mirror of
https://github.com/Binary-Coalescence/motorDSM.git
synced 2025-08-04 21:55:40 -05:00
Renamed "*acs*" files to "*dsm*".
This commit is contained in:
336
dsmApp/src/MD90Driver.cpp
Normal file
336
dsmApp/src/MD90Driver.cpp
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@@ -0,0 +1,336 @@
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/*
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FILENAME... MCB4BDriver.cpp
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USAGE... Motor driver support for the ACS MCB-4B controller.
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Mark Rivers
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March 1, 2012
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*/
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#include <stdio.h>
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#include <string.h>
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#include <stdlib.h>
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#include <math.h>
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#include <iocsh.h>
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#include <epicsThread.h>
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#include <asynOctetSyncIO.h>
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#include <epicsExport.h>
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#include "MCB4BDriver.h"
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#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
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/** Creates a new MCB4BController object.
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* \param[in] portName The name of the asyn port that will be created for this driver
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* \param[in] MCB4BPortName The name of the drvAsynSerialPort that was created previously to connect to the MCB4B controller
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* \param[in] numAxes The number of axes that this controller supports
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* \param[in] movingPollPeriod The time between polls when any axis is moving
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* \param[in] idlePollPeriod The time between polls when no axis is moving
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*/
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MCB4BController::MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes,
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double movingPollPeriod, double idlePollPeriod)
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: asynMotorController(portName, numAxes, NUM_MCB4B_PARAMS,
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0, // No additional interfaces beyond those in base class
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0, // No additional callback interfaces beyond those in base class
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ASYN_CANBLOCK | ASYN_MULTIDEVICE,
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1, // autoconnect
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0, 0) // Default priority and stack size
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{
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int axis;
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asynStatus status;
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MCB4BAxis *pAxis;
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static const char *functionName = "MCB4BController::MCB4BController";
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/* Connect to MCB4B controller */
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status = pasynOctetSyncIO->connect(MCB4BPortName, 0, &pasynUserController_, NULL);
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if (status) {
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asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
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"%s: cannot connect to MCB-4B controller\n",
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functionName);
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}
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for (axis=0; axis<numAxes; axis++) {
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pAxis = new MCB4BAxis(this, axis);
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}
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startPoller(movingPollPeriod, idlePollPeriod, 2);
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}
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/** Creates a new MCB4BController object.
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* Configuration command, called directly or from iocsh
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* \param[in] portName The name of the asyn port that will be created for this driver
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* \param[in] MCB4BPortName The name of the drvAsynIPPPort that was created previously to connect to the MCB4B controller
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* \param[in] numAxes The number of axes that this controller supports
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* \param[in] movingPollPeriod The time in ms between polls when any axis is moving
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* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
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*/
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extern "C" int MCB4BCreateController(const char *portName, const char *MCB4BPortName, int numAxes,
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int movingPollPeriod, int idlePollPeriod)
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{
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MCB4BController *pMCB4BController
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= new MCB4BController(portName, MCB4BPortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
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pMCB4BController = NULL;
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return(asynSuccess);
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}
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/** Reports on status of the driver
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* \param[in] fp The file pointer on which report information will be written
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* \param[in] level The level of report detail desired
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*
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* If details > 0 then information is printed about each axis.
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* After printing controller-specific information it calls asynMotorController::report()
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*/
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void MCB4BController::report(FILE *fp, int level)
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{
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fprintf(fp, "MCB-4B motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
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this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
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// Call the base class method
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asynMotorController::report(fp, level);
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}
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/** Returns a pointer to an MCB4BAxis object.
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* Returns NULL if the axis number encoded in pasynUser is invalid.
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* \param[in] pasynUser asynUser structure that encodes the axis index number. */
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MCB4BAxis* MCB4BController::getAxis(asynUser *pasynUser)
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{
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return static_cast<MCB4BAxis*>(asynMotorController::getAxis(pasynUser));
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}
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/** Returns a pointer to an MCB4BAxis object.
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* Returns NULL if the axis number encoded in pasynUser is invalid.
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* \param[in] axisNo Axis index number. */
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MCB4BAxis* MCB4BController::getAxis(int axisNo)
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{
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return static_cast<MCB4BAxis*>(asynMotorController::getAxis(axisNo));
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}
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// These are the MCB4BAxis methods
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/** Creates a new MCB4BAxis object.
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* \param[in] pC Pointer to the MCB4BController to which this axis belongs.
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* \param[in] axisNo Index number of this axis, range 0 to pC->numAxes_-1.
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*
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* Initializes register numbers, etc.
