Added to repository.
r986 | ffr | 2006-05-09 09:17:15 +1000 (Tue, 09 May 2006) | 2 lines
This commit is contained in:
Ferdi Franceschini
committed by
Douglas Clowes
Douglas Clowes
parent
a72513165b
commit
81359a740f
802
site_ansto/motor_dmc2280.c
Normal file
802
site_ansto/motor_dmc2280.c
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@@ -0,0 +1,802 @@
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/*------------------------------------------------------------------------
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Implements a SICS motor object with a MotorDriver interface.
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The control and communications functions are implemented in a separate layer
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in instrument/dmc2280.tcl
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Copyright: see file Copyright.txt
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Ferdi Franceschini November 2005
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-----------------------------------------------------------------------*/
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#include <stdlib.h>
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#include <math.h>
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#include <float.h>
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#include <assert.h>
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#include <string.h>
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#include <stdarg.h>
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#include <fortify.h>
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#include <sics.h>
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#include <rs232controller.h>
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#include <modriv.h>
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#include <dynstring.h>
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/*
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#include "splint/splint_fortify.h"
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#include "splint/splint_tclDecls.h"
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#include "splint/splint_dynstring.h"
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#include "splint/splint_SCinter.h"
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*/
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/*-----------------------------------------------------------------------
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The motor driver structure. Please note that the first set of fields has
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be identical with the fields of AbstractModriv in ../modriv.h
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------------------------------------------------------------------------*/
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typedef struct __MoDriv {
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/* general motor driver interface
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fields. _REQUIRED!
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*/
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float fUpper; /* upper limit */
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float fLower; /* lower limit */
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char *name;
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int (*GetPosition)(void *self,float *fPos);
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int (*RunTo)(void *self, float fNewVal);
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int (*GetStatus)(void *self);
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void (*GetError)(void *self, int *iCode, char *buffer, int iBufLen);
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int (*TryAndFixIt)(void *self,int iError, float fNew);
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int (*Halt)(void *self);
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int (*GetDriverPar)(void *self, char *name,
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float *value);
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int (*SetDriverPar)(void *self,SConnection *pCon,
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char *name, float newValue);
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void (*ListDriverPar)(void *self, char *motorName,
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SConnection *pCon);
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void (*KillPrivate)(void *self);
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/* DMC-2280 specific fields */
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SConnection *pCon;
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prs232 controller;
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int iMotor;
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int errorCode;
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int oredMsr;
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int lastValue;
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int iConfig;
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char units[256]; /* physical units for axis */
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float speed; /* physical units per second */
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float maxSpeed; /* physical units per second */
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float accel; /* physical units per second^2 */
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float maxAccel; /* physical units per second^2 */
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float decel; /* physical units per second^2 */
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float maxDecel; /* physical units per second^2 */
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char axisLabel;
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char lastCmd[1024];
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float home; /* home position for axis, default=0 */
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int motorHome; /* motor home position in steps */
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int stepsPerX; /* steps per physical unit */
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int abs_endcoder; /* Flag = 1 if there is an abs enc */
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int absEncHome; /* Home position in counts for abs enc */
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int cntsPerX; /* absolute encoder counts per physical unit */
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} DMC2280Driv, *pDMC2280Driv;
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/*------------------- error codes ----------------------------------*/
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#define BADADR -1 // Unknown host/port?
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#define BADBSY -2
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#define BADCMD -3
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#define BADPAR -4 // Does SICS already check parameter types?
