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- Matthew Pearson's fix for record seeing motorAxisDone True on 1st status update after a move

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- bug fix; limit commands reversed.
- set motorAxisDirection.
This commit is contained in:
Ron Sluiter
2009-06-18 19:26:18 +00:00
parent a364da3930
commit 2b02a15d89
1 changed files with 52 additions and 30 deletions
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motorApp/NewportSrc/drvMM4000Asyn.c
+52 -30
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@@ -2,9 +2,9 @@
FILENAME... drvMM4000Asyn.cc
USAGE... Motor record asyn driver level support for Newport MM4000.
Version: $Revision: 1.9 $
Version: $Revision: 1.10 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-18 20:50:16 $
Last Modified: $Date: 2009-06-18 19:26:18 $
*/
/*
@@ -37,6 +37,13 @@ Last Modified: $Date: 2009-02-18 20:50:16 $
* to get old position value. Lock/Unlock all controller's
* axis during status update.
* - Check for controller error.
* .04 06-11-09 rls - Matthew Pearson's fix for record seeing motorAxisDone True
* on 1st status update after a move; set motorAxisDone False
* in motorAxisDrvSET_t functions that start motion
* (motorAxisHome, motorAxisMove, motorAxisVelocityMove) and
* force a status update with a call to callCallback().
* - bug fix; limit commands reversed.
* - set motorAxisDirection.
*
*/
@@ -329,14 +336,14 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
case motorAxisLowLimit:
{
deviceValue = value*pAxis->stepSize;
sprintf(buff, "%dSR%.*f", pAxis->axis+1, pAxis->maxDigits, deviceValue);
sprintf(buff, "%dSL%.*f", pAxis->axis+1, pAxis->maxDigits, deviceValue);
ret_status = sendOnly(pAxis->pController, buff);
break;
}
case motorAxisHighLimit:
{
deviceValue = value*pAxis->stepSize;
sprintf(buff, "%dSL%.*f", pAxis->axis+1, pAxis->maxDigits, deviceValue);
sprintf(buff, "%dSR%.*f", pAxis->axis+1, pAxis->maxDigits, deviceValue);
ret_status = sendOnly(pAxis->pController, buff);
break;
}
@@ -422,7 +429,16 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
pAxis->axis+1, pAxis->maxDigits, max_velocity * pAxis->stepSize,
pAxis->axis+1, moveCommand, pAxis->maxDigits, position * pAxis->stepSize);
status = sendOnly(pAxis->pController, buff);
if (status) return MOTOR_AXIS_ERROR;
if (status)
return MOTOR_AXIS_ERROR;
if (epicsMutexLock(pAxis->mutexId) == epicsMutexLockOK)
{
/* Insure that the motor record's next status update sees motorAxisDone = False. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);
}
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
@@ -435,7 +451,8 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
int status;
char buff[100];
if (pAxis == NULL) return MOTOR_AXIS_ERROR;
if (pAxis == NULL)
return MOTOR_AXIS_ERROR;
PRINT(pAxis->logParam, FLOW, "motorAxisHome: set card %d, axis %d to home\n",
pAxis->card, pAxis->axis);
@@ -445,7 +462,16 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
pAxis->axis+1, pAxis->maxDigits, max_velocity * pAxis->stepSize,
pAxis->axis+1);
status = sendOnly(pAxis->pController, buff);
if (status) return(MOTOR_AXIS_ERROR);
if (status)
return(MOTOR_AXIS_ERROR);
if (epicsMutexLock(pAxis->mutexId) == epicsMutexLockOK)
{
/* Insure that the motor record's next status update sees motorAxisDone = False. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);
}
/* Send a signal to the poller task which will make it do a poll, and switch to the moving poll rate */
epicsEventSignal(pAxis->pController->pollEventId);
@@ -581,38 +607,30 @@ static void MM4000Poller(MM4000Controller *pController)
}
else
{
motorParam->setInteger(pAxis->params, motorAxisCommError, 0);
PARAMS params = pAxis->params;
int intval, axisStatus;
motorParam->setInteger(params, motorAxisCommError, 0);
/*
* Parse the status string
* Status string format: 1MSx,2MSy,3MSz,... where x, y and z are the status
* bytes for the motors
*/
offset = pAxis->axis*5 + 3; /* Offset in status string */
pAxis->axisStatus = statusAllString[offset];
if (pAxis->axisStatus & MM4000_MOVING)
axisStatus = pAxis->axisStatus = statusAllString[offset];
if (axisStatus & MM4000_MOVING)
{
axisDone = 0;
anyMoving = 1;
}
else
axisDone = 1;
motorParam->setInteger(params, motorAxisDone, axisDone);
motorParam->setInteger(pAxis->params, motorAxisDone, axisDone);
if (pAxis->axisStatus & MM4000_HOME)
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, 1);
else
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, 0);
if (pAxis->axisStatus & MM4000_HIGH_LIMIT)
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, 1);
else
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, 0);
if (pAxis->axisStatus & MM4000_LOW_LIMIT)
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, 1);
else
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, 0);
motorParam->setInteger(params, motorAxisHomeSignal, (axisStatus & MM4000_HOME));
motorParam->setInteger(params, motorAxisHighHardLimit, (axisStatus & MM4000_HIGH_LIMIT));
motorParam->setInteger(params, motorAxisLowHardLimit, (axisStatus & MM4000_LOW_LIMIT));
motorParam->setInteger(params, motorAxisDirection, (axisStatus & MM4000_DIRECTION));
/*
* Parse motor position
@@ -626,8 +644,8 @@ static void MM4000Poller(MM4000Controller *pController)
for (j=0; j < pAxis->axis; j++)
p = epicsStrtok_r(NULL, ",", &tokSave);
pAxis->currentPosition = atof(p+3);
motorParam->setDouble(pAxis->params, motorAxisPosition, (pAxis->currentPosition/pAxis->stepSize));
motorParam->setDouble(pAxis->params, motorAxisEncoderPosn, (pAxis->currentPosition/pAxis->stepSize));
motorParam->setDouble(params, motorAxisPosition, (pAxis->currentPosition/pAxis->stepSize));
motorParam->setDouble(params, motorAxisEncoderPosn, (pAxis->currentPosition/pAxis->stepSize));
PRINT(pAxis->logParam, IODRIVER, "MM4000Poller: axis %d axisStatus=%x, position=%f\n",
pAxis->axis, pAxis->axisStatus, pAxis->currentPosition);
@@ -637,9 +655,13 @@ static void MM4000Poller(MM4000Controller *pController)
/* Check for controller error. */
comStatus = sendAndReceive(pController, "TE;", buff, sizeof(statusAllString));
if (buff[2] == '@')
motorParam->setInteger(pAxis->params, motorAxisProblem, 0);
intval = 0;
else
motorParam->setInteger(pAxis->params, motorAxisProblem, 1);
{
intval = 1;
PRINT(pAxis->logParam, ERROR, "MM4000Poller: controller error %s\n", buff);
}
motorParam->setInteger(params, motorAxisProblem, intval);
}
motorParam->callCallback(pAxis->params);