lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity
Files
2f75044d817ef4e9a44c2995e128200ecfd775f2
motorBase/motorApp/SmartMotorSrc/drvSmartMotor.cc
T
MarkRivers 5c3a905e0a Changed int32_t to epicsInt32 to compile on WIN32
2007-09-13 16:36:38 +00:00

721 lines
22 KiB
C++
Raw Blame History

/*
FILENAME... drvSmartMotor.cc
USAGE... Motor record driver level support for Animatics Corporation SmartMotors.
Version: $Revision: 1.3 $
Modified By: $Author: rivers $
Last Modified: $Date: 2007-09-13 16:36:38 $
*/
/*
* Original Author: Shifu Xu
* Date: 03/21/03
*
* 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
*
* NOTES
* -----
* - This device driver only supports SmartMotor firmware versions 4.15
* and above.
*
* Modification Log:
* -----------------
* .01 02/20/07 ses copied from drvSmartMotorPL.c
* .02 09/06/07 Eric Norum discovered this device needs an update delay.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include <iocsh.h>
#include "motor.h"
#include "motorRecord.h"
#include "drvSmartMotor.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#include "epicsTime.h"
#define SmartMotor_NUM_CARDS 7
#define BUFF_SIZE 20 /* Maximum length of string to/from SmartMotor */
/*----------------debugging-----------------*/
#ifdef __GNUG__
#ifdef DEBUG
#define Debug(l, f, args...) {if (l <= drvSmartMotordebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int drvSmartMotordebug = 0;
extern "C"
{
epicsExportAddress(int, drvSmartMotordebug);
}
/* --- Local data. --- */
int SmartMotor_num_cards = 0;
static char *SmartMotor_addr[] = {"129", "130", "131", "132", "133", "134",
"135", "136", "137", "138", "139", "140",
"141", "142", "143", "144", "145", "146",
"147", "148", "149", "150", "151", "152",
"153", "154", "155", "156", "157", "158",
"159", "160"};
/* 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 SmartMotor_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,
SmartMotor_addr
};
struct
{
long number;
long (*report) (int);
long (*init) (void);
} drvSmartMotor =
{
2, report, init
};
extern "C"
{
epicsExportAddress(drvet, drvSmartMotor);
}
static struct thread_args targs = {SCAN_RATE, &SmartMotor_access, 0.1};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (SmartMotor_num_cards <= 0)
printf(" No SmartMotor controllers configured.\n");
else
{
for (card = 0; card < SmartMotor_num_cards; card++)
{
struct controller *brdptr = motor_state[card];
if (brdptr == NULL)
printf(" SmartMotor controller %d connection failed.\n", card);
else
{
struct SmartMotorcontroller *cntrl;
cntrl = (struct SmartMotorcontroller *) brdptr->DevicePrivate;
printf(" SmartMotorSM 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 (SmartMotor_num_cards <= 0)
{
Debug(1, "init(): SmartMotor driver disabled. SmartMotorSetup() 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 SmartMotorcontroller *cntrl;
struct mess_node *nodeptr;
register struct mess_info *motor_info;
/* Message parsing variables */
char buff[BUFF_SIZE];
int rtnval, rtn_state, r_RBt;
double motorData;
int Lswitch;
bool plusdir, ls_active = false;
msta_field status;
cntrl = (struct SmartMotorcontroller *) motor_state[card]->DevicePrivate;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
buff[0] = '\0';
send_mess(card, "RBt", SmartMotor_addr[signal]);
rtn_state = recv_mess(card, buff, 1);
r_RBt = atoi(buff);
if (rtn_state > 0)
{
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;
}
}
/* decide if move is done */
status.Bits.RA_DONE = (r_RBt == 0) ? 1 : 0;
send_mess(card, "RP", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
if (motorData == motor_info->position)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
epicsInt32 newposition;
newposition = NINT(motorData);
status.Bits.RA_DIRECTION = (newposition >= motor_info->position) ? 1 : 0;
motor_info->position = newposition;
motor_info->no_motion_count = 0;
}
if (nodeptr != 0) /* If moving, set direction based on commanded positon. */
{
struct motorRecord *mr = (struct motorRecord *) nodeptr->mrecord;
status.Bits.RA_DIRECTION = mr->cdir;
}
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* Set limit switch indicators */
send_mess(card, "RBp", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
if (Lswitch != 0)
{
status.Bits.RA_PLUS_LS = 1;
if (plusdir == true)
ls_active = true;
}
else
status.Bits.RA_PLUS_LS = 0;
send_mess(card, "RBm", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
if (Lswitch != 0)
{
status.Bits.RA_MINUS_LS = 1;
if (plusdir == false)
ls_active = true;
}
else
status.Bits.RA_MINUS_LS = 0;
send_mess(card, "RBr", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
if (Lswitch)
send_mess(card, "Zr", SmartMotor_addr[signal]);
send_mess(card, "RBl", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
Lswitch = atoi(buff);
if (Lswitch)
send_mess(card, "Zl", SmartMotor_addr[signal]);
send_mess(card, "RBo", SmartMotor_addr[signal]);
rtn_state = recv_mess(card, buff, 1);
rtnval = atoi(buff);
status.Bits.EA_POSITION = (rtnval != 0) ? 0 : 1;
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
if (motor_state[card]->motor_info[signal].encoder_present == NO)
motor_info->encoder_position = 0;
else
{
send_mess(card, "RP", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
motorData = atof(buff);
motor_info->encoder_position = (epicsInt32) motorData;
}
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
send_mess(card, "RV", SmartMotor_addr[signal]);
recv_mess(card, buff, 1);
rtnval = atoi(buff);
motor_info->velocity = rtnval;
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, SmartMotor_addr[signal]);
nodeptr->postmsgptr = NULL;
}
/* Bug fix for DC servo moving away from limit switch, but move is not far enough to
* get off limit switch; resulting in limit error. Fix is to force CDIR to match
* MSTA.RA_DIRECTION.
