Renamed "*acs*" files to "*dsm*".

This commit is contained in:
2024-05-20 14:51:50 -05:00
parent eec0a1d8f0
commit b03cda55ac
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/*
FILENAME... MCB4BDriver.cpp
USAGE... Motor driver support for the ACS MCB-4B controller.
Mark Rivers
March 1, 2012
*/
#include <stdio.h>
#include <string.h>
#include <stdlib.h>
#include <math.h>
#include <iocsh.h>
#include <epicsThread.h>
#include <asynOctetSyncIO.h>
#include <epicsExport.h>
#include "MCB4BDriver.h"
#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
/** Creates a new MCB4BController object.
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] MCB4BPortName The name of the drvAsynSerialPort that was created previously to connect to the MCB4B controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time between polls when any axis is moving
* \param[in] idlePollPeriod The time between polls when no axis is moving
*/
MCB4BController::MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
: asynMotorController(portName, numAxes, NUM_MCB4B_PARAMS,
0, // No additional interfaces beyond those in base class
0, // No additional callback interfaces beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
{
int axis;
asynStatus status;
MCB4BAxis *pAxis;
static const char *functionName = "MCB4BController::MCB4BController";
/* Connect to MCB4B controller */
status = pasynOctetSyncIO->connect(MCB4BPortName, 0, &pasynUserController_, NULL);
if (status) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: cannot connect to MCB-4B controller\n",
functionName);
}
for (axis=0; axis<numAxes; axis++) {
pAxis = new MCB4BAxis(this, axis);
}
startPoller(movingPollPeriod, idlePollPeriod, 2);
}
/** Creates a new MCB4BController object.
* Configuration command, called directly or from iocsh
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] MCB4BPortName The name of the drvAsynIPPPort that was created previously to connect to the MCB4B controller
* \param[in] numAxes The number of axes that this controller supports
* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
*/
extern "C" int MCB4BCreateController(const char *portName, const char *MCB4BPortName, int numAxes,
int movingPollPeriod, int idlePollPeriod)
{
MCB4BController *pMCB4BController
= new MCB4BController(portName, MCB4BPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
pMCB4BController = NULL;
return(asynSuccess);
}
/** Reports on status of the driver
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* If details > 0 then information is printed about each axis.
* After printing controller-specific information it calls asynMotorController::report()
*/
void MCB4BController::report(FILE *fp, int level)
{
fprintf(fp, "MCB-4B motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
// Call the base class method
asynMotorController::report(fp, level);
}
/** Returns a pointer to an MCB4BAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] pasynUser asynUser structure that encodes the axis index number. */
MCB4BAxis* MCB4BController::getAxis(asynUser *pasynUser)
{
return static_cast<MCB4BAxis*>(asynMotorController::getAxis(pasynUser));
}
/** Returns a pointer to an MCB4BAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] axisNo Axis index number. */
MCB4BAxis* MCB4BController::getAxis(int axisNo)
{
return static_cast<MCB4BAxis*>(asynMotorController::getAxis(axisNo));
}
// These are the MCB4BAxis methods
/** Creates a new MCB4BAxis object.
* \param[in] pC Pointer to the MCB4BController to which this axis belongs.
* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
*
* Initializes register numbers, etc.
