trinamic driver and bytesio module
Change-Id: Id634e7514fecab6fd6bc3edf81e25ad41c2bb12f
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347
secop_psi/trinamic.py
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347
secop_psi/trinamic.py
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# -*- coding: utf-8 -*-
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# *****************************************************************************
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#
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# This program is free software; you can redistribute it and/or modify it under
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# the terms of the GNU General Public License as published by the Free Software
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# Foundation; either version 2 of the License, or (at your option) any later
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# version.
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#
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# This program is distributed in the hope that it will be useful, but WITHOUT
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# ANY WARRANTY; without even the implied warranty of MERCHANTABILITY or FITNESS
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# FOR A PARTICULAR PURPOSE. See the GNU General Public License for more
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# details.
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#
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# You should have received a copy of the GNU General Public License along with
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# this program; if not, write to the Free Software Foundation, Inc.,
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# 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
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#
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# Module authors:
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# Markus Zolliker <markus.zolliker@psi.ch>
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#
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# *****************************************************************************
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"""drivers for trinamic PD-1161 motors"""
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import time
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import os
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import struct
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from secop.core import BoolType, Command, EnumType, FloatRange, IntRange, \
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HasIodev, Parameter, Property, Drivable, TupleOf, Done
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from secop.bytesio import BytesIO
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from secop.lib import getGeneralConfig
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from secop.errors import CommunicationFailedError, HardwareError
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MOTOR_STOP = 3
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MOVE = 4
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SET_AXIS_PAR = 5
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GET_AXIS_PAR = 6
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SAVE_AXIS_PAR = 7
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LOAD_AXIS_PAR = 8
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SET_GLOB_PAR = 9
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GET_GLOB_PAR = 10
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SAVE_GLOB_PAR = 11
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LOAD_GLOB_PAR = 12
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SET_IO = 14
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GET_IO = 15
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MOT_FACT = object()
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CONFIG = getGeneralConfig()
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class AxisPar(Parameter):
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SET = SET_AXIS_PAR
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GET = GET_AXIS_PAR
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def __init__(self, adr, min=None, max=None, unit=None, scale=1, readonly=False, poll=True):
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if unit:
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datatype = FloatRange(min, max, unit=unit)
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else:
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datatype = IntRange(min, max)
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super().__init__('_', datatype, readonly=readonly, poll=poll)
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self.adr = adr
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self.scale = scale
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def to_raw(self, motor, value):
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return round(value / self.scale)
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def from_raw(self, motor, value):
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return value * self.scale
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def read(self, motor):
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return round(self.from_raw(motor, motor.comm(self.GET, self.adr)), 3)
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def write(self, motor, value):
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rvalue = self.to_raw(motor, value)
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motor.comm(self.SET, self.adr, rvalue)
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reply = motor.comm(self.GET, self.adr)
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if rvalue != reply:
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raise HardwareError('%s: reply does not match: %r != %r' % (self.name, rvalue, reply))
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return round(self.from_raw(motor,reply), 3)
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def __set_name__(self, owner, name):
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super().__set_name__(owner, name)
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setattr(owner, 'read_' + name, lambda self, pobj=self: pobj.read(self))
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if not self.readonly:
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setattr(owner, 'write_' + name, lambda self, value, pobj=self: pobj.write(self, value))
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class IoPar(AxisPar):
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SET = SET_IO
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GET = GET_IO
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def __init__(self, adr, bank, datatype=EnumType(CLOSED=0, OPEN=1), scale=1, readonly=False, poll=True):
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Parameter.__init__(self, '_', datatype, readonly=readonly, poll=poll)
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self.adr = adr + 1000 * bank
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self.scale = scale
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def read(self, motor):
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return motor.comm(self.GET, self.adr)
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def write(self, motor, value):
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motor.comm(self.SET, self.adr, int(value))
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return value
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class AxisDiffPar(AxisPar):
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@staticmethod
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def to_raw(motor, value):
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return round(value / motor.fact)
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@staticmethod
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def from_raw(motor, value):
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return round(value * motor.fact, 3)
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class AxisZeroPar(AxisPar):
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@staticmethod
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def to_raw(motor, value):
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return round(value / motor.fact - motor.zero)
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@staticmethod
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def from_raw(motor, value):
