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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 120 | f9daq | 1 | #include "MIKRO.h" |
| 2 | #include <rs232.h> |
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| 3 | #ifdef _CVI_ |
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| 4 | # include <userint.h> |
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| 5 | # include <utility.h> |
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| 6 | # include <formatio.h> |
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| 7 | # include <ansi_c.h> |
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| 8 | #endif _CVI_ |
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| 9 | |||
| 10 | // #define DEBUG |
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| 11 | // #define MIKRO_MAIN |
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| 12 | |||
| 13 | #ifdef MIKRO_MAIN |
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| 14 | # include "MIKRO_uic.h" |
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| 15 | # include "MIKRO_ui.h" |
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| 16 | #endif MIKRO_MAIN |
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| 17 | |||
| 18 | #define COMWAIT 0.5 |
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| 19 | #define COMDELAY 0.1 |
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| 20 | |||
| 21 | static char MIKRO_Send[100], MIKRO_Receive[100]; |
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| 22 | static char MIKRO_Device, MIKRO_Axes, MIKRO_Response; |
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| 23 | static int MIKRO_Port; |
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| 24 | static int nin, nout, rstat; |
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| 25 | static int MIKRO_type[100]; |
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| 26 | |||
| 27 | #ifdef _CVI_ |
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| 28 | int _VI_FUNC MIKRO_Open (int port) { |
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| 29 | int status; |
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| 30 | |||
| 31 | MIKRO_Port=port; |
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| 32 | status=OpenComConfig (MIKRO_Port, "", 38400, 0, 8, 1, 512, 512); |
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| 33 | if (status) return status; |
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| 34 | SetXMode (MIKRO_Port, 0); |
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| 35 | SetCTSMode (MIKRO_Port, LWRS_HWHANDSHAKE_OFF); |
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| 36 | SetComTime (MIKRO_Port, COMWAIT); |
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| 37 | return 0; |
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| 38 | } |
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| 39 | # else _CVI_ |
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| 40 | int _VI_FUNC MIKRO_Open (char *dev) { |
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| 41 | MIKRO_Port=OpenComConfig (dev, "", 38400, 0, 8, 1, 512, 512); |
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| 42 | return 0; |
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| 43 | } |
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| 44 | #endif _CVI_ |
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| 45 | void _VI_FUNC MIKRO_Close (void) { |
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| 46 | CloseCom (MIKRO_Port); |
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| 47 | } |
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| 48 | |||
| 49 | int _VI_FUNC MIKRO_Cmd (int node, char *cmd) { |
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| 50 | Delay(COMDELAY); |
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| 51 | FlushInQ (MIKRO_Port); |
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| 52 | nout = sprintf (MIKRO_Send, "%1d %s\r", node, cmd); |
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| 53 | ComWrt (MIKRO_Port, MIKRO_Send, nout); |
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| 54 | if ((nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa))>0) { |
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| 55 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 56 | if (nin==3) return (0); |
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| 57 | } |
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| 58 | return (-1); |
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| 59 | } |
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| 60 | |||
| 61 | int _VI_FUNC MIKRO_Set (int node, char cmd[], int val) { |
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| 62 | Delay(COMDELAY); |
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| 63 | FlushInQ (MIKRO_Port); |
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| 64 | nout = sprintf (MIKRO_Send, "%1d %s %d\r", node, cmd, val); |
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| 65 | ComWrt (MIKRO_Port, MIKRO_Send, nout); |
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| 66 | if ((nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa))>0) { |
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| 67 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 68 | if (nin==3) return (0); |
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| 69 | } |
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| 70 | return (-1); |
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| 71 | } |
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| 72 | |||
| 73 | int _VI_FUNC MIKRO_Get (int node, char cmd[], int *val) { |
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| 74 | short int stmp; |
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| 75 | |||
| 76 | Delay(COMDELAY); |
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| 77 | FlushInQ (MIKRO_Port); |
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| 78 | nout = sprintf (MIKRO_Send, "%1d %s\r", node, cmd); |
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| 79 | ComWrt (MIKRO_Port, MIKRO_Send, nout); |
