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Fixed wrong files

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This commit is contained in:
MarkRivers
2002-03-02 19:07:34 +00:00
parent 5106338521
commit f1caf947ad
6 changed files with 483 additions and 501 deletions
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2
acsApp/src/Makefile.Vx
View File

@@ -9,7 +9,7 @@ include $(TOP)/config/CONFIG_APP
#USR_CXXFLAGS += -DDEBUG
# Advanced Control Systems driver support.
SRCS.c += ../devPM304.c ../drvPM304.c
SRCS.c += ../devMCB4B.c ../drvMCB4B.c
LIBOBJS = $(SRCS.c:../%.c=%.o)
LIBNAME = AcsLib

345
acsApp/src/devMCB4B.c Normal file
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@@ -0,0 +1,345 @@
/* File: devMCB4B.c */
/* Device Support Routines for motor */
/*
* Original Author: Mark Rivers
* Date: 02-24-2002
*
* Modification Log:
* -----------------
* .00 02-24-2002 mlr initialized from devPM304.c
*/
#define VERSION 1.00
#include <vxWorks.h>
#include <stdioLib.h>
#include <string.h>
#include <semLib.h>
#include <math.h>
#ifdef __cplusplus
extern "C" {
#include <epicsDynLink.h>
}
#else
#include <epicsDynLink.h>
#endif
#include <sysSymTbl.h> /* for sysSymTbl*/
#include <alarm.h>
#include <callback.h>
#include <dbDefs.h>
#include <dbAccess.h>
#include <dbCommon.h>
#include <fast_lock.h>
#include <recSup.h>
#include <devSup.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvMCB4B.h"
#define STATIC static
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
#ifdef NODEBUG
#define Debug(L,FMT,V) ;
#else
#define Debug(L,FMT,V...) { if(L <= devMCB4BDebug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#endif
/* Debugging levels:
* devMCB4BDebug >= 3 Print new part of command and command string so far
* at the end of MCB4B_build_trans
*/
/* ----------------Create the dsets for devMCB4B----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long MCB4B_init(int);
STATIC long MCB4B_init_record(struct motorRecord *);
STATIC long MCB4B_start_trans(struct motorRecord *);
STATIC long MCB4B_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC long MCB4B_end_trans(struct motorRecord *);
struct motor_dset devMCB4B =
{
{8, NULL, MCB4B_init, MCB4B_init_record, NULL},
motor_update_values,
MCB4B_start_trans,
MCB4B_build_trans,
MCB4B_end_trans
};
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static int MCB4B_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE /* SET_LOW_LIMIT */
};
static struct board_stat **MCB4B_cards;
volatile int devMCB4BDebug = 0;
/* --------------------------- program data --------------------- */
/* initialize device support for MCB4B stepper motor */
STATIC long MCB4B_init(int after)
{
SYM_TYPE type;
long rtnval;
Debug(5, "MCB4B_init: entry\n");
if (after == 0)
{
rtnval = symFindByNameEPICS(sysSymTbl, "_MCB4B_access",
(void *) &drvtabptr, &type);
if (rtnval != OK)
return(rtnval);
/*
IF before DB initialization.
Initialize MCB4B driver (i.e., call init()). See comment in
drvMCB4B.c init().
