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Move things around, fix typo

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r1896 | dcl | 2007-04-20 09:11:03 +1000 (Fri, 20 Apr 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-04-20 09:11:03 +10:00
parent 093bf92438
commit d0957b18d5
1 changed files with 120 additions and 134 deletions
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254
site_ansto/motor_dmc2280.c
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@@ -37,12 +37,17 @@
* with valid values.
* \see getDMCSetting
*/
typedef struct __MoDriv DMC2280Driv, *pDMC2280Driv;
typedef struct __command Command, *pCommand;
typedef int (*CommandCallback)(pCommand pCmd);
enum dmcsetting {dmcspeed, dmcacceleration, dmcdeceleration};
/*-----------------------------------------------------------------------
The motor driver structure. Please note that the first set of fields has
be identical with the fields of AbstractModriv in ../modriv.h
------------------------------------------------------------------------*/
typedef struct __MoDriv {
struct __MoDriv {
/* general motor driver interface
fields. _REQUIRED!
*/
@@ -110,7 +115,7 @@ typedef struct __MoDriv {
pNWTimer motor_timer; /**< motor off timer */
int debug;
int preseek; /**< Flag = 1 if current move is a backlash preseek */
} DMC2280Driv, *pDMC2280Driv;
};
int DMC2280MotionControl = 1; /* defaults to enabled */
@@ -170,9 +175,6 @@ static int DMC2280Halt(void *pData);
static int DMC2280SetPar(void *pData, SConnection *pCon,
char *name, float newValue);
typedef struct __command Command, *pCommand;
typedef int (*CommandCallback)(pCommand pCmd);
struct __command {
pMultiChan unit;
int cstate;
@@ -656,38 +658,6 @@ static int RunHomeRoutine(pDMC2280Driv self, float newValue) {
return SUCCESS;
}
/** \brief Reads motor position, implements the GetPosition
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param *fPos contains the motor position in physical units after a call.
* \return
* - OKOK request succeeded
* - HWFault request failed
* */
static int DMC2280GetPos(void *pData, float *fPos){
pDMC2280Driv self = NULL;
char reply[CMDLEN];
char cmd[CMDLEN];
float absEncPos, motorPos;
reply[0]='\0';
self = (pDMC2280Driv)pData;
assert(self != NULL);
if (1 == self->abs_endcoder) {
if (readAbsEnc(self, &absEncPos) == FAILURE)
return HWFault;
*fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
} else {
snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return HWFault;
motorPos =(float)atof(reply);
*fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
}
return OKOK;
}
/**
* \brief calculate and issue the motion commands
*
@@ -931,72 +901,6 @@ static int motor_timeout(void* context, int mode) {
return 0;
}
/**
* \brief handle the run command for a motor with airpads
*
* \param self motor data
* \param fValue new motor position
*/
static int DMC2280RunAir(pDMC2280Driv self, float fValue) {
self->fTarget = fValue;
if (!DMC_AirPads(self, 1))
return HWFault;
return OKOK;
}
/** \brief DMC2280 implementation of the RunTo
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param fValue target position in physical units, software zeros
* have already been applied.
* \return
* - OKOK request succeeded
* - HWFault request failed
* */
static int DMC2280Run(void *pData,float fValue){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* If Motion Control is off, report HWFault */
if (DMC2280MotionControl != 1) {
if (DMC2280MotionControl == 0)
self->errorCode = MOTIONCONTROLOFF;
else
self->errorCode = MOTIONCONTROLUNK;
return HWFault;
}
if (self->motor_timer)
NetWatchRemoveTimer(self->motor_timer);
self->motor_timer = NULL;
if (self->settle)
self->time_settle_done.tv_sec = 0;
/*
* Note: this will read the current position which will block
*/
do {
float currPos;
DMC2280GetPos(pData, &currPos);
self->lastPosition = currPos;
#if 1
self->time_lastPos_set.tv_sec = 0;
#endif
} while (0);
/*
* Note: this passes control to a timer routine
*/
if (self->has_airpads)
if (self->airpad_state != AIRPADS_UP)
return DMC2280RunAir(self, fValue);
return DMC2280RunCommon(self, fValue);
}
/** \brief Check if the axis has moved significantly since
* the last check.
