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2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/PiSrc/drvPIC630.cc
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Ron Sluiter 607aec1c73 Added K. Goetze's PI C-630 controller support.
2005-10-04 19:45:08 +00:00

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/* File: drvPIC630.cc */
/* Device Driver Support routines for motor */
/*
* Original Author: Kurt Goetze
* Date: 02-07-2005
*
* Modification Log:
* -----------------
* .00 02-07-2005 kag initialized from drvMicos.c
*/
/* The PI C-630 controller is a 3-axis controller/driver. Up to 3 controllers
* can be daisy-chained on one serial port (in this code this is considered a "card").
* More than 1 "card" can be configured, but each will need its own serial port.
* This means that up to 9 axes are controllable per serial port, addressed 1-9.
* Each axis has a current setting, which is handled by PIC630_config and motor_init.
*
* The Controllers MUST BE ON at bootup or this code will error out.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "drvPIC630.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define WAIT 1
#define BUFF_SIZE 100 /* Maximum length of string to/from PIC630 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPIC630debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPIC630debug = 0;
extern "C" {epicsExportAddress(int, drvPIC630debug);}
/* Debugging notes:
* drvPIC630debug == 0 No debugging information is printed
* drvPIC630debug >= 1 Warning information is printed
* drvPIC630debug >= 2 Time-stamped messages are printed for each string
* sent to and received from the controller
* drvPIC630debug >= 3 Additional debugging messages
*/
volatile int PIC630_num_cards = 0;
volatile int PIC630_num_axis = 0;
volatile int PIC630_current[9]; /* current settings per axis */
/* 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 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 PIC630_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);
} drvPIC630 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPIC630);}
static struct thread_args targs = {SCAN_RATE, &PIC630_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIC630_num_cards <=0)
printf(" No PIC630 controllers configured.\n");
else
{
for (card = 0; card < PIC630_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIC630 controller %d connection failed.\n", card);
else
{
struct PIC630Controller *cntrl;
cntrl = (struct PIC630Controller *) brdptr->DevicePrivate;
printf(" PIC630 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 (PIC630_num_cards <= 0)
{
Debug(1, "init(): PIC630 driver disabled. PIC630Setup() missing from startup script.\n");
}
return ((long) 0);
}
static void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
static void start_status(int card)
{
/* The PIC630 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)
{
struct PIC630Controller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
char command[BUFF_SIZE];
char response[BUFF_SIZE];
char cStatus;
int rtn_state;
long motorData;
char buff[BUFF_SIZE];
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
signal++;
/* Request the status of this motor */
sprintf(command, "%dTS", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "nTS:N" where N is an int (0-255)
bit0 (0x01) = moving
bit1 (0x02) = reference signal flag
bit2 (0x04) = pos. limit (0 = limit tripped)
bit3 (0x08) = neg. limit (0 = limit tripped)
bit4 (0x10) = command error
bit5 (0x20) = profile error
bit6 (0x40) = not used
bit7 (0x80) = Estop (0 = Estop) */
cStatus = (char) atoi(&response[4]);
/* check to see if motor is moving */
status.Bits.RA_DONE = (cStatus & 0x01) ? 0 : 1;
/* Request the position of this motor, find out which direction we're going */
/* The response string is of the form "1TP:1000" */
sprintf(command, "%dTP", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
motorData = atoi(&response[4]);
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 = (motorData >= motor_info->position) ? 1 : 0;
motor_info->position = motorData;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* check limits, set indicators */
if (!(cStatus & 0x04)) /* if +lim */
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
if (!(cStatus & 0x08)) /* if -lim */
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_MINUS_LS = 0;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 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, NULL);
/* The PIC630 will send back a response for a 'set' command */
recv_mess(card, buff, WAIT);
nodeptr->postmsgptr = NULL;
}
motor_info->status.All = status.All;
return (rtn_state);
}
/*****************************************************/
/* send a message to the PIC630 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, const char *com, char *name)
{
char buff[BUFF_SIZE];
char inp_buff[BUFF_SIZE];
int status = 0;
size_t nwrite;
struct PIC630Controller *cntrl;
/* 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 (strlen(com) == 0) return(OK);
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
strcpy(buff, com);
