- Fixed sicsprompt bug. Sicsprompt caused a core dump
- Removed generation of incommenurate reflections for 0,0,0 in fourmess.c - Implemented a Poch command for heartbeats - Fixed 64 bit dimension issues in nxdict - Fixed different calling conventions for NXReportError deep stack in nxdict - Stopped ei motor driving when not necessary - Added yet another monitor for POLDI - Added a protocoll driver for the JVL motor RS-485 binary protocoll - Fixed some reporting issues
This commit is contained in:
koennecke
230
jvlprot.c
Normal file
230
jvlprot.c
Normal file
@ -0,0 +1,230 @@
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/*
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* jvlprot.c
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*
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* This is a protocol driver for the JVL integrated stepper motors.
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* They talk on a RS485 bus, half-duplex, 19220 Baud, 8N1. They use
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* a weird binary protocol which is documented in the accompanying
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* manual.
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*
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* Created on: May 7, 2012
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* Author: koennecke
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*/
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#include <errno.h>
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#include <time.h>
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#include <ascon.h>
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#include <ascon.i>
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#include <stptok.h>
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typedef struct {
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unsigned char wrBuffer[30];
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unsigned char rdBuffer[30];
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int toWrite, toRead;
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unsigned char *wrPtr, *rdPtr;
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int reading;
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time_t start;
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}JVL, *pJVL;
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/*------------------------------------------------------------*/
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static int validResponse(pJVL priv)
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{
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if(priv->rdPtr - priv->rdBuffer > 3){
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if((priv->rdBuffer[0] == 0x52 && priv->rdBuffer[1] == 0x52 && priv->rdBuffer[2] == 0x52) ||
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(priv->rdBuffer[0] == 0x11 && priv->rdBuffer[1] == 0x11 && priv->rdBuffer[2] == 0x11) ) {
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return 1;
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} else {
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return 0;
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}
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} else {
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return 1;
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}
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}
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/*------------------------------------------------------------*/
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static int JVLHandler(Ascon *a)
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{
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pJVL priv;
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char *data, token[20];
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int motNo, address,ret;
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union {
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unsigned char b[4];
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int iVal;
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}val;
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char chr;
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priv = (pJVL)a->private;
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switch(a->state){
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case AsconWriteStart:
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data = GetCharArray(a->wrBuffer);
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if(data[0] == 'r'){
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data = stptok(data,token,20," ");
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data = stptok(data,token,20," ");
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motNo = atoi(token);
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data = stptok(data,token,20," ");
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address = atoi(token);
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priv->wrBuffer[0] = 80; /* 0x50 */
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priv->wrBuffer[1] = 80;
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priv->wrBuffer[2] = 80;
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priv->wrBuffer[3] = motNo;
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priv->wrBuffer[4] = 255 - motNo;
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priv->wrBuffer[5] = address;
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priv->wrBuffer[6] = 255-address;
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priv->wrBuffer[7] = 170; /* 0xAA */
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priv->wrBuffer[8] = 170;
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priv->toWrite = 9;
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priv->toRead = 19;
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priv->rdPtr = priv->rdBuffer;
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priv->wrPtr = priv->wrBuffer;
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a->state = AsconWriting;
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priv->reading = 1;
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priv->start = time(NULL);
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return 1;
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} else if(data[0] == 'w'){
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data = stptok(data,token,20," ");
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data = stptok(data,token,20," ");
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motNo = atoi(token);
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data = stptok(data,token,20," ");
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address = atoi(token);
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data = stptok(data,token,20," ");
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val.iVal = atoi(token);
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priv->wrBuffer[0] = 82; /* 0x52 */
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priv->wrBuffer[1] = 82;
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priv->wrBuffer[2] = 82;
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priv->wrBuffer[3] = motNo;
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priv->wrBuffer[4] = 255 - motNo;
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priv->wrBuffer[5] = address;
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priv->wrBuffer[6] = 255-address;
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priv->wrBuffer[7] = 4; /* len */
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priv->wrBuffer[8] = 255 - 4;
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/*
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* This code may be platform byte order dependent
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*/
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priv->wrBuffer[9] = val.b[0]; /* data */
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priv->wrBuffer[10] = 255 -val.b[0];
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priv->wrBuffer[11] = val.b[1];
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priv->wrBuffer[12] = 255 -val.b[1];
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priv->wrBuffer[13] = val.b[2];
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priv->wrBuffer[14] = 255 -val.b[2];
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priv->wrBuffer[15] = val.b[3];
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priv->wrBuffer[16] = 255 -val.b[3];
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priv->wrBuffer[17] = 170; /* 0xAA */
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priv->wrBuffer[18] = 170;
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priv->wrPtr = priv->wrBuffer;
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priv->toWrite = 19;
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priv->rdPtr = priv->rdBuffer;
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priv->toRead = 3;
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a->state = AsconWriting;
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priv->reading = 0;
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priv->start = time(NULL);
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return 1;
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} else {
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priv->reading = 0;
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AsconError(a,"Unknown JVL command", 0);
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return 1;
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}
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break;
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case AsconWriting:
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AsconReadGarbage(a->fd);
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ret = AsconWriteChars(a->fd, (char *)priv->wrPtr, priv->toWrite);
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if(*priv->wrPtr != 80){
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printf("Hugo\n");
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}
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if (ret < 0) {
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if (errno != EINTR && errno != EAGAIN) {
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AsconError(a, "send failed:", errno);
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}
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/*
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* Ooops: which state shall we go to after a write fail?
