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Moved to C++ for R3.14.x.

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Ron Sluiter
2003-05-27 13:39:41 +00:00
parent 9f4e9e0db0
commit 8c0787d33d
4 changed files with 971 additions and 0 deletions
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62
acsApp/src/AcsRegister.cc Normal file
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/*
FILENAME... AcsRegister.cc
USAGE... Register ACS motor device driver shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-27 13:39:40 $
*/
/*****************************************************************
COPYRIGHT NOTIFICATION
*****************************************************************
(C) COPYRIGHT 1993 UNIVERSITY OF CHICAGO
This software was developed under a United States Government license
described on the COPYRIGHT_UniversityOfChicago file included as part
of this distribution.
**********************************************************************/
#include <iocsh.h>
#include "AcsRegister.h"
#include "epicsExport.h"
extern "C"
{
// ACS Setup arguments
static const iocshArg setupArg0 = {"Max. controller count", iocshArgInt};
static const iocshArg setupArg1 = {"N/A", iocshArgInt};
static const iocshArg setupArg2 = {"Polling rate", iocshArgInt};
// ACS Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"MPF server location", iocshArgInt};
static const iocshArg configArg2 = {"MPF server task name", iocshArgString};
static const iocshArg * const MCB4BSetupArgs[3] = {&setupArg0, &setupArg1,
&setupArg2};
static const iocshArg * const MCB4BConfigArgs[3] = {&configArg0, &configArg1,
&configArg2};
static const iocshFuncDef setupMCB4B = {"MCB4BSetup", 3, MCB4BSetupArgs};
static const iocshFuncDef configMCB4B = {"MCB4BConfig", 3, MCB4BConfigArgs};
static void setupMCB4BCallFunc(const iocshArgBuf *args)
{
MCB4BSetup(args[0].ival, args[1].ival, args[2].ival);
}
static void configMCB4BCallFunc(const iocshArgBuf *args)
{
MCB4BConfig(args[0].ival, args[1].ival, args[2].sval);
}
static void AcsRegister(void)
{
iocshRegister(&setupMCB4B, setupMCB4BCallFunc);
iocshRegister(&configMCB4B, configMCB4BCallFunc);
}
epicsExportRegistrar(AcsRegister);
} // extern "C"

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acsApp/src/AcsRegister.h Normal file
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/*
FILENAME... AcsRegister.h
USAGE... This file contains function prototypes for ACS IOC shell commands.
Version: $Revision: 1.1 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-05-27 13:39:40 $
*/
/*
* Original Author: Ron Sluiter
* Date: 05/19/03
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
*/
#include "motor.h"
#include "motordrvCom.h"
/* Function prototypes. */
extern RTN_STATUS MCB4BSetup(int, int, int);
extern RTN_STATUS MCB4BConfig(int, int, const char *);

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acsApp/src/devMCB4B.cc Normal file
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/* File: devMCB4B.cc */
/* Device Support Routines for motor */
/*
* Original Author: Mark Rivers
* Date: 02-24-2002
*
* Modification Log:
* -----------------
* .00 02-24-2002 mlr initialized from devPM304.c
* .01 05-23-2003 rls Converted to R3.14.x.
