? 0.0 : *parms; - ival = NINT(parms[0]); - - rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards); - Debug(5, "Micos_build_trans: entry, motor_start_trans_com=%ld\n", rtnval); - - motor_call = &(trans->motor_call); - motor_call->type = Micos_table[command]; - card = motor_call->card; /* card is the group of drivers per unique serial port */ - axis = motor_call->signal; /* axis is Micos address, up to 16 (0-15) per serial port */ - /* Note: Each Micos driver drives _1_ motor */ - brdptr = (*trans->tabptr->card_array)[card]; - Debug(5, "Micos_build_trans: axis=%d, command=%d\n", axis, command); - if (brdptr == NULL) - return(rtnval = ERROR); - - cntrl = (struct MicosController *) brdptr->DevicePrivate; - - - if (trans->state != BUILD_STATE) - return(rtnval = ERROR); - - if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0) - { - strcpy(motor_call->message, mr->init); - rtnval = motor_end_trans_com(mr, drvtabptr); - rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards); - motor_call->type = Micos_table[command]; - } - - switch (command) - { - case MOVE_ABS: - case MOVE_REL: - case HOME_FOR: - case HOME_REV: - case JOG: - if (strlen(mr->prem) != 0) - { - strcpy(motor_call->message, mr->prem); - rtnval = (RTN_STATUS) motor_start_trans_com(mr, Micos_cards); - motor_call->type = Micos_table[command]; - } - if (strlen(mr->post) != 0) - motor_call->postmsgptr = (char *) &mr->post; - break; - - default: - break; - } - - switch (command) - { - case MOVE_ABS: - sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, ival); - break; - case MOVE_REL: - sprintf(motor_call->message, "%c%dmr%ld", CTLA, axis, ival); - break; - case HOME_FOR: - sprintf(motor_call->message, "%c%dgh", CTLA, axis); - break; - case HOME_REV: - sprintf(motor_call->message, "%c%dgh", CTLA, axis); - break; - case LOAD_POS: /* Micos allows you to define the zero position only */ - if (dval == 0.0) - sprintf(motor_call->message, "%c%ddh,ud", CTLA, axis); - else - rtnval = ERROR; - break; - case SET_VEL_BASE: - trans->state = IDLE_STATE; - break; /* Micos does not use base velocity */ - case SET_VELOCITY: - if (ival < 0) ival = 0; - if (ival > 1000000) ival = 1000000; - sprintf(motor_call->message, "%c%ddv%ld,ud", CTLA, axis, ival); - break; - case SET_ACCEL: - /* dval is acceleration in steps/sec/sec */ - if (ival < 0) ival = 0; - if (ival > 1000000) ival = 1000000; - sprintf(motor_call->message, "%c%dda%ld,ud", CTLA, axis, ival); - break; - case GO: - /* - * The Micos starts moving immediately on move commands, GO command - * does nothing - */ - trans->state = IDLE_STATE; - break; - case SET_ENC_RATIO: - /* - * The Micos does not have the concept of encoder ratio, ignore this - * command - */ - trans->state = IDLE_STATE; - 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: /* (decelerate to a) stop */ - sprintf(motor_call->message, "%c%dab1", CTLA, axis); - break; - case JOG: - /* - * Micos does not have a jog command. Simulate with move absolute - * to the appropriate software limit. The record will prevent JOG motion - * beyond its soft limits - */ - if (dval > 0.) - sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dhlm / mr->mres)); - else - sprintf(motor_call->message, "%c%dma%ld", CTLA, axis, (long)(mr->dllm / mr->mres)); - break; - - case SET_PGAIN: - if (ival < 0) ival = 0; - if (ival > 32767) ival = 32767; - sprintf(motor_call->message, "%c%ddp%ld,ud", CTLA, axis, ival); - break; - - case SET_IGAIN: - if (ival < 0) ival = 0; - if (ival > 32767) ival = 