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| 80 | if ((nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa))>0) { |
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| 81 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 82 | if (nin>0) { |
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| 83 | MIKRO_Receive[--nin]=0; |
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| 84 | switch (nin) { |
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| 85 | case 9: |
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| 86 | sscanf (MIKRO_Receive, "%*x %hx",&stmp); |
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| 87 | *val=stmp; |
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| 88 | return (0); |
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| 89 | case 13: |
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| 90 | sscanf (MIKRO_Receive, "%*x %x",val); |
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| 91 | return (0); |
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| 92 | default: |
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| 93 | break; |
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| 94 | } |
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| 95 | } else { |
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| 96 | printf("Node %d Communication error => bytes received=0x%02x\n",node,nin); |
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| 97 | } |
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| 98 | } |
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| 99 | return (-1); |
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| 100 | } |
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| 101 | |||
| 102 | int _VI_FUNC MIKRO_GetStat (int node) { |
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| 103 | int tmp; |
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| 104 | |||
| 105 | Delay(COMDELAY); |
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| 106 | FlushInQ (MIKRO_Port); |
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| 107 | nout = sprintf (MIKRO_Send, "%1d st\r", node); |
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| 108 | ComWrt (MIKRO_Port, MIKRO_Send, nout); |
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| 109 | if ((nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa))>0) { |
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| 110 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 111 | if (nin>0) nin--; |
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| 112 | MIKRO_Receive[nin]=0; |
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| 113 | if (nin==9) { |
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| 114 | tmp=0; |
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| 115 | sscanf (MIKRO_Receive, "%*x %hx",(short int *)&tmp); |
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| 116 | return (tmp); |
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| 117 | } |
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| 118 | } |
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| 119 | return (-1); |
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| 120 | } |
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| 121 | |||
| 122 | int _VI_FUNC MIKRO_Init (int node, int type) { |
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| 123 | MIKRO_type[node]=type; |
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| 124 | Delay(0.1); |
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| 125 | MIKRO_Cmd(node,"ok 1"); |
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| 126 | MIKRO_Cmd(node,"ab"); |
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| 127 | switch (type) { |
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| 128 | case 1:// 3M Linear |
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| 129 | MIKRO_Cmd(node,"k 1"); |
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| 130 | MIKRO_Cmd(node,"ad 200"); |
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| 131 | MIKRO_Cmd(node,"aa 2"); |
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| 132 | MIKRO_Cmd(node,"fa 1"); |
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| 133 | MIKRO_Cmd(node,"fd 3000");// Set Max Dynamic Following Error (1000) |
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| 134 | MIKRO_Cmd(node,"sr 1000"); |
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| 135 | MIKRO_Cmd(node,"sp 750"); |
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| 136 | MIKRO_Cmd(node,"ac 100"); |
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| 137 | MIKRO_Cmd(node,"dc 200"); |
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| 138 | MIKRO_Cmd(node,"por 28000"); |
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| 139 | MIKRO_Cmd(node,"i 600"); |
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| 140 | MIKRO_Cmd(node,"ano 2350"); |
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| 141 | MIKRO_Cmd(node,"ls 1"); |
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| 142 | MIKRO_Cmd(node,"hp 1"); |
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| 143 | MIKRO_Cmd(node,"hf 1"); |
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| 144 | break; |
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| 145 | case 2:// 3M Rotary |
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| 146 | MIKRO_Cmd(node,"k 1"); |
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| 147 | MIKRO_Cmd(node,"ad 200"); |
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| 148 | MIKRO_Cmd(node,"aa 1"); |
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| 149 | MIKRO_Cmd(node,"fa 1"); |
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| 150 | MIKRO_Cmd(node,"fd 3000"); |
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| 151 | MIKRO_Cmd(node,"sr 1000"); |
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| 152 | MIKRO_Cmd(node,"sp 550"); |
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| 153 | MIKRO_Cmd(node,"ac 100"); |
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| 154 | MIKRO_Cmd(node,"dc 200"); |
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| 155 | MIKRO_Cmd(node,"por 28000"); |
