Initial commit
Motor driver for the xHuber SMC9300, courtesy of Dongliang Yang (noya269@126.com). This is an improved version of what Dongliang provided. In particular SMC9300Axis::poll - add a new parameter for the messge text that comes from the controller - parse pC_->inString_ using sscanf and check that the reply has all the expected parameters - make usre that the whole poll is executed. For some reason the original version did not update the position during the movement
This commit is contained in:
Michele Brambilla
5
MODULE
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5
MODULE
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# Please change the following email with yours.
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Email: michele.brambilla@psi.ch
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Module-Name: motorHuber
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Description: motorHuber - motor driver for the xHuber SMC9300 - courtesy of Dongliang Yang (noya269@126.com)
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Project-Name:
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8
Makefile
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8
Makefile
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include /ioc/tools/driver.makefile
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MODULE=motorHuber
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LIBVERSION=brambilla_m
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BUILDCLASSES=Linux
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EPICS_VERSIONS=3.14.12 7.0.4.1
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DBDS += devHuberMotor.dbd
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417
SMC9300Driver.cpp
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417
SMC9300Driver.cpp
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/*
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FILENAME... SMC9300Driver.cpp
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USAGE... Motor driver support for the HUBER SMC9300 controller.
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Yang Dongliang
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March 1, 2020
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*/
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#include "SMC9300Driver.h"
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#include <asynOctetSyncIO.h>
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#include <epicsExport.h>
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#include <epicsThread.h>
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#include <iocsh.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <bitset>
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#define STEPS_PER_EGU 10000.
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#define NINT(f) (int)((f) > 0 ? (f) + 0.5 : (f)-0.5)
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/** Creates a new SMC9300Controller object.
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* \param[in] portName The name of the asyn port that will be created
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* for this driver \param[in] SMC9300PortName The name of the
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* drvAsynSerialPort that was created previously to connect to the SMC9300
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* controller \param[in] numAxes The number of axes that this
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* controller supports \param[in] movingPollPeriod The time between polls when
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* any axis is moving \param[in] idlePollPeriod The time between polls when
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* no axis is moving
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*/
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SMC9300Controller::SMC9300Controller(const char *portName,
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const char *SMC9300PortName, int numAxes,
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double movingPollPeriod,
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double idlePollPeriod,
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const int &extraParams = 1)
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: asynMotorController(
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portName, numAxes, NUM_SMC9300_PARAMS+extraParams,
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0, // No additional interfaces beyond those in base class
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0, // No additional callback interfaces beyond those in base class
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ASYN_CANBLOCK | ASYN_MULTIDEVICE,
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1, // autoconnect
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0, 0) // Default priority and stack size
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{
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int axis;
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asynStatus status;
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SMC9300Axis *pAxis;
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static const char *functionName = "SMC9300Controller::SMC9300Controller";
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/* Connect to SMC9300 controller */
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status = pasynOctetSyncIO->connect(SMC9300PortName, 0, &pasynUserController_,
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NULL);
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if (status) {
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asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: cannot connect to Huber_SMC9300 controller\n", functionName);
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}
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for (axis = 1; axis < numAxes; axis++) {
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pAxis = new SMC9300Axis(this, axis);
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}
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startPoller(movingPollPeriod, idlePollPeriod, 2);
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createParam(motorMessageTextString, asynParamOctet, &motorMessageText_);
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}
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/** Creates a new SMC9300Controller object.
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* Configuration command, called directly or from iocsh
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* \param[in] portName The name of the asyn port that will be created
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* for this driver \param[in] SMC9300PortName The name of the
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* drvAsynIPPPort that was created previously to connect to the SMC9300
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* controller \param[in] numAxes The number of axes that this
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* controller supports \param[in] movingPollPeriod The time in ms between polls
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* when any axis is moving \param[in] idlePollPeriod The time in ms between
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* polls when no axis is moving
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*/
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extern "C" int SMC9300CreateController(const char *portName,
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const char *SMC9300PortName, int numAxes,
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int movingPollPeriod,
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int idlePollPeriod) {
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SMC9300Controller *pSMC9300Controller =
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new SMC9300Controller(portName, SMC9300PortName, numAxes,
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movingPollPeriod / 1000., idlePollPeriod / 1000.);
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pSMC9300Controller = NULL;
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return (asynSuccess);
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}
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/** Reports on status of the driver
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* \param[in] fp The file pointer on which report information will be written
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* \param[in] level The level of report detail desired
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*
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* If details > 0 then information is printed about each axis.