*/
if (ls_active == true && status.Bits.GAIN_SUPPORT &&
status.Bits.EA_POSITION == 0 && nodeptr != 0)
{
struct motorRecord *mr = (struct motorRecord *) nodeptr->mrecord;
if (mr->cdir != (short) status.Bits.RA_DIRECTION)
mr->cdir = status.Bits.RA_DIRECTION;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
/****************************************************/
/* send a message to the SmartMotor board */
/* send_mess() */
/****************************************************/
static RTN_STATUS send_mess(int card, char const * com, char *name)
{
char local_buff[MAX_MSG_SIZE];
char echo_buff[BUFF_SIZE];
struct SmartMotorcontroller *cntrl;
int comsize, namesize, addr;
size_t nwrite;
static const char input_terminator[] = "\r";
static const char echo_terminator[] = "\n";
local_buff[0] = '\0';
echo_buff[0] = '\0';
comsize = (com == NULL) ? 0 : strlen(com);
namesize = (name == NULL) ? 0 : strlen(name);
if ((comsize + namesize) > MAX_MSG_SIZE)
{
errlogMessage("drvSmartMotor.c: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("drvSmartMotor.c:send_mess() - invalid card #%d\n", card);
return(ERROR);
}
cntrl = (struct SmartMotorcontroller *) motor_state[card]->DevicePrivate;
if (cntrl->num_motors != 1) /* Test for daisy chain; echo mode. */
{
/* convert addr to binary character */
sprintf(local_buff, "%c", atoi(name));
strcat(local_buff, com);
addr = atoi(name) - 128;
}
else
strcpy(local_buff, com);
Debug(2, "send_mess(): message = %s for card# %d, addr# %d\n", local_buff, card, addr);
pasynOctetSyncIO->write(cntrl->pasynUser, local_buff, strlen(local_buff),
COMM_TIMEOUT, &nwrite);
if (cntrl->num_motors == 1)
{
/* do not strip off echoed command */
}
else
{ /* strip off echoed command to get device response */
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, echo_terminator,
strlen(echo_terminator));
recv_mess(card, echo_buff, 1);
}
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
return(OK);
}
/****************************************************/
/* receive a message from the SmartMotor board */
/* recv_mess() */
/****************************************************/
static int recv_mess(int card, char *com, int flag)
{
struct SmartMotorcontroller *cntrl;
const double timeout = 0.25;/* !!! orginal 1.0 */
size_t nread = 0;
asynStatus status = asynError;
int eomReason;
char recv_buf[20], *recv_string = recv_buf;
/* Check that card exists */
if (!motor_state[card])
return(ERROR);
cntrl = (struct SmartMotorcontroller *) motor_state[card]->DevicePrivate;
recv_string[0] = '\0';
com[0] = '\0';
if (flag == FLUSH)
pasynOctetSyncIO->flush(cntrl->pasynUser);
else
status = pasynOctetSyncIO->read(cntrl->pasynUser, recv_string, BUFF_SIZE,
timeout, &nread, &eomReason);
if ((status != asynSuccess) || (nread <= 0))
{
com[0] = '\0';
nread = 0;
}
else
{
strcpy(com, recv_string);
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
return(nread);
}
/*****************************************************/
/* Setup system configuration */
/* SmartMotorSetup() */
/*****************************************************/
RTN_STATUS SmartMotorSetup(int num_cards, int scan_rate) /* maximum number of
* chains in system. */
/* polling rate - 1/60 sec units. */
{
int itera;
if (num_cards < 1 || num_cards > SmartMotor_NUM_CARDS)
SmartMotor_num_cards = SmartMotor_NUM_CARDS;
else
SmartMotor_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 SmartMotorConfig 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(SmartMotor_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < SmartMotor_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return(OK);
}
/*****************************************************/
/* Configure a controller */
/* SmartMotorConfig() */
/*****************************************************/
RTN_STATUS SmartMotorConfig(int card, const char *name) /* (chain #, ASYN port) */
{