*/
#define VERSION 1.00
#include <string.h>
#include <math.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMCB4B.h"
#include "epicsExport.h"
#define STATIC static
extern struct driver_table MCB4B_access;
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
#ifdef __GNUG__
#ifdef DEBUG
volatile int devMCB4BDebug = 0;
#define Debug(l, f, args...) { if(l<=devMCB4BDebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/*
#ifdef NODEBUG
#define Debug(L,FMT,V) ;
#else
#define Debug(L,FMT,V...) { if(L <= devMCB4BDebug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#endif
*/
/* Debugging levels:
* devMCB4BDebug >= 3 Print new part of command and command string so far
* at the end of MCB4B_build_trans
*/
/* ----------------Create the dsets for devMCB4B----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MCB4B_init(void *);
STATIC long MCB4B_init_record(void *);
STATIC long MCB4B_start_trans(struct motorRecord *);
STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *);
struct motor_dset devMCB4B =
{
{8, NULL, (DEVSUPFUN) MCB4B_init, (DEVSUPFUN) MCB4B_init_record, NULL},
motor_update_values,
MCB4B_start_trans,
MCB4B_build_trans,
MCB4B_end_trans
};
epicsExportAddress(dset,devMCB4B);
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static msg_types MCB4B_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE /* SET_LOW_LIMIT */
};
static struct board_stat **MCB4B_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MCB4B stepper motor */
STATIC long MCB4B_init(void *arg)
{
long rtnval;
int after = (int) arg;
Debug(5, "MCB4B_init: entry\n");
if (after == 0)
{
drvtabptr = &MCB4B_access;
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &MCB4B_cards);
Debug(5, "MCB4B_init: exit\n");
return(rtnval);
}
/* initialize a record instance */
STATIC long MCB4B_init_record(void *arg)
{
struct motorRecord *mr = (struct motorRecord *) arg;
long rtnval;
Debug(5, "MCB4B_init_record: entry\n");
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, MCB4B_cards);
return(rtnval);
Debug(5, "MCB4B_init_record: exit\n");
}
/* start building a transaction */
STATIC long MCB4B_start_trans(struct motorRecord *mr)
{
return(OK);
}
/* end building a transaction */
STATIC RTN_STATUS MCB4B_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
STATIC RTN_STATUS MCB4B_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
{
struct motor_trans *trans = (struct motor_trans *) mr->dpvt;
struct mess_node *motor_call;
struct controller *brdptr;
struct MCB4Bcontroller *cntrl;
char buff[30];
int axis, card;
RTN_STATUS rtnval;
double dval;
long ival;
rtnval = OK;
buff[0] = '\0';
dval = parms[0];
ival = NINT(parms[0]);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%ld\n", rtnval);
motor_call = &(trans->motor_call);
motor_call->type = MCB4B_table[command];
card = motor_call->card;
axis = motor_call->signal;
brdptr = (*trans->tabptr->card_array)[card];
Debug(5, "MCB4B_build_trans: axis=%d, command=%d\n", axis, command);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcpy(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
motor_call->type = MCB4B_table[command];
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcpy(motor_call->message, mr->prem);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
motor_call->type = MCB4B_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(motor_call->message, "#%02dG%+ld", axis, ival);
break;
case MOVE_REL:
sprintf(motor_call->message, "#%02dI%+ld", axis, ival);
break;
case HOME_FOR:
sprintf(motor_call->message, "#%02dH+", axis);
break;
case HOME_REV:
sprintf(motor_call->message, "#%02dH-", axis);
break;
case LOAD_POS:
sprintf(motor_call->message, "#%02dP=%+ld", axis, ival);
break;
case SET_VEL_BASE:
trans->state = IDLE_STATE;
break; /* MCB4B does not use base velocity */
case SET_VELOCITY:
ival = (int) (fabs(115200./dval) + 0.5);
if (ival < 2) ival=2;
if (ival > 255) ival = 255;
sprintf(motor_call->message, "#%02dV=%ld", axis, ival);
break;
case SET_ACCEL:
/* dval is acceleration in steps/sec/sec */
/* MCB is programmed with Ramp Index (R) where: */
/* dval (steps/sec/sec) = 720,000/(256-R) */
/* or R=256-(720,000/dval) */
ival = (int) (256-(720000./dval)+0.5);
if (ival < 1) ival=1;
if (ival > 255) ival=255;