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* After printing controller-specific information it calls
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* asynMotorController::report()
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*/
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void SMC9300Controller::report(FILE *fp, int level) {
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fprintf(fp,
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"Huber_SMC9300 motor driver %s, numAxes=%d, moving poll period=%f, "
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"idle poll period=%f\n",
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this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
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// Call the base class method
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asynMotorController::report(fp, level);
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}
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/** Returns a pointer to an SMC9300Axis object.
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* Returns NULL if the axis number encoded in pasynUser is invalid.
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* \param[in] pasynUser asynUser structure that encodes the axis index number.
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*/
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SMC9300Axis *SMC9300Controller::getAxis(asynUser *pasynUser) {
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return static_cast<SMC9300Axis *>(asynMotorController::getAxis(pasynUser));
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}
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/** Returns a pointer to an SMC9300Axis object.
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* Returns NULL if the axis number encoded in pasynUser is invalid.
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* \param[in] axisNo Axis index number. */
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SMC9300Axis *SMC9300Controller::getAxis(int axisNo) {
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return static_cast<SMC9300Axis *>(asynMotorController::getAxis(axisNo));
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}
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// These are the SMC9300Axis methods
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/** Creates a new SMC9300Axis object.
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* \param[in] pC Pointer to the SMC9300Controller to which this axis belongs.
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* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
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*
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* Initializes register numbers, etc.
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*/
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SMC9300Axis::SMC9300Axis(SMC9300Controller *pC, int axisNo)
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: asynMotorAxis(pC, axisNo), pC_(pC) {
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static const char *functionName = "SMC9300Axis::SMC9300Axis";
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// Do an initial poll to get some values from the axis
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if (getAxisInitialStatus() != asynSuccess) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: getAxisInitialStatus failed to return asynSuccess. "
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"Controller: %s, Axis: %d.\n",
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functionName, pC_->portName, axisNo);
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}
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}
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/** Reports on status of the axis
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* \param[in] fp The file pointer on which report information will be written
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* \param[in] level The level of report detail desired
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*
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* After printing device-specific information calls asynMotorAxis::report()
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*/
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void SMC9300Axis::report(FILE *fp, int level) {
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if (level > 0) {
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fprintf(fp, " axis %d\n", axisNo_);
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}
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// Call the base class method
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asynMotorAxis::report(fp, level);
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}
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// asynStatus SMC9300Axis::sendAccelAndVelocity(double acceleration, double
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// velocity)
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// {
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// asynStatus status;
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// int ival;
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// // static const char *functionName = "SMC9300::sendAccelAndVelocity";
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// // Send the velocity
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// // ival = NINT(fabs(115200./velocity));
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// // if (ival < 2) ival=5000;
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// // if (ival > 2) ival=5000;
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// ival = 5000;
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// if (axisNo_ == 1) ival=5000;
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// if (axisNo_ == 2) ival=30000;
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// if (axisNo_ == 3) ival=30000;
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// if (axisNo_ == 4) ival=30000;
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// sprintf(pC_->outString_, "ffast%d:%d", axisNo_, ival);
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// status = pC_->writeController();
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// // Send the acceleration
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// // acceleration is in steps/sec/sec
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// // SMC is programmed with Ramp Index (R) where:
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// // dval (steps/sec/sec) = 720,000/(256-R) */
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// // or R=256-(720,000/dval) */