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| 156 | MIKRO_Cmd(node,"i 600"); |
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| 157 | MIKRO_Cmd(node,"ano 2350"); |
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| 158 | MIKRO_Cmd(node,"ls 99"); |
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| 159 | MIKRO_Cmd(node,"hp 1"); |
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| 160 | MIKRO_Cmd(node,"hf 1"); |
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| 161 | break; |
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| 162 | case 3:// 4M Linear |
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| 163 | MIKRO_Cmd(node,"k 1"); |
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| 164 | MIKRO_Cmd(node,"ad 1000"); |
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| 165 | MIKRO_Cmd(node,"aa 2"); |
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| 166 | MIKRO_Cmd(node,"fa 1"); |
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| 167 | MIKRO_Cmd(node,"fd 3000"); |
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| 168 | MIKRO_Cmd(node,"sr 1000"); |
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| 169 | MIKRO_Cmd(node,"sp 1000"); |
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| 170 | MIKRO_Cmd(node,"ac 100"); |
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| 171 | MIKRO_Cmd(node,"dc 200"); |
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| 172 | MIKRO_Cmd(node,"por 28000"); |
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| 173 | MIKRO_Cmd(node,"i 600"); |
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| 174 | MIKRO_Cmd(node,"ano 2600"); |
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| 175 | MIKRO_Cmd(node,"ls 1"); |
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| 176 | MIKRO_Cmd(node,"hp 1"); |
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| 177 | MIKRO_Cmd(node,"hf 1"); |
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| 178 | break; |
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| 179 | case 4:// 4M Rotary |
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| 180 | MIKRO_Cmd(node,"k 1"); |
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| 181 | MIKRO_Cmd(node,"ad 100"); |
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| 182 | MIKRO_Cmd(node,"aa 1"); |
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| 183 | MIKRO_Cmd(node,"fa 1"); |
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| 184 | MIKRO_Cmd(node,"fd 3000"); |
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| 185 | MIKRO_Cmd(node,"sp 800"); |
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| 186 | MIKRO_Cmd(node,"sr 1000"); |
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| 187 | MIKRO_Cmd(node,"ac 100"); |
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| 188 | MIKRO_Cmd(node,"dc 200"); |
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| 189 | MIKRO_Cmd(node,"por 28000"); |
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| 190 | MIKRO_Cmd(node,"i 600"); |
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| 191 | MIKRO_Cmd(node,"ano 2600"); |
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| 192 | MIKRO_Cmd(node,"ls 99"); |
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| 193 | break; |
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| 194 | default: |
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| 195 | break; |
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| 196 | } |
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| 197 | MIKRO_Cmd(node,"rd 0"); |
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| 198 | MIKRO_Cmd(node,"n 2"); |
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| 199 | MIKRO_Cmd(node,"en"); |
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| 200 | if (type != 0) { |
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| 201 | MIKRO_Cmd(node,"eeboot 1"); |
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| 202 | MIKRO_Cmd(node,"eepsav 1"); |
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| 203 | Delay(0.1); |
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| 204 | } |
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| 205 | return 0; |
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| 206 | } |
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| 207 | |||
| 208 | int _VI_FUNC MIKRO_Reset (int node) { |
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| 209 | MIKRO_Cmd(node,"di"); |
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| 210 | Delay(COMDELAY); |
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| 211 | nout = sprintf (MIKRO_Send, "%1d rn\r", node); |
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| 212 | ComWrt (MIKRO_Port, MIKRO_Send, nout); |
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| 213 | |||
| 214 | SetComTime (MIKRO_Port, 20); |
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| 215 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 216 | SetComTime (MIKRO_Port, COMWAIT); |
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| 217 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 218 | if (nin!=0) nin--; |
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| 219 | MIKRO_Receive[nin]=0; |
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| 220 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 221 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 222 | if (nin!=0) nin--; |
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| 223 | MIKRO_Receive[nin]=0; |
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| 224 | MIKRO_Init(node,0); |
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| 225 | return 0; |
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| 226 | } |
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| 227 | |||
| 228 | int _VI_FUNC MIKRO_ReferenceMove (int node) { |
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| 229 | int fac=10; |
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| 230 | int n2,as; |
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| 231 | |||
| 232 | MIKRO_Cmd(node,"ab"); |
