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motorBase/motorApp/PC6KSrc/drvPC6K.cc
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/*
FILENAME... drvPC6K.cc
USAGE... Motor record driver level support for Parker Computmotor
6K Series motor controllers
Version: $Revision: 1.5 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2006-12-18 19:31:15 $
*/
/*
* 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 drvMM4000.cc
*/
#include <string.h>
#include <ctype.h> /* isascii functions */
#include <math.h>
#include <stdio.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "ParkerRegister.h"
#include "drvPC6K.h"
#include "asynOctetSyncIO.h"
#include "asynCommonSyncIO.h"
#include "epicsExport.h"
#include "epicsExit.h"
#define CMD_STATUS "TAS"
#define CMD_POS "TPC"
#define CMD_EA_POS "TPE"
#define CMD_VEL "TVELA"
#define CMD_DRIVE "DRIVE"
#define CMD_HIGHLS "LSPOS" /* Software travel limit */
#define CMD_LOWLS "LSNEG"
#define CMD_ERES "ERES"
#define CMD_DRES "DRES"
#define CMD_SCLA "SCLA1"
#define CMD_SCLV "SCLV1"
#define CMD_SCLD "SCLD1"
#define CMD_SCALE "SCALE1"
#define CMD_AXSDEF "AXSDEF" /* Axis definition xxxx_xxxx , 0=stepper, 1=servo */
#define CMD_ECHO "ECHO0" /* Echo must be off */
#define STOP_ALL "!K"
#define MOTOR_ON "%dDRIVE1"
#define COMEXEC_ENA "COMEXC1" /* Continuous command mode ON */
#define GET_IDENT "TREV"
#define REPLY_CHAR '*'
#define PC6K_NUM_CARDS 16
#define BUFF_SIZE 120 /* Maximum length of string to/from PC6K */
#define TIMEOUT 1.0 /* Command timeout in sec. */
/* Delay after START_MOTION before a status update is possible
* *** Limitation of Parker 6K controller ***
*/
#define MOTION_DELAY 0.05
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPC6Kdebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPC6Kdebug = 0;
extern "C" {epicsExportAddress(int, drvPC6Kdebug);}
/* --- Local data. --- */
int PC6K_num_cards = 0;
/* 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 drvPC6KReadbackDelay = 0.;
/* NOTICE !!!! Command order must match drvPC6K.h/PC6K_query_types !!!! */
static struct {
char *cmnd;
int cmndLen;
} queryOps[]= {{CMD_STATUS, 0}, {CMD_POS, 0}, {CMD_EA_POS, 0}, {CMD_VEL, 0}, {CMD_DRIVE, 0}};
#define QUERY_CNT PC6K_QUERY_CNT
/* Track open asyn ports - close on IOC exit */
#define MAX_SOCKETS PC6K_NUM_CARDS+1
#define PORT_NAME_SIZE 100
#define ERROR_STRING_SIZE 100
#define DEFAULT_TIMEOUT 0.2
static int nextSocket = 0;
/* Pointer to the connection info for each socket
the asynUser structure is defined in asynDriver.h */
typedef struct {
asynUser *pasynUser;
asynUser *pasynUserCommon;
double timeout;
char errorString[ERROR_STRING_SIZE];
bool connected;
} socketStruct;
static socketStruct socketStructs[MAX_SOCKETS];
/*----------------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 send_recv_mess(int card, char const *send_com, char *recv_com,
char const *temp_eos);
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 *);
void closePC6KSockets(void *);
/*----------------functions-----------------*/
struct driver_table PC6K_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
} drvPC6K = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPC6K);}
static struct thread_args targs = {SCAN_RATE, &PC6K_access, MOTION_DELAY};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PC6K_num_cards <=0)
printf(" No PC6K controllers configured.\n");
else
{
for (card = 0; card < PC6K_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PC6K controller %d connection failed.\n", card);
else
{
struct PC6KController *cntrl;
cntrl = (struct PC6KController *) brdptr->DevicePrivate;
printf(" PC6K 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 (PC6K_num_cards <= 0)
{
Debug(1, "init(): PC6K driver disabled. PC6KSetup() 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 PC6KController *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char send_buff[80];
char *strstrRtn[QUERY_CNT];
char *recvStr;
double vel;
int rtn_state;
int recvCnt;
int motorData;
int motor;
unsigned int qindex;
bool recvRetry, recvNext;
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
status.All = motor_info->status.All;
motor = signal+1;
/* LOOP: send all status queries and check for valid response
* EXIT LOOP: if communication timeout or invalid response
* but allow one retry;
