UsrLim3.c -- Position comparison using User Limits to generate events
and outputs.
/* UsrLim3.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.
*/
/*
:Position comparison using User Limits to generate events and outputs.
This sample code shows how to configure the XMP controller's User Limits
to compare an axis' actual position to a specific position value. If the
actual position is greater than or equal to the value specified, then
the controller will generate a User Event to the Host. Additionally,
a Motor I/O bit is configured for an output. When the User Limit triggers
an event, an output bit will be set or cleared.
The function CompareLimitSet(...) demonstrates how to configure a
User Limit for position compare. There are two positions compared,
"positionEnable" and "positionDisable" which specify the range in which
the output is written. The output bit is specified in the "outputMask"
and the state is specified by "enableOutput".
Note, each User Limit configuration can only apply a single output AND and
OR mask. Thus, to set an output requires a User Limit, and to clear
an output requires another User Limit. Be careful not to configure the
position compare values that would cause more than one User Limit to write
to the output simultaneously.
The XMP-Series controller "User Limit" feature allows the user to program a
the result of two logical condition to generate an event to the host. Also,
a "User Limit" can be configured to write an "output" to any XMP memory
location, using an AND mask and OR mask.
Here is the "User Limit" block structure:
typedef struct {
MPIXmpLimitType Type;
void *SourceAddress;
long Mask;
MPIXmpGenericValue LimitValue;
} MPIXmpLimitCondition;
typedef struct {
long AndMask;
long OrMask;
long *OutputPtr;
long Enabled;
} MPIXmpLimitOutput;
typedef struct {
MPIXmpLimitCondition Condition[MPIXmpLimitConditions];
MPIXmpStatus Status;
MPIXmpLogic Logic;
MPIXmpLimitOutput Output;
long Count;
long State;
} MPIXmpLimitData;
MPIXmpLimitTypes are the operators that are used for the User Limit's
Condition[0] and Condition[1]. They are found in xmp.h.
*SourceAddress is a pointer to an XMP memory location.
Mask is ANDed with the value located at the *SourceAddress.
LimitValue is compared with the masked value located at *SourceAddress,
using the Type operator.
Status defines the status bit used to generate an event to the host.
MPIXmpLogic is the logic applied between the two condition block outputs,
Condition[0] and Condition[1]:
MPIXmpLogicNEVER
Does NOT evaluate Condition[0], Condition[1]. No event is generated.
MPIXmpLogicSINGLE
Only evaluates Condition[0]. Event is generated if Condition[0] is TRUE.
MPIXmpLogicOR
Evaluates Condition[0], Condition[1]. Event is generated if (Condition[0]
OR Condition[1]) = TRUE.
MPIXmpLogicAND
Evaluates Condition[0], Condition[1]. Event is generated if (Condition[0]
AND Condition[1]) = TRUE.
The other MPIXmpLogic enums in xmp.h are for internal use only.
*OutputPtr is a pointer to an XMP memory location.
AndMask is ANDed, and OrMask is ORed with the value located at
*OutputPtr when the resultant MPIXmpLogic applied Condition[0] and
Condition[1] are TRUE.
Count and State are for internal use only. Do not write these values.
The MPI method, mpiMotorEventConfigSet(...) will not write these values.
The XMP supports up to 16 User Limits per motor. The User Limit processing
occurs in the firmware background task. For maximum efficiency, the XMP only
processes the User Limits (in order 0, 1, 2, etc.), up to the largest User
Limit number that has (motorEventConfig.Logic ! = MPIXmpLogicNEVER).
For example:
If UserLimit 0 (motor 0) is configured for MPIXmpLogicSINGLE, then the XMP will
only process the first UserLimit for each motor.
If UserLimit 3 (motor 0) is configured for MPIXmpLogicSINGLE, then the XMP will
process UserLimits number 0, 1, 2, and 3 for each motor.