*/
MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
}
/** Reports on status of the axis
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
*
* After printing device-specific information calls asynMotorAxis::report()
*/
void MCB4BAxis::report(FILE *fp, int level)
{
if (level > 0) {
fprintf(fp, " axis %d\n",
axisNo_);
}
// Call the base class method
asynMotorAxis::report(fp, level);
}
asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity)
{
asynStatus status;
int ival;
// static const char *functionName = "MCB4B::sendAccelAndVelocity";
// Send the velocity
ival = NINT(fabs(115200./velocity));
if (ival < 2) ival=2;
if (ival > 255) ival = 255;
sprintf(pC_->outString_, "#%02dV=%d", axisNo_, ival);
status = pC_->writeReadController();
// Send the acceleration
// acceleration is 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 = NINT(256-(720000./acceleration));
if (ival < 1) ival=1;
if (ival > 255) ival=255;
sprintf(pC_->outString_, "#%02dR=%d", axisNo_, ival);
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::move";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (relative) {
sprintf(pC_->outString_, "#%02dI%+d", axisNo_, NINT(position));
} else {
sprintf(pC_->outString_, "#%02dG%+d", axisNo_, NINT(position));
}
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "MCB4BAxis::home";
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (forwards) {
sprintf(pC_->outString_, "#%02dH+", axisNo_);
} else {
sprintf(pC_->outString_, "#%02dH-", axisNo_);
}
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
static const char *functionName = "MCB4BAxis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
status = sendAccelAndVelocity(acceleration, maxVelocity);
/* MCB-4B does not have jog command. Move 1 million steps */
if (maxVelocity > 0.) {
/* This is a positive move in MCB4B coordinates */
sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
} else {
/* This is a negative move in MCB4B coordinates */
sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
}
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::stop(double acceleration )
{
asynStatus status;
//static const char *functionName = "MCB4BAxis::stop";
sprintf(pC_->outString_, "#%02dQ", axisNo_);
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::setPosition(double position)
{
asynStatus status;
//static const char *functionName = "MCB4BAxis::setPosition";
sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position));
status = pC_->writeReadController();
return status;
}
asynStatus MCB4BAxis::setClosedLoop(bool closedLoop)
{
asynStatus status;
//static const char *functionName = "MCB4BAxis::setClosedLoop";
sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0);
status = pC_->writeReadController();
return status;
}
/** Polls the axis.
* This function reads the motor position, the limit status, the home status, the moving status,
* and the drive power-on status.
* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
* and then calls callParamCallbacks() at the end.
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus MCB4BAxis::poll(bool *moving)
{
int done;
int driveOn;
int limit;
double position;
asynStatus comStatus;
// Read the current motor position
sprintf(pC_->outString_, "#%02dP", axisNo_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "#01P=+1000"
position = atof(&pC_->inString_[5]);
setDoubleParam(pC_->motorPosition_, position);
// Read the moving status of this motor
sprintf(pC_->outString_, "#%02dX", axisNo_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "#01X=1"
done = (pC_->inString_[5] == '0') ? 1:0;
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
// Read the limit status
sprintf(pC_->outString_, "#%02dE", axisNo_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "#01E=1"
limit = (pC_->inString_[5] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusHighLimit_, limit);
limit = (pC_->inString_[6] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusLowLimit_, limit);
limit = (pC_->inString_[7] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusAtHome_, limit);
// Read the drive power on status
sprintf(pC_->outString_, "#%02dW", axisNo_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
driveOn = (pC_->inString_[5] == '1') ? 1:0;
setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
setIntegerParam(pC_->motorStatusProblem_, 0);
skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
}
/** Code for iocsh registration */
static const iocshArg MCB4BCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg MCB4BCreateControllerArg1 = {"MCB-4B port name", iocshArgString};
static const iocshArg MCB4BCreateControllerArg2 = {"Number of axes", iocshArgInt};
static const iocshArg MCB4BCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg MCB4BCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg * const MCB4BCreateControllerArgs[] = {&MCB4BCreateControllerArg0,
&MCB4BCreateControllerArg1,
&MCB4BCreateControllerArg2,
&MCB4BCreateControllerArg3,
&MCB4BCreateControllerArg4};
static const iocshFuncDef MCB4BCreateControllerDef = {"MCB4BCreateController", 5, MCB4BCreateControllerArgs};
static void MCB4BCreateContollerCallFunc(const iocshArgBuf *args)
{
MCB4BCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
}
static void MCB4BRegister(void)
{
iocshRegister(&MCB4BCreateControllerDef, MCB4BCreateContollerCallFunc);
}
extern "C" {
epicsExportRegistrar(MCB4BRegister);
}

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/*
FILENAME... MCB4BDriver.h
USAGE... Motor driver support for the ACS MCB-4B controller.