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| 233 | MIKRO_Cmd(node,"en"); |
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| 234 | MIKRO_Set(node,"ll",-1000000); |
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| 235 | MIKRO_Set(node,"ll",1000000); |
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| 236 | |||
| 237 | if (!(MIKRO_GetStat(node)&0x8000)) { |
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| 238 | MIKRO_Set(node,"v", -100*fac); |
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| 239 | do { |
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| 240 | MIKRO_GetPosition(node,&n2); |
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| 241 | MIKRO_Get(node,"as",&as); |
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| 242 | printf("Approaching N-limit node=%d pos=%d speed=%d\n",node,n2,as); |
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| 243 | } while (MIKRO_GetStat(node)&0x1 ); |
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| 244 | if (!(MIKRO_GetStat(node)&0x8000)) { |
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| 245 | printf("N-limit not reached! Trying with half speed.\n"); |
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| 246 | MIKRO_Set(node,"v", -50*fac); |
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| 247 | do { |
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| 248 | MIKRO_GetPosition(node,&n2); |
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| 249 | MIKRO_Get(node,"as",&as); |
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| 250 | printf("Approaching N-limit node=%d pos=%d speed=%d\n",node,n2,as); |
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| 251 | } while (MIKRO_GetStat(node)&0x1 ); |
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| 252 | if (!(MIKRO_GetStat(node)&0x8000)) { |
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| 253 | printf("N-limit not reached! Aborting ...\n"); |
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| 254 | MIKRO_Cmd(node,"ab"); |
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| 255 | return -1; |
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| 256 | } |
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| 257 | } |
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| 258 | } |
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| 259 | |||
| 260 | MIKRO_MoveFor(node,1000); |
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| 261 | MIKRO_Set(node,"v", -10*fac); |
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| 262 | do { |
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| 263 | MIKRO_GetPosition(node,&n2); |
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| 264 | MIKRO_Get(node,"as",&as); |
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| 265 | printf("Fine tuning 0: node=%d pos=%d speed=%d\n",node,n2, as); |
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| 266 | } while (MIKRO_GetStat(node)&0x1); |
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| 267 | if (!(MIKRO_GetStat(node)&0x8000)) { |
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| 268 | printf("N-limit not reached! Aborting ...\n"); |
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| 269 | MIKRO_Cmd(node,"ab"); |
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| 270 | return -1; |
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| 271 | } |
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| 272 | |||
| 273 | MIKRO_MoveFor(node,1000); |
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| 274 | MIKRO_Set(node,"ho",0); |
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| 275 | MIKRO_Set(node,"ll",-100); |
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| 276 | MIKRO_Set(node,"ll",500100); |
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| 277 | return 0; |
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| 278 | } |
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| 279 | |||
| 280 | int _VI_FUNC MIKRO_MoveFor (int node, int dist) { |
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| 281 | MIKRO_Set(node,"lr", dist); |
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| 282 | MIKRO_Cmd(node,"mv"); |
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| 283 | while (MIKRO_GetStat(node)&1) Delay(0.1); |
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| 284 | return 0; |
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| 285 | } |
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| 286 | |||
| 287 | int _VI_FUNC MIKRO_MoveTo (int node, int dest) { |
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| 288 | // printf("-> MIKRO_MoveTo \n"); |
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| 289 | MIKRO_Set(node,"la", dest); |
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| 290 | MIKRO_Cmd(node,"mv"); |
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| 291 | while (MIKRO_GetStat(node)&1) Delay(0.1); |
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| 292 | // printf("MIKRO_MoveTo <-\n"); |
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| 293 | return 0; |
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| 294 | } |
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| 295 | |||
| 296 | int _VI_FUNC MIKRO_GetPosition (int node, int pos[]) { |
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| 297 | MIKRO_Get(node,"pos",pos); |
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| 298 | return 0; |
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| 299 | } |
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| 300 | |||
| 301 | #ifdef MIKRO_MAIN |
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| 302 | |||
| 303 | int __stdcall WinMain (HINSTANCE hInstance, HINSTANCE hPrevInstance, |
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| 304 | LPSTR lpszCmdLine, int nCmdShow) { |
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| 305 | int i,j; |
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| 306 | int nlines,atline; |
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| 307 | int evcontrl,evpanel,p1_h,ierr,type; |