sprintf(motor_call->message, "#%02dR=%ld", axis, ival);
break;
case GO:
/*
* The MCB4B starts moving immediately on move commands, GO command
* does nothing
*/
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The MCB4B does not have the concept of encoder ratio, ignore this
* command
*/
trans->state = IDLE_STATE;
break;
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(motor_call->message, "#%02dQ", axis);
break;
case JOG:
/* MCB-4B does not have jog command. Move 1 million steps */
ival = (int) (fabs(115200./dval) + 0.5);
if (ival < 2) ival=2;
if (ival > 65535) ival = 65535;
sprintf(motor_call->message, "#%02dC=%ld", axis, ival);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
motor_call->type = MCB4B_table[command];
if (dval > 0.) {
/* This is a positive move in MCB4B coordinates */
sprintf(motor_call->message, "#%02dM+1000000", axis);
} else {
/* This is a negative move in MCB4B coordinates */
sprintf(motor_call->message, "#%02dM-1000000", axis);
}
break;
case SET_PGAIN:
trans->state = IDLE_STATE;
break;
case SET_IGAIN:
trans->state = IDLE_STATE;
break;
case SET_DGAIN:
trans->state = IDLE_STATE;
break;
case ENABLE_TORQUE:
sprintf(motor_call->message, "#%02dW=1", axis);
break;
case DISABL_TORQUE:
sprintf(motor_call->message, "#%02dW=0", axis);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE;
break;
default:
rtnval = ERROR;
}
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval);
return (rtnval);
}

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/* File: drvMCB4B.cc */
/* Device Driver Support routines for motor */
/*
* Original Author: Mark Rivers
* Date: 2/24/2002
*
* Modification Log:
* -----------------
* .01 02-24-2002 mlr initialized from drvPM304.c
* .02 07-03-2002 rls replaced RA_OVERTRAVEL with RA_PLUS_LS and RA_MINUS_LS
* .03 05-23-2003 rls Converted to R3.14.x.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include "motor.h"
#include "AcsRegister.h"
#include "drvMCB4B.h"
#include "serialIO.h"
#include "epicsExport.h"
#define STATIC static
#define WAIT 1
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */
#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */
#ifdef __GNUG__
#ifdef DEBUG
volatile int drvMCB4BDebug = 0;
#define Debug(l, f, args...) { if(l<=drvMCB4BDebug) printf(f,## args); }
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
/*
#ifdef NODEBUG
#define Debug(L,FMT,V) ;
#else
#define Debug(L,FMT,V...) { if(L <= drvMCB4BDebug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#endif
*/
/* Debugging notes:
* drvMCB4BDebug == 0 No debugging information is printed
* drvMCB4BDebug >= 1 Warning information is printed
* drvMCB4BDebug >= 2 Time-stamped messages are printed for each string
* sent to and received from the controller
* drvMCB4BDebug >= 3 Additional debugging messages
*/
int MCB4B_num_cards = 0;
volatile int drvMCB4BDebug = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
/*----------------functions-----------------*/
STATIC int recv_mess(int, char *, int);
STATIC RTN_STATUS send_mess(int card, const char *com, char c);
STATIC void start_status(int card);
STATIC int set_status(int card, int signal);
static long report(int level);
static long init();
STATIC int motor_init();
STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table MCB4B_access =
{
motor_init,
motor_send,
motor_free,
motor_card_info,
motor_axis_info,
&mess_queue,
&queue_lock,
&free_list,
&freelist_lock,
&motor_sem,
&motor_state,
&total_cards,
&any_motor_in_motion,
send_mess,
recv_mess,
set_status,
query_done,
start_status,
&initialized
};
struct
{
long number;
#ifdef __cplusplus
long (*report) (int);
long (*init) (void);
#else
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvMCB4B = {2, report, init};
epicsExportAddress(drvet, drvMCB4B);
STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
if (MCB4B_num_cards <=0)
printf(" NO MCB4B controllers found\n");
else
{
for (card = 0; card < MCB4B_num_cards; card++)
if (motor_state[card])
printf(" MCB4B controller %d, id: %s \n",
card,
motor_state[card]->ident);
}
return (0);
}
static long init()
{
/*
* We cannot call motor_init() here, because that function can do GPIB I/O,
* and hence requires that the drvGPIB have already been initialized.
