motid3.c -- Point to Point motion with ID, APPEND, and HOLD attributes.
/* motId3.c */
/* Copyright(c) 1991-2006 by Motion Engineering, Inc. All rights reserved.
*
* This software contains proprietary and confidential information of
* Motion Engineering Inc., and its suppliers. Except as may be set forth
* in the license agreement under which this software is supplied, use,
* disclosure, or reproduction is prohibited without the prior express
* written consent of Motion Engineering, Inc.
*/
/*
:Point to Point motion with ID, APPEND, and HOLD attributes.
The MPI supports a motion attribute that allows an application to tag
a mpiMotionStart(...) or mpiMotionModify(...) with an identification
value.
This feature is useful in tracking the commanded motions to the done
events. It is also applicable when using the AUTO_START attribute
with mpiMotionModify(...).
For example:
Suppose mpiMotionStart(...) is called with the MPIMotionAttrID attribute,
and the params.attributes.id = 1 and later mpiMotionModify(...) is called
with params.attributes.id = 2.
Case 1: MPIMotionAttrAUTO_START is not used.
if mpiMotionModify(...) returns MPIMessageOK, there will be 1 DONE event
with info->data.motion.id = 2.
if mpiMotionModify(...) returns MPIMotionMessageIDLE, there will be 1 DONE
event with info->data.motion.id = 1.
Case 2: MPIMotionAttrAUTO_START is used.
if mpiMotionModify(...) returns MPIMessageOK, there will be 1 DONE event
with info->data.motion.id = 2.
if mpiMotionModify(...) returns MPIMotionMessageAUTO_START,
there will be 2 DONE events. The first will have info->data.motion.id = 1
and the second will have info->data.motion.id = 2.
The XMP-Series controller supports some user data to be copied during Events
and then later retrieved from the Host via the Notify object.
There are MPIXmpSignalUserData words of data for the motion, axis and motor
event sources. The default configuration for the first word is the XMP's
sampleCounter. The default for the second word is "actualPosition" for axis
event sources, and "encoderPosition" for motor event sources.
In this sample, the second word for motion and axis events is configured for "id".
Note: Keeping the first word configured for the "sampleCounter" is very
helpful in determining event sequences.
Here is the default configuration for the event data:
union {
long sampleCounter;
struct {
long sampleCounter;
} motion;
struct {
long sampleCounter;
long actualPosition;
} axis;
struct {
long sampleCounter;
long encoderPosition;
} motor;
long word[MPIXmpSignalUserData];
} data;
The APPEND attribute is useful for buffering moves in the controller.
When the APPEND attribute is used with mpiMotionStart(...), a new motion
profile is added to the end of any previously loaded motion profiles in
the controller. The XMP-Series controller automatically buffers the APPENDed
MotionStarts, executing each sequentially after the Motion Done criteria has
been met for each profile. Each MotionStart profile generates a Motion Done
event to the Host.
When APPEND attribute is used with mpiMotionModify(...), the motion profile
is added to the end of any previously loaded motion profiles in the
controller. The XMP-Series controller automatically buffers the APPENDed
MotionModifies, executing each sequentially. Only the very last
MotionModify waits for the Motion Done criteria to be met before generating
a Motion Done event to the host.
The XMP-Series controller supports a motion HOLD attribute, which is useful
for preloading and triggering motion profiles. One or more motion
supervisors can be started from the same HOLD conditions. When multiple
motion supervisors are triggered by the same HOLD conditions, the individual
motion profiles will start in the same DSP sample period. The HOLD can be
set/cleared with a host function call, an XMP-Series controller internal
variable or a Motor I/O state change.
The MPIMotionAttrHold{...} structure is used to configure the HOLD conditions:
typedef struct MPIMotionAttrHold {
MPIMotionAttrHoldType type;
MPIMotionAttrHoldSource source;
float timeout;
} MPIMotionAttrHold;
The HOLD "type" can be one of the following:
MPIMotionHoldTypeGATE - host software controlled.
MPIMotionHoldTypeINPUT - XMP controller internal variable.
MPIMotionHoldTypeMOTOR - XMP controller motor I/O state change.