*/
qindex = 0;
recvRetry = recvNext = false;
do
{
strstrRtn[qindex] = NULL;
sprintf(send_buff, "%d%s", motor, queryOps[qindex].cmnd);
if ((recvCnt = send_recv_mess(card, send_buff, cntrl->recv_string[qindex])) &&
(cntrl->recv_string[qindex][0] == REPLY_CHAR))
{
// Index into return string (add 1 to command length to account for REPLY_CHAR)
strstrRtn[qindex] = &cntrl->recv_string[qindex][strlen(send_buff)+1];
recvRetry = false;
recvNext = (++qindex >= QUERY_CNT) ? false : true;
}
else
{
recvNext = false;
recvRetry = (recvRetry ? false : true);
}
} while (recvRetry || recvNext);
/* Check for normal look termination - all queries successful */
if (qindex >= QUERY_CNT)
cntrl->status = NORMAL;
else
{
if (cntrl->status == NORMAL)
{
epicsThreadSleep(MOTION_DELAY);
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 string
*/
recvStr = strstrRtn[QSTATUS];
Debug(5, "set_status(): status = %s\n", recvStr);
status.Bits.RA_DIRECTION = (recvStr[TAS_NEG] == '0') ? 1 : 0;
status.Bits.RA_HOME = (recvStr[TAS_HOME] == '1') ? 1 : 0;
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
status.Bits.RA_DONE = (recvStr[TAS_INMOTION] == '0') ? 1 : 0;
/* Set Travel limit switch status bits. */
if ((recvStr[TAS_HPLUSTL] == '0' && recvStr[TAS_SPLUSTL] == '0') ||
status.Bits.RA_HOME)
status.Bits.RA_PLUS_LS = 0;
else
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
if ((recvStr[TAS_HMINUSTL] == '0' && recvStr[TAS_SMINUSTL] == '0') ||
status.Bits.RA_HOME)
status.Bits.RA_MINUS_LS = 0;
else
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
/* Position maintence enabled */
recvStr = strstrRtn[QDRIVE];
status.Bits.EA_POSITION = (*recvStr == '1') ? 1: 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
/*
* Parse motor position
*/
recvStr = strstrRtn[QPOS];
motorData = (int) atof(recvStr);
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;
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
recvStr = strstrRtn[QEA_POS];
motor_info->encoder_position = atoi(recvStr);
}
else
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
}
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
recvStr = strstrRtn[QVEL];
vel = atof(recvStr);
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 PC6K board */
/* send_recv_mess() */
/*****************************************************/
static int send_recv_mess(int card, char const *send_com, char *recv_com)
{
return(send_recv_mess(card, send_com, recv_com, NULL));
}
static int send_recv_mess(int card, char const *send_com, char *recv_com,
const char *temp_eos)
{
struct PC6KController *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("drvPC6K.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("drvPC6K.c:send_recv_mess() - invalid card #%d\n", card);
return(ERROR);
}
Debug(2, "send_recv_mess(): message = %s\n", send_com);
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
/* Enable temporary changes to EOS - ie: program creation "-" */
if (temp_eos != NULL && strlen(temp_eos))
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,temp_eos,strlen(temp_eos));
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, PC6K_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 to standard EOS */
if (temp_eos != NULL && strlen(temp_eos))
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
PC6K_IN_EOS,strlen(PC6K_IN_EOS));
return(nread);
}
/*****************************************************/
/* send a message to the PC6K board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
struct PC6KController *cntrl;
int size;
size_t nwrite;
size = strlen(com);
if (size > MAX_MSG_SIZE)
{
errlogMessage("drvPC6K.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("drvPC6K.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
if (name != NULL)
{
errlogPrintf("drvPC6K.c:send_mess() - invalid argument = %s\n", name);
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
cntrl = (struct PC6KController *) 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 PC6KController *cntrl;
double timeout = 0.;
size_t nread = 0;
asynStatus status;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
timeout = TIMEOUT;
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, BUFF_SIZE,
timeout, &nread, &eomReason);
if (nread > 0)
Debug(2, "recv_mess(): message = \"%s\"\n", com);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* PC6KSetup() */
