lin-epics-modules/motorBase
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mods for seq-2-2 or seq-2-1

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timmmooney
2014-09-04 19:02:24 +00:00
parent 42fd34087c
commit 18f89ac673
1 changed files with 26 additions and 2 deletions
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motorApp/AerotechSrc/EnsembleTrajectoryScan.st
+26 -2
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@@ -30,6 +30,10 @@ program EnsembleTrajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M
%% #include <epicsStdio.h>
%% #include <asynOctetSyncIO.h>
#include <seq_release.h> /* definition of MAGIC */
#define VERSION_INT(MAJ,MIN) ((MAJ)*1000000+(MIN)*1000)
#define LT_SEQ_VERSION(MAJ,MIN) ((MAGIC) < VERSION_INT(MAJ,MIN))
#define MAX(a,b) ((a) > (b) ? (a) : (b))
#define MIN(a,b) ((a) > (b) ? (b) : (a))
#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
@@ -405,7 +409,7 @@ ss EnsembleTrajectoryScan {
posActual = motorTrajectory[j][k];
if (moveMode != MOVE_MODE_ABSOLUTE) posActual += epicsMotorPos[j];
limitViolation |= (posActual > epicsMotorHLM[j]) || (posActual < epicsMotorLLM[j]);
if (limitViolation) {
if (limitViolation) {
epicsSnprintf(buildMessage, MSGSIZE, "Limit: m%d at pt. %d (%f)", j+1, k+1, posActual);
}
if (velocity[j][k] > vmax) {
@@ -872,7 +876,11 @@ static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar)
int result=0, mask=0x01;
for (j=0; j<pVar->numAxes; j++) {
#if LT_SEQ_VERSION(2,2)
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0);
#else
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0, DEFAULT_TIMEOUT);
#endif
if (pVar->epicsMotorDone[j] == 0) result |= mask;
mask = mask << 1;
}
@@ -891,13 +899,21 @@ static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar)
/* Get the current motor positions, post them */
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
epicsThreadSleep(POLL_INTERVAL);
}
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
return(0);
}
@@ -1336,7 +1352,7 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
if ((pVar->pulseMode == PULSE_MODE_ARRAY) &&
(pVar->pulsePositionsLoaded != PULSE_POSITIONS_LOADED_ARRAY)) {
(pVar->pulsePositionsLoaded != PULSE_POSITIONS_LOADED_ARRAY)) {
if (pVar->debugLevel > 2) printf("loadTrajectory: load PULSE_MODE_ARRAY array\n");
j = 0; /* For now, we only support one motor */
/* user has loaded an array of pulse positions into pulsePositions[] */
@@ -1639,12 +1655,20 @@ static int loadTrajectory(SS_ID ssId, struct UserVar *pVar) {
dtime = epicsTimeDiffInSeconds(&currTime, &lastPollTime);
if (dtime > POLL_INTERVAL) {
pVar->elapsedTime = epicsTimeDiffInSeconds(&currTime, &startTime);
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->elapsedTimeIndex, 0);
#else
seq_pvPut(ssId, pVar->elapsedTimeIndex, 0, DEFAULT_TIMEOUT);
#endif
epicsTimeGetCurrent(&lastPollTime);
getMotorPositions(ssId, pVar, pVar->motorCurrent);
for (k=0; k<pVar->numAxes; k++) {
if (pVar->moveAxis[k]) {
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[k], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[k], 0, DEFAULT_TIMEOUT);
#endif
}
}
}