For each HOLD "type" the "source" union, MPIMotionAttrHoldSource{...},
configures the HOLD conditions:
MPIMotionHoldTypeGATE:
long gate - number between 0 to 31.
The motion is held until the "gate" is cleared. The function
mpiControlGateSet(...) is used to set/clear a gate. When the closed
parameter is TRUE, the gate is set, and motion is held. When the
closed parameter is FALSE, the gate is cleared, and motion starts.
MPIMotionHoldTypeINPUT
long *input - address of XMP memory location.
long mask - bit mask, bitwise ANDed with the input value.
long pattern - HOLD is released when masked value matches pattern.
The motion is held until the value of the internal XMP memory location
(pointed to by *input) bitwise ANDed with the mask matches the pattern.
MPIMotionHoldTypeMOTOR
long number - motor "n", XMP's dedicated inputs (Motor[n].IO.DedicaedIN.IO)
long mask - bit mask, bitwise ANDed with the dedicated inputs.
long pattern - HOLD is released when masked inputs matches pattern.
The motion is held until the value of the dedicated input word
(Motor[n].IO.DedicaedIN.IO) bitwise ANDed with the mask matches the
pattern.
The HOLD "timeout" will cause the motion to start after the specified period
(in seconds) even if the hold criteria have not been met. To disable the
timeout feature, set the timeout value to zero.
The MPI expects an array of hold attributes specifying separate attributes
form each axis of a motion supervisor. All axes holding with the same hold
attributes (same gate, same input, mask, and pattern) will start motion in
the same sample even if the moves are specified using different motion
supervisors.
Warning! This is a sample program to assist in the integration of an
MEI motion controller with your application. It may not contain all
of the logic and safety features that your application requires.
*/
#include <stdlib.h>
#include <stdio.h>
#include "stdmpi.h"
#include "stdmei.h"
#include "apputil.h"
#define MOTION_COUNT (2)
#define AXIS_COUNT (1)
/* Command line arguments and defaults */
long axisNumber[AXIS_COUNT] = { 0, };
long motionNumber = 0;
MPIMotionType motionType = MPIMotionTypeS_CURVE;
long gateNumber = 0;
float gateTimeout = (float)0.0;
Arg argList[] = {
{ "-axis", ArgTypeLONG, &axisNumber[0], },
{ "-motion", ArgTypeLONG, &motionNumber, },
{ "-type", ArgTypeLONG, &motionType, },
{ "-gate", ArgTypeLONG, &gateNumber, },
{ "-timeout", ArgTypeFLOAT, &gateTimeout, },
{ NULL, ArgTypeINVALID, NULL, }
};
/* Motion Parameters */
double position[MOTION_COUNT][AXIS_COUNT] = {
{ 20000.0, },
{ 0.0, },
};
MPITrajectory trajectory[MOTION_COUNT][AXIS_COUNT] = {
{ /* velocity accel decel jerkPercent */
{ 10000.0, 1000000.0, 1000000.0, 0.0, },
},
{ /* velocity accel decel jerkPercent*/
{ 10000.0, 100000.0, 100000.0, 0.0, },
},
};
MPIMotionSCurve sCurve[MOTION_COUNT] = {
{ &trajectory[0][0], &position[0][0], },
{ &trajectory[1][0], &position[1][0], },
};
MPIMotionTrapezoidal trapezoidal[MOTION_COUNT] = {
{ &trajectory[0][0], &position[0][0], },
{ &trajectory[1][0], &position[1][0], },
};
MPIMotionVelocity velocity[MOTION_COUNT] = {
{ &trajectory[0][0], },
{ &trajectory[1][0], },
};
int
main(int argc,
char *argv[])
{
MPIControl control; /* motion controller handle */
MPIAxis axis; /* axis object */
MPIMotion motion; /* motion object */
MPINotify notify; /* event notification object */
MPIEventMgr eventMgr; /* event manager handle */
MPIEventMask eventMask;
