mirror of
https://github.com/Binary-Coalescence/motorDSM.git
synced 2025-08-05 06:05:40 -05:00
Moved to C++ for R3.14.x.
This commit is contained in:
Ron Sluiter
535
acsApp/src/drvMCB4B.cc
Normal file
535
acsApp/src/drvMCB4B.cc
Normal file
@@ -0,0 +1,535 @@
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||||
/* File: drvMCB4B.cc */
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/* Device Driver Support routines for motor */
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/*
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* Original Author: Mark Rivers
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* Date: 2/24/2002
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*
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* Modification Log:
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* -----------------
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* .01 02-24-2002 mlr initialized from drvPM304.c
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* .02 07-03-2002 rls replaced RA_OVERTRAVEL with RA_PLUS_LS and RA_MINUS_LS
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* .03 05-23-2003 rls Converted to R3.14.x.
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*/
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#include <string.h>
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#include <epicsThread.h>
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#include <drvSup.h>
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#include "motor.h"
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#include "AcsRegister.h"
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#include "drvMCB4B.h"
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#include "serialIO.h"
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#include "epicsExport.h"
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#define STATIC static
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#define WAIT 1
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#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */
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#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */
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#ifdef __GNUG__
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#ifdef DEBUG
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volatile int drvMCB4BDebug = 0;
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#define Debug(l, f, args...) { if(l<=drvMCB4BDebug) printf(f,## args); }
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#else
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#define Debug(l, f, args...)
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#endif
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#else
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#define Debug()
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#endif
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/*
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#ifdef NODEBUG
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#define Debug(L,FMT,V) ;
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#else
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#define Debug(L,FMT,V...) { if(L <= drvMCB4BDebug) \
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{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
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errlogPrintf(FMT,##V); } }
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#endif
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*/
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/* Debugging notes:
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* drvMCB4BDebug == 0 No debugging information is printed
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* drvMCB4BDebug >= 1 Warning information is printed
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* drvMCB4BDebug >= 2 Time-stamped messages are printed for each string
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* sent to and received from the controller
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* drvMCB4BDebug >= 3 Additional debugging messages
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*/
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int MCB4B_num_cards = 0;
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volatile int drvMCB4BDebug = 0;
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/* Local data required for every driver; see "motordrvComCode.h" */
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#include "motordrvComCode.h"
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/*----------------functions-----------------*/
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STATIC int recv_mess(int, char *, int);
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STATIC RTN_STATUS send_mess(int card, const char *com, char c);
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STATIC void start_status(int card);
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STATIC int set_status(int card, int signal);
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static long report(int level);
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static long init();
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STATIC int motor_init();
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STATIC void query_done(int, int, struct mess_node *);
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/*----------------functions-----------------*/
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struct driver_table MCB4B_access =
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{
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motor_init,
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motor_send,
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motor_free,
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motor_card_info,
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motor_axis_info,
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&mess_queue,
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&queue_lock,
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&free_list,
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&freelist_lock,
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&motor_sem,
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&motor_state,
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&total_cards,
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&any_motor_in_motion,
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send_mess,
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recv_mess,
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set_status,
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query_done,
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start_status,
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&initialized
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};
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struct
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{
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long number;
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#ifdef __cplusplus
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long (*report) (int);
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long (*init) (void);
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#else
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DRVSUPFUN report;
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DRVSUPFUN init;
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#endif
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} drvMCB4B = {2, report, init};
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epicsExportAddress(drvet, drvMCB4B);
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STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access};
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/*********************************************************
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* Print out driver status report
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*********************************************************/
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static long report(int level)
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{
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int card;
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if (MCB4B_num_cards <=0)
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printf(" NO MCB4B controllers found\n");
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else
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{
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for (card = 0; card < MCB4B_num_cards; card++)
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if (motor_state[card])
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printf(" MCB4B controller %d, id: %s \n",
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card,
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motor_state[card]->ident);
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}
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return (0);
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}
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static long init()
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{
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/*
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* We cannot call motor_init() here, because that function can do GPIB I/O,
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* and hence requires that the drvGPIB have already been initialized.