*
@@ -1080,6 +984,105 @@ static int checkMotion(void *pData) {
return 1;
}
/**
* \brief handle the run command for a motor with airpads
*
* \param self motor data
* \param fValue new motor position
*/
static int DMC2280RunAir(pDMC2280Driv self, float fValue) {
if (!DMC_AirPads(self, 1))
return HWFault;
return OKOK;
}
/** \brief Reads motor position, implements the GetPosition
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param *fPos contains the motor position in physical units after a call.
* \return
* - OKOK request succeeded
* - HWFault request failed
* */
static int DMC2280GetPos(void *pData, float *fPos){
pDMC2280Driv self = NULL;
char reply[CMDLEN];
char cmd[CMDLEN];
float absEncPos, motorPos;
reply[0]='\0';
self = (pDMC2280Driv)pData;
assert(self != NULL);
if (1 == self->abs_endcoder) {
if (readAbsEnc(self, &absEncPos) == FAILURE)
return HWFault;
*fPos = (absEncPos - self->absEncHome)/self->cntsPerX + self->home;
} else {
snprintf(cmd, ERRLEN, "TD%c", self->axisLabel);
if (FAILURE == DMC2280SendReceive(self, cmd, reply))
return HWFault;
motorPos =(float)atof(reply);
*fPos = (motorPos - self->motorHome)/self->stepsPerX + self->home;
}
return OKOK;
}
/** \brief DMC2280 implementation of the RunTo
* method in the MotorDriver interface.
*
* \param *pData provides access to a motor's data
* \param fValue target position in physical units, software zeros
* have already been applied.
* \return
* - OKOK request succeeded
* - HWFault request failed
* */
static int DMC2280Run(void *pData,float fValue){
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* If Motion Control is off, report HWFault */
if (DMC2280MotionControl != 1) {
if (DMC2280MotionControl == 0)
self->errorCode = MOTIONCONTROLOFF;
else
self->errorCode = MOTIONCONTROLUNK;
return HWFault;
}
if (self->motor_timer)
NetWatchRemoveTimer(self->motor_timer);
self->motor_timer = NULL;
if (self->settle)
self->time_settle_done.tv_sec = 0;
/*
* Note: this will read the current position which will block
*/
do {
float currPos;
DMC2280GetPos(pData, &currPos);
self->lastPosition = currPos;
#if 1
self->time_lastPos_set.tv_sec = 0;
#endif
} while (0);
self->fTarget = fValue;
/*
* Note: this passes control to a timer routine
*/
if (self->has_airpads)
if (self->airpad_state != AIRPADS_UP)
return DMC2280RunAir(self, fValue);
return DMC2280RunCommon(self, fValue);
}
/** \brief Returns the motor status while it's moving,
* implements the GetStatus method in the MotorDriver interface.
@@ -1197,7 +1200,7 @@ static int DMC2280Status(void *pData){
* When we get here, the motion has completed
*/
if (self->preseek) {
DMC_RunCommon(self, self->fTarget);
DMC2280RunCommon(self, self->fTarget);
return HWBusy;
}
/* and we
@@ -1419,23 +1422,6 @@ static int DMC2280Halt(void *pData){
return 1;
}
/** \brief Allow motor drivers to return text values like units.
*
* Refactoring: Should replace this with a function that will
* return hdb values.
* This is the first step in the refactoring process. */
int DMC2280GetTextPar(void *pData, char *name, char *textPar) {
pDMC2280Driv self = NULL;
self = (pDMC2280Driv)pData;
if(strcasecmp(name,UNITS) == 0) {
snprintf(textPar, UNITSLEN, self->units);
return 1;
}
return 0;
}
/** \brief Fetches the value of the named parameter,
* implements the GetDriverPar method in the MotorDriver interface.
*
@@ -2104,19 +2090,19 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
sscanf(pPtr,"%f",&(pNew->cntsPerX));
}
/* Set speed */
snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* Set acceleration */
snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* Set deceleration */
snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* TODO Initialise current position and target to get a sensible initial list output */
/* Set speed */
snprintf(cmd,CMDLEN,"SP%c=%d", pNew->axisLabel, motSpeed(pNew, pNew->speed));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* Set acceleration */
snprintf(cmd,CMDLEN,"AC%c=%d", pNew->axisLabel, motAccel(pNew, pNew->accel));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* Set deceleration */
snprintf(cmd,CMDLEN,"DC%c=%d", pNew->axisLabel, motDecel(pNew, pNew->decel));
if (FAILURE == DMC2280Send(pNew, cmd))
return NULL;
/* TODO Initialise current position and target to get a sensible initial list output */
return (MotorDriver *)pNew;
}