Mark Rivers
March 1, 2012
*/
#include "asynMotorController.h"
#include "asynMotorAxis.h"
#define MAX_MCB4B_AXES 4
// No controller-specific parameters yet
#define NUM_MCB4B_PARAMS 0
class epicsShareClass MCB4BAxis : public asynMotorAxis
{
public:
/* These are the methods we override from the base class */
MCB4BAxis(class MCB4BController *pC, int axis);
void report(FILE *fp, int level);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
asynStatus stop(double acceleration);
asynStatus poll(bool *moving);
asynStatus setPosition(double position);
asynStatus setClosedLoop(bool closedLoop);
private:
MCB4BController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
* Abbreviated because it is used very frequently */
asynStatus sendAccelAndVelocity(double accel, double velocity);
friend class MCB4BController;
};
class epicsShareClass MCB4BController : public asynMotorController {
public:
MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
void report(FILE *fp, int level);
MCB4BAxis* getAxis(asynUser *pasynUser);
MCB4BAxis* getAxis(int axisNo);
friend class MCB4BAxis;
};

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# Makefile
TOP = ../..
include $(TOP)/configure/CONFIG
# The following are used for debugging messages.
USR_CXXFLAGS += -DDEBUG
DBD += devAcsMotor.dbd
LIBRARY_IOC = Acs
SRCS += AcsRegister.cc
# Advanced Control Systems driver support.
SRCS += devMCB4B.c drvMCB4B.c
SRCS += MCB4BDriver.cpp
Acs_LIBS += motor asyn
Acs_LIBS += $(EPICS_BASE_IOC_LIBS)
include $(TOP)/configure/RULES

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# Advanced Control Systems driver support.
# Model 1 (non-asyn) driver
device(motor,VME_IO,devMCB4B,"ACS MCB-4B")
driver(drvMCB4B)
registrar(AcsRegister)
# Model 3 driver
registrar(MCB4BRegister)

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dsmApp/src/devMD90.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.
* .02 02-19-2004 mlr Bug fix when not sending anything
*/
#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)
volatile int devMCB4BDebug = 0;
extern "C" {epicsExportAddress(int, devMCB4BDebug);}
static inline void Debug(int level, const char *format, ...) {
#ifdef DEBUG
if (level < devMCB4BDebug)
{
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
}
#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(int);
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
};
extern "C" {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 */
VELOCITY /* JOB_VELOCITY */
};
static struct board_stat **MCB4B_cards;
/* --------------------------- program data --------------------- */
/* initialize device support for MCB4B stepper motor */
STATIC long MCB4B_init(int after)
{
long rtnval;
Debug(5, "MCB4B_init: entry\n");
if (!after)
{
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;
bool send;
send = true;
rtnval = OK;
buff[0] = '\0';
/* Protect against NULL pointer with WRTITE_MSG(GO/STOP_AXIS/GET_INFO, NULL). */
dval = (parms == NULL) ? 0.0 : *parms;
ival = NINT(dval);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, MCB4B_cards);
Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%d\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 = motor_end_trans_com(mr, drvtabptr);
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:
send=false;
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
*/
send=false;
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The MCB4B does not have the concept of encoder ratio, ignore this
* command
*/
send=false;
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:
case SET_IGAIN:
case SET_DGAIN:
send=false;
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:
send=false;
trans->state = IDLE_STATE;
break;
default:
rtnval = ERROR;
}
if(send == false)
return(rtnval);
else {
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%d, 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.
* .04 02-03-2004 rls Eliminate erroneous "Motor motion timeout ERROR".
* .05 07-09-2004 rls - removed unused <driver>Setup() argument.
* - added "\" at end of long Debug stmt's for SunPro.
* .06 09-20-2004 rls send_mess() argument changed to char * for
* 32axis/controller support.
