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motorBase/motorApp/ImsSrc/drvMDrive.cc
T
Ron Sluiter 4e237738c3 Closer cast.
2006-01-31 22:10:04 +00:00

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/*
FILENAME... drvMDrive.cc
USAGE... Motor record driver level support for Intelligent Motion
Systems, Inc. MDrive series; M17, M23, M34.
Version: $Revision: 1.21 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-01-31 22:09:14 $
*/
/*
* Original Author: Ron Sluiter
* Date: 03/21/03
*
* 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 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".
* .04 07/01/04 rls Converted from MPF to asyn.
* .05 09/20/04 rls - support for 32axes/controller.
* - remove '?' command string padding.
* .06 12/16/04 rls - asyn R4.0 support.
* - make debug variables always available.
* - MS Visual C compatibility; make all epicsExportAddress
* extern "C" linkage.
* .07 03/18/05 rls - Flexible MDrive I/O configuration.
* - Change Echo mode to 2; eliminate eat_garbage().
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the MDrive must be powered-on when EPICS is first
booted up.
2 - The MDrive cannot be power cycled while EPICS is up and running. The
consequences are permanent communication lose with the MDrive until
EPICS is rebooted.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvIM483.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define MDrive_NUM_CARDS 8
#define MAX_AXES 8
#define BUFF_SIZE 13 /* Maximum length of string to/from MDrive */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvMDrivedebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvMDrivedebug = 0;
extern "C" {epicsExportAddress(int, drvMDrivedebug);}
/* --- Local data. --- */
int MDrive_num_cards = 0;
static char *MDrive_axis[] = {"1", "2", "3", "4", "5", "6", "7", "8"};
/* 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, char const *, char *);
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 MDrive_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,
MDrive_axis
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvMDrive = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvMDrive);}
static struct thread_args targs = {SCAN_RATE, &MDrive_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MDrive_num_cards <=0)
printf(" No MDrive controllers configured.\n");
else
{
for (card = 0; card < MDrive_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" MDrive controller %d connection failed.\n", card);
else
{
struct IM483controller *cntrl;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
printf(" MDrive controller #%d, port=%s, id: %s \n", card,
cntrl->asyn_port, 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 (MDrive_num_cards <= 0)
{
Debug(1, "init(): MDrive driver disabled. MDriveSetup() missing from startup script.\n");
}
return((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/******************************************************************************
*
* FUNCTION NAME: set_status
*
* LOGIC:
* Initialize.
* Send "Moving Status" query.
* Read response.
* IF normal response to query.
* Set communication status to NORMAL.
* ELSE
* IF communication status is NORMAL.
* Set communication status to RETRY.
* NORMAL EXIT.
* ELSE
* Set communication status error.
* ERROR EXIT.
* ENDIF
* ENDIF
*
* IF "Moving Status" indicates any motion (i.e. status != 0).
* Clear "Done Moving" status bit.
* ELSE
* Set "Done Moving" status bit.
* ENDIF
*
******************************************************************************/
static int set_status(int card, int signal)
{
struct IM483controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
int rtnval, rtn_state;
double motorData;
epicsUInt8 Lswitch;
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
input_config *confptr = cntrl->inconfig;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
send_mess(card, "PR MV", MDrive_axis[signal]);
rtn_state = recv_mess(card, buff, 1);
if (rtn_state > 0)
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
}
else
{
if (cntrl->status == NORMAL)
{
cntrl->status = RETRY;
rtn_state = OK;
goto exit;
}
else
{
cntrl->status = COMM_ERR;
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
}
rtnval = atoi(buff);
status.Bits.RA_DONE = (rtnval != 0) ? 0 : 1;
/*
* Parse motor position
* Position string format: 1TP5.012,2TP1.123,3TP-100.567,...
