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- After the initialization string is read, if the limit mode is "Off", set it to "Hard".

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- Added MAXvConfig() 4th argument to support absolute encoders with grey code data formats.
- Improved MAXvSetup() and MAXvConfig() iocsh 'help" comments.
This commit is contained in:
Ron Sluiter
2014-02-25 18:22:36 +00:00
parent 1d9b5a25d7
commit 0b8a26f523
1 changed files with 39 additions and 12 deletions
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motorApp/OmsSrc/drvMAXv.cc
+39 -12
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@@ -97,6 +97,10 @@ HeadURL: $URL$
* motor record to store motor type. Motor type used in
* device support (devOmsCom.cc) to allow MRES and ERES with
* different polarity (signs).
* 24 02-24-14 rls - After the initialization string is read, if limit mode is
* "Off", set it to "Hard".
* - Added MAXvConfig() 4th argument to support absolute
* encoders with grey code data formats.
*
*/
@@ -179,7 +183,8 @@ static char cmndbuf[MAX_MSG_SIZE]; /* Command buffer used by send_mess() and
/* First 8-bits [0..7] used to indicate absolute or */
/* incremental position registers to be read */
static int configurationFlags[MAXv_NUM_CARDS] = {0};
static int configurationFlags[MAXv_NUM_CARDS] = {0};
static int greycodeConfigFlags[MAXv_NUM_CARDS] = {0};
/*----------------functions-----------------*/
@@ -496,7 +501,20 @@ static int set_status(int card, int signal)
/* Get encoder position */
if (absoluteAxis)
motorData = pmotor->absPos[signal];
{
bool greyCode = (greycodeConfigFlags[card] & (1 << signal));
if (greyCode == true)
{
epicsUInt32 mask, num;
num = pmotor->absPos[signal];
for (mask = num >> 1; mask != 0; mask = mask >> 1)
num = num ^ mask;
motorData = num;
}
else
motorData = pmotor->absPos[signal];
}
else
motorData = pmotor->encPos[signal];
@@ -1015,7 +1033,8 @@ MAXvSetup(int num_cards, /* maximum number of cards in rack */
RTN_VALUES MAXvConfig(int card, /* number of card being configured */
const char *initstr, /* configuration string */
int config) /* initialization configuration */
int AbsConfig, /* absolute encoder configuration */
int GreyConfig) /* absolute encoder grey code configuration */
{
if (card < 0 || card >= MAXv_num_cards)
{
@@ -1033,9 +1052,9 @@ RTN_VALUES MAXvConfig(int card, /* number of card being configur
}
strcpy(initstring[card], initstr);
/* get the configuation flags */
configurationFlags[card] = config;
/* Save absolute encoder and grey code configuation flags */
configurationFlags[card] = AbsConfig;
greycodeConfigFlags[card] = GreyConfig;
return(OK);
}
@@ -1332,6 +1351,13 @@ static int motor_init()
pvtdata->typeID[motor_index] = PSE;
else
pvtdata->typeID[motor_index] = PSO;
if (pvtdata->fwver >= 1.30)
{
send_recv_mess(card_index, "LM?", MAXv_axis[motor_index], axis_pos, 1);
if (strcmp(axis_pos, "=f") == 0) /* If limit mode is set to "Off". */
send_mess(card_index, "LMH", MAXv_axis[motor_index]); /* Set limit mode to "Hard". */
}
}
/* Enable interrupt-when-done if selected */
@@ -1419,19 +1445,20 @@ extern "C"
static const iocshArg setupArg2 = {"Base Address on 4K (0x1000) boundary", iocshArgInt};
static const iocshArg setupArg3 = {"noninterrupting(0), valid vectors(64-255)", iocshArgInt};
static const iocshArg setupArg4 = {"interrupt level (1-6)", iocshArgInt};
static const iocshArg setupArg5 = {"polling rate - 1/60 sec units", iocshArgInt};
static const iocshArg setupArg5 = {"polling rate (Hz)", iocshArgInt};
// Oms Config arguments
static const iocshArg configArg0 = {"Card being configured", iocshArgInt};
static const iocshArg configArg0 = {"Card # being configured", iocshArgInt};
static const iocshArg configArg1 = {"configuration string", iocshArgString};
static const iocshArg configArg2 = {"configuration flags", };
static const iocshArg configArg2 = {"absolute encoder flags (0/1 - incremental/absolute, 0x07 -> ZYX)", iocshArgInt};
static const iocshArg configArg3 = {"grey code flags (0/1 - yes/no, 0x12 -> UY)", iocshArgInt};
static const iocshArg * const OmsSetupArgs[6] = {&setupArg0, &setupArg1,
&setupArg2, &setupArg3, &setupArg4, &setupArg5};
static const iocshArg * const OmsConfigArgs[3] = {&configArg0, &configArg1, &configArg2};
static const iocshArg * const OmsConfigArgs[4] = {&configArg0, &configArg1, &configArg2, &configArg3};
static const iocshFuncDef setupMAXv = {"MAXvSetup", 6, OmsSetupArgs};
static const iocshFuncDef configMAXv = {"MAXvConfig", 3, OmsConfigArgs};
static const iocshFuncDef configMAXv = {"MAXvConfig", 4, OmsConfigArgs};
static void setupMAXvCallFunc(const iocshArgBuf *args)
{
@@ -1440,7 +1467,7 @@ extern "C"
static void configMAXvCallFunc(const iocshArgBuf *args)
{
MAXvConfig(args[0].ival, args[1].sval, args[2].ival);
MAXvConfig(args[0].ival, args[1].sval, args[2].ival, args[3].ival);
}
static void OmsMAXvRegister(void)