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return round(value * motor.fact + motor.zero, 3)
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BAUDRATES = [9600, 0, 19200, 0, 38400, 57600, 0, 115200]
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class Motor(HasIodev, Drivable):
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address = Property('module address', IntRange(0, 255), default=1)
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fact = Property('gear factor', FloatRange(unit='deg/step'), default=1.8/256)
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limit_pin_mask = Property('input pin mask for lower/upper limit switch',
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TupleOf(IntRange(0, 15), IntRange(0, 15)),
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default=(8, 0))
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value = Parameter('motor position', FloatRange(unit='deg'))
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target = Parameter('_', FloatRange(unit='$'), default=0)
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zero = Parameter('zero point', FloatRange(unit='$'), readonly=False, default=0)
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tolerance = Parameter('positioning tolerance', FloatRange(unit='$'), readonly=False, default=0.9)
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encoder = Parameter('encoder value', FloatRange(unit='$'), needscfg=False)
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steppos = Parameter('motor steps position', FloatRange(unit='$'), needscfg=False)
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at_upper_limit = Parameter('upper limit switch touched', BoolType(), needscfg=False)
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at_lower_limit = Parameter('lower limit switch touched', BoolType(), needscfg=False)
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pull_up = Parameter('activate pull up resistors', BoolType(), needscfg=False)
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baudrate = Parameter('baud rate code', EnumType({'%d' % v: i for i, v in enumerate(BAUDRATES)}),
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readonly=False, default=0, poll=True)
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temperature = IoPar(9, 1, IntRange(), readonly=True)
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operating_voltage = IoPar(8, 1, IntRange(), readonly=True)
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enc_tolerance = AxisDiffPar(212, 0, 360., '$')
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maxspeed = AxisPar(4, 0, 2047)
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minspeed = AxisPar(130, 0, 2047)
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maxcurrent = AxisPar(6, 0, 2.8, 'A', 2.8/250)
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standby_current = AxisPar(7, 0, 2.8, 'A', 2.8/250)
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acceleration = AxisPar(5, 0, 2047)
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internal_target = AxisZeroPar(0, unit='$')
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target_reached = AxisPar(8, readonly=True)
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move_status = AxisPar(207, readonly=True)
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error_bits = AxisPar(208, readonly=True)
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free_wheeling = AxisPar(204, 0, 60, 'sec', scale=0.001)
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fast_pollfactor = 0.001
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_targettime = None
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_prevconn = None
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iodevClass = BytesIO
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_commcnt = 0
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_pollcnt = 0
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_lastpoll = 0
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_calcTimeout = True
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def earlyInit(self):
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self.resetValues = dict(self.writeDict)
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def startModule(self, started_callback):
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loaded_pos = None
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try:
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print(self.save_filename())
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with open(self.save_filename()) as f:
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loaded_pos = float(f.read())
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except FileNotFoundError:
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pass
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super().startModule(started_callback)
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encoder = self.read_encoder()
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if loaded_pos is not None:
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diff = loaded_pos - encoder + 180
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if abs(diff % 360 - 180) < self.enc_tolerance:
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diff = round(diff / 180) * 180
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if diff:
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self.comm(SET_AXIS_PAR, 209, AxisZeroPar.to_raw(self, encoder + diff))
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else:
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msg = 'loaded pos (%g) does not match encoder reading' % loaded_pos
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self.status = self.Status.ERROR, msg
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self.log.error(msg + ' (%g)' % encoder)
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def comm(self, cmd, adr=0, value=0):
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if self._calcTimeout:
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self._calcTimeout = False
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baudrate = getattr(self._iodev._conn.connection, 'baudrate', None)
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if baudrate:
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if baudrate not in BAUDRATES:
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raise CommunicationFailedError('unsupported baud rate: %d' % baudrate)
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self._iodev.timeout = 0.03 + 200 / baudrate
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self._commcnt = self._commcnt + 1
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bank = adr // 1000
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iadr = adr % 1000
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for itry in range(3):
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byt = struct.pack('>BBBBi', self.address, cmd, iadr, bank, round(value))
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try:
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reply = self._iodev.communicate(byt + bytes([sum(byt) & 0xff]), 9)
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except Exception as e:
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print(repr(e), adr, bank)
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continue
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if sum(reply[:-1]) & 0xff == reply[-1]:
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break
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else:
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raise CommunicationFailedError('checksum error')
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radr, modadr, status, rcmd, result = struct.unpack('>BBBBix', reply)
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if status != 100:
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self.log.warning('bad status from cmd %r %s: %d', cmd, adr, status)
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if radr != 2 or modadr != self.address or cmd != rcmd:
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raise CommunicationFailedError('bad reply %r to command %s %d' % (reply, cmd, adr))
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return result
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def read_value(self):
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now = time.time()
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if now > self._lastpoll + 1:
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print(now - self._lastpoll, self._commcnt, self._pollcnt)