ENDIF
*/
(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(struct motorRecord *mr)
{
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 long MCB4B_end_trans(struct motorRecord *mr)
{
return(OK);
}
/* add a part to the transaction */
STATIC long 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;
long rtnval;
double dval;
long ival;
rtnval = OK;
buff[0] = '\0';
dval = parms[0];
ival = NINT(parms[0]);
rtnval = motor_start_trans_com(mr, MCB4B_cards);
Debug(5, "MCB4B_build_trans: entry, motor_start_trans_com=%ld\n", rtnval);
motor_call = &(trans->motor_call);
motor_call->type = MCB4B_table[command];
card = motor_call->card;
axis = motor_call->signal;
brdptr = (*trans->tabptr->card_array)[card];
Debug(5, "MCB4B_build_trans: axis=%d, command=%d\n", axis, command);
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcpy(motor_call->message, mr->init);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = 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_start_trans_com(mr, MCB4B_cards);
motor_call->type = MCB4B_table[command];
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(motor_call->message, "#%02dG%+ld", axis, ival);
break;
case MOVE_REL:
sprintf(motor_call->message, "#%02dI%+ld", axis, ival);
break;
case HOME_FOR:
sprintf(motor_call->message, "#%02dH+", axis);
break;
case HOME_REV:
sprintf(motor_call->message, "#%02dH-", axis);
break;
case LOAD_POS:
sprintf(motor_call->message, "#%02dP=%+ld", axis, ival);
break;
case SET_VEL_BASE:
trans->state = IDLE_STATE;
break; /* MCB4B does not use base velocity */
case SET_VELOCITY:
ival = 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 = 256-(720000./dval)+0.5;
if (ival < 1) ival=1;
if (ival > 255) ival=255;
sprintf(motor_call->message, "#%02dR=%ld", axis, ival);
break;
case GO:
/*
* The MCB4B starts moving immediately on move commands, GO command
* does nothing
*/
trans->state = IDLE_STATE;
break;
case SET_ENC_RATIO:
/*
* The MCB4B does not have the concept of encoder ratio, ignore this
* command
*/
trans->state = IDLE_STATE;
break;
case GET_INFO:
/* These commands are not actually done by sending a message, but
rather they will indirectly cause the driver to read the status
of all motors */
break;
case STOP_AXIS:
sprintf(motor_call->message, "#%02dQ", axis);
break;
case JOG:
/* MCB-4B does not have jog command. Move 1 million steps */
ival = 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 = motor_start_trans_com(mr, MCB4B_cards);
motor_call->type = MCB4B_table[command];
if (dval > 0.) {
/* This is a positive move in MCB4B coordinates */
sprintf(motor_call->message, "#%02dM+1000000", axis);
} else {
/* This is a negative move in MCB4B coordinates */
sprintf(motor_call->message, "#%02dM-1000000", axis);
}
break;
case SET_PGAIN:
trans->state = IDLE_STATE;
break;
case SET_IGAIN:
trans->state = IDLE_STATE;
break;
case SET_DGAIN:
trans->state = IDLE_STATE;
break;
case ENABLE_TORQUE:
sprintf(motor_call->message, "#%02dW=1", axis);
break;
case DISABL_TORQUE:
sprintf(motor_call->message, "#%02dW=0", axis);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE;
break;
default:
rtnval = ERROR;
}
rtnval = motor_end_trans_com(mr, drvtabptr);
Debug(5, "MCB4B_send_msg: motor_end_trans_com status=%ld, exit\n", rtnval);
return (rtnval);
}

330
acsApp/src/devPM304.c
View File

@@ -1,330 +0,0 @@
/* File: devPM304.c */
/* Version: 2.00 */
/* Date Last Modified: 09/29/99 */
/* Device Support Routines for motor */
/*
* Original Author: Mark Rivers
* Date: 11/20/98
*
* Modification Log:
* -----------------
* .00 11-20-99 mlr initialized from devMM4000.c
* .01 09-29-99 mlr Version 2.0, compatible with V4.04 of
* motorRecord
* .02 10-26-99 mlr Version 2.01, minor fixes for V4.0 of
* motorRecord
* ...
