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- Using EOT fault indicators rather than LS's to set RA_PLUS/MINUS_LS indicators.

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- Fix HOME_LIMIT/MARKER_BIT mask.
- More extensive comm. error checks in set_status(); handle ASCII_ACK_CHAR as error.
- cntrl->drive_resolution must be initialized with fabs().
This commit is contained in:
Ron Sluiter
2009-05-01 18:13:12 +00:00
parent 7a4144a355
commit 243c8b8cb0
1 changed files with 124 additions and 103 deletions
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motorApp/AerotechSrc/drvEnsemble.cc
+124 -103
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@@ -2,9 +2,9 @@
FILENAME... drvEnsemble.cc
USAGE... Motor record driver level support for Aerotech Ensemble.
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-18 22:06:38 $
Last Modified: $Date: 2009-05-01 18:13:12 $
*/
/*
@@ -41,6 +41,13 @@ Last Modified: $Date: 2009-02-18 22:06:38 $
* Modification Log:
* -----------------
* .01 04-04-08 caw initialized from drvMM4000.cc (Newport)
* .02 05-01-09 rls - Using EOT fault indicators rather than LS's to set
* RA_PLUS/MINUS_LS indicators.
* - Fix HOME_LIMIT/MARKER_BIT mask.
* - More extensive comm. error checks in set_status(); handle
* ASCII_ACK_CHAR as error.
* - cntrl->drive_resolution must be initialized with fabs().
*
*/
@@ -56,14 +63,16 @@ Last Modified: $Date: 2009-02-18 22:06:38 $
#include "epicsExport.h"
/* Status byte bits */
#define ENABLED_BIT 0x00000001
#define IN_POSITION_BIT 0x00000004
#define IN_MOTION_BIT 0x00000008
#define DIRECTION_BIT 0x00000200
#define PLUS_LIMIT_BIT 0x00004000
#define MINUS_LIMIT_BIT 0x00008000
#define HOME_LIMIT_BIT 0x00010000
#define HOME_MARKER_BIT 0x00020000
#define ENABLED_BIT 0x00000001
#define IN_POSITION_BIT 0x00000004
#define IN_MOTION_BIT 0x00000008
#define DIRECTION_BIT 0x00000200
#define HOME_LIMIT_BIT 0x01000000
#define HOME_MARKER_BIT 0x02000000
/* Fault status bits */
#define CW_FAULT_BIT 0x004
#define CCW_FAULT_BIT 0x008
// This can really be any number, because there isn't any theoretical
// restriction on the number of Ensembles that can be on a network.
@@ -223,17 +232,13 @@ static int set_status(int card, int signal)
sprintf(buff, "AXISSTATUS(@%d)", signal);
send_mess(card, buff, (char) NULL);
comm_status = recv_mess(card, buff, 1);
if (buff[0] == ASCII_ACK_CHAR)
{
// convert to an integer
axis_status = atoi(&buff[1]);
}
else
{
axis_status = 0;
}
if (comm_status <= 0)
if (comm_status > 0 && buff[0] == ASCII_ACK_CHAR)
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
}
else if (comm_status <= 0)
{
if (cntrl->status == NORMAL)
{
@@ -247,93 +252,109 @@ static int set_status(int card, int signal)
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
}
goto exit;
}
else if (buff[0] != ASCII_ACK_CHAR)
{
cntrl->status = COMM_ERR;
status.Bits.CNTRL_COMM_ERR = 1;
status.Bits.RA_PROBLEM = 1;
rtn_state = 1;
goto exit;
}
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
// convert to an integer
axis_status = atoi(&buff[1]);
nodeptr = motor_info->motor_motion;
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
// fill in the status
status.Bits.RA_DIRECTION = axis_status & DIRECTION_BIT ? 0 : 1;
status.Bits.RA_DONE = axis_status & IN_POSITION_BIT ? 1 : 0;
status.Bits.RA_HOME = axis_status & HOME_LIMIT_BIT ? 1 : 0;
status.Bits.EA_POSITION = axis_status & ENABLED_BIT ? 1 : 0;
status.Bits.EA_HOME = axis_status & HOME_MARKER_BIT ? 1 : 0;
status.Bits.RA_MOVING = axis_status & IN_MOTION_BIT ? 1 : 0;
/* get the axis fault status */
sprintf(buff, "AXISFAULT(@%d)", signal);
send_mess(card, buff, (char) NULL);
comm_status = recv_mess(card, buff, 1);
axis_status = atoi(&buff[1]);
status.Bits.RA_PLUS_LS = axis_status & CCW_FAULT_BIT ? 1 : 0;
status.Bits.RA_MINUS_LS = axis_status & CW_FAULT_BIT ? 1 : 0;
plusdir = status.Bits.RA_DIRECTION ? true : false;