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* That cannot be guaranteed, so we need to call motor_init from device
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* support
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*/
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/* Check for setup */
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if (MCB4B_num_cards <= 0)
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{
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Debug(1, "init: *MCB4B driver disabled*\n");
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Debug(1, "MCB4BSetup() is missing from startup script.\n");
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return (ERROR);
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}
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return ((long) 0);
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}
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STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
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{
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}
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/*********************************************************
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* Read the status and position of all motors on a card
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* start_status(int card)
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* if card == -1 then start all cards
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*********************************************************/
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STATIC void start_status(int card)
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{
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/* The MCB4B cannot query status or positions of all axes with a
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* single command. This needs to be done on an axis-by-axis basis,
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* so this function does nothing
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*/
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}
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/**************************************************************
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* Query position and status for an axis
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* set_status()
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************************************************************/
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STATIC int set_status(int card, int signal)
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{
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register struct mess_info *motor_info;
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char command[BUFF_SIZE];
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char response[BUFF_SIZE];
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struct mess_node *nodeptr;
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int rtn_state;
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long motorData;
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char buff[BUFF_SIZE];
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bool ls_active = false;
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motor_info = &(motor_state[card]->motor_info[signal]);
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nodeptr = motor_info->motor_motion;
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/* Request the moving status of this motor */
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sprintf(command, "#%02dX", signal);
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send_mess(card, command, 0);
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recv_mess(card, response, WAIT);
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/* The response string is of the form "#01X=1" */
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if (response[5] == '1')
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motor_info->status &= ~RA_DONE;
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else {
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motor_info->status |= RA_DONE;
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}
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/* Request the limit status of this motor */
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sprintf(command, "#%02dE", signal);
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send_mess(card, command, 0);
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recv_mess(card, response, WAIT);
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/* The response string is of the form "#01E=1" */
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motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
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if (response[5] == '1') {
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motor_info->status |= RA_PLUS_LS;
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motor_info->status |= RA_DIRECTION;
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ls_active = true;
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}
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if (response[6] == '1') {
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motor_info->status |= RA_MINUS_LS;
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motor_info->status &= ~RA_DIRECTION;
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ls_active = true;
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}
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/* encoder status */
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motor_info->status &= ~EA_SLIP;
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motor_info->status &= ~EA_POSITION;
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motor_info->status &= ~EA_SLIP_STALL;
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motor_info->status &= ~EA_HOME;
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/* Request the position of this motor */
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sprintf(command, "#%02dP", signal);
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send_mess(card, command, 0);
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recv_mess(card, response, WAIT);
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/* The response string is of the form "#01P=+1000" */
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motorData = atoi(&response[5]);