*/
#define VERSION 2.01
#include <vxWorks.h>
#include <stdioLib.h>
#include <string.h>
#include <semLib.h> /* jps: include for init_record wait */
#ifdef __cplusplus
extern "C" {
#include <epicsDynLink.h>
}
#else
#include <epicsDynLink.h>
#endif
#include <sysSymTbl.h> /* for sysSymTbl*/
#include <alarm.h>
#include <callback.h>
#include <dbDefs.h>
#include <dbAccess.h>
#include <dbCommon.h>
#include <fast_lock.h>
#include <recSup.h>
#include <devSup.h>
#include <drvSup.h>
#include "motorRecord.h"
#include "motor.h"
#include "motordevCom.h"
#include "drvPM304.h"
#define STATIC static
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5)
#ifdef NODEBUG
#define Debug(L,FMT,V) ;
#else
#define Debug(L,FMT,V...) { if(L <= devPM304Debug) \
{ printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } }
#endif
/* Debugging levels:
* devPM304Debug >= 3 Print new part of command and command string so far
* at the end of PM304_build_trans
*/
/* ----------------Create the dsets for devPM304----------------- */
STATIC struct driver_table *drvtabptr;
STATIC long PM304_init(int);
STATIC long PM304_init_record(struct motorRecord *);
STATIC long PM304_start_trans(struct motorRecord *);
STATIC long PM304_build_trans(motor_cmnd, double *, struct motorRecord *);
STATIC long PM304_end_trans(struct motorRecord *);
struct motor_dset devPM304 =
{
{8, NULL, PM304_init, PM304_init_record, NULL},
motor_update_values,
PM304_start_trans,
PM304_build_trans,
PM304_end_trans
};
/* --------------------------- program data --------------------- */
/* This table is used to define the command types */
static int PM304_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE /* SET_LOW_LIMIT */
};
static struct board_stat **PM304_cards;
volatile int devPM304Debug = 0;
/* --------------------------- program data --------------------- */
/* initialize device support for PM304 stepper motor */
STATIC long PM304_init(int after)
{
SYM_TYPE type;
long rtnval;
if (after == 0)
{
rtnval = symFindByNameEPICS(sysSymTbl, "_PM304_access",
(void *) &drvtabptr, &type);
if (rtnval != OK)
return(rtnval);
/*
IF before DB initialization.
Initialize PM304 driver (i.e., call init()). See comment in
drvPM304.c init().
ENDIF
*/
(drvtabptr->init)();
}
rtnval = motor_init_com(after, *drvtabptr->cardcnt_ptr, drvtabptr, &PM304_cards);
return(rtnval);
}
/* initialize a record instance */
STATIC long PM304_init_record(struct motorRecord *mr)
{
long rtnval;
rtnval = motor_init_record_com(mr, *drvtabptr->cardcnt_ptr,
drvtabptr, PM304_cards);
return(rtnval);
}
/* start building a transaction */
STATIC long PM304_start_trans(struct motorRecord *mr)
{
long rtnval;
rtnval = motor_start_trans_com(mr, PM304_cards);
return(rtnval);
}
/* end building a transaction */
STATIC long PM304_end_trans(struct motorRecord *mr)
{
long rtnval;
rtnval = motor_end_trans_com(mr, drvtabptr);
return(rtnval);
}
/* add a part to the transaction */
STATIC long PM304_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 PM304controller *cntrl;
char buff[30];
int axis, card;
long rtnval;
double dval;
long ival;
rtnval = OK;
buff[0] = '\0';
dval = parms[0];
ival = NINT(parms[0]);
motor_call = &(trans->motor_call);
card = motor_call->card;
axis = motor_call->signal + 1;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