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// // ival = NINT(256-(720000./acceleration));
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// // if (ival < 1) ival=20;
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// // if (ival > 1) ival=20;
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// ival = 20;
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// if (axisNo_ == 1) ival=20;
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// if (axisNo_ == 2) ival=80;
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// if (axisNo_ == 3) ival=80;
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// if (axisNo_ == 4) ival=80;
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// sprintf(pC_->outString_, "acc%d:%d", axisNo_, ival);
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// status = pC_->writeController();
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// return status;
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// }
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asynStatus SMC9300Axis::move(double position, int relative, double minVelocity,
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double maxVelocity, double acceleration) {
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asynStatus status;
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// static const char *functionName = "SMC9300Axis::move";
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// status = sendAccelAndVelocity(acceleration, maxVelocity);
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if (relative) {
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sprintf(pC_->outString_, "move%d:%f", axisNo_, position / STEPS_PER_EGU);
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} else {
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sprintf(pC_->outString_, "goto%d:%f", axisNo_, position / STEPS_PER_EGU);
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}
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status = pC_->writeController();
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return status;
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}
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asynStatus SMC9300Axis::home(double minVelocity, double maxVelocity,
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double acceleration, int forwards) {
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asynStatus status;
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// static const char *functionName = "SMC9300Axis::home";
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// status = sendAccelAndVelocity(acceleration, maxVelocity);
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if (forwards) {
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sprintf(pC_->outString_, "home%d:hs", axisNo_);
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} else {
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sprintf(pC_->outString_, "home%d:hs", axisNo_);
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}
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status = pC_->writeController();
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return status;
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}
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asynStatus SMC9300Axis::moveVelocity(double minVelocity, double maxVelocity,
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double acceleration) {
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asynStatus status;
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static const char *functionName = "SMC9300Axis::moveVelocity";
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
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functionName, minVelocity, maxVelocity, acceleration);
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// status = sendAccelAndVelocity(acceleration, maxVelocity);
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/* SMC-9300 does not have jog command. Move 1 million steps */
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if (maxVelocity > 0.) {
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/* This is a positive move in SMC9300 coordinates */
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sprintf(pC_->outString_, "move%d:0.1", axisNo_);
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} else {
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/* This is a negative move in SMC9300 coordinates */
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sprintf(pC_->outString_, "move%d:-0.1", axisNo_);
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}
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status = pC_->writeController();
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return status;
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}
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asynStatus SMC9300Axis::stop(double acceleration) {
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asynStatus status;
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// static const char *functionName = "SMC9300Axis::stop";
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sprintf(pC_->outString_, "q%d", axisNo_);
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status = pC_->writeController();
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return status;
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}
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asynStatus SMC9300Axis::setPosition(double position) {
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asynStatus status;
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// static const char *functionName = "SMC9300Axis::setPosition";
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sprintf(pC_->outString_, "pos%d:%f", axisNo_, position / STEPS_PER_EGU);
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status = pC_->writeController();
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return status;
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}
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asynStatus SMC9300Axis::setClosedLoop(bool closedLoop) {
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asynStatus status;
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// static const char *functionName = "SMC9300Axis::setClosedLoop";
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sprintf(pC_->outString_, "ecl%d:%d", axisNo_, closedLoop ? 0 : 1);
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status = pC_->writeController();
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return status;
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}
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/** Polls the axis.