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* This seems to retry.
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*/
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} else {
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priv->wrPtr += ret;
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priv->toWrite -= ret;
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if (priv->toWrite <= 0) {
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a->state = AsconWriteDone;
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}
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return 1;
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}
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break;
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case AsconReadStart:
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DynStringClear(a->rdBuffer);
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a->state = AsconReading;
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return 1;
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break;
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case AsconReading:
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if(!validResponse(priv)){
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a->state = AsconWriteStart;
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return 1;
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}
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if(time(NULL) > priv->start + 1){
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a->state = AsconReadDone;
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DynStringConcat(a->rdBuffer,"timeout");
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return 1;
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}
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ret = AsconReadChar(a->fd, &chr);
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if (ret < 0) {
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/* EINTR means we must retry */
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if (errno != EINTR && errno != EAGAIN) {
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AsconError(a, "AsconReadChar failed:", errno);
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}
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} else if (ret > 0) {
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*(priv->rdPtr) = (unsigned char)chr;
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priv->toRead--;
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priv->rdPtr++;
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if(priv->toRead <= 0){
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a->state = AsconReadDone;
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if(priv->reading){
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/* This code may be platform byte order dependent */
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val.b[0] = priv->rdBuffer[9];
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val.b[1] = priv->rdBuffer[11];
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val.b[2] = priv->rdBuffer[13];
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val.b[3] = priv->rdBuffer[15];
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snprintf(token,20,"%d", val.iVal);
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DynStringConcat(a->rdBuffer,token);
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} else {
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if(priv->rdBuffer[0] == 0x11){
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DynStringConcat(a->rdBuffer,"OK");
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} else {
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DynStringConcat(a->rdBuffer,"Unknown response code from JVL: ");
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snprintf(token,20,"%x", priv->rdBuffer[0]);
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DynStringConcat(a->rdBuffer, token);
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}
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}
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}
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}
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return 1;
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break;
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default:
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return AsconBaseHandler(a);
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}
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return AsconBaseHandler(a);
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}
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/*------------------------------------------------------------------------*/
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static int JVLInit(Ascon * a, SConnection * con, int argc, char *argv[])
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{
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pJVL priv = NULL;
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priv = calloc(sizeof(JVL), 1);
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a->fd = -1;
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a->state = AsconConnectStart;
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a->reconnectInterval = 10;
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a->hostport = strdup(argv[1]);
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if (argc > 2) {
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a->timeout = atof(argv[2]);
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} else {
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a->timeout = 2.0; /* sec */
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}
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a->private = priv;
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a->killPrivate = free;
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return 1;
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}
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/*------------------------------------------------------------------------*/
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void AddJVLProtocoll()
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{
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AsconProtocol *prot = NULL;
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prot = calloc(sizeof(AsconProtocol), 1);
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prot->name = strdup("jvl");
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prot->init = JVLInit;
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prot->handler = JVLHandler;
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AsconInsertProtocol(prot);
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}
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2
make_gen
2
make_gen
@ -24,7 +24,7 @@ OBJ=psi.o buffer.o ruli.o sps.o pimotor.o charbychar.o\
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ritastorage.o poldizug.o audinelib.o delcam.o el737hpdrivsps.o \
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rebin.o sanslirebin.o lmd200.o slsvme.o julprot.o sinqhttpprot.o \
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pmacprot.o pfeifferprot.o termprot.o phytron.o autowin.o eigera2.o \
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tclClock.o tclDate.o tclUnixTime.o
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tclClock.o tclDate.o tclUnixTime.o jvlprot.o
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.SECONDARY.: sanslirebin.c
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@ -545,6 +545,8 @@ static void PoldiUpdate(pPolterdi self, SConnection * pCon)
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NXDputalias(hfil, hdict, "cntime", &fVal);
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lVal = GetMonitor(pCount, 1, pCon);
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NXDputalias(hfil, hdict, "cnmon1", &lVal);
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lVal = GetMonitor(pCount, 0, pCon);
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NXDputalias(hfil, hdict, "cnprot", &lVal);
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lVal = GetMonitor(pCount, 2, pCon);
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NXDputalias(hfil, hdict, "cnmon2", &lVal);
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eMode = GetCounterMode(pCount);
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1
psi.c
1
psi.c
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INIT(AddCharByCharProtocoll);
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INIT(AddBinProtocol);
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INIT(AddDumProtocol);
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INIT(AddJVLProtocoll);
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}
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2
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2
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dblength = ntohs(dblength);
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InitializeSPSDataBase(self,self->spsNode);
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node = GetHipadabaNode(self->spsNode,"init");
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/*
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if(node != NULL){
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UpdateHipadabaPar(node,MakeHdbInt(1), NULL);
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}
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*/
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return NULL;
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}
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}
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Reference in New Issue
Block a user