return(rtnval = ERROR);
cntrl = (struct PM304controller *) brdptr->DevicePrivate;
if (PM304_table[command] > motor_call->type)
motor_call->type = PM304_table[command];
if (trans->state != BUILD_STATE)
return(rtnval = ERROR);
if (command == PRIMITIVE && mr->init != NULL && strlen(mr->init) != 0)
{
strcat(motor_call->message, mr->init);
strcat(motor_call->message, "\r");
}
switch (command)
{
case MOVE_ABS:
case MOVE_REL:
case HOME_FOR:
case HOME_REV:
case JOG:
if (strlen(mr->prem) != 0)
{
strcat(motor_call->message, mr->prem);
strcat(motor_call->message, ";");
}
if (strlen(mr->post) != 0)
motor_call->postmsgptr = (char *) &mr->post;
break;
default:
break;
}
switch (command)
{
case MOVE_ABS:
sprintf(buff, "%dMA%ld;", axis, ival);
break;
case MOVE_REL:
sprintf(buff, "%dMR%ld;", axis, ival);
break;
case HOME_FOR:
sprintf(buff, "%dIX;", axis);
break;
case HOME_REV:
sprintf(buff, "%dIX-1;", axis);
break;
case LOAD_POS:
sprintf(buff, "%dAP%ld;", axis, ival);
break;
case SET_VEL_BASE:
break; /* PM304 does not use base velocity */
case SET_VELOCITY:
sprintf(buff, "%dSV%ld;", axis, ival);
break;
case SET_ACCEL:
sprintf(buff, "%dSA%ld;", axis, ival);
break;
case GO:
/*
* The PM304 starts moving immediately on move commands, GO command
* does nothing
*/
break;
case SET_ENC_RATIO:
/*
* The PM304 does not have the concept of encoder ratio, ignore this
* command
*/
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(buff, "%dST;", axis);
break;
case JOG:
sprintf(buff, "%dSV%ld;", axis, ival);
strcat(motor_call->message, buff);
if (ival > 0) {
/* This is a positive move in PM304 coordinates */
sprintf(buff, "%dCV1;", axis);
} else {
/* This is a negative move in PM304 coordinates */
sprintf(buff, "%dCV-1;", axis);
}
break;
case SET_PGAIN:
sprintf(buff, "%dKP%ld;", axis, ival);
break;
case SET_IGAIN:
sprintf(buff, "%dKS%ld;", axis, ival);
break;
case SET_DGAIN:
sprintf(buff, "%dKV%ld;", axis, ival);
break;
case ENABLE_TORQUE:
sprintf(buff, "%dRS;", axis);
break;
case DISABL_TORQUE:
sprintf(buff, "%dAB;", axis);
break;
case SET_HIGH_LIMIT:
case SET_LOW_LIMIT:
trans->state = IDLE_STATE; /* No command sent to the controller. */
/* The PM304 internal soft limits are very difficult to retrieve, not
* implemented yet */
break;
default:
rtnval = ERROR;
}
strcat(motor_call->message, buff);
Debug(3, "PM304_build_trans: buff=%s, motor_call->message=%s\n",
buff, motor_call->message);
return (rtnval);
}

234
acsApp/src/drvPM304.c → acsApp/src/drvMCB4B.c
View File

@@ -1,25 +1,13 @@
/* File: drvPM304.c */
/* Version: 2.01 */
/* Date Last Modified: 10/26/99 */
/* File: drvMCB4B.c */
/* Device Driver Support routines for motor */
/*
* Original Author: Mark Rivers
* Date: 11/20/98
* Date: 2/24/2002
*
* Modification Log:
* -----------------
* .01 11-20-98 mlr initialized from drvMM4000
* .02 09-29-99 mlr Converted to motor record V4.04
* .03 10-26-99 mlr Minor fixes for motor record V4.0
* .04 08-16-00 mlr Fixed serious problem with limits - they were not
* correct, bring extract from wrong character in response
* Minor fixes to avoid compiler warnings
* .05 11-27-01 mlr Added global variable drvPM304ReadbackDelay. This is a
* double time in seconds to wait after the PM304 says the move
* is complete before reading the encoder position the final
* time.