*/
#include <string.h>
#include <epicsThread.h>
#include <drvSup.h>
#include <stdlib.h>
#include <errlog.h>
#include "motor.h"
#include "AcsRegister.h"
#include "drvMCB4B.h"
#include "asynOctetSyncIO.h"
#include "epicsExport.h"
#define STATIC static
#define WAIT 1
#define TIMEOUT 2.0 /* Command timeout in sec */
#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */
volatile int drvMCB4BDebug = 0;
extern "C" {epicsExportAddress(int, drvMCB4BDebug);}
static inline void Debug(int level, const char *format, ...) {
#ifdef DEBUG
if (level < drvMCB4BDebug)
{
va_list pVar;
va_start(pVar, format);
vprintf(format, pVar);
va_end(pVar);
}
#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;
/* 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, const char *, const char *);
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,
NULL
};
struct drvMCB4B_drvet
{
long number;
long (*report) (int);
long (*init) (void);
} drvMCB4B = {2, report, init};
extern "C" {epicsExportAddress(drvet, drvMCB4B);}
STATIC struct thread_args targs = {SCAN_RATE, &MCB4B_access, 0.0};
/*********************************************************
* Print out driver status report
*********************************************************/
static long report(int level)
{
int card;
struct MCB4Bcontroller *cntrl;
if (MCB4B_num_cards <=0)
printf(" NO MCB4B controllers found\n");
else
{
for (card = 0; card < MCB4B_num_cards; card++) {
if (motor_state[card]) {
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
printf(" MCB4B controller %d, port=%s, id: %s \n",
card, cntrl->port,
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;
msta_field status;
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
status.All = motor_info->status.All;
/* 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" */
status.Bits.RA_DONE = (response[5] == '1') ? 0 : 1;
/* 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" */
status.Bits.RA_PLUS_LS = 0;
status.Bits.RA_MINUS_LS = 0;
if (response[5] == '1') {
status.Bits.RA_PLUS_LS = 1;
status.Bits.RA_DIRECTION = 1;
ls_active = true;
}
if (response[6] == '1') {
status.Bits.RA_MINUS_LS = 1;
status.Bits.RA_DIRECTION = 0;
ls_active = true;
}
/* encoder status */
status.Bits.EA_SLIP = 0;
status.Bits.EA_POSITION = 0;
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
/* 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)
{
if (nodeptr != 0) /* Increment counter only if motor is moving. */
motor_info->no_motion_count++;
}
else
{
status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
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 (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
/* Test for post-move string. */
if ((status.Bits.RA_DONE || ls_active == true) && nodeptr != 0 && nodeptr->postmsgptr != 0)
{
send_mess(card, nodeptr->postmsgptr, NULL);
/* The MCB4B always sends back a response, read it and discard */
recv_mess(card, buff, WAIT);
nodeptr->postmsgptr = NULL;
}
motor_info->status.All = status.All;
return (rtn_state);
}
/*****************************************************/
/* send a message to the MCB4B board */
/* send_mess() */
/*****************************************************/
STATIC RTN_STATUS send_mess(int card, const char *com, const char *name)
{
struct MCB4Bcontroller *cntrl;
size_t nwrite;
/* 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;
Debug(2, "send_mess: sending message to card %d, message=%s\n",\
card, com);
pasynOctetSyncIO->write(cntrl->pasynUser, com, strlen(com), TIMEOUT, &nwrite);
return (OK);
}
/*****************************************************/
/* Read a response string from the MCB4B board */
/* recv_mess() */
/*****************************************************/
STATIC int recv_mess(int card, char *com, int flag)
{
double timeout;
size_t nread=0;
asynStatus status;
struct MCB4Bcontroller *cntrl;
int flush;
int eomReason;