It's best to use the lower numbered UserLimits for maximum efficiency. When
finished using UserLimits, it's a good idea to set the Logic to
MPIXmpLogicNEVER.
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)
/* Motor I/O Configurations */
#define OUTPUT_BIT (MPIMotorGeneralIo0) /* index to bit #0 */
#define OUTPUT_MASK (0x1) /* mask for bit #0 */
/* Compare positions to enable/disable output */
long comparePosition[] = {
1000, /* enable */
2000, /* disable */
5000,
6000,
10000,
11000,
15000,
16000 /* disable */
};
/* User Limits for compare positions */
MPIEventType eventType[] = {
MPIEventTypeLIMIT_USER0,
MPIEventTypeLIMIT_USER1,
MPIEventTypeLIMIT_USER2,
MPIEventTypeLIMIT_USER3,
MPIEventTypeLIMIT_USER4,
MPIEventTypeLIMIT_USER5,
MPIEventTypeLIMIT_USER6
};
#define LIMIT_COUNT (sizeof(eventType) / sizeof(long))
/* Command line arguments and defaults */
long axisNumber = 0;
long motionNumber = 0;
long motorNumber = 0;
MPIMotionType motionType = MPIMotionTypeS_CURVE;
Arg argList[] = {
{ "-axis", ArgTypeLONG, &axisNumber, },
{ "-motion", ArgTypeLONG, &motionNumber, },
{ "-motor", ArgTypeLONG, &motorNumber, },
{ "-type", ArgTypeLONG, &motionType, },
{ NULL, ArgTypeINVALID, NULL, }
};
double position[MOTION_COUNT] = {
25000.0,
0.0,
};
MPITrajectory trajectory[MOTION_COUNT] = {
/* velocity accel decel jerkPercent */
{ 1000.0, 1000000.0, 1000000.0, 0.0, },
{ 10000.0, 100000.0, 100000.0, 0.0, },
};
/* Motion Parameters */
MPIMotionSCurve sCurve[MOTION_COUNT] = {
{ &trajectory[0], &position[0], },
{ &trajectory[1], &position[1], },
};
MPIMotionTrapezoidal trapezoidal[MOTION_COUNT] = {
{ &trajectory[0], &position[0], },
{ &trajectory[1], &position[1], },
};
MPIMotionVelocity velocity[MOTION_COUNT] = {
{ &trajectory[0], },
{ &trajectory[1], },
};
/* Function Prototypes */
long CompareLimitSet(MPIAxis axis,
MPIMotor motor,
long positionEnable,
long positionDisable,
long outputMask,
long enableOutput,
MPIEventType eventType);
int
main(int argc,
char *argv[])
{
MPIControl control; /* motion controller handle */
MPIAxis axis; /* axis object */
MPIMotion motion; /* motion object */
MPIMotor motor; /* motor object */
MPINotify notify; /* event notification object */
MPIEventMgr eventMgr; /* event manager handle */
MPIEventMask eventMask;
MPIMotorConfig motorConfigXmp; /* XMP motor I/O configuration */
long returnValue; /* return value from library */
long index;
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 >= MPIXmpMAX_Axes) ||
(motionNumber >= MPIXmpMAX_MSs) ||
(motorNumber >= MPIXmpMAX_Motors) ||
(motionType < MPIMotionTypeFIRST) ||
(motionType >= MPIMotionTypeLAST)) {
mpiPlatformConsole("usage: %s %s\n"
"\t\t[-axis # (0 .. %d)]\n"
"\t\t[-motion # (0 .. %d)]\n"
"\t\t[-motor # (0 .. %d)]\n"
"\t\t[-type # (0 .. %d)]\n",
argv[0],
ArgUSAGE,
MPIXmpMAX_Axes - 1,
MPIXmpMAX_MSs - 1,
MPIXmpMAX_Motors - 1,
MPIMotionTypeLAST - 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);
msgCHECK(mpiAxisValidate(axis));
/* Create motor object for motorNumber */
motor =
mpiMotorCreate(control,
motorNumber);
msgCHECK(mpiMotorValidate(motor));
/* Create motion object, appending the axis object */
motion =
mpiMotionCreate(control,
motionNumber,
axis);
msgCHECK(mpiMotionValidate(motion));
/* Request notification of ALL events from motion */
mpiEventMaskCLEAR(eventMask);
mpiEventMaskALL(eventMask);
