WebSVN – f9daq – Diff – /cvi/instr/ThorlabsLTS/ThorlabsLTS.c

 #include <stdbool.h>
 #include <windows.h>
 #include <userint.h>
 #include <utility.h>
 #include "ThorlabsLTS_ui.h"
 #include "ThorlabsMotionControlIntegratedStepperMotors.h"
+#include "ThorlabsLTS.h"
-void LTS_waitMove(int i, int timeout);
-void LTS_waitHome(int i, int timeout);
 char serialNumbers[][9] = {"45388004", "45387934","45388034"};
 // Set number of microsteps, found in APT communications protocol. Should be changed to 136533 if using K10CR1
 int StepsPerMm = 409600;
-double SingleMove=1; // in mm
 int LTSTimerOut=0;
-int p1_h;
+int pth=0,tctrl;
 int CVICALLBACK LTS_Timeout (int panel, int control, int event,
                              void *callbackData, int eventData1, int eventData2) {
   switch (event) {
     case EVENT_TIMER_TICK:
       LTSTimerOut = 1;
       printf("LTS timeout\n");
       break;
   }
   return 0;
+}
 /*
 void LTS_Timerast (int signumber) {
   LTSTimerOut = 1;
   printf("TIMEOUT !!!\n");
   SetCtrlAttribute (p1_h, P1_TIMEOUT, ATTR_ENABLED, 0);
+}
 */
+// tout in ms
 void LTS_Tmlnk (int tout) {
+  if (!pth) {
+          pth = NewPanel (0, "Timeout pannel", 0, 0, 200, 200);
+          tctrl = NewCtrl (pth, CTRL_TIMER, "Timeout", 0, 0);
+          SetCtrlAttribute (pth, tctrl, ATTR_CALLBACK_FUNCTION_POINTER, LTS_Timeout);
+      SetCtrlAttribute (pth, tctrl, ATTR_ENABLED, 0);
+          SetCtrlAttribute (pth, tctrl, ATTR_CTRL_MODE, VAL_INDICATOR);
+//        SetActiveCtrl (pth, tctrl);
+  }
   LTSTimerOut = 0;
-  SetCtrlAttribute (p1_h, P1_TIMEOUT, ATTR_INTERVAL, (float)tout/1000.);
+  SetCtrlAttribute (pth, tctrl, ATTR_INTERVAL, (double)tout/1000.);
-  SetCtrlAttribute (p1_h, P1_TIMEOUT, ATTR_ENABLED, 1);
+  SetCtrlAttribute (pth, tctrl, ATTR_ENABLED, 1);
-}
-void LTS_Tmulk ( void ) {
-  SetCtrlAttribute (p1_h, P1_TIMEOUT, ATTR_ENABLED, 0);
-  LTSTimerOut = 0;
+}
-void LTS_Home(int i,int wait){
+void LTS_Tmulk ( void ) {
-//Set up homing parameters.
-                MOT_HomingParameters homingParams;
-                ISC_GetHomingParamsBlock(serialNumbers[i], &homingParams);
+  SetCtrlAttribute (pth, tctrl, ATTR_ENABLED, 0);
-                homingParams.direction = MOT_Reverse;
+  LTSTimerOut = 0;
-                ISC_SetHomingParamsBlock(serialNumbers[i], &homingParams);
+}
+//Waits should only be used for Home commands. The home command has a different status return.
-                //Clear existing messages in the hardware buffer.
+void LTS_waitHome(int i, int tout)// Waits until a single axis is homed.