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#define BADUNKNOWN -5
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#define BADSTP -6
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#define BADEMERG -7
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#define RVRSLIM -8
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#define FWDLIM -9
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#define RUNFAULT -10
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#define POSFAULT -11
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#define BADCUSHION -12
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#define ERRORLIM -13
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#define IMPOSSIBLE_LIM_SW -14
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#define BGFAIL -15
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/*--------------------------------------------------------------------*/
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#define STATUSMOVING 128 /* Motor is moving */
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#define STATUSERRORLIMIT 64 /* Number of errorss exceed limit */
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#define STATUSOFF 32 /* Motor off */
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#define STATUSFWDLIMIT 8 /* Forward limit switch active */
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#define STATUSRVRSLIMIT 4 /* Reverse limit switch active */
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#define INIT_STR_SIZE 256
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#define STR_RESIZE_LENGTH 256
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#define CMDLEN 1024
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#define ERRLEN 256
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#define BUFFLEN 512
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#define FAILURE 0
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#define SUCCESS 1
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#define _REQUIRED 1
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#define _OPTIONAL 0
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#define HOME "home"
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#define HARDLOWERLIM "hardlowerlim"
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#define HARDUPPERLIM "hardupperlim"
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#define UNITS "units"
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#define SPEED "speed"
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#define MAXSPEED "maxSpeed"
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#define ACCEL "accel"
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#define MAXACCEL "maxAccel"
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#define DECEL "decel"
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#define MAXDECEL "maxDecel"
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static int DMC2280Receive(pDMC2280Driv self, /*@out@*/ char *reply);
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/* Return motor speed in steps/sec */
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static int motSpeed(pDMC2280Driv self, float speed) {
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int motSpeed;
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motSpeed = abs((int)(speed * self->stepsPerX + 0.5));
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return motSpeed;
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}
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/* Return motor acceleration in steps/sec^2 */
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static int motAccel(pDMC2280Driv self, float accel) {
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int motAccel;
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motAccel = abs((int)(accel * self->stepsPerX + 0.5));
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return motAccel;
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}
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/* Return motor deceleration in steps/sec^2 */
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static int motDecel(pDMC2280Driv self, float decel) {
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int motDecel;
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motDecel = abs((int)(decel * self->stepsPerX + 0.5));
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return motDecel;
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}
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static int DMC2280ReadChar(pDMC2280Driv self, char *reply) {
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int i, status, retries=20, dataLen=1;
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for (i=0; i<retries; i++) {
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status=readRS232(self->controller, reply, &dataLen);
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switch (status) {
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case 1:
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return SUCCESS;
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case TIMEOUT:
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self->errorCode = status;
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continue;
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default:
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self->errorCode = status;
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return FAILURE;
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}
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}