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| 308 | int rstat,n1,n2, n3, nid; |
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| 309 | int comled; |
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| 310 | int lid[16]= {P1_L1,P1_L2,P1_L3,P1_L4,P1_L5,P1_L6,P1_L7,P1_L8, |
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| 311 | P1_L9,P1_L10,P1_L11,P1_L12,P1_L13,P1_L14,P1_L15,P1_L16 |
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| 312 | }; |
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| 313 | short int ns2, port; |
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| 314 | char tline[80]; |
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| 315 | |||
| 316 | if (InitCVIRTE (hInstance, 0, 0) == 0) return -1; /* out of memory */ |
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| 317 | |||
| 133 | f9daq | 318 | #ifdef _CVI_DEBUG_ |
| 319 | p1_h = LoadPanel (0,"MIKRO_ui.uir", P1); |
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| 320 | # else |
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| 120 | f9daq | 321 | p1_h = BuildP1 (0); |
| 133 | f9daq | 322 | #endif /* _CVI_DEBUG_ */ |
| 323 | |||
| 120 | f9daq | 324 | ierr = DisplayPanel (p1_h); |
| 325 | ierr = SetActiveCtrl (p1_h,P1_B1); |
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| 326 | ierr = SetActiveCtrl (p1_h,P1_B2); |
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| 327 | ierr = SetActiveCtrl (p1_h,P1_B3); |
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| 328 | |||
| 329 | while (1) { |
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| 330 | ierr = GetUserEvent (1, &evpanel, &evcontrl); |
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| 331 | if (evcontrl == P1_B1) break; |
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| 332 | GetCtrlVal (p1_h, P1_COMLED, &comled); |
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| 333 | if (!comled) { |
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| 334 | GetCtrlVal (p1_h, P1_PORT, &port); |
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| 335 | if (MIKRO_Open (port)) continue; |
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| 336 | MIKRO_Init(1,0); |
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| 337 | MIKRO_Init(2,0); |
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| 338 | MIKRO_Init(3,0); |
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| 339 | SetCtrlVal (p1_h, P1_COMLED, 1); |
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| 340 | } |
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| 341 | switch (evcontrl) { |
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| 342 | case P1_BL: |
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| 343 | MIKRO_Set(1,"lr", -1000); |
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| 344 | MIKRO_Cmd(1,"mv"); |
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| 345 | break; |
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| 346 | case P1_BR: |
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| 347 | MIKRO_Set(1,"lr", 1000); |
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| 348 | MIKRO_Cmd(1,"mv"); |
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| 349 | break; |
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| 350 | case P1_BU: |
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| 351 | MIKRO_Set(2,"lr", 1000); |
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| 352 | MIKRO_Cmd(2,"mv"); |
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| 353 | break; |
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| 354 | case P1_BD: |
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| 355 | MIKRO_Set(2,"lr", -1000); |
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| 356 | MIKRO_Cmd(2,"mv"); |
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| 357 | break; |
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| 358 | case P1_BF: |
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| 359 | MIKRO_Set(3,"lr", 1000); |
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| 360 | MIKRO_Cmd(3,"mv"); |
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| 361 | break; |
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| 362 | case P1_BB: |
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| 363 | MIKRO_Set(3,"lr", -1000); |
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| 364 | MIKRO_Cmd(3,"mv"); |
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| 365 | break; |
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| 366 | case P1_HO: |
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| 367 | ierr = GetCtrlVal (p1_h, P1_N3, &nid); |
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| 368 | MIKRO_ReferenceMove(nid); |
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| 369 | break; |
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| 370 | case P1_GX: |
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| 371 | GetCtrlVal (p1_h, P1_XG, &n2); |
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| 372 | MIKRO_MoveTo(1,n2); |
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| 373 | break; |
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| 374 | case P1_GY: |
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| 375 | GetCtrlVal (p1_h, P1_YG, &n2); |
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| 376 | MIKRO_MoveTo(2,n2); |
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| 377 | break; |
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| 378 | case P1_GZ: |
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| 379 | GetCtrlVal (p1_h, P1_ZG, &n3); |
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| 380 | MIKRO_MoveTo(3,n3); |
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| 381 | break; |
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| 382 | case P1_G: |
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| 383 | GetCtrlVal (p1_h, P1_XG, &n2); |
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| 384 | MIKRO_MoveTo(1,n2); |
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| 385 | GetCtrlVal (p1_h, P1_YG, &n2); |
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| 386 | MIKRO_MoveTo(2,n2); |