mpiEventMaskALL(eventMask);
returnValue =
mpiMotionEventNotifySet(motion,
eventMask,
NULL);
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 the specified OUTPUT_BIT */
returnValue =
mpiMotorConfigGet(motor,
NULL,
&motorConfigXmp);
msgCHECK(returnValue);
motorConfigXmp.Io[OUTPUT_BIT].Type = MPIMotorIoTypeOUTPUT;
returnValue =
mpiMotorConfigSet(motor,
NULL,
&motorConfigXmp);
msgCHECK(returnValue);
/* Configure the Position Compares, using User Limits */
for (index = 0; index < (long)LIMIT_COUNT; index++) {
long enableOutput = ((index % 2) ? FALSE:TRUE);
printf("\nEn:%d", enableOutput);
returnValue =
CompareLimitSet(axis,
motor,
comparePosition[index],
comparePosition[index + 1],
OUTPUT_MASK,
enableOutput,
eventType[index]);
msgCHECK(returnValue);
}
printf("Press any key to exit ...\n");
/* Loop repeatedly */
index = 0;
motionDone = TRUE;
while (mpiPlatformKey(MPIWaitPOLL) <= 0) {
MPIEventStatus eventStatus;
MPIEventStatusInfo *info;
if (motionDone) {
MPIMotionParams motionParams; /* motion parameters */
/* 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;
}
}
printf("\n\nMotion Start...");
/* Start Motion */
returnValue =
mpiMotionStart(motion,
motionType,
&motionParams);
msgCHECK(returnValue);
motionDone = FALSE;
}
/* Wait for events */
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("\nInCoarse (%ld)",
info->data.axis.sampleCounter);
break;
}
/* In Fine Event from axis source */
case MPIEventTypeIN_POSITION_FINE: {
printf("\nInFine (%ld)",
info->data.axis.sampleCounter);
break;
}
/* In Fine Event from axis source */
case MPIEventTypeAT_TARGET: {
printf("\nAtTarget (%ld)",
info->data.axis.sampleCounter);
break;
}
/* Motion Done Event from motion source */
case MPIEventTypeMOTION_DONE: {
printf("\nDone (%ld)",
info->data.motion.sampleCounter);
motionDone = TRUE;
if (++index >= MOTION_COUNT) {
index = 0;
}
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER0: {
printf("\nUser Limit #0, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER1: {
printf("\nUser Limit #1, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER2: {
printf("\nUser Limit #2, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER3: {
printf("\nUser Limit #3, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER4: {
printf("\nUser Limit #4, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER5: {
printf("\nUser Limit #5, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER6: {
printf("\nUser Limit #6, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
/* User Limit Event from motor source */
case MPIEventTypeLIMIT_USER7: {
printf("\nUser Limit #7, type %d source 0x%x info 0x%x",
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
default: {
printf("mpiNotifyEventWait() returns 0x%x\n"
"\teventStatus: type %d source 0x%x info 0x%x\n",
returnValue,
eventStatus.type,
eventStatus.source,
eventStatus.info[0]);
break;
}
}
}
printf("\n");
/* Delete objects */
returnValue = mpiMotorDelete(motor);
msgCHECK(returnValue);
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);
}
long CompareLimitSet(MPIAxis axis,
MPIMotor motor,
long positionEnable,
long positionDisable,
long outputMask,
long enableOutput,
MPIEventType eventType)
{
MPIControl control;
MPIXmpAxis *xmpAxis;
MPIXmpData *firmware;
MPIMotorLimitConfig motorEventConfig;
MPIXmpStatus status;
long motorIndex;
