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motorBase/motorApp/AcsTech80Src/drvSPiiPlus.cc
T
jsullivan-anl 8c9053a842 Added support for Alio Hexapod and Direct motion commands 
Configured at startup via
	SPiiPlusConfig(0, "<asyn port>", "<command mode>")

Where command mode = "BUF","CON" or "DIR"  (see README file)
2008-05-21 21:18:53 +00:00

776 lines
21 KiB
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/*
FILENAME... drvSPiiPlus.cc
USAGE... Motor record driver level support for ACS Tech80
SPiiPlus
Version: $Revision: 1.3 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2008-05-21 21:18:53 $
*/
/*
* Original Author: Mark Rivers
* Date: 10/20/97
* Current Author: J. Sullivan
*
* 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:
* -----------------
* .01 04-08-05 jps initialized from drvSPiiPlus.cc
*/
#include <stdio.h>
#include <string.h>
#include <ctype.h>
#include <math.h>
#include <epicsThread.h>
#include <epicsString.h>
#include <drvSup.h>
#include "motor.h"
#include "ACSTech80Register.h"
#include "drvSPiiPlus.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define STOP_ALL "halt all"
#define MOTOR_ON "enable(%d)"
#define GET_IDENT "?VR"
#define SKIP_THIS "#"
#define ACS_EOS "\r" /* End-of-string */
#define SPiiPlus_NUM_CARDS 8
#define BUFF_SIZE 120 /* Maximum length of string to/from SPiiPlus */
#define TIMEOUT 2.0 /* Command timeout in sec. */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvSPiiPlusdebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvSPiiPlusdebug = 0;
extern "C" {epicsExportAddress(int, drvSPiiPlusdebug);}
/* --- Local data. --- */
int SPiiPlus_num_cards = 0;
static char *ACSPL_axis[] = {"X", "Y", "Z", "T", "A", "B", "C", "D"};
// Array dimensions are defined in drvSPiiPlusy.h
// First dimension order must match (enum)CMND_MODES
// Second dimension (command list) order must match (enum)QUERY_TYPES
static char *queryCmnds[MODE_CNT][QUERY_CNT] = {
{QSTATUS_CMND,QFAULT_CMND,QPOS_CMND,QEA_POS_CMND,QVEL_CMND,QHOME_CMND,QDONE_CMND},
{QSTATUS_CMND,QFAULT_CMND,QPOS_CMND,QEA_POS_KIN_CMND,QVEL_CMND,SKIP_THIS,SKIP_THIS},
{QSTATUS_CMND,QFAULT_CMND,QPOS_CMND,QEA_POS_CMND,QVEL_CMND,SKIP_THIS,SKIP_THIS}
};
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvSPiiPlusReadbackDelay = 0.;
/*----------------functions-----------------*/
static int recv_mess(int card, char *com, int flag);
static RTN_STATUS send_mess(int card, char const *, char *name);
static int send_recv_mess(int card, char const *send_com, char *recv_com);
static int set_status(int card, int signal);
static long report(int level);
static long init();
static int motor_init();
static void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table SPiiPlus_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,
NULL,
&initialized,
NULL
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvSPiiPlus = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvSPiiPlus);}
static struct thread_args targs = {SCAN_RATE, &SPiiPlus_access, 0.010};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (SPiiPlus_num_cards <=0)
printf(" No SPiiPlus controllers configured.\n");
else
{
for (card = 0; card < SPiiPlus_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" SPiiPlus controller %d connection failed.\n", card);
else
{
struct SPiiPlusController *cntrl;
cntrl = (struct SPiiPlusController *) brdptr->DevicePrivate;
printf(" SPiiPlus controller %d, port=%s, address=%d, id: %s \n",
card, cntrl->asyn_port, cntrl->asyn_address,
brdptr->ident);
}
}
}
return(OK);
}
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 (SPiiPlus_num_cards <= 0)
{
Debug(1, "init(): SPiiPlus driver disabled. SPiiPlusSetup() missing from startup script.\n");
}
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)
//{
//}
/**************************************************************
* Parse status and position strings for a card and signal
* set_status()
************************************************************/
static int set_status(int card, int signal)
{
struct SPiiPlusController *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char send_buff[80];
char **cmndList;
int cmndID;
int flags;
double vel;
MOTOR_STATUS mstat;
MOTOR_FAULTS mfault;
int rtn_state;
int recvCnt;
int opReq;
long motorData;
bool homing;
bool plusdir, ls_active = false;
bool cmndErr;
msta_field status;
cntrl = (struct SPiiPlusController *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
status.All = motor_info->status.All;
// Get correct list of command for controller interface mode
cmndList = queryCmnds[cntrl->cmndMode];
for (cmndID=0, cmndErr=false; cmndID < QUERY_CNT && !cmndErr; cmndID++, cmndList++)
{
// Check for SKIP_THIS flag
if (*cmndList[0] == '#')
cntrl->recv_string[cmndID][0] = (char)NULL;
else
{
if (cmndID == QEA_POS && cntrl->cmndMode == CONNECT)
sprintf(send_buff, *cmndList, ACSPL_axis[signal]);
else
sprintf(send_buff, *cmndList, signal);
recvCnt = send_recv_mess(card, send_buff, cntrl->recv_string[cmndID]);
// Check for TIMEOUT or Controller Error Reply
if (recvCnt <= 0 || strchr(cntrl->recv_string[cmndID], '?'))
