sw/app/rocon/appl_cmds.c

   1 /*******************************************************************
   2   Motion and Robotic System (MARS) aplication components
   3
   4   appl_cmds.c - application specific commands - mainly global
   5                 PXMC state manipulation for RoCoN
   6
   7   Copyright (C) 2001-2014 by Pavel Pisa - originator
   8                           pisa@cmp.felk.cvut.cz
   9             (C) 2001-2014 by PiKRON Ltd. - originator
  10                     http://www.pikron.com
  11
  12   This file can be used and copied according to next
  13   license alternatives
  14    - GPL - GNU Public License
  15    - other license provided by project originators
  16
  17  *******************************************************************/
  18
  19 #include <cpu_def.h>
  20 #include <system_def.h>
  21 #include <stdlib.h>
  22 #include <pxmc.h>
  23 #include <pxmc_coordmv.h>
  24 #include <cmd_proc.h>
  25 #include <pxmc_cmds.h>
  26 #include <utils.h>
  27
  28 #include "appl_defs.h"
  29
  30 int sqrtll_main(int argc, char *argv[]);
  31 int cmd_do_stop_all(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]);
  32 int cmd_do_release_all(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]);
  33 int cmd_do_status_bsybits(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]);
  34 int cmd_do_axst_all(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]);
  35 int cmd_do_cer_all(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]);
  36 int cmd_do_clr_all(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]);
  37
  38 unsigned short statchk_power_stop=0;
  39 unsigned short statchk_power_off=0;
  40
  41 int cmd_do_status_all(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
  42 {
  43   int i;
  44   int val;
  45   int opchar;
  46   pxmc_state_t *mcs;
  47
  48   if((opchar=cmd_opchar_check(cmd_io,des,param))<0) return opchar;
  49   if(opchar=='?'){
  50     val=0;
  51     pxmc_for_each_mcs(i, mcs) {
  52       if(mcs)
  53         val|=mcs->pxms_flg;
  54     }
  55     if(pxmc_coordmv_checkst(&pxmc_coordmv_state)>=2)
  56       val|=PXMS_CQF_m;  /* coordinator coomand queue full */
  57     /*if(trap_pc_addr)
  58       val|=0x1000000;*/
  59     if(statchk_power_stop)
  60       val|=0x20000;
  61     if(statchk_power_off)
  62       val|=0x10000;
  63     return cmd_opchar_replong(cmd_io, param, val, 0, 0);
  64   }
  65   return 0;
  66 }
  67
  68 int cmd_do_pthalign(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
  69 {
  70     pxmc_state_t *mcs;
  71     int res;
  72
  73     if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
  74
  75     if(*param[2]=='?') {
  76       return cmd_opchar_replong(cmd_io, param, (long)mcs->pxms_ptmark, 0, 0);
  77     }
  78
  79     if(*param[2]!=':') return -CMDERR_OPCHAR;
  80
  81     res = pxmc_rocon_pthalalign(mcs, 20);
  82
  83     if(res < 0)
  84        return -CMDERR_BADDIO;
  85
  86     return 0;
  87 }
  88
  89 /**
  90  * cmd_do_axis_mode - checks the command format and busy flag validity, calls pxmc_axis_mode
  91  *
  92  * if pxmc_axis_mode returns -1, cmd_do_axis_mode returns -1.
  93  */
  94 int cmd_do_axis_mode(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
  95 {
  96   int val;
  97   pxmc_state_t *mcs;
  98
  99   if((mcs=cmd_opchar_getreg(cmd_io,des,param))==NULL) return -CMDERR_BADREG;
 100
 101   if(*param[2]=='?') {
 102     return cmd_opchar_replong(cmd_io, param, pxmc_axis_rdmode(mcs), 0, 0);
 103   }
 104
 105   if(*param[2]!=':') return -CMDERR_OPCHAR;
 106
 107   if(mcs->pxms_flg&PXMS_BSY_m) return -CMDERR_BSYREG;
 108
 109   val=atol(param[3]);
 110   val=pxmc_axis_mode(mcs,val);
 111   if(val<0)
 112     return val;
 113
 114   return 0;
 115 }
 116
 117 int cmd_do_sqrtll(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[])
 118 {
 119   char *ps;
 120   ps = param[1];
 121   sqrtll_main(!ps?1: !*ps? 1: 2, param);
 122   return 0;
 123 }
 124
 125 cmd_des_t const cmd_des_cer_all={0, CDESM_OPCHR,"PURGE","clear error flags and release failded axes",
 126                         cmd_do_cer_all,{}};
 127 cmd_des_t const cmd_des_clr_all={0, CDESM_OPCHR,
 128                         "CLEAR",0,cmd_do_clr_all,{}};
 129 cmd_des_t const cmd_des_stop_all={0, CDESM_OPCHR,
 130                         "STOP","stop all motions",cmd_do_stop_all,{}};
 131 cmd_des_t const cmd_des_release_all={0, CDESM_OPCHR,
 132                         "RELEASE","releases all axes closed loop control",cmd_do_release_all,{}};
 133 cmd_des_t const cmd_des_status_all={0, CDESM_OPCHR|CDESM_RD,
 134                         "ST","system status bits encoded in number",
 135                         cmd_do_status_all,{}};
 136 cmd_des_t const cmd_des_status_bsybits={0, CDESM_OPCHR|CDESM_RD,
 137                         "STBSYBITS","busy bits of all axes in one number",
 138                         cmd_do_status_bsybits,{}};
 139 cmd_des_t const cmd_des_stamp={0, CDESM_OPCHR,
 140                         "STAMP","host communication stamp",
 141                         cmd_do_stamp,{}};
 142 cmd_des_t const cmd_des_pthalign={0, CDESM_OPCHR|CDESM_RW,"PTHALIGN?","run alignement of phase according to HAL",
 143                         cmd_do_pthalign,
 144                         {0,0}};
 145 cmd_des_t const cmd_des_axis_mode={0, CDESM_OPCHR|CDESM_WR,
 146                         "REGMODE?","axis working mode",cmd_do_axis_mode,
 147                         {}};
 148 cmd_des_t const cmd_des_sqrtll={0, 0,"sqrtll","test 64-bit square root computation",
 149                         cmd_do_sqrtll,
 150                         {0,0}};
 151
 152 cmd_des_t const *const cmd_appl_specific[]={
 153   &cmd_des_clr_all,
 154   &cmd_des_stop_all,
 155   &cmd_des_release_all,
 156   &cmd_des_status_all,
 157   &cmd_des_status_bsybits,
 158   &cmd_des_stamp,
 159   &cmd_des_pthalign,
 160   &cmd_des_axis_mode,
 161   &cmd_des_sqrtll,
 162   NULL
 163 };