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* This function reads the motor position, the limit status, the home status,
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* the moving status, and the drive power-on status. It calls setIntegerParam()
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* and setDoubleParam() for each item that it polls, and then calls
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* callParamCallbacks() at the end. \param[out] moving A flag that is set
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* indicating that the axis is moving (true) or done (false). */
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asynStatus SMC9300Axis::poll(bool *moving) {
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int done;
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int driveOn;
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int limit;
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int axisNo;
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int nvals;
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int value;
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double position;
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asynStatus comStatus;
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static const char *functionName = "SMC9300Controller::poll";
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char errString[1024];
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updateMsgTxtFromDriver("");
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// Read errors from controller
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sprintf(pC_->outString_, "?err%d", axisNo_);
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comStatus = pC_->writeReadController();
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nvals = sscanf(pC_->inString_, "%d:%d %[^NULL]", &axisNo, &value, errString);
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if (comStatus || nvals != 3 || nvals != 2 ) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvSMC9300AxisGetStatus: Failed to read error message\nStatus: %d"
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"\nCommand :%s\nResponse:%s\n",
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comStatus, pC_->outString_, pC_->inString_);
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}
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if (axisNo == axisNo_) {
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updateMsgTxtFromDriver(errString);
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}
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// Read the current motor position
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sprintf(pC_->outString_, "?p%d", axisNo_);
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comStatus = pC_->writeReadController();
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nvals = sscanf(pC_->inString_, "%d:%lf", &axisNo, &position);
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if (comStatus || nvals != 2) {
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asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvSMC9300AxisGetStatus: Failed to read position\nStatus: %d"
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"\nCommand :%s\nResponse:%s\n",
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comStatus, pC_->outString_, pC_->inString_);
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// updateMsgTxtFromDriver("Cannot read Axis position");
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}
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if (axisNo == axisNo_) {
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setDoubleParam(pC_->motorPosition_, position * STEPS_PER_EGU);
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}
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// Read the current motor encoder position
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sprintf(pC_->outString_, "?e%d", axisNo_);
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comStatus = pC_->writeReadController();
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nvals = sscanf(pC_->inString_, "%d:%lf", &axisNo, &position);
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if (comStatus || nvals != 2) {
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
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"drvSMC9300AxisGetStatus: Failed to read encoder position\nStatus: %d"
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"\nCommand :%s\nResponse:%s\n",
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comStatus, pC_->outString_, pC_->inString_);
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// updateMsgTxtFromDriver("Cannot read Axis encoder position");
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}
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if (axisNo == axisNo_) {
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setDoubleParam(pC_->motorEncoderPosition_, position * STEPS_PER_EGU);
|
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}
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|
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// Read the moving status of this motor
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sprintf(pC_->outString_, "?s%d", axisNo_);
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comStatus = pC_->writeReadController();
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nvals = sscanf(pC_->inString_, "%d:%d", &axisNo, &value);
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if (comStatus || nvals != 2) {
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asynPrint(
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pC_->pasynUserSelf, ASYN_TRACE_ERROR,
|
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"drvSMC9300AxisGetStatus: Failed to read axis moving status\nStatus: %d"
