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New file, Model 3 driver
This commit is contained in:
MarkRivers
334
acsApp/src/MCB4BDriver.cpp
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334
acsApp/src/MCB4BDriver.cpp
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@@ -0,0 +1,334 @@
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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 "MCB4BDriver.h"
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#include <epicsExport.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 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 calls asynMotorController::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_->writeController();
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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_->writeController();
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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_->writeController();
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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_->writeController();
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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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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_, "#%02dM+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_, "#%02dM-1000000", axisNo_);
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}
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status = pC_->writeController();
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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_->writeController();
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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_->writeController();
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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_->writeController();
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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 controller position, encoder position, the limit status, the moving status,
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* and the drive power-on status. It does not current detect following error, etc. but this could be
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* added.
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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 (1) or done (0). */
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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_, "#%02dE", 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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}
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extern "C" {
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epicsExportRegistrar(MCB4BRegister);
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}
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49
acsApp/src/MCB4BDriver.h
Normal file
49
acsApp/src/MCB4BDriver.h
Normal file
@@ -0,0 +1,49 @@
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/*
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FILENAME... MCB4BDriver.h
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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 "asynMotorController.h"
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#include "asynMotorAxis.h"
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#define MAX_MCB4B_AXES 4
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// No controller-specific parameters yet
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#define NUM_MCB4B_PARAMS 0
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class MCB4BAxis : public asynMotorAxis
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{
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public:
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/* These are the methods we override from the base class */
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MCB4BAxis(class MCB4BController *pC, int axis);
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void report(FILE *fp, int level);
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asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
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asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
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asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
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asynStatus stop(double acceleration);
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asynStatus poll(bool *moving);
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asynStatus setPosition(double position);
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asynStatus setClosedLoop(bool closedLoop);
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private:
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MCB4BController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
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* Abbreviated because it is used very frequently */
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asynStatus sendAccelAndVelocity(double accel, double velocity);
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friend class MCB4BController;
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};
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class MCB4BController : public asynMotorController {
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public:
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MCB4BController(const char *portName, const char *MCB4BPortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
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void report(FILE *fp, int level);
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MCB4BAxis* getAxis(asynUser *pasynUser);
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MCB4BAxis* getAxis(int axisNo);
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friend class MCB4BAxis;
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};
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