/* 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, "recv_mess entry: card %d, flag=%d\n",\
card, flag);
if (flag == FLUSH) {
flush = 1;
timeout = 0.;
} else {
flush = 0;
timeout = TIMEOUT;
}
if (flush) status = pasynOctetSyncIO->flush(cntrl->pasynUser);
status = pasynOctetSyncIO->read(cntrl->pasynUser, com, MAX_MSG_SIZE,
timeout, &nread, &eomReason);
if (nread < 1)
com[0] = '\0';
if (nread > 0) {
Debug(2, "recv_mess: card %d, message = \"%s\"\n",\
card, com);
}
if (nread == 0) {
if (flag != FLUSH) {
Debug(1, "recv_mess: card %d ERROR: no response\n",\
card);
} else {
Debug(3, "recv_mess: card %d flush returned no characters\n",\
card);
}
}
return (nread);
}
/*****************************************************/
/* Setup system configuration */
/* MCB4BSetup() */
/*****************************************************/
RTN_STATUS
MCB4BSetup(int num_cards, /* maximum number of controllers in system */
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 */
const char *name) /* port name for asyn */
{
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;
strcpy(cntrl->port, 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;
int success_rtn;
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 */
success_rtn = pasynOctetSyncIO->connect(cntrl->port, 0, &cntrl->pasynUser, NULL);
Debug(1, "motor_init, return from pasynOctetSyncIO->connect for port %s = %d, pasynUser=%p\n",\
cntrl->port, success_rtn, cntrl->pasynUser);
if (success_rtn == 0)
{
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 */
pasynOctetSyncIO->flush(cntrl->pasynUser);
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 (success_rtn == 0 && 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.All = 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", epicsThreadPriorityMedium,
epicsThreadGetStackSize(epicsThreadStackMedium),
(EPICSTHREADFUNC) motor_task, (void *) &targs);
return(OK);
}

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/* File: drvMCB4B.h */
/* Device Driver Support definitions for motor */
/*
* Original Author: Mark Rivers
* Current Author: Mark Rivers
* Date: 2/24/3002
*
* Modification Log:
* -----------------
* .01 02/24/2002 mlr initialized from drvPM304.h
*/
#ifndef INCdrvMCB4Bh
#define INCdrvMCB4Bh 1
#include "motordrvCom.h"
#include "asynDriver.h"
/* MCB4B default profile. */
#define MCB4B_NUM_CARDS 4
#define MCB4B_NUM_CHANNELS 4
#define OUTPUT_TERMINATOR "\r"
struct MCB4Bcontroller
{
asynUser *pasynUser; /* asynUser structure */
char port[80]; /* asyn port name */
};
#endif /* INCdrvMCB4Bh */

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/*
FILENAME... AcsRegister.cc
USAGE... Register ACS motor device driver shell commands.
*/
/*****************************************************************
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 = {"Polling rate", iocshArgInt};
// ACS Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg1 = {"asyn port name", iocshArgString};
static const iocshArg * const MCB4BSetupArgs[2] = {&setupArg0, &setupArg1};
static const iocshArg * const MCB4BConfigArgs[2] = {&configArg0, &configArg1};
static const iocshFuncDef setupMCB4B = {"MCB4BSetup", 2, MCB4BSetupArgs};
static const iocshFuncDef configMCB4B = {"MCB4BConfig", 2, MCB4BConfigArgs};
static void setupMCB4BCallFunc(const iocshArgBuf *args)
{
MCB4BSetup(args[0].ival, args[1].ival);
}
static void configMCB4BCallFunc(const iocshArgBuf *args)
{
MCB4BConfig(args[0].ival, args[1].sval);
}
static void AcsRegister(void)
{
iocshRegister(&setupMCB4B, setupMCB4BCallFunc);
iocshRegister(&configMCB4B, configMCB4BCallFunc);
}
epicsExportRegistrar(AcsRegister);
} // extern "C"

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/*
FILENAME... AcsRegister.h
USAGE... This file contains function prototypes for ACS IOC shell commands.
*/
/*
* 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);
extern RTN_STATUS MCB4BConfig(int, const char *);