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if (motorData == motor_info->position)
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motor_info->no_motion_count++;
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else
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{
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motor_info->position = motorData;
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motor_info->encoder_position = motorData;
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motor_info->no_motion_count = 0;
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}
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/* Parse motor velocity? */
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/* NEEDS WORK */
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motor_info->velocity = 0;
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if (!(motor_info->status & RA_DIRECTION))
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motor_info->velocity *= -1;
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rtn_state = (!motor_info->no_motion_count || ls_active == true ||
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(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
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/* Test for post-move string. */
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if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
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nodeptr->postmsgptr != 0)
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{
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strcpy(buff, nodeptr->postmsgptr);
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strcat(buff, "\r");
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send_mess(card, buff, NULL);
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/* The MCB4B always sends back a response, read it and discard */
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recv_mess(card, buff, WAIT);
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nodeptr->postmsgptr = NULL;
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}
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return (rtn_state);
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}
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/*****************************************************/
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/* send a message to the MCB4B board */
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/* send_mess() */
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/*****************************************************/
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STATIC RTN_STATUS send_mess(int card, const char *com, char c)
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{
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char buff[BUFF_SIZE];
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struct MCB4Bcontroller *cntrl;
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/* Check that card exists */
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if (!motor_state[card])
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{
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errlogPrintf("send_mess - invalid card #%d\n", card);
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return (ERROR);
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}
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/* If the string is NULL just return */
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if (strlen(com) == 0) return(OK);
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cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
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strcpy(buff, com);
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strcat(buff, OUTPUT_TERMINATOR);
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/*
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Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n",
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tickGet()/60., card, buff);
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*/
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serialIOSend(cntrl->serialInfo, buff, strlen(buff), SERIAL_TIMEOUT);
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return (OK);
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}
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/*****************************************************/
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/* Read a response string from the MCB4B board */
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/* recv_mess() */
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/*****************************************************/
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STATIC int recv_mess(int card, char *com, int flag)
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{
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int timeout;
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int len=0;
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struct MCB4Bcontroller *cntrl;
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/* Check that card exists */
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if (!motor_state[card])
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{
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errlogPrintf("recv_mess - invalid card #%d\n", card);
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return (-1);
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}
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cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
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/*
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Debug(3, "%.2f : recv_mess entry: card %d, flag=%d\n",
|
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tickGet()/60., card, flag);
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*/
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if (flag == FLUSH)
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timeout = 0;
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||||
else
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timeout = SERIAL_TIMEOUT;
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len = serialIORecv(cntrl->serialInfo, com, MAX_MSG_SIZE,
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(char *) "\r", timeout);
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/* The response from the MCB4B is terminated with CR. Remove */