if ((status.Bits.RA_PLUS_LS && plusdir) || (status.Bits.RA_MINUS_LS && !plusdir))
{
ls_active = true;
}
// get the position
sprintf(buff, "PFBKPROG(@%d)", signal);
send_mess(card, buff, (char) NULL);
recv_mess(card, buff, 1);
if (buff[0] == ASCII_ACK_CHAR)
{
// convert to an integer
pfbk = atof(&buff[1]);
}
else
{
cntrl->status = NORMAL;
status.Bits.CNTRL_COMM_ERR = 0;
nodeptr = motor_info->motor_motion;
status.Bits.EA_SLIP = 0;
status.Bits.EA_SLIP_STALL = 0;
// fill in the status
status.Bits.RA_DIRECTION = axis_status & DIRECTION_BIT ? 1 : 0;
status.Bits.RA_DONE = axis_status & IN_POSITION_BIT ? 1 : 0;
status.Bits.RA_PLUS_LS = axis_status & PLUS_LIMIT_BIT ? 1 : 0;
status.Bits.RA_HOME = axis_status & HOME_LIMIT_BIT ? 1 : 0;
status.Bits.EA_POSITION = axis_status & ENABLED_BIT ? 1 : 0;
status.Bits.EA_HOME = axis_status & HOME_MARKER_BIT ? 1 : 0;
status.Bits.RA_MOVING = axis_status & IN_MOTION_BIT ? 1 : 0;
status.Bits.RA_MINUS_LS = axis_status & MINUS_LIMIT_BIT ? 1 : 0;
plusdir = status.Bits.RA_DIRECTION ? true : false;
if ((status.Bits.RA_PLUS_LS && plusdir) || (status.Bits.RA_MINUS_LS && !plusdir))
{
ls_active = true;
}
// get the position
sprintf(buff, "PFBKPROG(@%d)", signal);
send_mess(card, buff, (char) NULL);
recv_mess(card, buff, 1);
if (buff[0] == ASCII_ACK_CHAR)
{
// convert to an integer
pfbk = atof(&buff[1]);
}
else
{
pfbk = 0;
}
// fill in the position
motorData = pfbk / cntrl->drive_resolution[signal];
if (motorData == motor_info->position)
{
// only increment the counter if the motor is moving
if (nodeptr != 0)
{
motor_info->no_motion_count++;
}
}
else
{
motor_info->position = NINT(motorData);
if (motor_info->encoder_present == YES)
{
motor_info->encoder_position = NINT(motorData);
}
else
{
motor_info->encoder_position = 0;
}
motor_info->no_motion_count = 0;
}
// velocity is not used, so don't bother doing a command down
// to the controller to get it
motor_info->velocity = 0;
// do this "last", so that we know no errors occurred
status.Bits.RA_PROBLEM = 0;
rtn_state = (!motor_info->no_motion_count || ls_active ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
// test for post-move string
if ((status.Bits.RA_DONE || ls_active) && nodeptr != 0 && nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
pfbk = 0;
}
// fill in the position
motorData = pfbk / cntrl->drive_resolution[signal];
if (motorData == motor_info->position)
{
// only increment the counter if the motor is moving
if (nodeptr != 0)
{
motor_info->no_motion_count++;
}
}
else
{
motor_info->position = NINT(motorData);
if (motor_info->encoder_present == YES)
{
motor_info->encoder_position = NINT(motorData);
}
else
{
motor_info->encoder_position = 0;
}
motor_info->no_motion_count = 0;
}
// velocity is not used, so don't bother doing a command down
// to the controller to get it
motor_info->velocity = 0;
// do this "last", so that we know no errors occurred
status.Bits.RA_PROBLEM = 0;
rtn_state = (!motor_info->no_motion_count || ls_active ||
status.Bits.RA_DONE | status.Bits.RA_PROBLEM) ? 1 : 0;
// test for post-move string
if ((status.Bits.RA_DONE || ls_active) && nodeptr != 0 && nodeptr->postmsgptr != 0)
{
strcpy(buff, nodeptr->postmsgptr);
send_mess(card, buff, (char) NULL);
nodeptr->postmsgptr = NULL;
}
exit:
motor_info->status.All = status.All;
return(rtn_state);
}
@@ -348,7 +369,7 @@ static RTN_STATUS send_mess(int card, char const *com, char *name)
struct Ensemblecontroller *cntrl;
int size;
size_t nwrite;
char *eos_tok, com_cpy[BUFF_SIZE], buff[80];
char *eos_tok, com_cpy[BUFF_SIZE];
asynStatus status;
size = strlen(com);
@@ -671,7 +692,7 @@ static int motor_init()
send_mess(card_index, buff, (char) NULL);
recv_mess(card_index, buff, 1);
if (buff[0] == ASCII_ACK_CHAR)
cntrl->drive_resolution[motor_index] = 1 / atof(&buff[1]);
cntrl->drive_resolution[motor_index] = 1 / fabs(atof(&buff[1]));
else
cntrl->drive_resolution[motor_index] = 1;