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- Fix intermittent "set position" problem.

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- Added check for controller error.
This commit is contained in:
Ron Sluiter
2009-02-18 20:50:16 +00:00
parent 6be5c641b0
commit 2950e22cc5
1 changed files with 34 additions and 5 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+34 -5
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@@ -2,9 +2,9 @@
FILENAME... drvMM4000Asyn.cc
USAGE... Motor record asyn driver level support for Newport MM4000.
Version: $Revision: 1.8 $
Version: $Revision: 1.9 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-18 20:00:36 $
Last Modified: $Date: 2009-02-18 20:50:16 $
*/
/*
@@ -32,6 +32,11 @@ Last Modified: $Date: 2009-02-18 20:00:36 $
* .02 01-29-09 rls Copied Matthew Pearson's (Diamond) fix on XPS for;
* - idle polling interfering with setting position.
* - auto save/restore not working.
* .03 02-18-09 rls - Intermittent "set position" problem; set position cmnd.
* sometimes occurred during polling causing motor record
* to get old position value. Lock/Unlock all controller's
* axis during status update.
* - Check for controller error.
*
*/
@@ -550,6 +555,16 @@ static void MM4000Poller(MM4000Controller *pController)
}
anyMoving = 0;
/* Lock all the controller's axis. */
for (i = 0; i < pController->numAxes; i++)
{
pAxis = &pController->pAxis[i];
if (!pAxis->mutexId)
break;
epicsMutexLock(pAxis->mutexId);
}
comStatus = sendAndReceive(pController, "MS;", statusAllString, sizeof(statusAllString));
if (comStatus == 0)
comStatus = sendAndReceive(pController, "TP;", positionAllString, sizeof(positionAllString));
@@ -559,7 +574,6 @@ static void MM4000Poller(MM4000Controller *pController)
pAxis = &pController->pAxis[i];
if (!pAxis->mutexId)
break;
epicsMutexLock(pAxis->mutexId);
if (comStatus != 0)
{
PRINT(pAxis->logParam, ERROR, "MM4000Poller: error reading status=%d\n", comStatus);
@@ -619,12 +633,27 @@ static void MM4000Poller(MM4000Controller *pController)
/* We would like a way to query the actual velocity, but this is not possible. If we could we could
* set the direction, and Moving flags */
/* Check for controller error. */
comStatus = sendAndReceive(pController, "TE;", buff, sizeof(statusAllString));
if (buff[2] == '@')
motorParam->setInteger(pAxis->params, motorAxisProblem, 0);
else
motorParam->setInteger(pAxis->params, motorAxisProblem, 1);
}
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);
} /* Next axis */
/* UnLock all the controller's axis. */
for (i = 0; i < pController->numAxes; i++)
{
pAxis = &pController->pAxis[i];
if (!pAxis->mutexId)
break;
epicsMutexUnlock(pAxis->mutexId);
}
if (forcedFastPolls > 0)
{
timeout = pController->movingPollPeriod;