32767; - sprintf(motor_call->message, "%c%ddi%ld,ud", CTLA, axis, ival); - break; - - case SET_DGAIN: - if (ival < 0) ival = 0; - if (ival > 32767) ival = 32767; - sprintf(motor_call->message, "%c%ddd%ld,ud", CTLA, axis, ival); - break; - - case ENABLE_TORQUE: - sprintf(motor_call->message, "%c%dmn", CTLA, axis); - break; - - case DISABL_TORQUE: - sprintf(motor_call->message, "%c%dmf", CTLA, axis); - break; - - case SET_HIGH_LIMIT: - case SET_LOW_LIMIT: - trans->state = IDLE_STATE; - break; - - default: - rtnval = ERROR; - } - - rtnval = motor_end_trans_com(mr, drvtabptr); - Debug(5, "Micos_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval); - return (rtnval); -} diff --git a/motorApp/MicosSrc/devMicos.dbd b/motorApp/MicosSrc/devMicos.dbd deleted file mode 100644 index cd359bc7..00000000 --- a/motorApp/MicosSrc/devMicos.dbd +++ /dev/null @@ -1,6 +0,0 @@ -# Micos MoCo dc series support. -device(motor,VME_IO,devMicos,"Micos MoCo") -driver(drvMicos) -#variable(drvMicosDebug) - -registrar(SMChydraRegister) diff --git a/motorApp/MicosSrc/drvMicos.cc b/motorApp/MicosSrc/drvMicos.cc deleted file mode 100644 index c6e7b2d2..00000000 --- a/motorApp/MicosSrc/drvMicos.cc +++ /dev/null @@ -1,576 +0,0 @@ -/* File: drvMicos.cc */ - -/* Device Driver Support routines for Micos MoCo dc motor controller. */ -/* - * Original Author: Kurt Goetze - * Date: 11/24/2003 - * - * Modification Log: - * ----------------- - * .00 11-24-2003 kag initialized from drvMCB4B.c - * .01 02-06-2004 rls Eliminate erroneous "Motor motion timeout ERROR". - * .02 02-12-2004 rls Copied from drvMicos.c. Upgraded from R3.14.x - * .03 02-17-2004 rls Removed Debug calls to tickGet(). - * .04 07-12-2004 rls Converted from MPF to asyn. - * .05 09-20-2004 rls support for 32axes/controller. - * .08 12-16-2004 rls - asyn R4.0 support. - * - make debug variables always available. - * - MS Visual C compatibility; make all epicsExportAddress - * extern "C" linkage. - */ - - -#include -#include -#include -#include -#include -#include "motor.h" -#include "drvMicos.h" -#include "epicsExport.h" - -#define WAIT 1 - -#define COMM_TIMEOUT 2 /* Command timeout in seconds. */ - -#define BUFF_SIZE 100 /* Maximum length of string to/from Micos */ - -struct mess_queue -{ - struct mess_node *head; - struct mess_node *tail; -}; - - -/*----------------debugging-----------------*/ -volatile int drvMicosDebug = 0; -extern "C" {epicsExportAddress(int, drvMicosDebug);} - -static inline void Debug(int level, const char *format, ...) { - #ifdef DEBUG - if (level < drvMicosDebug) { - va_list pVar; - va_start(pVar, format); - vprintf(format, pVar); - va_end(pVar); - } - #endif -} - -/* Debugging notes: - * drvMicosDebug == 0 No debugging information is printed - * drvMicosDebug >= 1 Warning information is printed - * drvMicosDebug >= 2 Time-stamped messages are printed for each string - * sent to and received from the controller - * drvMicosDebug >= 3 Additional debugging messages - */ - -volatile int Micos_num_cards = 0; -volatile int Micos_num_axis = 0; - -/* Local data required for every driver; see "motordrvComCode.h" */ -#include "motordrvComCode.h" - - -/*----------------functions-----------------*/ -static int recv_mess(int, char *, int); -static RTN_STATUS send_mess(int, const char *, char *); -static void start_status(int); -static int set_status(int, int); -static long report(int); -static long init(); -static int motor_init(); -static void query_done(int, int, struct mess_node *); - -/*----------------functions-----------------*/ - -struct