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Added support for AquadB modes to position compare; fixed bug with missing axisNo_ argment to getIntegerPaeram

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MarkRivers
2015-03-21 17:43:55 +00:00
parent 9797a2c8ab
commit 1801adfc16
1 changed files with 50 additions and 24 deletions
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motorApp/NewportSrc/XPSAxis.cpp
+50 -24
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@@ -872,19 +872,19 @@ asynStatus XPSAxis::setClosedLoop(bool closedLoop)
asynStatus XPSAxis::setPositionCompare()
{
int enable;
int mode;
double minPosition, maxPosition, stepSize, pulseWidth, settlingTime;
int itemp;
int status;
static const char *functionName = "setPositionCompare";
pC_->getIntegerParam(pC_->XPSPositionCompareEnable_, &enable);
pC_->getDoubleParam (pC_->XPSPositionCompareMinPosition_, &minPosition);
pC_->getDoubleParam (pC_->XPSPositionCompareMaxPosition_, &maxPosition);
pC_->getDoubleParam (pC_->XPSPositionCompareStepSize_, &stepSize);
pC_->getIntegerParam(pC_->XPSPositionComparePulseWidth_, &itemp);
pC_->getIntegerParam(axisNo_, pC_->XPSPositionCompareMode_, &mode);
pC_->getDoubleParam (axisNo_, pC_->XPSPositionCompareMinPosition_, &minPosition);
pC_->getDoubleParam (axisNo_, pC_->XPSPositionCompareMaxPosition_, &maxPosition);
pC_->getDoubleParam (axisNo_, pC_->XPSPositionCompareStepSize_, &stepSize);
pC_->getIntegerParam(axisNo_, pC_->XPSPositionComparePulseWidth_, &itemp);
pulseWidth = positionComparePulseWidths[itemp];
pC_->getIntegerParam(pC_->XPSPositionCompareSettlingTime_, &itemp);
pC_->getIntegerParam(axisNo_, pC_->XPSPositionCompareSettlingTime_, &itemp);
settlingTime = positionCompareSettlingTimes[itemp];
// Disable the position compare so we can set parameters
@@ -902,21 +902,46 @@ asynStatus XPSAxis::setPositionCompare()
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
status = PositionerPositionCompareSet(pollSocket_, positionerName_, minPosition, maxPosition, stepSize);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
if (enable) {
status = PositionerPositionCompareEnable(pollSocket_, positionerName_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling PositionerPositionCompareEnable status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
switch (mode) {
case XPSPositionCompareModeDisable:
break;
case XPSPositionCompareModePulse:
status = PositionerPositionCompareAquadBWindowedSet(pollSocket_, positionerName_, minPosition, maxPosition);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling PositionerPositionCompareSet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
status = PositionerPositionCompareEnable(pollSocket_, positionerName_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling PositionerPositionCompareEnable status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
break;
case XPSPositionCompareModeAquadBWindowed:
status = PositionerPositionCompareAquadBWindowedSet(pollSocket_, positionerName_, minPosition, maxPosition);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling PositionerPositionCompareAquadBWindowedSet status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
break;
case XPSPositionCompareModeAquadBAlways:
status = PositionerPositionCompareAquadBAlwaysEnable(pollSocket_, positionerName_);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
"%s:%s: [%s,%d]: error calling PositionerPositionCompareAquadBAlwaysEnable status=%d\n",
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
break;
}
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
@@ -934,6 +959,7 @@ asynStatus XPSAxis::getPositionCompare()
double minPosition, maxPosition, stepSize, pulseWidth, settlingTime;
static const char *functionName = "getPositionCompare";
setIntegerParam(pC_->XPSPositionCompareMode_, XPSPositionCompareModeDisable);
status = PositionerPositionComparePulseParametersGet(pollSocket_, positionerName_, &pulseWidth, &settlingTime);
if (status) {
asynPrint(pasynUser_, ASYN_TRACE_ERROR,
@@ -948,13 +974,13 @@ asynStatus XPSAxis::getPositionCompare()
driverName, functionName, pC_->portName, axisNo_, status);
return asynError;
}
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
if (enable) setIntegerParam(pC_->XPSPositionCompareMode_, XPSPositionCompareModePulse);
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s:%s: set XPS %s, axis %d positionCompareGet,"
" enable=%d, minPosition=%f, maxPosition=%f, stepSize=%f, pulseWidth=%f, settlingTime=%f\n",
driverName, functionName, pC_->portName, axisNo_,
enable, minPosition, maxPosition, stepSize, pulseWidth, settlingTime);
setIntegerParam(pC_->XPSPositionCompareEnable_, enable);
setDoubleParam(pC_->XPSPositionCompareMinPosition_, minPosition);
setDoubleParam(pC_->XPSPositionCompareMaxPosition_, maxPosition);
setDoubleParam(pC_->XPSPositionCompareStepSize_, stepSize);