/*****************************************************/
RTN_STATUS
PC6KSetup(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 > PC6K_NUM_CARDS)
PC6K_num_cards = PC6K_NUM_CARDS;
else
PC6K_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 PC6KConfig 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(PC6K_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PC6K_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PC6KConfig() */
/*****************************************************/
RTN_STATUS
PC6KConfig(int card, /* card being configured */
const char *name) /* asyn port name */
{
struct PC6KController *cntrl;
if (card < 0 || card >= PC6K_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PC6KController));
cntrl = (struct PC6KController *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
return(OK);
}
/*****************************************************/
/* Upload file to Controller */
/* PC6KConfig() */
/*****************************************************/
RTN_STATUS
PC6KUpLoad(int card, /* Controller Number */
const char *file, /* full path to upload file */
const char *progName) /* PC6K program name - NULL=execute */
{
FILE *fd;
char nextLine[BUFF_SIZE];
// char replyBuff[BUFF_SIZE];
// char eos_str[] = "-";
// char *eos_ptr = NULL;
// int recvCnt;
int i, lineLen;
if (card < 0 || card >= total_cards)
{
printf("{PC6KUpLoad: Controller does not exist - %d\n",card);
return(ERROR);
}
if (motor_state[card] == NULL)
{
printf("PC6KUpLoad: Controller is not configured - %d\n",card);
return(ERROR);
}
if ((fd=fopen(file, "r")) == NULL)
{
printf("PC6KUpLoad: File does not exist - %s\n",file);
return(ERROR);
}
if (progName && strlen(progName))
{
/* Copy file into PC6K Program */
sprintf(nextLine, "DEL %s", progName);
// recvCnt = send_recv_mess(card, nextLine, replyBuff);
send_mess(card, nextLine, (char) NULL);
// eos_ptr = eos_str;
sprintf(nextLine, "DEF %s", progName);
// recvCnt = send_recv_mess(card, nextLine, replyBuff, eos_ptr);
// recvCnt = send_recv_mess(card, nextLine, replyBuff);
send_mess(card, nextLine, (char) NULL);
}
while (fgets(nextLine, BUFF_SIZE, fd) != NULL)
{
/* Clear control characters */
for (i = 0, lineLen = strlen(nextLine); i < lineLen; i++)
if (!isprint(nextLine[i]))
nextLine[i] = ' ';
// recvCnt = send_recv_mess(card, nextLine, replyBuff, eos_ptr);
// recvCnt = send_recv_mess(card, nextLine, replyBuff);
send_mess(card, nextLine, (char) NULL);
}
fclose(fd);
if (progName && strlen(progName))
/* End PC6K Program */
// recvCnt = send_recv_mess(card, "END", replyBuff);
send_mess(card, "END", (char) NULL);
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 PC6KController *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
char send_buff[80];
int total_axis = 0;
int recvCnt, retryCnt;
int digits;
unsigned int i;
bool nextAxis;
bool cardFound = false;
asynStatus success_rtn;
initialized = true; /* Indicate that driver is initialized. */
nextSocket = 0;
/* Check for setup */
if (PC6K_num_cards <= 0)
return(ERROR);
/* Initialize command definition array used during set_status() */
for (i=0; i < QUERY_CNT; i++)
queryOps[i].cmndLen = strlen(queryOps[i].cmnd);
for (card_index = 0; card_index < PC6K_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 PC6KController *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port,
cntrl->asyn_address, &cntrl->pasynUser, NULL);
if (success_rtn != asynSuccess)
printf("drvPC68K:motor_init(), error calling pasynOctetSyncIO->connect port=%s error=%d\n",
cntrl->asyn_port, success_rtn);
else
{
/* Save asyn sockets for IOC exit cleanup */
socketStructs[nextSocket].pasynUserCommon = cntrl->pasynUser;
socketStructs[nextSocket].connected = true;
nextSocket++;
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser,
PC6K_IN_EOS,strlen(PC6K_IN_EOS));
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser,
PC6K_OUT_EOS,strlen(PC6K_OUT_EOS));
/* Send a message to the board, see if it exists */
retryCnt = 0;
do
{
/* Return value is length of received string */
recvCnt = send_recv_mess(card_index, GET_IDENT, buff);
/* Check for valid response -- if not retry */
if ((recvCnt > 0) && strstr(buff, GET_IDENT) && strstr(buff,"6K"))
cardFound = true;
} while(!cardFound && ++retryCnt < 3);
}