cmndErr = true;
}
}
// Did we get all the way thru the command list?
if (!cmndErr)
cntrl->status = NORMAL;
else
{
if (cntrl->status == NORMAL)
cntrl->status = RETRY;
else
cntrl->status = COMM_ERR;
}
if (cntrl->status != NORMAL)
{
if (cntrl->status == COMM_ERR)
{
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
else
{
rtn_state = 0;
goto exit;
}
}
else
status.Bits.CNTRL_COMM_ERR = 0;
nodeptr = motor_info->motor_motion;
/*
* Parse the status/fault strings
*/
flags = atoi(cntrl->recv_string[QSTATUS]);
mstat.All = flags;
mfault.All = atoi(cntrl->recv_string[QFAULT]);
Debug(5, "set_status(): status byte = %x, fault int = %x\n", mstat.All, mfault.All);
vel = atof(cntrl->recv_string[QVEL]);
status.Bits.RA_DIRECTION = (vel >= 0) ? 1 : 0;
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
if (cntrl->cmndMode == BUFFER)
status.Bits.RA_DONE = (atoi(cntrl->recv_string[QDONE])) ? 1 : 0;
else
{
// if (mstat.Bits.inmotion == false && mstat.Bits.inposition == true)
if (mstat.Bits.inposition == true)
status.Bits.RA_DONE = 1;
else
status.Bits.RA_DONE = 0;
}
status.Bits.RA_MOVING = (mstat.Bits.inmotion == true) ? 1 : 0;
status.Bits.RA_HOME = status.Bits.RA_DONE;
if (cntrl->cmndMode == BUFFER)
{
opReq = atoi(cntrl->recv_string[QHOME]);
homing = (opReq == OP_HOME_F || opReq == OP_HOME_R) ? true : false;
}
else
homing = false;
/* Set Travel limit switch status bits. */
if ((mfault.Bits.rl == false && mfault.Bits.srl == false) || homing)
status.Bits.RA_PLUS_LS = 0;
else
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
if ((mfault.Bits.ll == false && mfault.Bits.sll == false) || homing)
status.Bits.RA_MINUS_LS = 0;
else
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
/* Position maintence enabled */
status.Bits.EA_POSITION = (mstat.Bits.enabled) ? 1: 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
/*
* Parse motor position
*/
motorData = (long)atof(cntrl->recv_string[QPOS]);
// printf("motorData=%ld, last_position=%ld, count=%d\n",motorData, motor_info->position, motor_info->no_motion_count);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->position = motorData;
motor_info->no_motion_count = 0;
}
// Always update encoder position - for non-motion monitoring
if (motor_state[card]->motor_info[signal].encoder_present == YES)
motor_info->encoder_position = (long)(atof(cntrl->recv_string[QEA_POS]));
else
motor_info->encoder_position = 0;
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = (int)vel;
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)
{
strncpy(send_buff, nodeptr->postmsgptr, 80);
send_mess(card, send_buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send_receive a message to the SPiiPlus board */
/* send_recv_mess() */
/*****************************************************/
static int send_recv_mess(int card, char const *send_com, char *recv_com)
{
struct SPiiPlusController *cntrl;
int size;
size_t nwrite;
size_t nread = 0;
double timeout = 0.;
asynStatus status;
int eomReason;
size = strlen(send_com);
recv_com[0] = '\0';
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvSPiiPlus.c:send_recv_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvSPiiPlus.c:send_recv_mess() - invalid card #%d\n", card);
return(ERROR);
}
Debug(2, "send_recv_mess(): message = %s\n", send_com);
cntrl = (struct SPiiPlusController *) motor_state[card]->DevicePrivate;
timeout = TIMEOUT;
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
/* Perform atomic write/read operation */
status = pasynOctetSyncIO->writeRead(cntrl->pasynUser, send_com, strlen(send_com),
recv_com, ACS_MSG_SIZE,
TIMEOUT, &nwrite, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
recv_com[0] = '\0';
nread = 0;
}
Debug(2, "send_recv_mess(): recv message = \"%s\"\n", recv_com);
return(nread);
}
/*****************************************************/
/* send a message to the SPiiPlus board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct SPiiPlusController *cntrl;
int size;
size_t nwrite;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvSPiiPlus.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (size == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvSPiiPlus.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
if (name != NULL)
{
errlogPrintf("drvSPiiPlus.c:send_mess() - invalid argument = %s\n", name);
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
cntrl = (struct SPiiPlusController *) motor_state[card]->DevicePrivate;
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
pasynOctetSyncIO->write(cntrl->pasynUser, com, strlen(com),
TIMEOUT, &nwrite);
return(OK);
}
/*
* FUNCTION... recv_mess(int card, char *com, int flag)
*
* INPUT ARGUMENTS...