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return FAILURE;
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}
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/*---------------------------------------------------------------------*/
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/* First character returned by controller is
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'?' for an invalid command or
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':' or space for a valid command */
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static int DMC2280Send(pDMC2280Driv self, char *command) {
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char cmdValid, pError[ERRLEN], reply[256];
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char *GetEMsg = "TC 1";
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int status;
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strncpy(self->lastCmd, command, CMDLEN);
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status = writeRS232(self->controller, command, strlen(command));
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if (status != 1) {
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self->errorCode = status;
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return FAILURE;
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}
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if (FAILURE == (status = DMC2280ReadChar(self, &cmdValid))) {
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self->errorCode = status;
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return FAILURE;
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} else {
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switch (cmdValid) {
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case ':':
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case ' ':
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return SUCCESS;
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case '?':
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status = writeRS232(self->controller, GetEMsg, strlen(GetEMsg));
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if (status != 1) {
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self->errorCode = status;
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return FAILURE;
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}
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if (FAILURE == DMC2280Receive(self, reply))
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return HWFault;
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snprintf(pError, ERRLEN, "DMC2280ERROR: Bad command '%s'", command);
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SCWrite(self->pCon, reply, eError);
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self->errorCode = BADCMD;
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return FAILURE;
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default:
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self->errorCode = BADUNKNOWN;
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return FAILURE;
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}
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}
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}
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static int DMC2280Receive(pDMC2280Driv self, char *reply) {
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int i, status, retries=20, dataLen=255;
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for (i=0; i<retries; i++) {
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status=readRS232TillTerm(self->controller, reply, &dataLen);
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switch (status) {
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case 1:
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return dataLen;
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case TIMEOUT:
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self->errorCode = status;
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continue;
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/* TODO case INCOMPLETE: */
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default:
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self->errorCode = status;
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return FAILURE;
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}
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}
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return FAILURE;
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}
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/*---------------------------------------------------------------------*/
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static int DMC2280GetPos(void *pData, float *fPos){
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pDMC2280Driv self = NULL;
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char reply[1024];
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char cmd[CMDLEN];
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float absEncPos, motorPos;
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reply[0]='\0';
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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if (1 == self->abs_endcoder) {
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snprintf(cmd, CMDLEN, "TP%c", self->axisLabel);
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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if (FAILURE == DMC2280Receive(self, reply))
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return HWFault;
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absEncPos =(float)atof(reply);