Debug(2, "send_mess: sending message to card %d, message=%s\n", card, buff);
pasynOctetSyncIO->write(cntrl->pasynUser, buff, strlen(buff), COMM_TIMEOUT, &nwrite);
/* This thing always echos everything sent to it. Read this response. */
status = recv_mess(card, inp_buff, WAIT);
return (OK);
}
/*****************************************************/
/* Read a response string from the PIC630 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
double timeout;
size_t nread = 0;
int eomReason;
int flush;
struct PIC630Controller *cntrl;
asynStatus status;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("recv_mess - invalid card #%d\n", card);
return (-1);
}
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
Debug(3, "recv_mess entry: card %d, flag=%d\n", card, flag);
if (flag == FLUSH)
{
flush = 1;
timeout = 0.;
}
else
{
flush = 0;
timeout = COMM_TIMEOUT;
}
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
timeout, &nread, &eomReason);
if (nread < 1) com[0] = '\0';
if (nread > 0) {
Debug(2, "recv_mess: card %d, message = \"%s\"\n", card, com);
}
if (nread == 0) {
if (flag != FLUSH) {
Debug(1, "recv_mess: card %d ERROR: no response\n", card);
} else {
Debug(3, "recv_mess: card %d flush returned no characters\n", card);
}
}
return (nread);
}
/*****************************************************/
/* Setup system configuration */
/* PIC630Setup() */
/*****************************************************/
RTN_STATUS
PIC630Setup(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 > PIC630_NUM_CARDS)
PIC630_num_cards = PIC630_NUM_CARDS;
else
PIC630_num_cards = num_cards;
if (num_channels < 1 || num_channels > PIC630_NUM_AXIS)
PIC630_num_axis = PIC630_NUM_AXIS;
else
PIC630_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 structures. Note this must be done
* before PIC630Config 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(PIC630_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIC630_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return (OK);
}
/*****************************************************/
/* Configure a controller */
/* PIC630Config() */
/*****************************************************/
RTN_STATUS
PIC630Config(int card, /* "controller" being configured */
const char *name, /* port name for asyn */
int cur0, int cur1, int cur2, int cur3, int cur4, /* see below */
int cur5, int cur6, int cur7, int cur8)
{
struct PIC630Controller *cntrl;
if (card < 0 || card >= PIC630_num_cards)
return (ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC630Controller));
cntrl = (struct PIC630Controller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
/* This is a current setting for each axis that will be sent during motor_init.
Valid settings are: 0=OFF, 1=100mA, 2=200mA, ... 8=800mA. */
PIC630_current[0] = cur0;
PIC630_current[1] = cur1;
PIC630_current[2] = cur2;
PIC630_current[3] = cur3;
PIC630_current[4] = cur4;
PIC630_current[5] = cur5;
PIC630_current[6] = cur6;
PIC630_current[7] = cur7;
PIC630_current[8] = cur8;
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 PIC630Controller *cntrl;
int card_index, motor_index;
char cmd[BUFF_SIZE];
char buff[BUFF_SIZE];
int total_axis = 0;
int status = 0;
int i;
asynStatus success_rtn;
static const char output_terminator[] = "\n";
static const char input_terminator[] = "\n";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIC630_num_cards <= 0)
{
Debug(1, "motor_init: *PIC630 driver disabled*\n");
Debug(1, "PIC630Setup() is missing from startup script.\n");
return (ERROR);
}
for (card_index = 0; card_index < PIC630_num_cards; card_index++)
{
if (!motor_state[card_index])
continue;
brdptr = motor_state[card_index];
brdptr->ident[0] = (char) NULL; /* No controller identification message. */
/* device echos? then set to true. else false */
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct PIC630Controller *) brdptr->DevicePrivate;
/* Initialize communications channel */
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 chain" can have max 9 axes. */
total_axis = PIC630_num_axis;
brdptr->total_axis = total_axis;
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
/* Send a message to each PIC630 motor. See if controller responds */
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
do
{
sprintf(cmd, "%dTS", (motor_index + 1));
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;
/* how did this get here? brdptr->cmnd_response = true; */
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;
/* Wish I could turn off echo, can't :( */
/* Set motor current */
sprintf(buff,"%dDC%d", (motor_index + 1),PIC630_current[motor_index]);
for (i=0; i<=8; i++)
Debug(1, "PIC630_current[%d] = %d\n",i,PIC630_current[i]);
send_mess(card_index, buff, 0);
/* Stop motor */
sprintf(buff,"%dAB", (motor_index + 1));
send_mess(card_index, buff, 0);
strcpy(brdptr->ident, "PIC630");
motor_info->status.All = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
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;
Debug(3, "motor_init: spawning motor task\n");
epicsThreadCreate((char *) "PIC630_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
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