* That cannot be guaranteed, so we need to call motor_init from device
* support
*/
/* Check for setup */
if (MCB4B_num_cards <= 0)
{
Debug(1, "init: *MCB4B driver disabled*\n");
Debug(1, "MCB4BSetup() is missing from startup script.\n");
return (ERROR);
}
return ((long) 0);
}
STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
{
}
/*********************************************************
* Read the status and position of all motors on a card
* start_status(int card)
* if card == -1 then start all cards
*********************************************************/
STATIC void start_status(int card)
{
/* The MCB4B cannot query status or positions of all axes with a
* single command. This needs to be done on an axis-by-axis basis,
* so this function does nothing
*/
}
/**************************************************************
* Query position and status for an axis
* set_status()
************************************************************/
STATIC int set_status(int card, int signal)
{
register struct mess_info *motor_info;
char command[BUFF_SIZE];
char response[BUFF_SIZE];
struct mess_node *nodeptr;
int rtn_state;
long motorData;
char buff[BUFF_SIZE];
bool ls_active = false;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
/* Request the moving status of this motor */
sprintf(command, "#%02dX", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "#01X=1" */
if (response[5] == '1')
motor_info->status &= ~RA_DONE;
else {
motor_info->status |= RA_DONE;
}
/* Request the limit status of this motor */
sprintf(command, "#%02dE", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "#01E=1" */
motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
if (response[5] == '1') {
motor_info->status |= RA_PLUS_LS;
motor_info->status |= RA_DIRECTION;
ls_active = true;
}
if (response[6] == '1') {
motor_info->status |= RA_MINUS_LS;
motor_info->status &= ~RA_DIRECTION;
ls_active = true;
}
/* encoder status */
motor_info->status &= ~EA_SLIP;
motor_info->status &= ~EA_POSITION;
motor_info->status &= ~EA_SLIP_STALL;
motor_info->status &= ~EA_HOME;
/* Request the position of this motor */
sprintf(command, "#%02dP", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "#01P=+1000" */
motorData = atoi(&response[5]);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
{
motor_info->position = motorData;
motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0;
}
/* Parse motor velocity? */
/* NEEDS WORK */
motor_info->velocity = 0;
if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || ls_active == true) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r");
send_mess(card, buff, NULL);
/* The MCB4B always sends back a response, read it and discard */
recv_mess(card, buff, WAIT);
nodeptr->postmsgptr = NULL;
}
return (rtn_state);
}
/*****************************************************/
/* send a message to the MCB4B board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, const char *com, char c)
{
char buff[BUFF_SIZE];
struct MCB4Bcontroller *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("send_mess - invalid card #%d\n", card);
return (ERROR);
}
/* If the string is NULL just return */
if (strlen(com) == 0) return(OK);
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
strcpy(buff, com);
strcat(buff, OUTPUT_TERMINATOR);
/*
Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n",
tickGet()/60., card, buff);
*/
serialIOSend(cntrl->serialInfo, buff, strlen(buff), SERIAL_TIMEOUT);
return (OK);
}
/*****************************************************/
/* Read a response string from the MCB4B board */
/* recv_mess() */
/*****************************************************/
STATIC int recv_mess(int card, char *com, int flag)
{
int timeout;
int len=0;
struct MCB4Bcontroller *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
errlogPrintf("recv_mess - invalid card #%d\n", card);
return (-1);
}
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
/*
Debug(3, "%.2f : recv_mess entry: card %d, flag=%d\n",
tickGet()/60., card, flag);
*/
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
len = serialIORecv(cntrl->serialInfo, com, MAX_MSG_SIZE,
(char *) "\r", timeout);
/* The response from the MCB4B is terminated with CR. Remove */
if (len < 1) com[0] = '\0';
else com[len-1] = '\0';
/*
if (len > 0) {
Debug(2, "%.2f : recv_mess: card %d, message = \"%s\"\n",
tickGet()/60., card, com);
}
if (len == 0) {
if (flag != FLUSH) {
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);
}