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| 387 | GetCtrlVal (p1_h, P1_ZG, &n3); |
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| 388 | MIKRO_MoveTo(3,n3); |
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| 389 | case P1_B2: |
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| 390 | case P1_S1: |
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| 391 | ierr = GetCtrlVal (p1_h, P1_S1, MIKRO_Send); |
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| 392 | nout = strlen (MIKRO_Send); |
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| 393 | MIKRO_Send[nout++]=13; |
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| 394 | rstat = FlushInQ (MIKRO_Port); |
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| 395 | rstat = ComWrt (MIKRO_Port, MIKRO_Send, nout); |
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| 396 | if ((nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa))!=0) |
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| 397 | nin = ComRdTerm (MIKRO_Port, MIKRO_Receive, 30, 0xa); |
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| 398 | if (nin!=0) nin--; |
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| 399 | MIKRO_Receive[nin]=0; |
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| 400 | switch (nin) { |
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| 401 | case 0: |
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| 402 | ierr = SetCtrlVal (p1_h, P1_N2, 0); |
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| 403 | break; |
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| 404 | case 9: |
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| 405 | nout = sscanf (MIKRO_Receive, "%x %hx", &n1,&ns2); |
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| 406 | ierr = SetCtrlVal (p1_h, P1_N2, ns2); |
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| 407 | break; |
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| 408 | case 13: |
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| 409 | nout = sscanf (MIKRO_Receive, "%x %x", &n1,&n2); |
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| 410 | ierr = SetCtrlVal (p1_h, P1_N2, n2); |
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| 411 | break; |
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| 412 | default: |
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| 413 | break; |
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| 414 | } |
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| 415 | ierr = SetCtrlVal (p1_h, P1_N1, nin); |
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| 416 | ierr = SetCtrlVal (p1_h, P1_S2, MIKRO_Receive); |
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| 417 | break; |
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| 418 | case P1_B3: // reset |
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| 419 | ierr = GetCtrlVal (p1_h, P1_N3, &nid); |
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| 420 | ierr = GetCtrlVal (p1_h, P1_STAGETYPE, &type); |
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| 421 | MIKRO_Reset(nid); |
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| 422 | rstat = GetNumTextBoxLines (p1_h, P1_T1, &atline); |
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| 423 | rstat = InsertTextBoxLine (p1_h, P1_T1, atline, MIKRO_Receive); |
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| 424 | MIKRO_Init(nid, type); |
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| 425 | break; |
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| 426 | case P1_B4: // status |
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| 427 | ierr = GetCtrlVal (p1_h, P1_N3, &nid); |
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| 428 | n2=MIKRO_GetStat(nid); |
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| 429 | ierr = SetCtrlVal (p1_h, P1_N2, n2); |
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| 430 | ierr = SetCtrlVal (p1_h, P1_N1, nin); |
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| 431 | ierr = SetCtrlVal (p1_h, P1_S2, MIKRO_Receive); |
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| 432 | for (i=0; i<16; i++) { |
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| 433 | ierr = SetCtrlVal (p1_h, lid[i], n2 & 1); |
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| 434 | n2>>=1; |
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| 435 | } |
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| 436 | break; |
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| 437 | case P1_EN: |
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| 438 | ierr = GetCtrlVal (p1_h, P1_N3, &nid); |
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| 439 | MIKRO_Cmd(nid,"en"); |
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| 440 | break; |
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| 441 | default: |
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| 442 | break; |
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| 443 | } |
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| 444 | Delay(0.1); |
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| 445 | MIKRO_GetPosition(1,&n2); |
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| 446 | SetCtrlVal (p1_h, P1_XP, n2); |
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| 447 | MIKRO_GetPosition(2,&n2); |
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| 448 | SetCtrlVal (p1_h, P1_YP, n2); |
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| 449 | MIKRO_GetPosition(3,&n2); |
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| 450 | SetCtrlVal (p1_h, P1_ZP, n2); |
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| 451 | } |
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| 452 | |||
| 453 | GetCtrlVal (p1_h, P1_COMLED, &comled); |
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| 454 | if (comled) MIKRO_Close (); |
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| 455 | |||
| 456 | return 0; |
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| 457 | } |
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| 458 | #endif |