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*fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
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} else {
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snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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if (FAILURE == DMC2280Receive(self, reply))
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return HWFault;
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motorPos =(float)atof(reply);
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*fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
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}
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return OKOK;
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}
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/*----------------------------------------------------------------------*/
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static int DMC2280Run(void *pData,float fValue){
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pDMC2280Driv self = NULL;
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char axis;
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char cmd[CMDLEN], SH[CMDLEN], BG[CMDLEN], absPosCmd[CMDLEN];
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int absEncHome, stepsPerX, motorHome, cntsPerX, newAbsPosn;
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float target;
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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axis=self->axisLabel;
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motorHome = self->motorHome;
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stepsPerX=self->stepsPerX;
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snprintf(SH, CMDLEN, "SH%c", axis);
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snprintf(BG, CMDLEN, "BG%c", axis);
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target = fValue - self->home;
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newAbsPosn = (int)(target * stepsPerX + motorHome + 0.5);
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snprintf(absPosCmd, CMDLEN, "PA%c=%d",axis, newAbsPosn);
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if (1 == self->abs_endcoder) {
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/* Ensure that the defined motor position matches actual position */
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absEncHome = self->absEncHome;
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cntsPerX = self->cntsPerX;
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snprintf(cmd, CMDLEN, "DP%c=(_TP%c - %d)*(%d/%d) + %d",axis,axis,absEncHome,stepsPerX,cntsPerX,motorHome);
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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snprintf(cmd, CMDLEN, "%cQTARGET=%d", axis, (int) (target * cntsPerX + absEncHome + 0.5));
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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}
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if (FAILURE == DMC2280Send(self, absPosCmd))
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return HWFault;
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if (FAILURE == DMC2280Send(self, SH))
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return HWFault;
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if (FAILURE == DMC2280Send(self, BG))
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return HWFault;
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return OKOK;
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}
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/*------------------------------------------------------------------------*/
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static int DMC2280Status(void *pData){
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pDMC2280Driv self = NULL;
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char cmd[CMDLEN];
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int switches;
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char switchesAscii[10], reply[256];
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int moving, fwd_limit_active, rvrs_limit_active, errorlimit;
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int SERVO_LOOP_NOT_RUNNING = -1, servoLoopStatus;
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int SHOULD_FIXPOS=1, should_fixpos;
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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/* Get status of switches
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* see TS (Tell Switches) in Galil manc2xx */
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snprintf(cmd, CMDLEN, "TS%c", self->axisLabel);
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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if (FAILURE == DMC2280Receive(self, switchesAscii))
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return HWFault;
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sscanf(switchesAscii, "%d", &switches);
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moving = (switches & STATUSMOVING)>0;
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fwd_limit_active = !(switches & STATUSFWDLIMIT)>0;
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rvrs_limit_active = !(switches & STATUSRVRSLIMIT)>0;
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errorlimit = (switches & STATUSERRORLIMIT)>0;
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if (fwd_limit_active && rvrs_limit_active) {