+{
+        WORD messageType=0;
+        WORD messageId=0;
+        DWORD messageData=0;
+        int condition=0;
+        LTS_Tmlnk (tout);
+        do {
-                ISC_ClearMessageQueue(serialNumbers[i]);
+                while (!ISC_MessageQueueSize(serialNumbers[i])){
+                  Sleep(250);
+                  ProcessSystemEvents();
+                  if (LTSTimerOut) break;
+                }
+                if (LTSTimerOut){
+                        printf( "Timeout in axis [%d] pos: %f messageType %d, messageId %d\n",i,LTS_GetPosition(i), messageType, messageId);
+                        break;
+                }
+                ISC_GetNextMessage(serialNumbers[i], &messageType, &messageId, &messageData);
+                printf( "axis [%d] pos: %f messageType %d, messageId %d\n",i,LTS_GetPosition(i), messageType, messageId);
+                condition = (messageType == 2) && (messageId == 0);
+        } while (!condition);
+        LTS_Tmulk();
+}
-                //Home the stage and wait for the return message before continuing.
+void LTS_waitMove(int i, int tout)// Waits until axis is stopped.
+{
+        WORD  messageType=0;
+        WORD  messageId=0;
+        DWORD messageData=0;
+        int condition=0;
+        LTS_Tmlnk (tout);
+        do {
-                ISC_Home(serialNumbers[i]);
+                while (!ISC_MessageQueueSize(serialNumbers[i])){
+                  Sleep(250);
-                printf( "Start Homing...\n");
+                  ProcessSystemEvents();
-                if (wait) LTS_waitHome(i, wait);
+                  if (LTSTimerOut) break;
+                }
-                // printf( "Homed...\n");
+                if (LTSTimerOut){
+                        printf( "Timeout in axis [%d] pos: %f messageType %d, messageId %d\n",i,LTS_GetPosition(i), messageType, messageId);
+                        break;
+                }
+                ISC_GetNextMessage(serialNumbers[i], &messageType, &messageId, &messageData);
+//              printf( "axis [%d] pos: %f messageType %d, messageId %d\n",i,LTS_GetPosition(i), messageType, messageId);
+                condition = (messageType == 2) && (messageId == 1);
+} while (!condition);
+        LTS_Tmulk();
+}
 int LTS_Init(int i){
   int errorReturn = ISC_Open(serialNumbers[i]);
   */
   Sleep(1000);
   if (errorReturn == 0){
           printf( "Device %d (serial %s) Connected... \n",i, serialNumbers[i]);
           //Settings are loaded based on Stage Name. The integrated stepper class holds LTS and K10CR1 Information.
           ISC_SetLEDswitches(serialNumbers[i], 0); // disable LED
+          Sleep(100);
           ISC_StartPolling(serialNumbers[i], 50);
           Sleep(1000);
   } else {
           printf( "Error connecting device %d (%s)\n",i, serialNumbers[i] );
+  }
   return errorReturn;
+}
+int LTS_Open(){
+  TLI_BuildDeviceList();
+  TLI_DeviceInfo info;
+  int err=0;
+  for (int i=0;i<3;i++){
+        TLI_GetDeviceInfo(serialNumbers[i], &info);
+        Sleep(100);
+        err = LTS_Init(i);
+        printf("%s err=%x\n", info.description, err);
+        if (err) return err;
+  }
+  return 0;
+}
 void LTS_Close(int i){
 //Close the stage
         ISC_StopPolling(serialNumbers[i]);
         ISC_Close(serialNumbers[i]);
         printf( "Device Disconnected...\n");
 }
+// wait in ms
+void LTS_Home(int i,int wait){
+//Set up homing parameters.
+                MOT_HomingParameters homingParams;
+                ISC_GetHomingParamsBlock(serialNumbers[i], &homingParams);
+                homingParams.direction = MOT_Reverse;
+                ISC_SetHomingParamsBlock(serialNumbers[i], &homingParams);
+                //Clear existing messages in the hardware buffer.
+                ISC_ClearMessageQueue(serialNumbers[i]);
+                //Home the stage and wait for the return message before continuing.
+                ISC_Home(serialNumbers[i]);
+                printf( "Start Homing...\n");
+                if (wait) LTS_waitHome(i, wait);
+                printf( "Homed...\n");
+}
 void LTS_StopProfiled(int i){
   ISC_StopProfiled(serialNumbers[i]);
+}
 void LTS_MoveAbsolute(int i, double position, int wait){
         ISC_SetMoveAbsolutePosition(serialNumbers[i], (position*StepsPerMm));
     ISC_MoveAbsolute(serialNumbers[i]);
+        //Clear existing messages in the hardware buffer.