* .01 02-24-2002 mlr initialized from drvPM304.c
*/
@@ -41,22 +29,16 @@
#include <logLib.h>
#include "motor.h"
#include "drvPM304.h"
#include "gpibIO.h"
#include "drvMCB4B.h"
#include "serialIO.h"
#define STATIC static
#define WAIT 0
#define WAIT 1
#define SERIAL_TIMEOUT 2000 /* Command timeout in msec */
#define BUFF_SIZE 100 /* Maximum length of string to/from PM304 */
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
*/
volatile double drvPM304ReadbackDelay = 0.;
#define BUFF_SIZE 100 /* Maximum length of string to/from MCB4B */
struct mess_queue
{
@@ -68,21 +50,21 @@ struct mess_queue
#ifdef NODEBUG
#define Debug(L,FMT,V) ;
#else
#define Debug(L,FMT,V...) { if(L <= drvPM304Debug) \
{ printf("%s(%d):",__FILE__,__LINE__); \
printf(FMT,##V); } }
#define Debug(L,FMT,V...) { if(L <= drvMCB4BDebug) \
{ errlogPrintf("%s(%d):",__FILE__,__LINE__); \
errlogPrintf(FMT,##V); } }
#endif
/* Debugging notes:
* drvPM304Debug == 0 No debugging information is printed
* drvPM304Debug >= 1 Warning information is printed
* drvPM304Debug >= 2 Time-stamped messages are printed for each string
* 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
* drvPM304Debug >= 3 Additional debugging messages
* drvMCB4BDebug >= 3 Additional debugging messages
*/
int PM304_num_cards = 0;
volatile int drvPM304Debug = 0;
int MCB4B_num_cards = 0;
volatile int drvMCB4BDebug = 0;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
@@ -100,7 +82,7 @@ STATIC void query_done(int, int, struct mess_node *);
/*----------------functions-----------------*/
struct driver_table PM304_access =
struct driver_table MCB4B_access =
{
motor_init,
motor_send,
@@ -133,7 +115,7 @@ struct
DRVSUPFUN report;
DRVSUPFUN init;
#endif
} drvPM304 = {2, report, init};
} drvMCB4B = {2, report, init};
@@ -145,13 +127,13 @@ static long report(int level)
{
int card;
if (PM304_num_cards <=0)
printf(" NO PM304 controllers found\n");
if (MCB4B_num_cards <=0)
printf(" NO MCB4B controllers found\n");
else
{
for (card = 0; card < PM304_num_cards; card++)
for (card = 0; card < MCB4B_num_cards; card++)
if (motor_state[card])
printf(" PM304 controller %d, id: %s \n",
printf(" MCB4B controller %d, id: %s \n",
card,
motor_state[card]->ident);
}
@@ -168,10 +150,10 @@ static long init()
* support
*/
/* Check for setup */
if (PM304_num_cards <= 0)
if (MCB4B_num_cards <= 0)
{
Debug(1, "init: *PM304 driver disabled*\n");
Debug(1, "PM304Setup() is missing from startup script.\n");
Debug(1, "init: *MCB4B driver disabled*\n");
Debug(1, "MCB4BSetup() is missing from startup script.\n");
return (ERROR);
}
@@ -190,7 +172,7 @@ STATIC void query_done(int card, int axis, struct mess_node *nodeptr)
*********************************************************/
STATIC void start_status(int card)
{
/* The PM304 cannot query status or positions of all axes with a
/* 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
*/
@@ -215,31 +197,29 @@ STATIC int set_status(int card, int signal)
motor_info = &(motor_state[card]->motor_info[signal]);
nodeptr = motor_info->motor_motion;
/* Request the status of this motor */
sprintf(command, "%dOS;", signal+1);
/* 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 an eight character string of ones an zeroes */
/* The response string is of the form "#01X=1" */
if (strcmp(response, "00000000") == 0)
if (response[5] == '1')
motor_info->status &= ~RA_DONE;
else {
motor_info->status |= RA_DONE;
if (drvPM304ReadbackDelay != 0.)