struct SmartMotorcontroller *cntrl;
if (card < 0 || card >= SmartMotor_num_cards)
return(ERROR);
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
motor_state[card]->DevicePrivate = malloc(sizeof(struct SmartMotorcontroller));
cntrl = (struct SmartMotorcontroller *) 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 SmartMotorcontroller *cntrl;
int card_index, motor_index, total_motors;
char buff[BUFF_SIZE];
int status;
asynStatus success_rtn;
static const char output_terminator[] = "\n";
static const char input_terminator[] = "\r";
initialized = true; /* Indicate that driver is initialized. */
/* Check for setup */
if (SmartMotor_num_cards <= 0)
return(ERROR);
for (card_index = 0; card_index < SmartMotor_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->total_axis = 0; /* Default to zero motors. */
brdptr->cmnd_response = false;
total_cards = card_index + 1;
cntrl = (struct SmartMotorcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
success_rtn = pasynOctetSyncIO->connect(cntrl->asyn_port, 0,
&cntrl->pasynUser, NULL);
if (success_rtn == asynSuccess)
{
pasynOctetSyncIO->setOutputEos(cntrl->pasynUser, output_terminator,
strlen(output_terminator));
pasynOctetSyncIO->setInputEos(cntrl->pasynUser, input_terminator,
strlen(input_terminator));
/* Send a message to the motor, see if it exists */
/* flush any junk at input port - should not be any data available */
pasynOctetSyncIO->flush(cntrl->pasynUser);
cntrl->num_motors = 1; /* Default 1 motor (No Echo) for send_mess. */
for (total_motors = 0; total_motors < MAX_AXIS; total_motors++)
{
/* Try 3 times to connect to motor. */
int retry = 0;
do
{
send_mess(card_index, "RBe", SmartMotor_addr[total_motors]);
status = recv_mess(card_index, buff, 1);
/* 1st iteration + No Echo mode + non-null response + cmnd echoed. */
if (total_motors == 0 && cntrl->num_motors == 1 && status > 0 &&
strncmp(buff, "RBe", 3) == 0)
{
cntrl->num_motors = 2; /* Echo ON. */
status = retry = 0; /* start over. */
pasynOctetSyncIO->flush(cntrl->pasynUser);
}
if (buff[0] != '0' && buff[0] != '1')
status = 0;
retry++;
} while (status == 0 && retry < 3);
if (status <= 0)
break;
if (cntrl->num_motors == 1 && status > 0)
{
total_motors = 1;
break;
}
}
}
if (success_rtn == asynSuccess && total_motors > 0)
{
cntrl->num_motors = brdptr->total_axis = total_motors;
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
for (motor_index = 0; motor_index < brdptr->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;
/* Assume no encoder support. */
motor_info->encoder_present = NO;
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
motor_info->encoder_present = YES;
motor_info->status.Bits.EA_PRESENT = 1;
/* Read status of each motor */
set_status(card_index, motor_index);
}
}
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 *) "SmartMotor_motor", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}
extern "C"
{
// SmartMotor Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"Polling rate", iocshArgInt};
// SmartMotor Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg * const SmartMotorSetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const SmartMotorConfigArgs[2] = {&configArg0, &configArg1};
static const iocshFuncDef setupSmartMotor = {"SmartMotorSetup", 2, SmartMotorSetupArgs};
static const iocshFuncDef configSmartMotor = {"SmartMotorConfig", 2, SmartMotorConfigArgs};
static void setupSmartMotorCallFunc(const iocshArgBuf *args)
{
SmartMotorSetup(args[0].ival, args[1].ival);
}
static void configSmartMotorCallFunc(const iocshArgBuf *args)
{
SmartMotorConfig(args[0].ival, args[1].sval);
}
static void SmartMotormotorRegister(void)
{
iocshRegister(&setupSmartMotor, setupSmartMotorCallFunc);
iocshRegister(&configSmartMotor, configSmartMotorCallFunc);
}
epicsExportRegistrar(SmartMotormotorRegister);
} // extern "C"
View Git Blame Copy Permalink