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*/
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MCB4BAxis::MCB4BAxis(MCB4BController *pC, int axisNo)
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: asynMotorAxis(pC, axisNo),
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pC_(pC)
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{
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}
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/** Reports on status of the axis
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* \param[in] fp The file pointer on which report information will be written
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* \param[in] level The level of report detail desired
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*
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* After printing device-specific information calls asynMotorAxis::report()
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*/
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void MCB4BAxis::report(FILE *fp, int level)
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{
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if (level > 0) {
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fprintf(fp, " axis %d\n",
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axisNo_);
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}
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// Call the base class method
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asynMotorAxis::report(fp, level);
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}
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asynStatus MCB4BAxis::sendAccelAndVelocity(double acceleration, double velocity)
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{
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asynStatus status;
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int ival;
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// static const char *functionName = "MCB4B::sendAccelAndVelocity";
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// Send the velocity
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ival = NINT(fabs(115200./velocity));
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if (ival < 2) ival=2;
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if (ival > 255) ival = 255;
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sprintf(pC_->outString_, "#%02dV=%d", axisNo_, ival);
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status = pC_->writeReadController();
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// Send the acceleration
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// acceleration is in steps/sec/sec
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// MCB is programmed with Ramp Index (R) where:
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// dval (steps/sec/sec) = 720,000/(256-R) */
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// or R=256-(720,000/dval) */
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ival = NINT(256-(720000./acceleration));
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if (ival < 1) ival=1;
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if (ival > 255) ival=255;
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sprintf(pC_->outString_, "#%02dR=%d", axisNo_, ival);
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status = pC_->writeReadController();
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return status;
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}
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asynStatus MCB4BAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
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{
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asynStatus status;
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// static const char *functionName = "MCB4BAxis::move";
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status = sendAccelAndVelocity(acceleration, maxVelocity);
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if (relative) {
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sprintf(pC_->outString_, "#%02dI%+d", axisNo_, NINT(position));
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} else {
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sprintf(pC_->outString_, "#%02dG%+d", axisNo_, NINT(position));
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}
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status = pC_->writeReadController();
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return status;
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}
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asynStatus MCB4BAxis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
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{
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asynStatus status;
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// static const char *functionName = "MCB4BAxis::home";
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status = sendAccelAndVelocity(acceleration, maxVelocity);
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if (forwards) {
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sprintf(pC_->outString_, "#%02dH+", axisNo_);
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} else {
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sprintf(pC_->outString_, "#%02dH-", axisNo_);
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}
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status = pC_->writeReadController();
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return status;
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}
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asynStatus MCB4BAxis::moveVelocity(double minVelocity, double maxVelocity, double acceleration)
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{
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asynStatus status;
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static const char *functionName = "MCB4BAxis::moveVelocity";
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asynPrint(pasynUser_, ASYN_TRACE_FLOW,
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"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
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functionName, minVelocity, maxVelocity, acceleration);
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status = sendAccelAndVelocity(acceleration, maxVelocity);
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/* MCB-4B does not have jog command. Move 1 million steps */
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if (maxVelocity > 0.) {
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/* This is a positive move in MCB4B coordinates */
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sprintf(pC_->outString_, "#%02dI+1000000", axisNo_);
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} else {
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/* This is a negative move in MCB4B coordinates */
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sprintf(pC_->outString_, "#%02dI-1000000", axisNo_);
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}
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status = pC_->writeReadController();
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return status;
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}
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asynStatus MCB4BAxis::stop(double acceleration )
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{
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asynStatus status;
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//static const char *functionName = "MCB4BAxis::stop";
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sprintf(pC_->outString_, "#%02dQ", axisNo_);
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status = pC_->writeReadController();
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return status;
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}
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asynStatus MCB4BAxis::setPosition(double position)
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{
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asynStatus status;
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//static const char *functionName = "MCB4BAxis::setPosition";
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sprintf(pC_->outString_, "#%02dP=%+d", axisNo_, NINT(position));
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status = pC_->writeReadController();
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return status;
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}
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asynStatus MCB4BAxis::setClosedLoop(bool closedLoop)
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{
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asynStatus status;
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//static const char *functionName = "MCB4BAxis::setClosedLoop";
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sprintf(pC_->outString_, "#%02dW=%d", axisNo_, closedLoop ? 1:0);
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status = pC_->writeReadController();
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return status;
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}
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/** Polls the axis.
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* This function reads the motor position, the limit status, the home status, the moving status,
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* and the drive power-on status.
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* It calls setIntegerParam() and setDoubleParam() for each item that it polls,
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* and then calls callParamCallbacks() at the end.