taskDelay((int)(drvPM304ReadbackDelay * sysClkRateGet()));
}
if (response[2] == '1')
motor_info->status |= RA_PROBLEM;
else
motor_info->status &= ~RA_PROBLEM;
/* Request the limit status of this motor */
sprintf(command, "#%02dE", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* The response string is of the form "#01E=1" */
motor_info->status &= ~RA_OVERTRAVEL;
if (response[1] == '1') {
if (response[5] == '1') {
motor_info->status |= RA_OVERTRAVEL;
motor_info->status |= RA_DIRECTION;
}
if (response[0] == '1') {
if (response[6] == '1') {
motor_info->status |= RA_OVERTRAVEL;
motor_info->status &= ~RA_DIRECTION;
}
@@ -251,11 +231,11 @@ STATIC int set_status(int card, int signal)
motor_info->status &= ~EA_HOME;
/* Request the position of this motor */
sprintf(command, "%dOA;", signal+1);
sprintf(command, "#%02dP", signal);
send_mess(card, command, 0);
recv_mess(card, response, WAIT);
/* Parse the response string which is of the form "AP=10234" */
motorData = atoi(&response[3]);
/* The response string is of the form "#01P=+1000" */
motorData = atoi(&response[5]);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
@@ -284,7 +264,7 @@ STATIC int set_status(int card, int signal)
strcpy(buff, nodeptr->postmsgptr);
strcat(buff, "\r");
send_mess(card, buff, NULL);
/* The PM304 always sends back a response, read it and discard */
/* The MCB4B always sends back a response, read it and discard */
recv_mess(card, buff, WAIT);
nodeptr->postmsgptr = NULL;
}
@@ -294,81 +274,72 @@ STATIC int set_status(int card, int signal)
/*****************************************************/
/* send a message to the PM304 board */
/* send a message to the MCB4B board */
/* send_mess() */
/*****************************************************/
STATIC int send_mess(int card, const char *com, char c)
{
char *p, *tok_save;
char buff[BUFF_SIZE];
char response[BUFF_SIZE];
int len=0;
struct PM304controller *cntrl;
struct MCB4Bcontroller *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
epicsPrintf("send_mess - invalid card #%d\n", card);
errlogPrintf("send_mess - invalid card #%d\n", card);
return (-1);
}
cntrl = (struct PM304controller *) motor_state[card]->DevicePrivate;
/* If the string is NULL just return */
if (strlen(com) == 0) return(OK);
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
/* Device support can send us multiple commands separated with ';'
* characters. The PM304 cannot handle more than 1 command on a line
* so send them separately */
for (p = strtok_r(com, ";", &tok_save);
((p != NULL) && (strlen(p) != 0));
p = strtok_r(NULL, ";", &tok_save)) {
strcpy(buff, p);
strcat(buff, OUTPUT_TERMINATOR);
Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n",
strcpy(buff, com);
strcat(buff, OUTPUT_TERMINATOR);
Debug(2, "%.2f : send_mess: sending message to card %d, message=%s\n",
tickGet()/60., card, buff);
/* The PM304 always sends a response string to every command. There
could be some stale characters in the input buffer - flush them. */
do recv_mess(card, response, FLUSH); while (strlen(response) != 0);
serialIOSend(cntrl->serialInfo, buff, strlen(buff), SERIAL_TIMEOUT);
}
serialIOSend(cntrl->serialInfo, buff, strlen(buff), SERIAL_TIMEOUT);
return (len);
return (OK);
}
/*****************************************************/
/* receive a message from the PM304 board */
/* Read a response string from the MCB4B board */
/* recv_mess() */
/*****************************************************/
STATIC int recv_mess(int card, char *com, int flag)
{
int timeout;
int len=0;
struct PM304controller *cntrl;
struct MCB4Bcontroller *cntrl;
/* Check that card exists */
if (!motor_state[card])
{
epicsPrintf("resv_mess - invalid card #%d\n", card);
errlogPrintf("recv_mess - invalid card #%d\n", card);
return (-1);
}
cntrl = (struct PM304controller *) motor_state[card]->DevicePrivate;
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