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self->errorCode = IMPOSSIBLE_LIM_SW;
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return HWFault;
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}
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if (moving) {
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self->errorCode = BADBSY;
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return HWBusy;
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} else {
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/* If motor stopped check limits and error status */
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if (fwd_limit_active) {
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self->errorCode = FWDLIM;
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return HWFault;
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} else if (rvrs_limit_active) {
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self->errorCode = RVRSLIM;
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return HWFault;
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} else if (errorlimit) {
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self->errorCode = ERRORLIM;
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return HWFault;
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}
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if (self->abs_endcoder == 1) {
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/* Make sure that the servo loop is closed by checking if
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* the CLSLOOP thread is running on the controller.*/
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if (FAILURE == DMC2280Send(self, "MG _XQ1"))
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return HWFault;
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if (FAILURE == DMC2280Receive(self, reply))
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return HWFault;
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sscanf(reply, "%d", &servoLoopStatus);
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if (servoLoopStatus == SERVO_LOOP_NOT_RUNNING) {
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/* Start subroutine on controller to close the servo loop */
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if (FAILURE == DMC2280Send(self, "XQ#CLSLOOP"))
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return HWFault;
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}
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snprintf(cmd, CMDLEN, "MG %cSHLDFIX", self->axisLabel);
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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if (FAILURE == DMC2280Receive(self, reply))
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return HWFault;
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sscanf(reply, "%d", &should_fixpos);
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if (should_fixpos == SHOULD_FIXPOS) {
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snprintf(cmd, CMDLEN, "%cFIXPOS=1", self->axisLabel);
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if (FAILURE == DMC2280Send(self, cmd))
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return HWFault;
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self->errorCode=BADBSY;
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return HWBusy;
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}
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}
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return HWIdle;
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}
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}
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/*----------------------------------------------------------------------*/
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static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
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pDMC2280Driv self = NULL;
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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*iCode = self->errorCode;
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switch(*iCode){
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case BADADR:
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strncpy(error,"Bad address",(size_t)errLen);
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break;
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case BADBSY:
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strncpy(error,"Motor still busy",(size_t)errLen);
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break;
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case BADCMD:
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snprintf(error, (size_t)errLen, "Bad command: '%s'", self->lastCmd);
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break;
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case BADPAR:
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strncpy(error,"Bad parameter",(size_t)errLen);
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break;
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case BADUNKNOWN:
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strncpy(error,"Unknown error condition",(size_t)errLen);
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break;
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case BADSTP:
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strncpy(error,"Motor is stopped",(size_t)errLen);
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break;
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case BADEMERG:
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strncpy(error,"Emergency stop is engaged",(size_t)errLen);
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break;
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case BGFAIL:
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strncpy(error,"Begin not possible due to limit switch",(size_t)errLen);
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break;
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case RVRSLIM:
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strncpy(error,"Crashed into reverse limit switch",(size_t)errLen);
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break;
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case FWDLIM:
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strncpy(error,"Crashed into forward limit switch",(size_t)errLen);
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break;
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case RUNFAULT:
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strncpy(error,"Run fault detected",(size_t)errLen);
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break;
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case POSFAULT:
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strncpy(error,"Positioning fault detected",(size_t)errLen);
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break;
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case BADCUSHION:
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strncpy(error,"Air cushion problem",(size_t)errLen);
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break;
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case ERRORLIM:
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strncpy(error,"Axis error exceeds error limit",(size_t)errLen);
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break;
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case IMPOSSIBLE_LIM_SW:
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strncpy(error,"Both limit switches seem active, maybe the polarity is set 'active low'. You should controller the controller with CN 1,-1,-1,0", (size_t)errLen);
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break;
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default:
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/* FIXME What's the default */
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break;
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}
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}
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/*----------------------------------------------------------------------*/
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static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
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pDMC2280Driv self = NULL;
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self = (pDMC2280Driv)pData;
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assert(self != NULL);
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switch(iCode){
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case BADADR:
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case BADCMD:
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//case TIMEOUT:
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case BADPAR:
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case BADBSY:
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return MOTREDO;
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case RUNFAULT:
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case POSFAULT:
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return MOTREDO;
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case NOTCONNECTED:
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initRS232(self->controller);
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return MOTREDO;
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}
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return MOTFAIL;
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}
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/*----------------------------------------------------------------------*/
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/* Emergency Halt
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* Uses maximum deceleration */
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static int DMC2280Halt(void *pData){
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pDMC2280Driv self = NULL;
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char cmd[CMDLEN];
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self = (pDMC2280Driv)pData;
|
||||
assert(self != NULL);
|
||||
/* Set maximum deceleration to stop motor */
|
||||
snprintf(cmd, CMDLEN, "DC%c", motDecel(self, self->maxDecel));
|
||||
if (FAILURE == DMC2280Send(self, cmd))
|
||||
return HWFault;
|
||||
/* Stop motor */
|
||||
snprintf(cmd, CMDLEN, "ST%c", self->axisLabel);
|
||||
if (FAILURE == DMC2280Send(self, cmd))
|
||||
return HWFault;
|
||||
/* Restore deceleration */
|
||||
snprintf(cmd, CMDLEN, "DC%c", motDecel(self, self->decel));
|
||||
if (FAILURE == DMC2280Send(self, cmd))
|
||||
return HWFault;
|
||||
|
||||
return 1;
|
||||
}
|
||||
/*--------------------------------------------------------------------*/
|
||||
static int DMC2280GetPar(void *pData, char *name,
|
||||
float *fValue){
|
||||
pDMC2280Driv self = NULL;
|
||||
|
||||
self = (pDMC2280Driv)pData;
|
||||
|
||||
if(strcmp(name,HOME) == 0) {
|
||||
*fValue = self->home;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,HARDLOWERLIM) == 0) {
|
||||
*fValue = self->fLower;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,HARDUPPERLIM) == 0) {
|
||||