if (cardFound)
{
strcpy(brdptr->ident, buff); /* Save Controller ID */
send_recv_mess(card_index, CMD_ECHO, buff); /* Turn off echo */
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
/* Stop all motors */
send_recv_mess(card_index, STOP_ALL, buff);
// All stop requires a delay before the controller starts responding
// again - handshake on some command
retryCnt = 0;
do {
recvCnt = send_recv_mess(card_index, CMD_DRIVE, buff);
if (recvCnt && !strstr(buff, CMD_DRIVE))
recvCnt = 0;
} while (!recvCnt && ++retryCnt < 3);
/* send_mess(card_index, COMEXEC_ENA, (char) NULL); */ /* Enable continuous commands */
send_recv_mess(card_index, COMEXEC_ENA, buff); /* Enable continuous commands */
// send_recv_mess(card_index, CMD_SCALE, buff); /* Enable scaling - unary */
/* The find how many axes this controller has */
total_axis = 0;
do {
brdptr->motor_info[total_axis].motor_motion = NULL;
sprintf(send_buff, "%d%s", total_axis+1, CMD_POS);
recvCnt = send_recv_mess(card_index, send_buff, buff);
nextAxis = (recvCnt > 0 && (buff[0] == REPLY_CHAR)) ? true : false;
if (nextAxis)
total_axis++;
}
while (nextAxis);
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 - both STEPPER and DC motors have encoder support */
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 unary scaling for Position and Velocities - program in counts */
// sprintf(send_buff, "%d%s", motor_index+1, CMD_SCLD);
// send_recv_mess(card_index, send_buff, buff);
// sprintf(send_buff, "%d%s", motor_index+1, CMD_SCLV);
// send_recv_mess(card_index, send_buff, buff);
// sprintf(send_buff, "%d%s", motor_index+1, CMD_SCLA);
// send_recv_mess(card_index, send_buff, buff);
/* Determine if motor type = servo */
sprintf(send_buff, "%d%s", motor_index+1, CMD_AXSDEF);
if (send_recv_mess(card_index, send_buff, buff) > 0 &&
(buff[0] == REPLY_CHAR) &&
(buff[strlen(send_buff)+1] == '1'))
cntrl->type[motor_index] = DC;
else
cntrl->type[motor_index] = STEPPER;
/* Determin drive resolution */
if (cntrl->type[motor_index] == DC)
sprintf(send_buff, "%d%s", motor_index+1, CMD_ERES);
else
sprintf(send_buff, "%d%s", motor_index+1, CMD_DRES);
if (send_recv_mess(card_index, send_buff, buff) > 0 && (buff[0] == REPLY_CHAR))
cntrl->drive_resolution[motor_index] = 1.0 / atof(&buff[strlen(send_buff)+1]);
digits = (int) -log10(cntrl->drive_resolution[motor_index]) + 2;
if (digits < 1)
digits = 1;
cntrl->res_decpts[motor_index] = digits;
/* Determine low limit */
sprintf(send_buff, "%d%s", motor_index+1, CMD_LOWLS);
if (send_recv_mess(card_index, send_buff, buff) > 0 && (buff[0] == REPLY_CHAR))
motor_info->low_limit = atof(&buff[strlen(send_buff)+1]);
/* Determine high limit */
sprintf(send_buff, "%d%s", motor_index+1, CMD_HIGHLS);
if (send_recv_mess(card_index, send_buff, buff) > 0 && (buff[0] == REPLY_CHAR))
motor_info->high_limit = atof(&buff[strlen(send_buff)+1]);
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 *) "PC6K_motor", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
epicsThreadCreate((char *) "PC6K_motor",
epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
// void epicsAtExit( (*epicsExitFunc)(void *arg), void *arg);
epicsAtExit(&closePC6KSockets, NULL);
return(OK);
}
/***************************************************************************************/
static void CloseSocket(int SocketIndex)
{
socketStruct *psock;
asynUser *pasynUser;
int status;
if ((SocketIndex < 0) || (SocketIndex >= nextSocket)) {
printf("drvPMNC CloseSocket: invalid SocketIndex %d\n", SocketIndex);
return;
}
psock = &socketStructs[SocketIndex];
pasynUser = psock->pasynUserCommon;
status = pasynCommonSyncIO->disconnectDevice(pasynUser);
if (status != asynSuccess ) {
asynPrint(pasynUser, ASYN_TRACE_ERROR,
"drvPMNC CloseSocket: error calling pasynCommonSyncIO->disconnect, status=%d, %s\n",
status, pasynUser->errorMessage);
return;
} else
printf("drvPC6K CloseSocket: Disconnected SocketIndex %d\n",SocketIndex);
psock->connected = false;
}
/***************************************************************************************/
void closePC6KSockets(void *arg)
{
int i;
for (i=0; i<nextSocket; i++) {
if (socketStructs[i].connected) CloseSocket(i);
}
}
/*---------------------------------------------------------------------*/
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