motor: XPS model 3 driver. Added code to poller to check for error states. Added function to disable MSTA problem bit when in state 20 (disabled state).

motorApp/NewportSrc/XPSAxis.cpp

@@ -588,29 +588,34 @@ asynStatus XPSAxis::poll(bool *moving)
     setIntegerParam(pC_->motorStatusHomed_, 0);
   }
 
-  if ((axisStatus_ >= 0 && axisStatus_ <= 9) || 
-    (axisStatus_ >= 20 && axisStatus_ <= 42)) {
-    /* Not initialized, homed or disabled */
-    asynPrint(pasynUser_, ASYN_TRACE_FLOW, 
-              "%s:%s: [%s,%d]: in bad state %d\n",
-              driverName, functionName, pC_->portName, axisNo_, axisStatus_);
-    /* setIntegerParam(axis, motorStatusHighHardLimit, 1);
-     * setIntegerParam(axis, motorStatusLowHardLimit,  1);
-     */
-  }
-
   /* Test for following error, and set appropriate param. */
   if ((axisStatus_ == 21 || axisStatus_ == 22) ||
       (axisStatus_ >= 24 && axisStatus_ <= 26) ||
       (axisStatus_ == 28 || axisStatus_ == 35)) {
-      asynPrint(pasynUser_, ASYN_TRACE_FLOW, 
-                "%s:%s: [%s,%d]: in following error. XPS State Code: %d\n",
-                driverName, functionName, pC_->portName, axisNo_, axisStatus_);
+    asynPrint(pasynUser_, ASYN_TRACE_FLOW, 
+	      "%s:%s: [%s,%d]: in following error. XPS State Code: %d\n",
+	      driverName, functionName, pC_->portName, axisNo_, axisStatus_);
     setIntegerParam(pC_->motorStatusFollowingError_, 1);
   } else {
     setIntegerParam(pC_->motorStatusFollowingError_, 0);
   }
 
+  /*Test for states that mean we cannot move an axis (disabled, uninitialised, etc.) 
+    and set problem bit in MSTA.*/
+  if ((axisStatus_ < 10) || ((axisStatus_ >= 20) && (axisStatus_ <= 42)) ||
+      (axisStatus_ == 50) || (axisStatus_ == 64)) {
+    if ( (pC_->noDisableError_ > 0) && (axisStatus_==20) ) {
+      setIntegerParam(pC_->motorStatusProblem_, 0);             
+    } else {
+      asynPrint(pasynUser_, ASYN_TRACE_FLOW, 
+	      "%s:%s: [%s,%d]: in unintialised/disabled/not referenced. XPS State Code: %d\n",
+	      driverName, functionName, pC_->portName, axisNo_, axisStatus_);
+      setIntegerParam(pC_->motorStatusProblem_, 1);
+    }
+  } else {
+    setIntegerParam(pC_->motorStatusProblem_, 0);
+  }
+
   status = GroupPositionCurrentGet(pollSocket_,
                                    positionerName_,
                                    1,
@@ -1167,3 +1172,8 @@ asynStatus XPSAxis::readbackProfile()
   asynMotorAxis::readbackProfile();
   return asynSuccess;
 }
+
+
+
+
+

motorApp/NewportSrc/XPSController.cpp

@@ -79,6 +79,10 @@ Versions: Release 4-5 and higher.
           LOSS OR DAMAGES.
 */
 
+#include <iostream>
+using std::cout;
+using std::endl;
+
 #include <stdlib.h>
 #include <stdio.h>
 #include <string.h>
@@ -196,6 +200,9 @@ XPSController::XPSController(const char *portName, const char *IPAddress, int IP
   //By default, automatically enable axes that have been disabled.
   autoEnable_ = 1;
 
+  /* Flag used to turn off setting MSTA problem bit when the axis is disabled.*/
+  noDisableError_ = 0;
+
 }
 
 void XPSController::report(FILE *fp, int level)
@@ -1278,6 +1285,13 @@ asynStatus XPSController::disableAutoEnable()
   return asynSuccess; 
 }
 
+/* Function to disable the MSTA problem bit in the event of an XPS Disable state 20 */ 
+asynStatus XPSController::noDisableError()
+{
+  noDisableError_ = 1;
+  return asynSuccess; 
+}
+
 
 
 
@@ -1350,8 +1364,7 @@ asynStatus XPSDisableAutoEnable(const char *XPSName)
 
   pC = (XPSController*) findAsynPortDriver(XPSName);
   if (!pC) {
-    printf("%s:%s: Error port %s not found\n",
-           driverName, functionName, XPSName);
+    cout << driverName << "::" << functionName << " Error port " << XPSName << "not found." << endl;
     return asynError;
   }
 
@@ -1359,6 +1372,20 @@ asynStatus XPSDisableAutoEnable(const char *XPSName)
 }
 
 
+asynStatus XPSNoDisableError(const char *XPSName)
+{
+  XPSController *pC;
+  static const char *functionName = "XPSNoDisableError";
+
+  pC = (XPSController*) findAsynPortDriver(XPSName);
+  if (!pC) {
+    cout << driverName << "::" << functionName << " Error port " << XPSName << "not found." << endl;
+    return asynError;
+  }
+
+  return pC->noDisableError();
+}
+
 
 /* Code for iocsh registration */
 
@@ -1434,6 +1461,16 @@ static void disableAutoEnableCallFunc(const iocshArgBuf *args)
   XPSDisableAutoEnable(args[0].sval);
 }
 
+/* XPSNoDisableError */
+static const iocshArg XPSNoDisableErrorArg0 = {"Controller port name", iocshArgString};
+static const iocshArg * const XPSNoDisableErrorArgs[] = {&XPSNoDisableErrorArg0};
+static const iocshFuncDef noDisableError = {"XPSNoDisableError", 1, XPSNoDisableErrorArgs};
+
+static void noDisableErrorCallFunc(const iocshArgBuf *args)
+{
+  XPSNoDisableError(args[0].sval);
+}
+
 
 static void XPSRegister3(void)
 {
@@ -1441,6 +1478,7 @@ static void XPSRegister3(void)
   iocshRegister(&configXPSAxis,        configXPSAxisCallFunc);
   iocshRegister(&configXPSProfile,     configXPSProfileCallFunc);
   iocshRegister(&disableAutoEnable,    disableAutoEnableCallFunc);
+  iocshRegister(&noDisableError,       noDisableErrorCallFunc);
 }
 epicsExportRegistrar(XPSRegister3);
 

motorApp/NewportSrc/XPSController.h

@@ -57,6 +57,8 @@ class XPSController : public asynMotorController {
 
   /*Disable automatic enable of axes.*/
   asynStatus disableAutoEnable();
+  /* Function to disable the MSTA problem bit in the event of an XPS Disable state 20 */
+  asynStatus noDisableError();
 
   protected:
   XPSAxis **pAxes_;       /**< Array of pointers to axis objects */
@@ -86,6 +88,7 @@ class XPSController : public asynMotorController {
   int movesDeferred_;
   epicsEventId profileExecuteEvent_;
   int autoEnable_;
+  int noDisableError_;
   
   friend class XPSAxis;
 };