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- Added feedback position.

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- Increased max. # of cards to 10.
- Increased buffer size to 160 bytes.
This commit is contained in:
Ron Sluiter
2011-08-25 20:39:06 +00:00
parent a2d07069ad
commit 07d13190d2
2 changed files with 38 additions and 14 deletions
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motorApp/NewportSrc/drvMM4000.cc
+36 -13
View File
@@ -77,7 +77,8 @@ HeadURL: $URL$
* readback delay now gets and sets the status properly. Also, the delay
* was changed from a double (seconds) to an int (milliseconds) because
* of problems passing floating-point values from the VxWorks shell.
*
* .17 08/25/11 rls - Added feedback position.
* - Increased max. # of cards to 10 and buffer size to 160 bytes.
*/
@@ -95,7 +96,8 @@ HeadURL: $URL$
#define READ_RESOLUTION "TU;"
#define READ_STATUS "MS;"
#define READ_POSITION "TP;"
#define READ_POSITION "TH;"
#define READ_FEEDBACK "TP;"
#define STOP_ALL "ST;"
#define MOTOR_ON "MO;"
#define GET_IDENT "VE;"
@@ -108,8 +110,8 @@ HeadURL: $URL$
#define M_MINUS_LIMIT 0x10
#define M_HOME_SIGNAL 0x20
#define MM4000_NUM_CARDS 4
#define BUFF_SIZE 100 /* Maximum length of string to/from MM4000 */
#define MM4000_NUM_CARDS 10
#define BUFF_SIZE 160 /* Maximum length of string to/from MM4000 */
#define TIMEOUT 2.0 /* Command timeout in sec. */
@@ -265,6 +267,8 @@ static void start_status(int card)
cntrl->status = NORMAL;
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
send_mess(card, READ_FEEDBACK, (char) NULL);
recv_mess(card, cntrl->feedback_string, 1);
}
else
{
@@ -287,7 +291,11 @@ static void start_status(int card)
cntrl = (struct MMcontroller *) motor_state[itera]->DevicePrivate;
status = recv_mess(itera, cntrl->status_string, 1);
if (status > 0)
{
cntrl->status = NORMAL;
send_mess(itera, READ_FEEDBACK, (char) NULL);
recv_mess(itera, cntrl->feedback_string, 1);
}
else
{
if (cntrl->status == NORMAL)
@@ -358,7 +366,7 @@ static int set_status(int card, int signal)
*/
pos = signal*5 + 3; /* Offset in status string */
mstat.All = cntrl->status_string[pos];
Debug(5, "set_status(): status byte = %x\n", mstat.All);
Debug(5, "set_status(): status byte = %x on card #%d\n", mstat.All, card);
status.Bits.RA_DIRECTION = (mstat.Bits.direction == false) ? 0 : 1;
@@ -432,7 +440,7 @@ static int set_status(int card, int signal)
p = epicsStrtok_r(buff, ",", &tok_save);
for (itera = 0; itera < signal; itera++)
p = epicsStrtok_r(NULL, ",", &tok_save);
Debug(6, "set_status(): position substring = %s\n", p);
Debug(6, "set_status(): position substring = %s on card #%d\n", p, card);
motorData = atof(p+3) / cntrl->drive_resolution[signal];
if (motorData == motor_info->position)
@@ -443,14 +451,24 @@ static int set_status(int card, int signal)
else
{
motor_info->position = NINT(motorData);
if (motor_state[card]->motor_info[signal].encoder_present == YES)
motor_info->encoder_position = (epicsInt32) motorData;
else
motor_info->encoder_position = 0;
motor_info->no_motion_count = 0;
}
if (motor_state[card]->motor_info[signal].encoder_present == YES)
{
strcpy(buff, cntrl->feedback_string);
tok_save = NULL;
p = epicsStrtok_r(buff, ",", &tok_save);
for (itera = 0; itera < signal; itera++)
p = epicsStrtok_r(NULL, ",", &tok_save);
Debug(6, "set_status(): feedback substring = %s on card #%d\n", p, card);
motorData = atof(p+3) / cntrl->drive_resolution[signal];
motor_info->encoder_position = (epicsInt32) motorData;
}
else
motor_info->encoder_position = 0;
/* Check for controller error. */
send_mess(card, "TE;", (char) NULL);
recv_mess(card, buff, 1);
@@ -521,7 +539,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
return(ERROR);
}
Debug(2, "send_mess(): message = %s\n", com);
Debug(2, "send_mess(): message = %s on card #%d\n", com, card);
cntrl = (struct MMcontroller *) motor_state[card]->DevicePrivate;
@@ -571,7 +589,7 @@ static int recv_mess(int card, char *com, int flag)
nread = 0;
}
Debug(2, "recv_mess(): message = \"%s\"\n", com);
Debug(2, "recv_mess(): message = \"%s\" on card #%d\n", com, card);
return(nread);
}
@@ -587,7 +605,12 @@ MM4000Setup(int num_cards, /* maximum number of controllers in system. */
int itera;
if (num_cards < 1 || num_cards > MM4000_NUM_CARDS)
{
epicsThreadSleep(5.0);
errlogPrintf("\n*** ERROR *** Number specified (%d) exceeds maximum allowed (%d).\n\n", num_cards, MM4000_NUM_CARDS);
epicsThreadSleep(5.0);
MM4000_num_cards = MM4000_NUM_CARDS;
}
else
MM4000_num_cards = num_cards;
motorApp/NewportSrc/drvMMCom.h
+2 -1
View File
@@ -73,7 +73,8 @@ struct MMcontroller
int asyn_address; /* Use for GPIB or other address with asyn */
char asyn_port[80]; /* asyn port name */
char status_string[80]; /* String containing status of motors */
char position_string[80]; /* String containing position of motors */
char position_string[160]; /* String containing commanded/theorectical position of motors */
char feedback_string[160]; /* String containing encoder position of motors */
MM_model model; /* Motion Master Model. */
MM_motor_type type[4]; /* For MM3000 only; Motor type array. */
/* For MM4000/5 only; controller resolution array (from TU command).