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* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
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asynStatus MCB4BAxis::poll(bool *moving)
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{
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int done;
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int driveOn;
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int limit;
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double position;
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asynStatus comStatus;
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// Read the current motor position
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sprintf(pC_->outString_, "#%02dP", axisNo_);
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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// The response string is of the form "#01P=+1000"
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position = atof(&pC_->inString_[5]);
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setDoubleParam(pC_->motorPosition_, position);
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// Read the moving status of this motor
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sprintf(pC_->outString_, "#%02dX", axisNo_);
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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// The response string is of the form "#01X=1"
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done = (pC_->inString_[5] == '0') ? 1:0;
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setIntegerParam(pC_->motorStatusDone_, done);
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*moving = done ? false:true;
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// Read the limit status
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sprintf(pC_->outString_, "#%02dE", axisNo_);
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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// The response string is of the form "#01E=1"
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limit = (pC_->inString_[5] == '1') ? 1:0;
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setIntegerParam(pC_->motorStatusHighLimit_, limit);
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limit = (pC_->inString_[6] == '1') ? 1:0;
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setIntegerParam(pC_->motorStatusLowLimit_, limit);
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limit = (pC_->inString_[7] == '1') ? 1:0;
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setIntegerParam(pC_->motorStatusAtHome_, limit);
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// Read the drive power on status
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sprintf(pC_->outString_, "#%02dW", axisNo_);
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comStatus = pC_->writeReadController();
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if (comStatus) goto skip;
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driveOn = (pC_->inString_[5] == '1') ? 1:0;
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setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
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setIntegerParam(pC_->motorStatusProblem_, 0);
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skip:
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setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
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callParamCallbacks();
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return comStatus ? asynError : asynSuccess;
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}
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/** Code for iocsh registration */
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static const iocshArg MCB4BCreateControllerArg0 = {"Port name", iocshArgString};
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static const iocshArg MCB4BCreateControllerArg1 = {"MCB-4B port name", iocshArgString};
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static const iocshArg MCB4BCreateControllerArg2 = {"Number of axes", iocshArgInt};
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static const iocshArg MCB4BCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
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static const iocshArg MCB4BCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
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static const iocshArg * const MCB4BCreateControllerArgs[] = {&MCB4BCreateControllerArg0,
|
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&MCB4BCreateControllerArg1,
|
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&MCB4BCreateControllerArg2,
|
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&MCB4BCreateControllerArg3,
|
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&MCB4BCreateControllerArg4};
|
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static const iocshFuncDef MCB4BCreateControllerDef = {"MCB4BCreateController", 5, MCB4BCreateControllerArgs};
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static void MCB4BCreateContollerCallFunc(const iocshArgBuf *args)
|
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{
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MCB4BCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
|
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}
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static void MCB4BRegister(void)
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{
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iocshRegister(&MCB4BCreateControllerDef, MCB4BCreateContollerCallFunc);
|
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}
|
||||
|
||||
extern "C" {
|
||||
epicsExportRegistrar(MCB4BRegister);
|
||||
}
|
49
dsmApp/src/MD90Driver.h
Normal file
49
dsmApp/src/MD90Driver.h
Normal file
@@ -0,0 +1,49 @@
|
||||
/*
|
||||
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;
|
||||
};
|
22
dsmApp/src/Makefile
Normal file
22
dsmApp/src/Makefile
Normal file
@@ -0,0 +1,22 @@
|
||||
# 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
|
||||
|
11
dsmApp/src/devDsmMotor.dbd
Normal file
11
dsmApp/src/devDsmMotor.dbd
Normal file
@@ -0,0 +1,11 @@
|
||||
# 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)
|
||||
|
||||
|
331
dsmApp/src/devMD90.cc
Normal file
331
dsmApp/src/devMD90.cc
Normal file
@@ -0,0 +1,331 @@
|
||||
/* 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);
|
||||
}
|
||||
}
|
529
dsmApp/src/drvMD90.cc
Normal file
529
dsmApp/src/drvMD90.cc
Normal file
@@ -0,0 +1,529 @@
|
||||
/* 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);
|
||||
}
|
34
dsmApp/src/drvMD90.h
Normal file
34
dsmApp/src/drvMD90.h
Normal file
@@ -0,0 +1,34 @@
|
||||
/* 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 */
|
55
dsmApp/src/dsmRegister.cc
Normal file
55
dsmApp/src/dsmRegister.cc
Normal file
@@ -0,0 +1,55 @@
|
||||
/*
|
||||
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"
|
42
dsmApp/src/dsmRegister.h
Normal file
42
dsmApp/src/dsmRegister.h
Normal file
@@ -0,0 +1,42 @@
|
||||
/*
|
||||
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 *);
|
||||
|
Reference in New Issue
Block a user