+        ISC_ClearMessageQueue(serialNumbers[i]);
         if (wait) LTS_waitMove(i, wait);
+}
 void LTS_MoveRelative(int i, double distance, int wait){
         ISC_SetMoveRelativeDistance(serialNumbers[i], (distance*StepsPerMm));
     ISC_MoveRelativeDistance(serialNumbers[i]);
+        //Clear existing messages in the hardware buffer.
+        ISC_ClearMessageQueue(serialNumbers[i]);
         if (wait) LTS_waitMove(i, wait);
+}
 double LTS_GetPosition(int i){
   double real_unit = 1.0*device_unit / StepsPerMm;
   //const int unitType = 0 ;// 0 .. distance , 1 .. velocity, 2 .. acceleration
   // does not work int err = ISC_GetRealValueFromDeviceUnit(serialNumbers[i], device_unit,&real_unit, unitType);
   // printf("err = 0x%x pos %d %f\n", err ,device_unit, real_unit);
   return real_unit;
 }
 unsigned int LTS_GetStatus(int i){
   return ISC_GetStatusBits(serialNumbers[i]);
+}
 int LTS_Disable(int i){
   return ISC_DisableChannel(serialNumbers[i]);
+}
 int LTS_GetNumberPositions(int i){
   return ISC_GetNumberPositions(serialNumbers[i]);
 }
-int LTS_Open(){
-  TLI_BuildDeviceList();
-  TLI_DeviceInfo info;
-  int err=0;
-  for (int i=0;i<3;i++){
-        TLI_GetDeviceInfo(serialNumbers[i], &info);
-        Sleep(100);
-        err = LTS_Init(i);
-        printf("%s err=%x\n", info.description, err);
-        if (err) return err;
-  }
-  return 0;
-}
 void LTS_RegisterMessageCallback(int i, void (* functionPointer)()){
   ISC_RegisterMessageCallback(serialNumbers[i], functionPointer );
 }
 void LTS_GetRealValueFromDeviceUnit(int i, int device_unit, double *real_unit, int unitType){
   ISC_GetRealValueFromDeviceUnit(serialNumbers[i], device_unit, real_unit, unitType);
 }
 void LTS_GetDeviceUnitFromRealValue(int i, double real_unit, int *device_unit, int unitType){
   ISC_GetDeviceUnitFromRealValue(serialNumbers[i], real_unit, device_unit, unitType);
+}
-//Waits should only be used for Home commands. The home command has a different status return.
-void LTS_waitHome(int i, int tout)// Waits until a single axis is homed.
-{
-        WORD messageType=0;
-        WORD messageId=0;
-        DWORD messageData=0;
-        int condition=0;
-        LTS_Tmlnk (tout);
-        do {
-                while (!ISC_MessageQueueSize(serialNumbers[i])){
-                  Sleep(250);
-                  if (LTSTimerOut) break;
-                }
-                if (LTSTimerOut){
-                        printf( "Timeout in axis [%d] pos: %f messageType %d, messageId %d\n",i,LTS_GetPosition(i), messageType, messageId);
-                        break;
-                }
-                ISC_GetNextMessage(serialNumbers[i], &messageType, &messageId, &messageData);
-                condition = (messageType == 2) && (messageId == 0);
-        } while (!condition || !LTSTimerOut);
-        LTS_Tmulk();
-}
-void LTS_waitMove(int i, int tout)// Waits until axis is stopped.