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if (len < 1) com[0] = '\0';
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else com[len-1] = '\0';
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||||
/*
|
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if (len > 0) {
|
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Debug(2, "%.2f : recv_mess: card %d, message = \"%s\"\n",
|
||||
tickGet()/60., card, com);
|
||||
}
|
||||
if (len == 0) {
|
||||
if (flag != FLUSH) {
|
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Debug(1, "%.2f: recv_mess: card %d ERROR: no response\n",
|
||||
tickGet()/60., card);
|
||||
} else {
|
||||
Debug(3, "%.2f: recv_mess: card %d flush returned no characters\n",
|
||||
tickGet()/60., card);
|
||||
}
|
||||
}
|
||||
*/
|
||||
|
||||
return (len);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************/
|
||||
/* Setup system configuration */
|
||||
/* MCB4BSetup() */
|
||||
/*****************************************************/
|
||||
RTN_STATUS
|
||||
MCB4BSetup(int num_cards, /* maximum number of controllers in system */
|
||||
int num_channels, /* NOT USED */
|
||||
int scan_rate) /* polling rate - 1/60 sec units */
|
||||
{
|
||||
int itera;
|
||||
|
||||
if (num_cards < 1 || num_cards > MCB4B_NUM_CARDS)
|
||||
MCB4B_num_cards = MCB4B_NUM_CARDS;
|
||||
else
|
||||
MCB4B_num_cards = num_cards;
|
||||
|
||||
/* Set motor polling task rate */
|
||||
if (scan_rate >= 1 && scan_rate <= 60)
|
||||
targs.motor_scan_rate = scan_rate;
|
||||
else
|
||||
targs.motor_scan_rate = SCAN_RATE;
|
||||
|
||||
/*
|
||||
* Allocate space for motor_state structure pointers. Note this must be done
|
||||
* before MCB4BConfig is called, so it cannot be done in motor_init()
|
||||
* This means that we must allocate space for a card without knowing
|
||||
* if it really exists, which is not a serious problem since this is just
|
||||
* an array of pointers.
|
||||
*/
|
||||
motor_state = (struct controller **) malloc(MCB4B_num_cards *
|
||||
sizeof(struct controller *));
|
||||
|
||||
for (itera = 0; itera < MCB4B_num_cards; itera++)
|
||||
motor_state[itera] = (struct controller *) NULL;
|
||||
return (OK);
|
||||
}
|
||||
|
||||
|
||||
/*****************************************************/
|
||||
/* Configure a controller */
|
||||
/* MCB4BConfig() */
|
||||
/*****************************************************/
|
||||
RTN_STATUS
|
||||
MCB4BConfig(int card, /* card being configured */
|
||||
int location, /* card for RS-232 */
|
||||
const char *name) /* server_task for RS-232 */
|
||||
{
|
||||
struct MCB4Bcontroller *cntrl;
|
||||
|
||||
if (card < 0 || card >= MCB4B_num_cards)
|
||||
return (ERROR);
|
||||
|
||||
motor_state[card] = (struct controller *) malloc(sizeof(struct controller));
|
||||
motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller));
|
||||
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
|
||||
cntrl->serial_card = location;
|
||||
strcpy(cntrl->serial_task, name);
|
||||
return (OK);
|
||||
}
|
||||
|
||||
|
||||
|
||||
/*****************************************************/
|
||||
/* initialize all software and hardware */
|
||||
/* This is called from the initialization routine in */
|
||||
/* device support. */
|
||||
/* motor_init() */
|
||||
/*****************************************************/
|
||||
STATIC int motor_init()
|
||||
{
|
||||
struct controller *brdptr;
|
||||
struct MCB4Bcontroller *cntrl;
|
||||
int card_index, motor_index;
|
||||
char buff[BUFF_SIZE];
|
||||
int total_axis = 0;
|
||||
int status = 0;
|
||||
bool errind;
|
||||
|
||||
initialized = true; /* Indicate that driver is initialized. */
|
||||
|
||||
/* Check for setup */
|
||||
if (MCB4B_num_cards <= 0)
|
||||
{
|
||||
Debug(1, "motor_init: *MCB4B driver disabled*\n");
|
||||
Debug(1, "MCB4BSetup() is missing from startup script.\n");
|
||||
return (ERROR);
|
||||
}
|
||||
|
||||
for (card_index = 0; card_index < MCB4B_num_cards; card_index++)
|
||||
{
|
||||
if (!motor_state[card_index])
|
||||
continue;
|
||||
|
||||
brdptr = motor_state[card_index];
|
||||
total_cards = card_index + 1;
|
||||
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
|
||||
|
||||
/* Initialize communications channel */
|
||||
errind = false;
|
||||
|
||||
cntrl->serialInfo = serialIOInit(cntrl->serial_card,
|
||||
cntrl->serial_task);
|
||||
if (cntrl->serialInfo == NULL)
|
||||
errind = true;
|
||||
|
||||
if (errind == false)
|
||||
{
|
||||
int retry = 0;
|
||||
|
||||
/* Send a message to the board, see if it exists */
|
||||
/* flush any junk at input port - should not be any data available */
|
||||
do {
|
||||
recv_mess(card_index, buff, FLUSH);
|
||||
} while (strlen(buff) != 0);
|
||||
do
|
||||
{
|
||||
send_mess(card_index, "#00X", 0);
|
||||
status = recv_mess(card_index, buff, WAIT);
|
||||
retry++;
|
||||
/* Return value is length of response string */
|
||||
} while(status == 0 && retry < 3);
|
||||
}
|
||||
|
||||
|
||||
if (errind == false && status > 0)
|
||||
{
|
||||
brdptr->localaddr = (char *) NULL;
|
||||
brdptr->motor_in_motion = 0;
|
||||
brdptr->cmnd_response = true;
|
||||
|
||||
/* Assume that this controller has 4 axes. */
|
||||
total_axis = 4;
|
||||
brdptr->total_axis = total_axis;
|
||||
start_status(card_index);
|
||||
for (motor_index = 0; motor_index < total_axis; motor_index++)
|
||||
{
|
||||
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
|
||||
brdptr->motor_info[motor_index].motor_motion = NULL;
|
||||
/* Don't turn on motor power, too dangerous */
|
||||
sprintf(buff,"#%02dW=1", motor_index);
|
||||
/* send_mess(card_index, buff, 0); */
|
||||
/* Stop motor */
|
||||
sprintf(buff,"#%02dQ", motor_index);
|
||||
send_mess(card_index, buff, 0);
|
||||
recv_mess(card_index, buff, WAIT); /* Throw away response */
|
||||
strcpy(brdptr->ident, "MCB-4B");
|
||||
motor_info->status = 0;
|
||||
motor_info->no_motion_count = 0;
|
||||
motor_info->encoder_position = 0;
|
||||
motor_info->position = 0;
|
||||
set_status(card_index, motor_index); /* Read status of each motor */
|
||||
}
|
||||
|
||||
}
|
||||
else
|
||||
motor_state[card_index] = (struct controller *) NULL;
|
||||
}
|
||||
|
||||
any_motor_in_motion = 0;
|
||||
|
||||
mess_queue.head = (struct mess_node *) NULL;
|
||||
mess_queue.tail = (struct mess_node *) NULL;
|
||||
|
||||
free_list.head = (struct mess_node *) NULL;
|
||||
free_list.tail = (struct mess_node *) NULL;
|
||||
|
||||
Debug(3, "motor_init: spawning motor task\n");
|
||||
|
||||
epicsThreadCreate((char *) "tMCB4B", 64, 5000, (EPICSTHREADFUNC) motor_task, (void *) &targs);
|
||||
|
||||
return(OK);
|
||||
}
|
||||
Reference in New Issue
Block a user