Debug(3, "%.2f : recv_mess entry: card %d, flag=%d\n",
tickGet()/60., card, flag);
if (flag == FLUSH)
timeout = 0;
else
timeout = SERIAL_TIMEOUT;
len = serialIORecv(cntrl->serialInfo, com, BUFF_SIZE,
len = serialIORecv(cntrl->serialInfo, com, MAX_MSG_SIZE,
INPUT_TERMINATOR, timeout);
/* The response from the PM304 is terminated with CR/LF. Remove these */
if (len < 2) com[0] = '\0'; else com[len-2] = '\0';
/* The response from the MCB4B is terminated with CR. Remove */
if (len < 1) com[0] = '\0';
else com[len-1] = '\0';
if (len > 0) {
Debug(2, "%.2f : recv_mess: card %d, message = \"%s\"\n",
tickGet()/60., card, com);
}
if (len == 0) {
if (flag == WAIT) {
if (flag != FLUSH) {
Debug(1, "%.2f: recv_mess: card %d ERROR: no response\n",
tickGet()/60., card);
} else {
@@ -383,18 +354,18 @@ STATIC int recv_mess(int card, char *com, int flag)
/*****************************************************/
/* Setup system configuration */
/* PM304Setup() */
/* MCB4BSetup() */
/*****************************************************/
int PM304Setup(int num_cards, /* maximum number of controllers in system */
int MCB4BSetup(int num_cards, /* maximum number of controllers in system */
int num_channels, /* NOT USED */
int scan_rate) /* polling rate - 1/60 sec units */
{
int itera;
if (num_cards < 1 || num_cards > PM304_NUM_CARDS)
PM304_num_cards = PM304_NUM_CARDS;
if (num_cards < 1 || num_cards > MCB4B_NUM_CARDS)
MCB4B_num_cards = MCB4B_NUM_CARDS;
else
PM304_num_cards = num_cards;
MCB4B_num_cards = num_cards;
/* Set motor polling task rate */
if (scan_rate >= 1 && scan_rate <= sysClkRateGet())
@@ -404,15 +375,15 @@ int PM304Setup(int num_cards, /* maximum number of controllers in system */
/*
* Allocate space for motor_state structure pointers. Note this must be done
* before PM304Config is called, so it cannot be done in motor_init()
* 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(PM304_num_cards *
motor_state = (struct controller **) malloc(MCB4B_num_cards *
sizeof(struct controller *));
for (itera = 0; itera < PM304_num_cards; itera++)
for (itera = 0; itera < MCB4B_num_cards; itera++)
motor_state[itera] = (struct controller *) NULL;
return (0);
}
@@ -420,20 +391,20 @@ int PM304Setup(int num_cards, /* maximum number of controllers in system */
/*****************************************************/
/* Configure a controller */
/* PM304Config() */
/* MCB4BConfig() */
/*****************************************************/
int PM304Config(int card, /* card being configured */
int addr1, /* hideos_card for RS-232 */
int addr2) /* hideos_task for RS-232 */
int MCB4BConfig(int card, /* card being configured */
int addr1, /* card for RS-232 */
int addr2) /* server_task for RS-232 */
{
struct PM304controller *cntrl;
struct MCB4Bcontroller *cntrl;
if (card < 0 || card >= PM304_num_cards)
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 PM304controller));
cntrl = (struct PM304controller *) motor_state[card]->DevicePrivate;
motor_state[card]->DevicePrivate = malloc(sizeof(struct MCB4Bcontroller));
cntrl = (struct MCB4Bcontroller *) motor_state[card]->DevicePrivate;
cntrl->serial_card = addr1;
strcpy(cntrl->serial_task, (char *) addr2);
return (0);
@@ -450,7 +421,7 @@ int PM304Config(int card, /* card being configured */
STATIC int motor_init()
{
struct controller *brdptr;
struct PM304controller *cntrl;
struct MCB4Bcontroller *cntrl;
int card_index, motor_index, arg3, arg4;
char buff[BUFF_SIZE];
int total_axis = 0;
@@ -460,21 +431,21 @@ STATIC int motor_init()
initialized = ON; /* Indicate that driver is initialized. */
/* Check for setup */
if (PM304_num_cards <= 0)
if (MCB4B_num_cards <= 0)
{
Debug(1, "motor_init: *PM304 driver disabled*\n");
Debug(1, "PM304Setup() is missing from startup script.\n");
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 < PM304_num_cards; card_index++)