MPIEventNotifyData motionData;
MPIXmpAxis *xmpAxis;
MPIMotionParams motionParams; /* motion parameters */
MPIMotionAttributes attributes; /* motion attributes */
MPIMotionAttrHold hold; /* hold attribute configuration */
long returnValue; /* return value from library */
long index;
long moveId; /* identification tag */
long motionDone; /* flag when Done occurs */
Service service;
MPIControlType controlType;
MPIControlAddress controlAddress;
long argIndex;
/* Parse command line for Control type and address */
argIndex =
argControl(argc,
argv,
&controlType,
&controlAddress);
/* Parse command line for application-specific arguments */
while (argIndex < argc) {
long argIndexNew;
argIndexNew = argSet(argList, argIndex, argc, argv);
if (argIndexNew <= argIndex) {
argIndex = argIndexNew;
break;
}
else {
argIndex = argIndexNew;
}
}
/* Check for unknown/invalid command line arguments */
if ((argIndex < argc) ||
(axisNumber[0] > (MPIXmpMAX_Axes - AXIS_COUNT)) ||
(motionNumber >= MPIXmpMAX_MSs) ||
(motionType < MPIMotionTypeFIRST) ||
(motionType >= MPIMotionTypeLAST) ||
(gateNumber < 0) ||
(gateNumber >= MPIXmpMaxGates) ||
(gateTimeout < 0.0)) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-axis # (0 .. %d)]\n"
"\t\t[-motion # (0 .. %d)]\n"
"\t\t[-type # (0 .. %d)]\n"
"\t\t[-gate # (0 .. %d)]\n"
"\t\t[-timeout # (0.0 ..)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_Axes - AXIS_COUNT,
MPIXmpMAX_MSs - 1,
MPIMotionTypeLAST - 1,
MPIXmpMaxGates - 1);
exit(MPIMessageARG_INVALID);
}
switch (motionType) {
case MPIMotionTypeS_CURVE:
case MPIMotionTypeTRAPEZOIDAL:
case MPIMotionTypeVELOCITY: {
break;
}
default: {
mpiPlatformConsole("%s: %d: motion type not available\n",
argv[0],
motionType);
exit(MPIMessageUNSUPPORTED);
break;
}
}
/* Create motion controller object */
control =
mpiControlCreate(controlType,
&controlAddress);
msgCHECK(mpiControlValidate(control));
/* Initialize motion controller */
returnValue = mpiControlInit(control);
msgCHECK(returnValue);
/* Create axis object for axisNumber */
axis =
mpiAxisCreate(control,
axisNumber[0]);
msgCHECK(mpiAxisValidate(axis));
/* Create motion object, appending the axis object */
motion =
mpiMotionCreate(control,
motionNumber,
axis);
msgCHECK(mpiMotionValidate(motion));
/* Get current user data configuration */
mpiEventMaskCLEAR(eventMask);
returnValue =
mpiMotionEventNotifyGet(motion,
&eventMask,
&motionData);
msgCHECK(returnValue);
/* Request notification of ALL events from motion */
mpiEventMaskALL(eventMask);
mpiEventMaskALL(eventMask);
/* Request ID data from motion event info[...] */
returnValue =
mpiAxisMemory(axis, /* use ID from first axis in motion object */
(void **)&xmpAxis);
msgCHECK(returnValue);
/* Configure the second user data word for the ID */
motionData.address[1] = (void *)(&xmpAxis->MoveID);
/* Configure sampleCounter and ID to be returned from Motion event sources */
returnValue =
mpiMotionEventNotifySet(motion,
eventMask,
&motionData);
msgCHECK(returnValue);
/* Configure sampleCounter and ID to be returned from Axis event sources */
returnValue =
mpiAxisEventNotifySet(axis,
eventMask, /* use the same eventMask as motion */
&motionData); /* use the same data as motion */
msgCHECK(returnValue);
/* Create event notification object for motion */
notify =
mpiNotifyCreate(eventMask,
motion);
msgCHECK(mpiNotifyValidate(notify));
/* Create event manager object */
eventMgr = mpiEventMgrCreate(control);
