lin-epics-modules/motorBase
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Improved asynReport output

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This commit is contained in:
kpetersn
2018-03-27 17:31:07 -05:00
parent 860474c1ae
commit 021228e0e7
2 changed files with 51 additions and 32 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+50 -32
View File
@@ -152,7 +152,7 @@ void ANF2Controller::doStartPoller(double movingPollPeriod, double idlePollPerio
void ANF2Controller::report(FILE *fp, int level)
{
int i, j;
ANF2Axis *pAxis;
ANF2Axis* pAxis[numAxes_];
fprintf(fp, "====================================\n");
fprintf(fp, "ANF2 motor driver:\n");
@@ -161,21 +161,35 @@ void ANF2Controller::report(FILE *fp, int level)
fprintf(fp, " axes created: %i\n", axesCreated_);
fprintf(fp, " moving poll period: %lf\n", movingPollPeriod_);
fprintf(fp, " idle poll period: %lf\n", idlePollPeriod_);
fprintf(fp, "\n");
fprintf(fp, "Input registers:\n\n");
for (j=0; j<numAxes_; j++) {
fprintf(fp, "========\n");
fprintf(fp, "AXIS #%i\n", j);
fprintf(fp, "========\n");
pAxis[j] = getAxis(j);
pAxis[j]->getInfo();
}
pAxis = getAxis(j);
pAxis->getInfo();
fprintf(fp, " Reg\t");
for (j=0; j<numAxes_; j++) {
fprintf(fp, "Axis %i\t", j);
}
fprintf(fp, "\n");
for (i=0; i<MAX_INPUT_REGS; i++) {
fprintf(fp, " %i\t", i);
for (j=0; j<numAxes_; j++) {
fprintf(fp, "0x%04x\t", pAxis[j]->inputReg_[i]);
}
fprintf(fp, "\n");
}
fprintf(fp, "\n");
/*for (i=0; i<MAX_INPUT_REGS; i++) {
fprintf(fp, " reg %i, pasynUserInReg_[%i][%i]=0x%x\n", i, j, i, pasynUserInReg_[j][i]);
}*/
}
// Call the base class method
asynMotorController::report(fp, level);
asynMotorController::report(fp, level);
fprintf(fp, "====================================\n");
}
@@ -474,28 +488,14 @@ void ANF2Axis::getInfo()
// For a read (not sure why this is necessary)
status = pasynInt32SyncIO->write(pasynUserForceRead_, 1, DEFAULT_CONTROLLER_TIMEOUT);
printf("Configuration for axis %i:\n", axisNo_);
printf(" Base Speed: %i\tHoming Timeout: %i\n", baseSpeed_, homingTimeout_);
printf(" Capture Input: %i\tActive State: %i\n", CaptInput_, CaptInputAS_);
printf(" External Input: %i\tActive State: %i\n", ExtInput_, ExtInputAS_);
printf(" Home Input: %i\tActive State: %i\n", HomeInput_, HomeInputAS_);
printf(" CW Input: %i\tActive State: %i\n", CWInput_, CWInputAS_);
printf(" CCW Input: %i\tActive State: %i\n", CCWInput_, CCWInputAS_);
printf(" Backplane Home Proximity Operation: %i\n", BHPO_);
printf(" Quadrature Encoder: %i\n", QuadEnc_);
printf(" Diagnostic Feedback: %i\n", DiagFbk_);
printf(" Output Pulse Type: %i\n", OutPulse_);
printf(" Home Operation: %i\n", HomeOp_);
printf(" Card Axis: %i\n", CardAxis_);
printf(" Operation Mode for Axis: %i\n", OpMode_);
printf("Registers for axis %i:\n", axisNo_);
//printf("Registers for axis %i:\n", axisNo_);
for( i=0; i<MAX_INPUT_REGS; i++)
{
status = pC_->readReg16(axisNo_, i, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->readReg16(axisNo_, i, &inputReg_[i], DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->readReg16(axisNo_, i, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
//printf(" status=%d, register=%i, val=0x%x\n", status, i, read_val);
printf(" register=%i, val=0x%x\n", i, read_val);
//printf(" register=%i, val=0x%x\n", i, read_val);
}
}
@@ -547,14 +547,35 @@ void ANF2Axis::report(FILE *fp, int level)
// TODO: make this more useful
if (level > 0) {
fprintf(fp, " axis %d\n", axisNo_);
fprintf(fp, "Configuration for axis %i:\n", axisNo_);
fprintf(fp, " Base Speed: %i\tHoming Timeout: %i\n", baseSpeed_, homingTimeout_);
fprintf(fp, " Capture Input: %i\tActive State: %i\n", CaptInput_, CaptInputAS_);
fprintf(fp, " External Input: %i\tActive State: %i\n", ExtInput_, ExtInputAS_);
fprintf(fp, " Home Input: %i\tActive State: %i\n", HomeInput_, HomeInputAS_);
fprintf(fp, " CW Input: %i\tActive State: %i\n", CWInput_, CWInputAS_);
fprintf(fp, " CCW Input: %i\tActive State: %i\n", CCWInput_, CCWInputAS_);
fprintf(fp, " Backplane Home Proximity Operation: %i\n", BHPO_);
fprintf(fp, " Quadrature Encoder: %i\n", QuadEnc_);
fprintf(fp, " Diagnostic Feedback: %i\n", DiagFbk_);
fprintf(fp, " Output Pulse Type: %i\n", OutPulse_);
fprintf(fp, " Home Operation: %i\n", HomeOp_);
fprintf(fp, " Card Axis: %i\n", CardAxis_);
fprintf(fp, " Operation Mode for Axis: %i\n", OpMode_);
fprintf(fp, "\n");
/*fprintf(fp, " axis %d\n", axisNo_);
fprintf(fp, " this->axisNo_ %i\n", this->axisNo_);
fprintf(fp, " this->config_ %x\n", this->config_);
fprintf(fp, " config_ %x\n", config_);
fprintf(fp, " config_ %x\n", config_);*/
}
//printf("ANF2Axis::report -> BEFORE asynMotorAxis::report!!\n");
// Call the base class method
asynMotorAxis::report(fp, level);
//printf("ANF2Axis::report -> AFTER asynMotorAxis::report!!\n");
}
// SET VEL & ACCEL
@@ -809,7 +830,7 @@ asynStatus ANF2Axis::setPosition(double position)
epicsInt32 posReg[5];
//static const char *functionName = "ANF2Axis::setPosition";
printf("setPosition(%lf) for axisNo_=%i\n", position, axisNo_);
//printf("setPosition(%lf) for axisNo_=%i\n", position, axisNo_);
// Clear the command/configuration register
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
@@ -821,9 +842,6 @@ asynStatus ANF2Axis::setPosition(double position)
zeroRegisters(posReg);
posReg[0] = 0x200 << 16;
posReg[1] = set_position;
//posReg[2] = 0x0;
//posReg[3] = 0x0;
//posReg[4] = 0x0;
// Write all the registers atomically
status = pC_->writeReg32Array(axisNo_, posReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
motorApp/AMCISrc/ANF2Driver.h
+1
View File
@@ -81,6 +81,7 @@ private:
asynStatus sendAccelAndVelocity(double accel, double velocity);
double correctAccel(double minVelocity, double maxVelocity, double acceleration);
void getInfo();
epicsInt32 inputReg_[10];
void reconfig(epicsInt32 value);
void zeroRegisters(epicsInt32 *reg);
asynUser *pasynUserForceRead_;