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 PM304controller *) brdptr->DevicePrivate;
cntrl = (struct MCB4Bcontroller *) brdptr->DevicePrivate;
/* Initialize communications channel */
errind = OFF;
@@ -493,43 +464,42 @@ STATIC int motor_init()
do {
recv_mess(card_index, buff, FLUSH);
} while (strlen(buff) != 0);
do
{
send_mess(card_index, "1OA;", 0);
send_mess(card_index, "#00X", 0);
status = recv_mess(card_index, buff, WAIT);
retry++;
/* Return value is length of response string */
} while(status == 0 && retry < 3);
}
if (errind == OFF && status > 0)
{
brdptr->localaddr = (char *) NULL;
brdptr->motor_in_motion = 0;
brdptr->cmnd_response = ON;
/* Don't turn on motor power, too dangerous */
/* send_mess(i, "1RSES;", buff); */
send_mess(card_index, "1ST;", 0); /* Stop motor */
recv_mess(card_index, buff, WAIT); /* Throw away response */
send_mess(card_index, "1ID;", 0); /* Read controller ID string */
recv_mess(card_index, buff, WAIT);
strcpy(brdptr->ident, buff);
/* For now we assume that this controller has only 1 axis. */
total_axis = 1;
/* Assume that this controller has 4 axes. */
total_axis = 4;
brdptr->total_axis = total_axis;
brdptr->motor_info[total_axis-1].motor_motion = NULL;
start_status(card_index);
for (motor_index = 0; motor_index < total_axis; motor_index++)
{
struct mess_info *motor_info = &brdptr->motor_info[motor_index];
brdptr->motor_info[motor_index].motor_motion = NULL;
/* Don't turn on motor power, too dangerous */
sprintf(buff,"#%02dW=1", motor_index);
/* send_mess(card_index, buff, 0); */
/* Stop motor */
sprintf(buff,"#%02dQ", motor_index);
send_mess(card_index, buff, 0);
recv_mess(card_index, buff, WAIT); /* Throw away response */
strcpy(brdptr->ident, "MCB-4B");
motor_info->status = 0;
motor_info->no_motion_count = 0;
motor_info->encoder_position = 0;
motor_info->position = 0;
set_status(card_index, motor_index); /* Read status of each motor */
}
@@ -555,16 +525,16 @@ STATIC int motor_init()
if (sizeof(int) >= sizeof(char *))
{
arg3 = (int) (&PM304_access);
arg3 = (int) (&MCB4B_access);
arg4 = 0;
}
else
{
arg3 = (int) ((long) &PM304_access >> 16);
arg4 = (int) ((long) &PM304_access & 0xFFFF);
arg3 = (int) ((long) &MCB4B_access >> 16);
arg4 = (int) ((long) &MCB4B_access & 0xFFFF);
}
Debug(3, "motor_init: spawning motor task\n");
taskSpawn((char *) "tPM304", 64, VX_FP_TASK | VX_STDIO, 5000, motor_task,
taskSpawn((char *) "tMCB4B", 64, VX_FP_TASK | VX_STDIO, 5000, motor_task,
motor_scan_rate, arg3, arg4, 0, 0, 0, 0, 0, 0, 0);
return (0);
}

35
acsApp/src/drvMCB4B.h Normal file
View File

@@ -0,0 +1,35 @@
/* 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"
/* MCB4B default profile. */
#define MCB4B_NUM_CARDS 4
#define MCB4B_NUM_CHANNELS 4
#define OUTPUT_TERMINATOR "\r"
#define INPUT_TERMINATOR '\r'
struct MCB4Bcontroller
{
void *serialInfo; /* For RS-232 */
int serial_card; /* Card on which Hideos/MPF is running */
char serial_task[20]; /* Hideos/MPF task/server name for serial port */
};
#endif /* INCdrvMCB4Bh */

38
acsApp/src/drvPM304.h
View File

@@ -1,38 +0,0 @@
/* File: drvPM304.h */
/* Version: 2.0 */
/* Date Last Modified: 09-29-99 */
/* Device Driver Support definitions for motor */
/*
* Original Author: Mark Rivers
* Current Author: Mark Rivers
* Date: 11/20/98
*
* Modification Log:
* -----------------
* .01 11/20/98 mlr initialized from drvMM4000.h
* .02 09/29/99 mlr re-wrote for new version of motor software (V4)
*/
#ifndef INCdrvPM304h
#define INCdrvPM304h 1
#include "motordrvCom.h"
/* PM304 default profile. */
#define PM304_NUM_CARDS 4
#define PM304_NUM_CHANNELS 1
#define OUTPUT_TERMINATOR "\r"
#define INPUT_TERMINATOR '\n'
struct PM304controller
{
void *serialInfo; /* For RS-232 */
int serial_card; /* Card on which Hideos/MPF is running */
char serial_task[20]; /* Hideos/MPF task/server name for serial port */
};
#endif /* INCdrvPM304h */