*fValue = self->fUpper;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,SPEED) == 0) {
|
||||
*fValue = self->speed;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,MAXSPEED) == 0) {
|
||||
*fValue = self->maxSpeed;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,ACCEL) == 0) {
|
||||
*fValue = self->accel;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,MAXACCEL) == 0) {
|
||||
*fValue = self->maxAccel;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,DECEL) == 0) {
|
||||
*fValue = self->decel;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,MAXDECEL) == 0) {
|
||||
*fValue = self->maxDecel;
|
||||
return 1;
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
/*--------------------------------------------------------------------*/
|
||||
static int DMC2280SetPar(void *pData, SConnection *pCon,
|
||||
char *name, float newValue){
|
||||
pDMC2280Driv self = NULL;
|
||||
char pError[ERRLEN];
|
||||
char cmd[CMDLEN];
|
||||
|
||||
self = (pDMC2280Driv)pData;
|
||||
|
||||
/* Set home */
|
||||
if(strcmp(name,HOME) == 0) {
|
||||
if ( (self->fLower - newValue) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be greater than or equal to %f", HOME, self->fLower);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
if ( (newValue - self->fUpper) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be less than or equal to %f", HOME, self->fUpper);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
self->home = newValue;
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* Set upper limit, lower limit */
|
||||
if(strcmp(name,HARDLOWERLIM) == 0) {
|
||||
self->fLower = newValue;
|
||||
return 1;
|
||||
}
|
||||
if(strcmp(name,HARDUPPERLIM) == 0) {
|
||||
self->fUpper = newValue;
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* Set speed */
|
||||
if(strcmp(name,SPEED) == 0) {
|
||||
if ((0.0 - newValue) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be greater than or equal to %f", SPEED, 0.0);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
if ((newValue - self->maxSpeed ) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be less than or equal to %f", SPEED, self->maxSpeed);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
self->speed = newValue;
|
||||
snprintf(cmd,CMDLEN,"SP%c=%d", self->axisLabel, motSpeed(self, self->speed));
|
||||
if (FAILURE == DMC2280Send(self, cmd))
|
||||
return 0; /* FIXME should signal a HWFault */
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* Set Acceleration */
|
||||
if(strcmp(name,ACCEL) == 0) {
|
||||
if ((0.0 - newValue) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be greater than or equal to %f", ACCEL, 0.0);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
if ((newValue - self->maxAccel ) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be less than or equal to %f", ACCEL, self->maxAccel);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
self->accel = newValue;
|
||||
snprintf(cmd,CMDLEN,"AC%c=%d", self->axisLabel, motAccel(self, self->accel));
|
||||
if (FAILURE == DMC2280Send(self, cmd))
|
||||
return 0; /* FIXME should signal a HWFault */
|
||||
return 1;
|
||||
}
|
||||
|
||||
/* Set Deceleration */
|
||||
if(strcmp(name,DECEL) == 0) {
|
||||
if ((0.0 - newValue) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be greater than or equal to %f", DECEL, 0.0);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
if ((newValue - self->maxDecel ) > FLT_EPSILON) {
|
||||
snprintf(pError, ERRLEN,"ERROR: %s must be less than or equal to %f", DECEL, self->maxDecel);
|
||||
SCWrite(pCon, pError, eError);
|
||||
return 1;
|
||||
}
|
||||
self->decel = newValue;
|
||||
snprintf(cmd,CMDLEN,"DC%c=%d", self->axisLabel, motDecel(self, self->decel));
|
||||
if (FAILURE == DMC2280Send(self, cmd))
|
||||
return 0; /* FIXME should signal a HWFault */
|
||||
return 1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
/*--------------------------------------------------------------------*/
|
||||
static void DMC2280List(void *self, char *name, SConnection *pCon){
|
||||
char buffer[BUFFLEN];
|
||||
|
||||
snprintf(buffer, BUFFLEN, "%s.axis = %c\n", name, ((pDMC2280Driv)self)->axisLabel);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.home = %f\n", name, ((pDMC2280Driv)self)->home);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, ((pDMC2280Driv)self)->units);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.speed = %f\n", name, ((pDMC2280Driv)self)->speed);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.maxSpeed = %f\n", name, ((pDMC2280Driv)self)->maxSpeed);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.accel = %f\n", name, ((pDMC2280Driv)self)->accel);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.maxAccel = %f\n", name, ((pDMC2280Driv)self)->maxAccel);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.decel = %f\n", name, ((pDMC2280Driv)self)->decel);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
snprintf(buffer, BUFFLEN, "%s.maxDecel = %f\n", name, ((pDMC2280Driv)self)->maxDecel);
|
||||
SCWrite(pCon, buffer, eStatus);
|
||||
return;
|
||||
}
|
||||
/*---------------------------------------------------------------------*/
|
||||
static void KillDMC2280(void *pData){
|
||||
pDMC2280Driv self = NULL;
|
||||
self = (pDMC2280Driv)pData;
|
||||
assert(self != NULL);
|
||||
free(self->name);
|
||||
/*@-temptrans@*/ free(self); /*@+temptrans@*/
|
||||
return;
|
||||
}
|
||||
static prs232 DMC2280Connect(SConnection *pCon, char *buffer, int port) {
|
||||
prs232 controller=NULL;
|
||||
char pError[ERRLEN];
|
||||
int usecTimeout = 50000; /* 50msec timeout */
|
||||
|
||||
controller=createRS232(buffer,port);
|
||||
if (controller==NULL) {
|
||||
snprintf(pError, ERRLEN,
|
