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motorBase/motorApp/PiSrc/drvPIE516.cc
T
jsullivan-anl 6e37f34387 Initial implementation of PI E-516 Piezo Motor Controller 
1 or 3 axis models.
2007-03-30 20:01:05 +00:00

670 lines
18 KiB
C++
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/*
FILENAME... drvPIE516.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. E-516 motor controller.
Version: $Revision: 1.1 $
Modified By: $Author: sullivan $
Last Modified: $Date: 2007-03-30 20:01:05 $
*/
/*
* Original Author: Ron Sluiter
* Date: 10/18/05
* Current Author: Joe 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 03/26/07 jps - copied from drvPIC710.cc tested on PI VER "DSP V3.11,MCU V5"
*/
/*
DESIGN LIMITATIONS...
1 - Like all controllers, the PIE516 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 "drvPIE516.h"
#include "epicsExport.h"
#define GET_IDENT "VER?"
#define SET_ONLINE "ONL 1" /* Set Online Mode ON */
#define SET_VELCTRL "VCO A1 B1 C1" /* Set Velocity Control Mode - Required for DONE */
#define READ_ONLINE "ONL?" /* Read Online Mode */
#define READ_POS "POS? #" /* Read position */
#define READ_OVERFLOW "OVF? #" /* Read Servo Overflow Status */
#define READ_ONTARGET "ONT? #" /* Read Position ON Target */
#define READ_SERVO "SVO? #" /* Read Servo Enable Status */
#define PIE516_NUM_CARDS 10
#define MAX_AXES 3
#define BUFF_SIZE 100 /* Maximum length of string to/from PIE516 */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) { if(l<=drvPIE516debug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvPIE516debug = 0;
extern "C" {epicsExportAddress(int, drvPIE516debug);}
/* --- Local data. --- */
int PIE516_num_cards = 0;
static char *PIE516_axis[] = {"A", "B", "C"};
/* 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 PIE516_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,
PIE516_axis
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvPIE516 = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvPIE516);}
static struct thread_args targs = {SCAN_RATE, &PIE516_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (PIE516_num_cards <=0)
printf(" No PIE516 controllers configured.\n");
else
{
for (card = 0; card < PIE516_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" PIE516 controller %d connection failed.\n", card);
else
{
struct PIE516controller *cntrl;
cntrl = (struct PIE516controller *) brdptr->DevicePrivate;
printf(" PIE516 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 (PIE516_num_cards <= 0)
{
Debug(1, "init(): PIE516 driver disabled. PIE516Setup() 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 PIE516controller *cntrl;
struct mess_node *nodeptr;
struct mess_info *motor_info;
struct motorRecord *mr;
/* Message parsing variables */
char buff[BUFF_SIZE];
int rtn_state;
unsigned int overflow_status, ontarget_status, servo_status, online_status;
epicsInt32 motorData;
bool plusdir, ls_active, plusLS, minusLS;
bool readOK;
msta_field status;
cntrl = (struct PIE516controller *) 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;
recv_mess(card, buff, FLUSH);
readOK = false;
send_mess(card, READ_ONLINE, (char) NULL);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &online_status))
{
if (!online_status)
{
/* Assume Controller Reboot - Set ONLINE and Velocity Control ON */
send_mess(card, SET_ONLINE, (char) NULL);
send_mess(card, SET_VELCTRL, (char) NULL);
}
send_mess(card, READ_ONTARGET, PIE516_axis[signal]);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &ontarget_status))
{
send_mess(card, READ_OVERFLOW, PIE516_axis[signal]);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &overflow_status))
{
send_mess(card, READ_SERVO, PIE516_axis[signal]);
if (recv_mess(card, buff, 1) && sscanf(buff, "%d", &servo_status))
{
send_mess(card, READ_POS, PIE516_axis[signal]);
if (recv_mess(card, buff, 1))
{
motorData = NINT(atof(buff) / cntrl->drive_resolution[signal]);
readOK = true;
}
}
}
}
}
if (readOK)
{
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;
}
}
/* Always DONE if torque disabled */
status.Bits.RA_DONE = (ontarget_status) ? 1 : 0;
status.Bits.RA_HOME = status.Bits.RA_DONE;
status.Bits.EA_POSITION = (servo_status) ? 1 : 0; /* Torgue disabled flag */
ls_active = plusLS = minusLS = false;
/* LS status may be true but servo is not within position error - keep updating */
/* No Limit switches but if the Servo Controller overflows indicate with a + LS */
if (status.Bits.RA_DONE)
plusLS = overflow_status ? true : false;
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 = 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;