msgCHECK(mpiEventMgrValidate(eventMgr));
/* Add notify to event manager's list */
returnValue =
mpiEventMgrNotifyAppend(eventMgr,
notify);
msgCHECK(returnValue);
/* Create service thread */
service =
serviceCreate(eventMgr,
-1, /* default (max) priority */
-1); /* -1 => enable interrupts */
mpiAssert(service != NULL);
/* Configure Motion Attributes */
hold.type = MPIMotionAttrHoldTypeGATE; /* software motion Gate control */
hold.source.gate = gateNumber;
hold.timeout = gateTimeout;
attributes.hold = &hold;
motionParams.external = &attributes;
printf("Press any key to stop ...\n");
/* Loop repeatedly */
index = 0;
moveId = 0;
motionDone = TRUE;
while (mpiPlatformKey(MPIWaitPOLL) <= 0) {
MPIEventStatus eventStatus;
MPIEventStatusInfo *info;
if (motionDone) {
/* Set a control gate to prevent motion profile from executing */
returnValue =
mpiControlGateSet(control,
gateNumber,
TRUE); /* set gate */
msgCHECK(returnValue);
for (index = 0; index < MOTION_COUNT; index++) {
/* fill in the MPIMotionParams structure */
switch (motionType) {
case MPIMotionTypeS_CURVE: {
motionParams.sCurve = sCurve[index];
break;
}
case MPIMotionTypeTRAPEZOIDAL: {
motionParams.trapezoidal = trapezoidal[index];
break;
}
case MPIMotionTypeVELOCITY: {
motionParams.velocity = velocity[index];
break;
}
default: {
mpiAssert(FALSE);
break;
}
}
motionParams.attributes.id = moveId; /* identification tag */
returnValue =
mpiMotionStart(motion,
(MPIMotionType)(motionType |
MPIMotionAttrMaskID |
MPIMotionAttrMaskAPPEND |
MPIMotionAttrMaskHOLD),
&motionParams);
msgCHECK(returnValue);
printf("\nMotion Start #%d...\n", moveId);
moveId++;
}
/* Clear a control gate, executing the preloaded motion */
returnValue =
mpiControlGateSet(control,
gateNumber,
FALSE); /* clear the gate */
msgCHECK(returnValue);
index = 0;
motionDone = FALSE;
}
/* Wait for motion event */
returnValue =
mpiNotifyEventWait(notify,
&eventStatus,
MPIWaitFOREVER);
msgCHECK(returnValue);
info = (MPIEventStatusInfo *)eventStatus.info;
switch (eventStatus.type) {
/* In Coarse Event from axis source */
case MPIEventTypeIN_POSITION_COARSE: {
printf(" InCoarse #%ld(%ld)",
info->data.word[1], /* user configurable data */
info->data.axis.sampleCounter);
break;
}
/* In Fine Event from axis source */
case MPIEventTypeIN_POSITION_FINE: {
printf(" InFine #%ld(%ld)",
info->data.word[1], /* user configurable data */
info->data.axis.sampleCounter);
break;
}
/* In Fine Event from axis source */
case MPIEventTypeAT_TARGET: {
printf(" AtTarget #%ld(%ld)",
info->data.word[1], /* user configurable data */
info->data.axis.sampleCounter);
break;
}
/* Motion Done Event from motion source */
case MPIEventTypeMOTION_DONE: {
printf(" Done #%ld(%ld)\n",
info->data.word[1],
info->data.motion.sampleCounter);
if (++index >= MOTION_COUNT) {
index = 0;
motionDone = TRUE;
}
break;
}
default: {
printf(" %d #%ld(%ld)",
eventStatus.type,
info->data.word[1],
info->data.word[0]);
break;
}
}
}
printf("\n");
returnValue = mpiMotionDelete(motion);
msgCHECK(returnValue);
returnValue = mpiAxisDelete(axis);
msgCHECK(returnValue);
returnValue = serviceDelete(service);
msgCHECK(returnValue);
returnValue = mpiEventMgrDelete(eventMgr);
msgCHECK(returnValue);
returnValue = mpiNotifyDelete(notify);
msgCHECK(returnValue);
returnValue = mpiControlDelete(control);
msgCHECK(returnValue);
return ((int)returnValue);
}
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