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self._commcnt = 0
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self._pollcnt = 0
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self._lastpoll = now
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self._pollcnt = self._pollcnt + 1
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init = self.comm(GET_GLOB_PAR, 2255) # bank 2 adr 255
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if not init or self._prevconn != self._iodev._conn:
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# reset to initial parameters when either motor lost power or connection has changed
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self.log.info('reset initial values')
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for pname, value in self.resetValues.items():
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getattr(self, 'write_' + pname)(value)
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self.comm(SET_GLOB_PAR, 2255, 1)
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self._prevconn = self._iodev._conn
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rawenc = self.comm(GET_AXIS_PAR, 209)
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rawpos = self.comm(GET_AXIS_PAR, 1)
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self.encoder = AxisZeroPar.from_raw(self, rawenc)
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self.save_pos()
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self.steppos = AxisZeroPar.from_raw(self, rawpos)
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if abs(rawenc - rawpos) > 128:
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return self.encoder
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return self.steppos
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def save_filename(self):
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savedir = os.path.join(CONFIG['logdir'], 'persistent')
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os.makedirs(savedir, exist_ok=True)
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return os.path.join(savedir, '%s.%s' % (type(self).__name__, self.name))
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def save_pos(self):
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with open(self.save_filename(), 'w') as f:
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f.write('%g' % self.value)
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def read_status(self):
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if not self._targettime:
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return self.status
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self.get_limits()
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if self.at_lower_limit or self.at_upper_limit:
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self.stop()
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return self.Status.ERROR, 'at limit'
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target_reached = self.read_target_reached()
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if target_reached or self.read_move_status():
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self._targettime = None
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if abs(self.target - self.value) < self.tolerance:
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return self.Status.IDLE, ''
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self.log.warning('out of tolerance (%d)', self.move_status)
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return self.Status.WARN, 'out of tolerance (%d)' % self.move_status
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if time.time() > self._targettime:
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self.log.warning('move timeout')
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return self.Status.WARN, 'move timeout'
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return self.Status.BUSY, 'moving'
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def write_target(self, target):
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rawenc = self.comm(GET_AXIS_PAR, 209)
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rawpos = self.comm(GET_AXIS_PAR, 1)
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if abs(rawenc - rawpos) > 128:
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# adjust missing steps
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missing_steps = round((rawenc - rawpos) / 256.0)
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self.log.warning('correct %s missing steps', missing_steps)
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rawpos += missing_steps * 256
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self.comm(SET_AXIS_PAR, 1, rawpos)
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rawtarget = round((target - self.zero) / self.fact)
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delay = (abs(rawtarget - rawpos) / 30.5 / self.maxspeed
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+ self.maxspeed / self.acceleration / 15.25 + 0.5)
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self._targettime = time.time() + delay
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self.log.info('move to %.1f', target)
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self.comm(MOVE, 0, rawtarget)
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print('write_target')
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self.target_reached = 0
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self.status = self.Status.BUSY, 'changed target'
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return target
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def get_limits(self):
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self.input_bits = self.comm(GET_IO, 255)
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bits = (~ self.input_bits) & 0xf
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self.at_lower_limit = bool(bits & self.limit_pin_mask[0])
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self.at_upper_limit = bool(bits & self.limit_pin_mask[1])
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def read_at_upper_limit(self):
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self.get_limits()
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return Done
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def read_at_lower_limit(self):
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self.get_limits()
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return Done
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def write_pull_up(self, value):
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self.comm(SET_IO, 0, int(value))
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return value
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def write_baudrate(self, value):
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self.comm(SET_GLOB_PAR, 65, int(value))
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def read_baudrate(self):
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reply = self.comm(GET_GLOB_PAR, 65)
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print('BAUD', reply)
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return reply
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@Command(FloatRange())
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def set_zero(self, value):
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self.zero += value - self.read_value()
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@Command
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def stop(self):
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self.comm(MOTOR_STOP)
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self.status = self.Status.IDLE, 'stopped'
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self._targettime = None
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@Command(FloatRange())
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def step(self, value):
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self.comm(MOVE, 1, value / self.fact)
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@Command(IntRange(), result=IntRange())
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def get_axis_par(self, adr):
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return self.comm(GET_AXIS_PAR, adr)
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@Command(IntRange())
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def set_axis_par(self, adr, value):
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return self.comm(SET_AXIS_PAR, adr, value)
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