|
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"\nCommand :%s\nResponse:%s\n",
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comStatus, pC_->outString_, pC_->inString_);
|
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// updateMsgTxtFromDriver("Cannot read Axis position");
|
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}
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if (axisNo == axisNo_) {
|
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done = value & 0x1;
|
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setIntegerParam(pC_->motorStatusDone_, done);
|
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*moving = done ? false : true;
|
||||
|
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setIntegerParam(pC_->motorStatusHighLimit_, value >> 2 & 0x1);
|
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setIntegerParam(pC_->motorStatusLowLimit_, value >> 3 & 0x1);
|
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setIntegerParam(pC_->motorStatusAtHome_, 0);
|
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setIntegerParam(pC_->motorStatusPowerOn_, value >> 7 & 0x1);
|
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setIntegerParam(pC_->motorStatusProblem_, 0);
|
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// setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1 : 0);
|
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}
|
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|
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comStatus = callParamCallbacks();
|
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return comStatus ? asynError : asynSuccess;
|
||||
}
|
||||
|
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asynStatus SMC9300Axis::updateMsgTxtFromDriver(const char *value)
|
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{
|
||||
if (value && value[0]) {
|
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return setStringParam(pC_->motorMessageText_,value);
|
||||
}
|
||||
return setStringParam(pC_->motorMessageText_,"");
|
||||
}
|
||||
|
||||
|
||||
asynStatus SMC9300Axis::getAxisInitialStatus(void) { return asynSuccess; }
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
/** Code for iocsh registration */
|
||||
static const iocshArg SMC9300CreateControllerArg0 = {"Port name",
|
||||
iocshArgString};
|
||||
static const iocshArg SMC9300CreateControllerArg1 = {"SMC9300 port name",
|
||||
iocshArgString};
|
||||
static const iocshArg SMC9300CreateControllerArg2 = {"Number of axes",
|
||||
iocshArgInt};
|
||||
static const iocshArg SMC9300CreateControllerArg3 = {"Moving poll period (ms)",
|
||||
iocshArgInt};
|
||||
static const iocshArg SMC9300CreateControllerArg4 = {"Idle poll period (ms)",
|
||||
iocshArgInt};
|
||||
static const iocshArg *const SMC9300CreateControllerArgs[] = {
|
||||
&SMC9300CreateControllerArg0, &SMC9300CreateControllerArg1,
|
||||
&SMC9300CreateControllerArg2, &SMC9300CreateControllerArg3,
|
||||
&SMC9300CreateControllerArg4};
|
||||
static const iocshFuncDef SMC9300CreateControllerDef = {
|
||||
"SMC9300CreateController", 5, SMC9300CreateControllerArgs};
|
||||
static void SMC9300CreateContollerCallFunc(const iocshArgBuf *args) {
|
||||
SMC9300CreateController(args[0].sval, args[1].sval, args[2].ival,
|
||||
args[3].ival, args[4].ival);
|
||||
}
|
||||
|
||||
static void SMC9300Register(void) {
|
||||
iocshRegister(&SMC9300CreateControllerDef, SMC9300CreateContollerCallFunc);
|
||||
}
|
||||
|
||||
extern "C" {
|
||||
epicsExportRegistrar(SMC9300Register);
|
||||
}
|
||||
57
SMC9300Driver.h
Normal file
57
SMC9300Driver.h
Normal file
@@ -0,0 +1,57 @@
|
||||
/*
|
||||
FILENAME... SMC9300Driver.h
|
||||
USAGE... Motor driver support for the HUBER SMC9300 controller.
|
||||
|
||||
Yang Dongliang
|
||||
March 1, 2020
|
||||
|
||||
*/
|
||||
|
||||
#include "asynMotorController.h"
|
||||
#include "asynMotorAxis.h"
|
||||
|
||||
#define MAX_SMC9300_AXES 4
|
||||
|
||||
// No controller-specific parameters yet
|
||||
#define NUM_SMC9300_PARAMS 0
|
||||
|
||||
#define motorMessageTextString "MOTOR_MESSAGE_TEXT"
|
||||
|
||||
class epicsShareClass SMC9300Axis : public asynMotorAxis
|
||||
{
|
||||
public:
|
||||
/* These are the methods we override from the base class */
|
||||
SMC9300Axis(class SMC9300Controller *pC, int axis);
|
||||
void report(FILE *fp, int level);
|
||||
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
|
||||
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
|
||||
asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
|
||||
asynStatus stop(double acceleration);
|
||||
asynStatus poll(bool *moving);
|
||||
asynStatus setPosition(double position);
|
||||
asynStatus setClosedLoop(bool closedLoop);
|
||||
asynStatus getAxisInitialStatus(void);
|
||||
|
||||
|
||||
protected:
|
||||
SMC9300Controller *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
|
||||
* Abbreviated because it is used very frequently */
|
||||
// asynStatus sendAccelAndVelocity(double accel, double velocity);
|
||||
asynStatus updateMsgTxtFromDriver(const char *value);
|
||||
|
||||
friend class SMC9300Controller;
|
||||
};
|
||||
|
||||
class epicsShareClass SMC9300Controller : public asynMotorController {
|
||||
public:
|
||||
SMC9300Controller(const char *portName, const char *SMC9300PortName, int numAxes, double movingPollPeriod, double idlePollPeriod, const int &extraParams );
|
||||
|
||||
void report(FILE *fp, int level);
|
||||
SMC9300Axis* getAxis(asynUser *pasynUser);
|
||||
SMC9300Axis* getAxis(int axisNo);
|
||||
|
||||
protected:
|
||||
int motorMessageText_;
|
||||
|
||||
friend class SMC9300Axis;
|
||||
};
|
||||
8
devHuberMotor.dbd
Normal file
8
devHuberMotor.dbd
Normal file
@@ -0,0 +1,8 @@
|
||||
# Advanced Control Systems driver support.
|
||||
|
||||
# Model 3 driver
|
||||
registrar(SMC9300Register)
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user