driver_table Micos_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, - start_status, - &initialized, - NULL -}; - -struct -{ - long number; - long (*report) (int); - long (*init) (void); -} drvMicos = {2, report, init}; - -extern "C" {epicsExportAddress(drvet, drvMicos);} - -static struct thread_args targs = {SCAN_RATE, &Micos_access, 0.0}; - -/********************************************************* - * Print out driver status report - *********************************************************/ -static long report(int level) -{ - int card; - - if (Micos_num_cards <=0) - printf(" NO Micos controllers found\n"); - else - { - for (card = 0; card < Micos_num_cards; card++) - if (motor_state[card]) - printf(" Micos controller group %d, id: %s \n", - card, - motor_state[card]->ident); - } - 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 (Micos_num_cards <= 0) - { - Debug(1, "init: *Micos driver disabled*\n"); - Debug(1, "MicosSetup() is missing from startup script.\n"); - return (ERROR); - } - - return ((long) 0); -} - -static void query_done(int card, int axis, struct mess_node *nodeptr) -{ -} - - -/********************************************************* - * Read the status and position of all motors on a card - * start_status(int card) - * if card == -1 then start all cards - *********************************************************/ -static void start_status(int card) -{ - /* The Micos cannot query status or positions of all axes with a - * single command. This needs to be done on an axis-by-axis basis, - * so this function does nothing - */ -} - - -/************************************************************** - * Query position and status for an axis - * set_status() - ************************************************************/ - -static int set_status(int card, int signal) -{ - register struct mess_info *motor_info; - char command[BUFF_SIZE]; - char response[BUFF_SIZE]; - struct mess_node *nodeptr; - int rtn_state, i, j; - long motorData; - long bytes[7]; - char temp[5]; - char buff[BUFF_SIZE]; - bool ls_active = false; - msta_field status; - - motor_info = &(motor_state[card]->motor_info[signal]); - nodeptr = motor_info->motor_motion; - status.All = motor_info->status.All; - - /* Request the moving status of this motor */ - - /* MM4000 has a delay in case the motor is not done due to servo PID-related settling.. do we need this delay? */ - /* ...after some testing, it doesn't look like we need the delay */ - - /* Get the motor status (ts) */ - sprintf(command, "%c%dts", CTLA, signal); - send_mess(card, command, 0); - recv_mess(card, response, WAIT); - /* The response string is of the form "byte0 byte1 ... byte6" */ - - /* Convert ASCII characters to hex */ - temp[0]='0'; temp[1]='x'; temp[2]='0', temp[3]='0', temp[4]='\0'; - if (signal > 9) j = 5; - else j = 4; - for (i = 0; i < 7; i++) { - temp[2] = response[j]; - temp[3] = response[j+1]; - bytes[i] = strtol(temp, (char **)NULL, 0); - j += 3; - } - /* check to see if motor is moving */ - status.Bits.RA_DONE = (bytes[0] & 0x04) ? 1 : 0; - - /* check limits */ - status.Bits.RA_PLUS_LS = status.Bits.RA_MINUS_LS = 0; - if ((bytes[5] & 0x04) & (bytes[3] & 0x04)) { /* if +lim AND pos move */ - status.Bits.RA_PLUS_LS = 1; - ls_active = true; - } - if ((bytes[5] & 0x01) & !