-{
-        WORD  messageType=0;
-        WORD  messageId=0;
-        DWORD messageData=0;
-        int condition=0;
-        LTS_Tmlnk (tout);
-        do {
-                while (!ISC_MessageQueueSize(serialNumbers[i])){
-                  Sleep(250);
-                  if (LTSTimerOut) break;
-                }
-                if (LTSTimerOut){
-                        printf( "Timeout in axis [%d] pos: %f messageType %d, messageId %d\n",i,LTS_GetPosition(i), messageType, messageId);
-                        break;
-                }
-                ISC_GetNextMessage(serialNumbers[i], &messageType, &messageId, &messageData);
-                condition = (messageType == 2) && (messageId == 1);
-        } while (!condition);
-        LTS_Tmulk();
-}
 //*******************************************************************
 #ifdef LTS_MAIN
+int p1_h;
 int rID, tfID;
 #define MAX_THREADS 10
 static CmtThreadPoolHandle poolHandle = 0;
 int lid[][14]= {
   int evcontrl,evpanel,ierr;
   double n2;
   int comled;
   int enabled=0;
+  double SingleMove=1; // in mm
   SetSleepPolicy(VAL_SLEEP_MORE);
   CmtNewThreadPool (MAX_THREADS,  &poolHandle);
   SetStdioPort (CVI_STDIO_WINDOW);
-  if (InitCVIRTE (hInstance, 0, 0) == 0) return -1; /* out of memory */
+  if (InitCVIRTE (hInstance, 0, 0) == 0) return -1; // out of memory
   p1_h = LoadPanel (0,"ThorlabsLTS_ui.uir", P1);
   //p1_h = BuildP1 (0);
   ierr = DisplayPanel (p1_h);
   ierr = SetActiveCtrl (p1_h,P1_B1);
         break;
       case P1_BB:
         LTS_MoveRelative(2,-SingleMove, 0);
         break;
       case P1_HO:
-        LTS_Home(0,0);
+        LTS_Home(0,180000);
         break;
           case P1_HO_2:
-        LTS_Home(1,0);
+        LTS_Home(1,180000);
         break;
           case P1_HO_3:
-        LTS_Home(2,0);
+        LTS_Home(2,180000);
         break;
       case P1_GX:
         GetCtrlVal (p1_h, P1_XG, &n2);
-                LTS_MoveAbsolute(0,n2,0);
+                LTS_MoveAbsolute(0,n2,15000);
         break;
       case P1_GY:
         GetCtrlVal (p1_h, P1_YG, &n2);
-        LTS_MoveAbsolute(1,n2,0);
+        LTS_MoveAbsolute(1,n2,15000);
         break;
       case P1_GZ:
         GetCtrlVal (p1_h, P1_ZG, &n2);
-        LTS_MoveAbsolute(2,n2,0);
+        LTS_MoveAbsolute(2,n2,15000);
         break;
       case P1_G:
         GetCtrlVal (p1_h, P1_XG, &n2);
-        LTS_MoveAbsolute(0,n2,0);
+        LTS_MoveAbsolute(0,n2,15000);
         GetCtrlVal (p1_h, P1_YG, &n2);
-        LTS_MoveAbsolute(1,n2,0);
+        LTS_MoveAbsolute(1,n2,15000);
         GetCtrlVal (p1_h, P1_ZG, &n2);
-        LTS_MoveAbsolute(2,n2,0);
+        LTS_MoveAbsolute(2,n2,15000);
                 break;
       case P1_B3: // reset
       case P1_B3_2: // reset
           case P1_B3_3: // reset
                 printf("RST Not yet implemented\n");
 #else
 // *************************************
+/*
 int main(int argc, char ** argv)
+{
         //Sets up simulations. Comment in if running on physical hardware.
         //TLI_InitializeSimulations();
                 //Move the stage and wait for the return message before continuing.
                 for (int k=0;k<10;k++){
                   LTS_MoveAbsolute(i,k);
                   printf( "Moving ...\n");
-                  waitMove(i);
+                  LTS_waitMove(i);
                   printf( "Move Complete...\n");
+                }
         }
         for (int i=0;i<3;i++){
            LTS_Close(i);
+        }
         //Closes simulations. Comment if running on physical hardware.
         //TLI_UninitializeSimulations();
         Delay(10);
         return 0;
+}
+*/
 #endif

Subversion Repositories f9daq

(root)/cvi/instr/ThorlabsLTS/ThorlabsLTS.c – Rev 365 → 368