/* 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);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/*****************************************************/
/* send a message to the PIE516 board */
/* send_mess() */
/*****************************************************/
static RTN_STATUS send_mess(int card, char const *com, char *name)
{
char local_buff[MAX_MSG_SIZE];
char *pbuff;
struct PIE516controller *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("drvPIE516.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("drvPIE516.cc:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
local_buff[0] = (char) NULL; /* Terminate local buffer. */
if (name == NULL)
strcat(local_buff, com); /* Make a local copy of the string. */
else
{
strcpy(local_buff, com);
pbuff = strchr(local_buff, '#');
if (pbuff != NULL)
*pbuff = *name;
else
Debug(1, "send_mess(): NAME ERROR: message = %s\n", local_buff);
}
Debug(2, "send_mess(): message = %s\n", local_buff);
cntrl = (struct PIE516controller *) motor_state[card]->DevicePrivate;
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
return(OK);
}
/*****************************************************/
/* receive a message from the PIE516 board */
/* recv_mess() */
/*****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct PIE516controller *cntrl;
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct PIE516controller *) 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;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* PIE516Setup() */
/*****************************************************/
RTN_STATUS
PIE516Setup(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 > PIE516_NUM_CARDS)
PIE516_num_cards = PIE516_NUM_CARDS;
else
PIE516_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 PIE516Config 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(PIE516_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PIE516_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* PIE516Config() */
/*****************************************************/
RTN_STATUS
PIE516Config(int card, /* card being configured */
const char *name, /* asyn port name */
int addr) /* asyn address (GPIB) */
{
struct PIE516controller *cntrl;
if (card < 0 || card >= PIE516_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct PIE516controller));
cntrl = (struct PIE516controller *) 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 PIE516controller *cntrl;
int card_index, motor_index;
char buff[BUFF_SIZE], *pbuff;
int total_axis;
int status;
int version;
bool online;
asynStatus success_rtn;
static const char output_terminator[] = EOL_E516;
static const char input_terminator[] = EOL_E516;
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (PIE516_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < PIE516_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 PIE516controller *) brdptr->DevicePrivate;
status = version = 0;
/* 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);
/* Assure that Controller is ONLINE */
do
{
online = false;
/* Set Controller to ONLINE mode */
send_mess(card_index, SET_ONLINE, (char) NULL);
send_mess(card_index, READ_ONLINE, (char) NULL);
if ((status = recv_mess(card_index, buff, 1)))
online = (atoi(buff)==1) ? true : false;
else
retry++;
} while (online == false && retry < 3);
send_mess(card_index, GET_IDENT, (char) NULL);
status = recv_mess(card_index, buff, 1);
/* Parse out E516 revision (2 decimal places) and convert to int */
if ((pbuff = strchr(buff, 'V')))
version = NINT(atof(pbuff+1) * 100);
else
version = 0;
}
if (success_rtn == asynSuccess && online == true)
{
strcpy(brdptr->ident, buff);
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
/* Check for E516 versions that need the status word shifted up 8 bits */
if (version >= 311)
cntrl->versionSupport = true;
else
cntrl->versionSupport = false;
/* Determine # of axes. Request stage name. See if it responds */
for (total_axis = 0; total_axis < MAX_AXES; total_axis++)
{
send_mess(card_index, READ_POS, PIE516_axis[total_axis]);
status = recv_mess(card_index, buff, 1);
if (!status)
break;
}
brdptr->total_axis = total_axis;
/* Turn ON velocity control mode - All axis */
send_mess(card_index, SET_VELCTRL, (char) NULL);
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;
brdptr->motor_info[motor_index].motor_motion = NULL;
/* PIE516 has DC motor support only */
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
motor_info->pid_present = NO;
motor_info->status.Bits.GAIN_SUPPORT = 1;
cntrl->drive_resolution[motor_index] = POS_RES;
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 *) "PIE516_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
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