(bytes[3] & 0x04)) { /* if -lim AND neg move */ - status.Bits.RA_MINUS_LS = 1; - ls_active = true; - } - - /* encoder status */ - status.Bits.EA_SLIP = 0; - status.Bits.EA_POSITION = 0; - status.Bits.EA_SLIP_STALL = 0; - status.Bits.EA_HOME = 0; - if ((bytes[3] & 0x08) | (bytes[3] & 0x40)) { - printf("drvMicos: set_status: EA_SLIP_STALL = 1, %ld\n", bytes[3]); - status.Bits.EA_SLIP_STALL = 1; - } - - /* Request the position of this motor */ - sprintf(command, "%c%dtp", CTLA, signal); - send_mess(card, command, 0); - recv_mess(card, response, WAIT); - /* The response string is of the form "0P0:+00001000" */ - if (signal > 9) - motorData = atoi(&response[5]); - else - motorData = atoi(&response[4]); - - /* derive direction information */ - if (motorData == motor_info->position) - { - if (nodeptr != 0) /* Increment counter only if motor is moving. */ - motor_info->no_motion_count++; - } - else - { - status.Bits.RA_DIRECTION = (bytes[3] & 0x04) ? 1 : 0; - motor_info->position = motorData; - motor_info->encoder_position = motorData; - motor_info->no_motion_count = 0; - } - - /* Parse motor velocity? */ - /* NEEDS WORK */ - - motor_info->velocity = 0; - - if (!status.Bits.RA_DIRECTION) - motor_info->velocity *= -1; - - rtn_state = (!motor_info->no_motion_count || ls_active == true || - status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0; - - /* Test for post-move string. */ - if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && - nodeptr->postmsgptr != 0) - { - strcpy(buff, nodeptr->postmsgptr); - send_mess(card, buff, (char*) NULL); - /* The Micos will not send back a response for a 'set' command, don't need next line */ - /* recv_mess(card, buff, WAIT); */ - nodeptr->postmsgptr = NULL; - } - - motor_info->status.All = status.All; - return (rtn_state); -} - - -/*****************************************************/ -/* send a message to the Micos board */ -/* send_mess() */ -/*****************************************************/ -static RTN_STATUS send_mess(int card, const char *com, char *name) -{ - struct MicosController *cntrl; - int size; - size_t nwrite; - - size = strlen(com); - - /* Check that card exists */ - if (!motor_state[card]) - { - errlogPrintf("send_mess - invalid card #%d\n", card); - return(ERROR); - } - - /* If the string is NULL just return */ - if (size == 0) return(OK); - cntrl = (struct MicosController *) motor_state[card]->DevicePrivate; - - Debug(2, "send_mess: sending message to card %d, message=%s\n", card, com); - cntrl = (struct MicosController *) motor_state[card]->DevicePrivate; - pasynOctetSyncIO->write(cntrl->pasynUser, com, size, COMM_TIMEOUT, &nwrite); - - return (OK); -} - - -/*****************************************************/ -/* Read a response string from the Micos board */ -/* recv_mess() */ -/*****************************************************/ -static int recv_mess(int card, char *com, int flag) -{ - struct MicosController *cntrl; - size_t nread = 0; - asynStatus status = asynError; - int eomReason; - - /* Check that card exists */ - if (!motor_state[card]) - { - errlogPrintf("recv_mess - invalid card #%d\n", card); - return (-1); - } - - cntrl = (struct MicosController *) motor_state[card]->DevicePrivate; - - Debug(3, "recv_mess entry: card %d, flag=%d\n", card, flag); - if (flag == FLUSH) - pasynOctetSyncIO->flush(cntrl->pasynUser); - else - status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE, - COMM_TIMEOUT, &nread, &eomReason); - - if ((status != asynSuccess) || (nread <= 0)) - { - com[0] = '\0'; - nread = 0; - if (flag != FLUSH) - { - Debug(1, "recv_mess: card %d ERROR: no response\n", card); - } - } - else - { - Debug(2, "recv_mess: card %d, message = \"%s\"\n", card, com); - } - return (nread); -} - - - -/*****************************************************/ -/* Setup system configuration */ -/* MicosSetup() */ -/*****************************************************/ -RTN_STATUS -MicosSetup(int num_cards, /* maximum number of "controllers" in system */ - int num_channels, /* max number of drivers */ - int scan_rate) /* polling rate - 1/60 sec units */ -{ - int itera; - - if (num_cards < 1 || num_cards > MICOS_NUM_CARDS) - Micos_num_cards = MICOS_NUM_CARDS; - else - Micos_num_cards = num_cards; - - if (num_channels < 1 || num_channels > MICOS_NUM_AXIS) - Micos_num_axis = MICOS_NUM_AXIS; - else - Micos_num_axis = num_channels; - - /* 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; - - /* - * Allocate space for motor_state structure pointers. Note this must be done - * before MicosConfig 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 since this is just - * an array of pointers. - */ - motor_state = (struct controller **) malloc(Micos_num_cards * - sizeof(struct controller *)); - - for (itera = 0; itera < Micos_num_cards; itera++) - motor_state[itera] = (struct controller *) NULL; - return(OK); -} - - -/*****************************************************/ -/* Configure a controller */ -/* MicosConfig() */ -/*****************************************************/ -RTN_STATUS -MicosConfig(int card, /* "controller" being configured */ - const char *name) /* asyn server task name */ -{ - struct MicosController *cntrl; - - if (card < 0 || card >= Micos_num_cards) - return (ERROR); - - motor_state[card] = (struct controller *) malloc(sizeof(struct controller)); - motor_state[card]->DevicePrivate = malloc(sizeof(struct MicosController)); - - cntrl = (struct MicosController *) motor_state[card]->DevicePrivate; - strcpy(cntrl->asyn_port, name); - return(OK); -} - - -/*****************************************************/ -/* 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 MicosController *cntrl; - int card_index, motor_index; - char cmd[BUFF_SIZE]; - char buff[BUFF_SIZE]; - int total_axis = 0; - int status = 0; - bool errind; - asynStatus success_rtn; - static const char output_terminator[] = "\r"; - /* The response from the Micos is terminated with . */ - static const char input_terminator[] = "\r\n\3"; - - initialized = true; /* Indicate that driver is initialized. */ - - /* Check for setup */ - if (Micos_num_cards <= 0) - { - Debug(1, "motor_init: *Micos driver disabled*\n"); - Debug(1, "MicosSetup() is missing from startup script.\n"); - return (ERROR); - } - - for (card_index = 0; card_index < Micos_num_cards; card_index++) - { - if (!motor_state[card_index]) - continue; - - brdptr = motor_state[card_index]; - total_cards = card_index + 1; - cntrl = (struct MicosController *) brdptr->DevicePrivate; - - /* Initialize communications channel */ - errind = false; - success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0, - &cntrl->pasynUser, NULL); - - if (success_rtn == asynSuccess) - { - int retry = 0; - - pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator, - strlen(output_terminator)); - pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator, - strlen(input_terminator)); - - /* Each "controller" can have max 16 axes. */ - total_axis = Micos_num_axis; - brdptr->total_axis = total_axis; - - /* flush any junk at input port - should not be any data available */ - do { - recv_mess(card_index, buff, FLUSH); - } while (strlen(buff) != 0); - - /* Send a message to each Micos driver. See if it responds */ - for (motor_index = 0; motor_index < total_axis; motor_index++) - { - do - { - sprintf(cmd, "%c%dts", CTLA, motor_index); - send_mess(card_index, cmd, 0); - status = recv_mess(card_index, buff, WAIT); - retry++; - /* Return value is length of response string */ - } while(status == 0 && retry < 3); - if (status == 0) break; - } - } - - - if (success_rtn == asynSuccess && status > 0) - { - brdptr->localaddr = (char *) NULL; - brdptr->motor_in_motion = 0; - brdptr->cmnd_response = false; - - start_status(card_index); - for (motor_index = 0; motor_index < total_axis; motor_index++) - { - struct mess_info *motor_info = &brdptr->motor_info[motor_index]; - brdptr->motor_info[motor_index].motor_motion = NULL; - /* turn off echo */ - sprintf(buff, "%c%def", CTLA, motor_index); - send_mess(card_index, buff, 0); - /* Don't turn on motor power, too dangerous */ - /*sprintf(buff,"#%02dW=1", motor_index); */ - /* send_mess(card_index, buff, 0); */ - /* Stop motor */ - sprintf(buff,"%c%dab1", CTLA, motor_index); - send_mess(card_index, buff, 0); - /* recv_mess(card_index, buff, WAIT); Throw away response */ - strcpy(brdptr->ident, "MICOS"); - - motor_info->status.All = 0; - motor_info->no_motion_count = 0; - motor_info->encoder_position = 0; - motor_info->position = 0; - - motor_info->encoder_present = YES; - motor_info->status.Bits.EA_PRESENT = 1; - motor_info->pid_present = YES; - motor_info->status.Bits.GAIN_SUPPORT = 1; - - set_status(card_index, motor_index); /* Read status of each motor */ - } - - } - else - motor_state[card_index] = (struct controller *) NULL; - } - - Debug(3, "motor_init: spawning motor task\n"); - - 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; - - epicsThreadCreate((char *) "tMicos", epicsThreadPriorityMedium, - epicsThreadGetStackSize(epicsThreadStackMedium), - (EPICSTHREADFUNC) motor_task, (void *) &targs); - - return (0); -} diff --git a/motorApp/MicosSrc/drvMicos.h b/motorApp/MicosSrc/drvMicos.h deleted file mode 100644 index df2546d5..00000000 --- a/motorApp/MicosSrc/drvMicos.h +++ /dev/null @@ -1,40 +0,0 @@ -/* File: drvMicos.h */ - - -/* Device Driver Support definitions for Micos MoCo dc motor controller. */ -/* - * Original Author: Kurt Goetze - * Current Author: Kurt Goetze - * Date: 11/24/2003 - * - * Modification Log: - * ----------------- - * .00 11/24/2003 kag initialized from drvMCB4B.h - * .01 07/12/2004 rls Converted from MPF to asyn. - */ - -#ifndef INCdrvMicosh -#define INCdrvMicosh 1 - -#include "motor.h" -#include "motordrvCom.h" -#include "asynDriver.h" -#include "asynOctetSyncIO.h" - -/* Micos default profile. */ - -#define MICOS_NUM_CARDS 16 -#define MICOS_NUM_AXIS 16 -#define CTLA 1 - -struct MicosController -{ - asynUser *pasynUser; /* For RS-232 */ - char asyn_port[80]; /* asyn port name */ -}; - -/* Function prototypes. */ -extern RTN_STATUS MicosSetup(int, int, int); -extern RTN_STATUS MicosConfig(int, const char *); - -#endif /* INCdrvMicosh */ diff --git a/motorExApp/WithAsyn/Makefile b/motorExApp/WithAsyn/Makefile index 16a40ec6..db1683ce 100644 --- a/motorExApp/WithAsyn/Makefile +++ b/motorExApp/WithAsyn/Makefile @@ -13,7 +13,6 @@ PROD_IOC_vxWorks = WithAsynVx COMMONDBDS = base.dbd COMMONDBDS += motorSupport.dbd COMMONDBDS += devImsMotor.dbd -COMMONDBDS += devMicos.dbd ifdef SNCSEQ COMMONDBDS += devAerotechSeq.dbd endif @@ -61,7 +60,6 @@ WithAsynVx_SRCS += WithAsynVx_registerRecordDeviceDriver.cpp WithAsyn_OBJS_vxWorks += $(EPICS_BASE_BIN)/vxComLibrary COMMONLIBS += Aerotech -COMMONLIBS += Micos COMMONLIBS += PI COMMONLIBS += Ims COMMONLIBS += softMotor