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2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/MicosSrc/drvMicos.cc
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Ron Sluiter 723289ad73 Correct error in debug statement.
2008-10-15 18:33:33 +00:00

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/* 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 <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#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-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvMicosDebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvMicosDebug = 0;
extern "C" {epicsExportAddress(int, drvMicosDebug);}
/* 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 <CR><LF><ETX>. */
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);
}
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