long returnValue;
MPIEventMask resetMask;
/* Determine motor number */
returnValue =
mpiMotorNumber(motor,
&motorIndex);
/* Determine control handle */
if(returnValue == MPIMessageOK) {
control = mpiMotorControl(motor);
returnValue = mpiControlValidate(control);
}
/* Get pointer to XMP firmware */
if(returnValue == MPIMessageOK) {
returnValue =
mpiControlMemory(control,
(void **)&firmware,
NULL);
}
if (returnValue == MPIMessageOK) {
returnValue =
mpiAxisMemory(axis,
(void *)&xmpAxis);
}
mpiEventMaskCLEAR(resetMask);
if (returnValue == MPIMessageOK) {
switch (eventType) {
case MPIEventTypeLIMIT_USER0: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER0);
break;
}
case MPIEventTypeLIMIT_USER1: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER1);
break;
}
case MPIEventTypeLIMIT_USER2: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER2);
break;
}
case MPIEventTypeLIMIT_USER3: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER3);
break;
}
case MPIEventTypeLIMIT_USER4: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER4);
break;
}
case MPIEventTypeLIMIT_USER5: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER5);
break;
}
case MPIEventTypeLIMIT_USER6: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER6);
break;
}
case MPIEventTypeLIMIT_USER7: {
status = MPIXmpStatusLIMIT;
mpiEventMaskSET(resetMask, MPIEventTypeLIMIT_USER7);
break;
}
default:
printf("\nError, invalid event type\n");
break;
}
returnValue =
mpiMotorEventConfigGet(motor,
(MPIEventType)eventType,
NULL,
&motorEventConfig);
}
if (returnValue == MPIMessageOK) {
/* Write to Output between positionEnable and positionDisable */
if (positionDisable > positionEnable ) {
motorEventConfig.Condition[0].Type = MPIXmpLimitTypeGE;
motorEventConfig.Condition[1].Type = MPIXmpLimitTypeLT;
}
/* Write to Output between positionDisable and positionEnable */
if (positionDisable <= positionEnable ) {
motorEventConfig.Condition[0].Type = MPIXmpLimitTypeLT;
motorEventConfig.Condition[1].Type = MPIXmpLimitTypeGE;
}
if (enableOutput) {
/* Enable output */
motorEventConfig.Output.AndMask = 0xFFFFFFFF;
motorEventConfig.Output.OrMask = outputMask;
}
else {
/* Disable Output */
motorEventConfig.Output.AndMask = (~outputMask);
motorEventConfig.Output.OrMask = 0x0;
}
/* Set up the Condition[0] block. */
motorEventConfig.Condition[0].SourceAddress = &(xmpAxis->ActPosition);
motorEventConfig.Condition[0].Mask = 0xffffffff;
motorEventConfig.Condition[0].LimitValue.g32.l = positionEnable;
/* Set up the Condition[1] block. */
motorEventConfig.Condition[1].SourceAddress = &(xmpAxis->ActPosition);
motorEventConfig.Condition[1].Mask = 0xffffffff;
motorEventConfig.Condition[1].LimitValue.g32.l = positionDisable;
motorEventConfig.Status = status;
/* Determine logic result from Condition[0] AND Condition[1] */
motorEventConfig.Logic = MPIXmpLogicAND;
motorEventConfig.Output.OutputPtr =
&firmware->Motor[motorIndex].IO.MotorOutput; /* General purpose motor output address */
motorEventConfig.Output.Enabled = TRUE;
returnValue =
mpiMotorEventConfigSet(motor,
(MPIEventType)eventType,
NULL,
&motorEventConfig);
}
/* Reset event in case conditions have already been satisfied */
if (returnValue == MPIMessageOK) {
returnValue =
mpiMotorEventReset(motor,
resetMask);
}
return returnValue;
}
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