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motorBase/motorApp/PiSrc/drvPIC862.cc
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/*
FILENAME... drvPIC862.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. C-862 motor controller.
*/
/*
* Original Author: Ron Sluiter
* Current Author: Mohan Ramanathan
* Date: 09/04/2006
*
* Modification Log:
* -----------------
* .00 09/05/2006 mr copied from drvPIC848.cc
* .01 09/25/2006 rls Set LS error indicator based on LS active high/low
* configuration indicator and the state of the LS.
* .02 09/28/2006 rls C-862 drops transmitted characters on move command;
* need "status update delay".
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the PIC862 must be powered-on when EPICS is first
booted up.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "drvPIC862.h"
#include "epicsExport.h"
#define GET_IDENT 0x01
#define PIC862_NUM_CARDS 8
#define MAX_AXES 1
#define BUFF_SIZE 100 /* Maximum length of string to/from PIC862 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPIC862debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPIC862debug = 0;
extern "C" {epicsExportAddress(int, drvPIC862debug);}
/* --- Local data. --- */
int PIC862_num_cards = 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, 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 PIC862_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;
long (*report) (int);
long (*init) (void);
} drvPIC862 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPIC862);}
static struct thread_args targs = {SCAN_RATE, &PIC862_access, 0.017};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIC862_num_cards <=0)
printf(" No PIC862 controllers configured.\n");
else
{
for (card = 0; card < PIC862_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIC862 controller %d connection failed.\n", card);
else
{
struct PIC862controller *cntrl;
cntrl = (struct PIC862controller *) brdptr->DevicePrivate;
printf(" PIC862 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 (PIC862_num_cards <= 0)
{
Debug(1, "init(): PIC862 driver disabled. PIC862Setup() 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 PIC862controller *cntrl;
struct mess_node *nodeptr;
struct mess_info *motor_info;
struct motorRecord *mr;
/* Message parsing variables */
char buff[BUFF_SIZE];
C862_Status_Reg1 mstat1;
C862_Status_Reg2 mstat2;
C862_Status_Reg3 mstat3;
C862_Status_Reg4 mstat4;
C862_Status_Reg5 mstat5;
epicsUInt16 dev_sts1, dev_sts2, dev_sts3, dev_sts4, dev_sts5, dev_sts6;
int rtn_state, convert_cnt, charcnt;
epicsInt32 motorData;
bool plusdir, ls_active = false, plusLS, minusLS, LSactiveH;
msta_field status;
cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
if (nodeptr != NULL)
mr = (struct motorRecord *) nodeptr->mrecord;
else
mr = NULL;
status.All = motor_info->status.All;
if (cntrl->status != NORMAL)
charcnt = recv_mess(card, buff, FLUSH);
send_mess(card, "TS", (char) NULL); /* Tell Status */
charcnt = recv_mess(card, buff, 1);
if (charcnt > 18)
convert_cnt = sscanf(buff, "S:%2hx %2hx %2hx %2hx %2hx %2hx\n",
&dev_sts1,&dev_sts2,&dev_sts3,&dev_sts4,&dev_sts5,&dev_sts6);
if (charcnt > 18 && convert_cnt == 6)
{
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;
}
}
mstat1.All = dev_sts1;
mstat2.All = dev_sts2;
mstat3.All = dev_sts3;
mstat4.All = dev_sts4;
mstat5.All = dev_sts5;
status.Bits.RA_DONE = (mstat1.Bits.trty_done) ? 1 : 0;
status.Bits.EA_POSITION = (mstat1.Bits.motor_off) ? 0 : 1;
status.Bits.RA_DIRECTION = (mstat3.Bits.mvdir_pol) ? 1 : 0;
/* Set +/- LS indicator based on limit switch active high/low
configuration and the state of the limits switch. */
LSactiveH = (mstat4.Bits.lmt_high) ? true : false;
if (LSactiveH == true)
{
plusLS = mstat5.Bits.plus_ls;
minusLS = mstat5.Bits.minus_ls;
}
else
{
plusLS = !mstat5.Bits.plus_ls;
minusLS = !mstat5.Bits.minus_ls;
}
/* Parse motor position */
send_mess(card, "TP", (char) NULL); /* Tell Position */
recv_mess(card, buff, 1);
motorData = NINT(atof(&buff[2]));
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
motor_info->position = motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* Set limit switch error indicators. */
if (plusLS == true)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
if (minusLS == true)
{
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;
status.Bits.RA_PROBLEM = 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);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send a message to the PIC862 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
struct PIC862controller *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("drvPIC862.cc: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("drvPIC862.cc:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
local_buff[0] = (char) NULL; /* Terminate local buffer. */
/* this device deos not have axis info and so name is ignored! */
strcat(local_buff, com); /* Make a local copy of the string. */
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
return(OK);
}
/*****************************************************/
/* receive a message from the PIC862 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct PIC862controller *cntrl;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate;
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;
}
else
com[nread - 1] = '\0'; /* Strip traling CR. */
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* PIC862Setup() */
/*****************************************************/
RTN_STATUS
PIC862Setup(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 > PIC862_NUM_CARDS)
PIC862_num_cards = PIC862_NUM_CARDS;
else
PIC862_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 PIC862Config 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(PIC862_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIC862_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PIC862Config() */
/*****************************************************/
RTN_STATUS
PIC862Config(int card, /* card being configured */
const char *name, /* asyn port name */
int addr) /* asyn address ( device address for daisy chaining */
{
struct PIC862controller *cntrl;
if (card < 0 || card >= PIC862_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIC862controller));
cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate;
strcpy(cntrl->asyn_port, name);
cntrl->asyn_address = addr;
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 PIC862controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE];
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\r";
static const char input_terminator[] = "\n\03";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIC862_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PIC862_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 PIC862controller *) 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));
/* 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);
/* To start communicating with the device requires to enable the device
To do this send "0x01" and a singel letter address (0-F)
To make sure we talk ask the status with "TB" command for the address
It replies "B:000x" where x is 0-F
The command "VE" provides a complete Identification string if we need.
*/
do
{
sprintf(buff,"\001%1XVE", cntrl->asyn_address);
send_mess(card_index, buff, (char) NULL);
status = recv_mess(card_index, buff, 1);
retry++;
} while (status == 0 && retry < 3);
}
if (success_rtn == asynSuccess && status > 0)
{
strcpy(brdptr->ident, &buff[0]);
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
/* number of axes is always one.*/
brdptr->total_axis = 1;
motor_index = 0;
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;
/* PIC862 has DC motor support only */
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;
}
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 *) "PIC862_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
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