||||
"ERROR: failed to create controller for %s at port %d",
|
||||
controller->pHost, controller->iPort);
|
||||
SCWrite(pCon,pError,eError);
|
||||
return NULL;
|
||||
}
|
||||
if ( initRS232(controller) != 1) {
|
||||
snprintf(pError, ERRLEN,
|
||||
"ERROR: failed to connect to %s at port %d",
|
||||
controller->pHost, controller->iPort);
|
||||
SCWrite(pCon,pError,eError);
|
||||
return NULL;
|
||||
}
|
||||
setRS232ReplyTerminator(controller,"&\r\n:");
|
||||
setRS232SendTerminator(controller,"\r\n");
|
||||
setRS232Timeout(controller, usecTimeout);
|
||||
return controller;
|
||||
}
|
||||
|
||||
/* Get configuration parameter */
|
||||
static char *getParam(SConnection *pCon, Tcl_Interp *pTcl, char *params, char *parName, int mustHave ) {
|
||||
char *pPtr=NULL, pError[ERRLEN];
|
||||
pPtr = Tcl_GetVar2(pTcl,params,parName,TCL_GLOBAL_ONLY);
|
||||
if((mustHave == _REQUIRED) && !pPtr){
|
||||
snprintf(pError, ERRLEN,"ERROR: No '%s' parameter given for dmc2280 motor", parName);
|
||||
SCWrite(pCon,pError, eError);
|
||||
}
|
||||
return pPtr;
|
||||
}
|
||||
|
||||
/*------------------------------------------------------------------*/
|
||||
/*@null@*/ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params){
|
||||
/*@keep@*/ pDMC2280Driv pNew = NULL;
|
||||
char *pPtr = NULL;
|
||||
char buffer[132];
|
||||
char pError[ERRLEN];
|
||||
char cmd[CMDLEN];
|
||||
int port;
|
||||
Tcl_Interp *interp;
|
||||
|
||||
buffer[0]='\0';
|
||||
|
||||
interp = InterpGetTcl(pServ->pSics);
|
||||
|
||||
/*
|
||||
allocate and initialize data structure
|
||||
*/
|
||||
pNew = (pDMC2280Driv)malloc(sizeof(DMC2280Driv));
|
||||
if(!pNew){
|
||||
(void) SCWrite(pCon,"ERROR: no memory to allocate motor driver",
|
||||
eError);
|
||||
return NULL;
|
||||
}
|
||||
/* Get hostname and port from the list of named parameters */
|
||||
if ((pPtr=getParam(pCon, interp, params,"port",1)) == NULL) return NULL;
|
||||
sscanf(pPtr,"%d",&port);
|
||||
if ((pPtr=getParam(pCon, interp, params,"host",1)) == NULL) return NULL;
|
||||
strncpy(buffer,pPtr, 131);
|
||||
|
||||
/* Connect to the controller */
|
||||
memset(pNew,0,sizeof(DMC2280Driv));
|
||||
pNew->controller = DMC2280Connect(pCon, buffer,port);
|
||||
if( pNew->controller == NULL ) {
|
||||
snprintf(pError, ERRLEN, "\tError occurred when creating DMC2280 motor '%s'", motor);
|
||||
SCWrite(pCon,pError,eError);
|
||||
return NULL;
|
||||
}
|
||||
|
||||
/*FIXME Tell splint that there's no memory leak because pointers are being initialised here */
|
||||
/*@-mustfreeonly@*/
|
||||
pNew->name = (char *)malloc(sizeof(char)*(strlen(motor)+1));
|
||||
if (pNew->name == NULL) {
|
||||
(void) SCWrite(pCon,"ERROR: no memory to allocate motor driver",
|
||||
eError);
|
||||
free(pNew);
|
||||
return NULL;
|
||||
}
|
||||
strcpy(pNew->name, motor);
|
||||
pNew->pCon = pCon;
|
||||
pNew->home = 0.0;
|
||||
pNew->fLower = 0.0;//(float)atof(argv[2]);
|
||||
pNew->fUpper = 100.0;//(float)atof(argv[3]);
|
||||
pNew->GetPosition = DMC2280GetPos;
|
||||
pNew->RunTo = DMC2280Run;
|
||||
pNew->GetStatus = DMC2280Status;
|
||||
pNew->GetError = DMC2280Error;
|
||||
pNew->TryAndFixIt = DMC2280Fix;
|
||||
pNew->Halt = DMC2280Halt;
|
||||
pNew->GetDriverPar = DMC2280GetPar;
|
||||
pNew->SetDriverPar = DMC2280SetPar;
|
||||
pNew->ListDriverPar = DMC2280List;
|
||||
pNew->KillPrivate = KillDMC2280;
|
||||
if ((pPtr=getParam(pCon, interp, params,UNITS,_REQUIRED)) == NULL)
|
||||
return NULL;
|
||||
sscanf(pPtr,"%s",pNew->units);
|
||||
if ((pPtr=getParam(pCon, interp, params,MAXSPEED,_REQUIRED)) == NULL)
|
||||
return NULL;
|
||||
sscanf(pPtr,"%f",&(pNew->speed));
|
||||
pNew->maxSpeed = pNew->speed;
|
||||
if ((pPtr=getParam(pCon, interp, params,MAXACCEL,_REQUIRED)) == NULL)
|
||||
return NULL;
|
||||
sscanf(pPtr,"%f",&(pNew->accel));
|
||||
pNew->maxAccel = pNew->accel;
|
||||
if ((pPtr=getParam(pCon, interp, params,MAXDECEL,_REQUIRED)) == NULL)
|
||||
return NULL;
|
||||
sscanf(pPtr,"%f",&(pNew->decel));
|
||||
pNew->maxDecel = pNew->decel;
|
||||
if ((pPtr=getParam(pCon, interp, params,"axis",_REQUIRED)) == NULL)
|
||||
return NULL;
|
||||
sscanf(pPtr,"%c",&(pNew->axisLabel));
|
||||
if ((pPtr=getParam(pCon, interp, params,"stepsPerX",_REQUIRED)) == NULL)
|
||||
return NULL;
|
||||
sscanf(pPtr,"%d",&(pNew->stepsPerX));
|
||||
if ((pPtr=getParam(pCon, interp, params,"motorHome",_OPTIONAL)) == NULL)
|
||||
pNew->motorHome=0;
|
||||
else
|
||||
sscanf(pPtr,"%d",&(pNew->motorHome));
|
||||
if ((pPtr=getParam(pCon, interp, params,"absEnc",_OPTIONAL)) == NULL)
|
||||
pNew->abs_endcoder=0;
|
||||
else {
|
||||
sscanf(pPtr,"%d",&(pNew->abs_endcoder));
|
||||
if ((pPtr=getParam(pCon, interp, params,"absEncHome",_REQUIRED)) == NULL)
|
||||
pNew->absEncHome=0;
|
||||
else
|
||||
sscanf(pPtr,"%d",&(pNew->absEncHome));
|
||||
if ((pPtr=getParam(pCon, interp, params,"cntsPerX",_REQUIRED)) == NULL)
|
||||
pNew->cntsPerX=1;
|
||||
else
|
||||
sscanf(pPtr,"%d",&(pNew->cntsPerX));
|
||||
}
|
||||
/*@+mustfreeonly@*/
|
||||
|
||||
/* Set speed */
|
||||
snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
|
||||
if (FAILURE == DMC2280Send(pNew, cmd))
|
||||
exit(EXIT_FAILURE);
|
||||
/* Set acceleration */
|
||||
snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
|
||||
if (FAILURE == DMC2280Send(pNew, cmd))
|
||||
exit(EXIT_FAILURE);
|
||||
/* Set deceleration */
|
||||
snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
|
||||
if (FAILURE == DMC2280Send(pNew, cmd))
|
||||
exit(EXIT_FAILURE);
|
||||
/* TODO Initialise current position and target to get a sensible initial list output */
|
||||
return (MotorDriver *)pNew;
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
Reference in New Issue
Block a user