* card - controller card # (0,1,...).
* *com - caller's response buffer.
* flag | FLUSH = this flag is ignored - the receive buffer is flushed
* on every write (see write_mess())
* LOGIC...
* IF controller card does not exist.
* ERROR RETURN.
* ENDIF
* NORMAL RETURN.
*/
static int recv_mess(int card, char *com, int flag)
{
struct SPiiPlusController *cntrl;
double timeout = 0.;
size_t nread = 0;
asynStatus status;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct SPiiPlusController *) motor_state[card]->DevicePrivate;
timeout = TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* SPiiPlusSetup() */
/*****************************************************/
RTN_STATUS
SPiiPlusSetup(int num_cards, /* maximum number of controllers in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > SPiiPlus_NUM_CARDS)
SPiiPlus_num_cards = SPiiPlus_NUM_CARDS;
else
SPiiPlus_num_cards = num_cards;
/* 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 structures. Note this must be done
* before SPiiPlusConfig 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
*/
motor_state = (struct controller **) malloc(SPiiPlus_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < SPiiPlus_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* SPiiPlusConfig() */
/*****************************************************/
RTN_STATUS
SPiiPlusConfig(int card, /* card being configured */
const char *name, /* asyn port name */
const char *modeStr) /* command mode [BUFfer/DIRect] */
{
struct SPiiPlusController *cntrl;
int modeIdx;
char modeCas[4];
if (card < 0 || card >= SPiiPlus_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct SPiiPlusController));
cntrl = (struct SPiiPlusController *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
// Set controller command interface mode - BUFFER is the default
// Assure upper case argument - only check first 3 letters
modeCas[0]=NULL;
if (modeStr != NULL) {
for (modeIdx=0; modeIdx < 3; modeIdx++)
modeCas[modeIdx] = toupper(modeStr[modeIdx]);
modeCas[3]= (char) NULL;
}
if (!strncmp(modeCas, DIRECT_STR,3))
cntrl->cmndMode = DIRECT;
else if (!strncmp(modeCas, CONNECT_STR,3))
cntrl->cmndMode = CONNECT;
else
cntrl->cmndMode = BUFFER;
printf("SPiiPlus config mode = %d\n", (int)(cntrl->cmndMode));
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 SPiiPlusController *cntrl;
int card_index, motor_index;
// char axis_pos[BUFF_SIZE];
char buff[BUFF_SIZE];
char send_buff[30];
// char *tok_save, *pos_ptr;
int total_axis = 0;
int status;
bool foundAxis;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (SPiiPlus_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < SPiiPlus_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->cmnd_response = true;
total_cards = card_index + 1;
cntrl = (struct SPiiPlusController *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
int retry = 0;
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,ACS_EOS,strlen(ACS_EOS));
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser,ACS_EOS,strlen(ACS_EOS));
/* Send a message to the board, see if it exists */
do
{
status = send_recv_mess(card_index, GET_IDENT, buff);
retry++;
/* Return value is length of response string */
} while(status == 0 && !strchr(buff, '?') && retry < 3);
}
if (success_rtn == asynSuccess && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
status = send_recv_mess(card_index, STOP_ALL, buff); /* Stop all motors */
status = send_recv_mess(card_index, GET_IDENT, buff); /* Read controller ID string */
strcpy(brdptr->ident, buff); /* Save Version */
/* The return string will tell us how many axes this controller has */
for (total_axis=0, foundAxis=true; foundAxis; total_axis++)
{
sprintf(send_buff, QPOS_CMND, total_axis);
status = send_recv_mess(card_index, send_buff, buff);
if (status <= 0 || strchr(buff, '?'))
foundAxis = false;
}
brdptr->total_axis = --total_axis;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
/* Encoder Enable */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
/* Determine low limit */
// sprintf(send_buff, "?SLLIMIT(%d)", motor_index);
// status = send_recv_mess(card_index, send_buff, buff);
// motor_info->low_limit = atof(buff);
/* Determine high limit */
// sprintf(send_buff, "?SRLIMIT(%d)", motor_index);
// status = send_recv_mess(card_index, send_buff, buff);
// motor_info->high_limit = atof(buff);
set_status(card_index, motor_index); /* Read status of each motor */
}
}
else
motor_state[card_index] = (struct controller *) NULL;
}
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 *) "SPiiPlus_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadCreate((char *) "SPiiPlus_motor",
epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
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