* Skip to substring for this motor, convert to double
*/
send_mess(card, "PR P", MDrive_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
if (confptr->plusLS == 0 || confptr->minusLS == 0)
{
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
}
else
{
sprintf(buff, "PR I%d", confptr->plusLS);
send_mess(card, buff, MDrive_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
/* Set limit Lswitch error indicators. */
if (Lswitch != 0)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
sprintf(buff, "PR I%d", confptr->minusLS);
send_mess(card, buff, MDrive_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
if (Lswitch != 0)
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_MINUS_LS = 0;
}
if (confptr->homeLS == 0)
status.Bits.RA_HOME = 0;
else
{
sprintf(buff, "PR I%d", confptr->homeLS);
send_mess(card, buff, MDrive_axis[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
status.Bits.RA_HOME = (Lswitch) ? 1 : 0;
}
/* !!! Assume no closed-looped control!!!*/
status.Bits.EA_POSITION = 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
{
send_mess(card, "PR C2", MDrive_axis[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
motor_info->encoder_position = (epicsInt32) motorData;
}
status.Bits.RA_PROBLEM = 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, MDrive_axis[signal]);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send a message to the MDrive board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
struct IM483controller *cntrl;
int comsize, namesize;
size_t nwrite;
comsize = (com == NULL) ? 0 : strlen(com);
namesize = (name == NULL) ? 0 : strlen(name);
if ((comsize + namesize) > MAX_MSG_SIZE)
{
errlogMessage("drvMDrive.c:send_mess(); message size violation.\n");
return(ERROR);
}
else if (comsize == 0) /* Normal exit on empty input message. */
return(OK);
if (!motor_state[card])
{
errlogPrintf("drvMDrive.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
/* Make a local copy of the string and add the command line terminator. */
if (namesize != 0)
{
strcpy(local_buff, name); /* put in axis */
strcat(local_buff, com);
}
else
strcpy(local_buff, com);
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
return(OK);
}
/*****************************************************/
/* receive a message from the MDrive board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct IM483controller *cntrl;
const double timeout = 1.0;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct IM483controller *) motor_state[card]->DevicePrivate;
if (flag == FLUSH)
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
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 */
/* MDriveSetup() */
/*****************************************************/
RTN_STATUS
MDriveSetup(int num_cards, /* maximum number of chains in system. */
int scan_rate) /* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > MDrive_NUM_CARDS)
MDrive_num_cards = MDrive_NUM_CARDS;
else
MDrive_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 IM483Config 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(MDrive_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < MDrive_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* MDriveConfig() */
/*****************************************************/
RTN_STATUS
MDriveConfig(int card, /* chain being configured */
const char *name) /* ASYN port name */
{
struct IM483controller *cntrl;
if (card < 0 || card >= MDrive_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct IM483controller));
cntrl = (struct IM483controller *) 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 IM483controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int total_axis = 0;
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\n";
static const char input_terminator[] = "\r\n";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (MDrive_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < MDrive_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->ident[0] = (char) NULL; /* No controller identification message. */
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct IM483controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
/* Send a message to the board, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
{
int retry = 0;
/* Try 3 times to connect to controller. */
do
{
send_mess(card_index, "PR VR", MDrive_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
if (status <= 0)
break;
else if (total_axis == 0)
strcpy(brdptr->ident, buff);
}
brdptr->total_axis = total_axis;
cntrl->inconfig = (input_config *) malloc(
sizeof(struct IM483controller) * total_axis);
}
if (success_rtn == asynSuccess && total_axis > 0)
{
input_config *confptr = cntrl->inconfig;
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
int itera;
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;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Assume no encoder support. */
motor_info->encoder_present = NO;
/* 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;
}
/* Determine input configuration. */
confptr->homeLS = confptr->minusLS = confptr->plusLS = 0;
for (itera = 1; itera <= 4; itera++)
{
int type, active;
sprintf(buff, "PR S%d", itera);
send_mess(card_index, buff, MDrive_axis[motor_index]);
status = recv_mess(card_index, buff, 1);
if (status == 0)
{
errlogPrintf("Error reading I/O configuration.\n");
break;
}
status = sscanf(buff, "%d,%d", &type, &active);
switch (type)
{
case 0:
break;
case 1: // Home switch.
confptr->homeLS = itera;
break;
case 2: // Plus limit switch.
confptr->plusLS = itera;
break;
case 3: // Minus limit switch.
confptr->minusLS = itera;
break;
default:
errlogPrintf("Invalid I/O type: %d.\n", type);
}
}
// Test for missing configuration.
if (confptr->minusLS == 0 || confptr->plusLS == 0)
{
const char p_label[6] = "Plus", m_label[6] = "Minus";
errlogPrintf("MDrive chain #%d, motor #%d %s LS not configured.\n",
card_index, motor_index,
(confptr->minusLS == 0) ? m_label : p_label);
}
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 *) "MDrive_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
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