lin-epics-modules/motorBase
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Specify base speed and homing timeout when configuring axis

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This commit is contained in:
kpetersn
2018-03-27 14:50:36 -05:00
parent 9c90d24fb8
commit 35ac98f133
2 changed files with 37 additions and 9 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+34 -8
View File
@@ -296,7 +296,7 @@ asynStatus ANF2Controller::readReg32(int axisNo, int axisReg, epicsInt32 *combo,
*
* Initializes register numbers, etc.
*/
ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config, epicsInt32 baseSpeed, epicsInt32 homingTimeout)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
@@ -304,6 +304,8 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
axisNo_ = axisNo;
//this->axisNo_ = axisNo;
baseSpeed_ = baseSpeed;
homingTimeout_ = homingTimeout;
// These registers will always be zero
zeroRegisters(zeroReg_);
@@ -338,7 +340,8 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
// Send the configuration (array)
// assemble the configuration bits; set the start speed to a non-zero value (100), which is required for the configuration to be accepted
confReg_[CONFIGURATION] = config;
confReg_[BASE_SPEED] = 0x00000064;
confReg_[BASE_SPEED] = baseSpeed;
confReg_[HOME_TIMEOUT] = homingTimeout << 16;
// Write all the registers
status = pC_->writeReg32Array(axisNo_, confReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
@@ -404,8 +407,10 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
*/
extern "C" asynStatus ANF2CreateAxis(const char *ANF2Name, /* specify which controller by port name */
int axis, /* axis number 0-1 */
const char *hexConfig) /* desired configuration in hex */
int axis, /* axis number 0-1 */
const char *hexConfig, /* desired configuration in hex */
epicsInt32 baseSpeed, /* base speed */
epicsInt32 homingTimeout) /* homing timeout */
{
ANF2Controller *pC;
epicsInt32 config;
@@ -429,8 +434,24 @@ extern "C" asynStatus ANF2CreateAxis(const char *ANF2Name, /* specify which con
driverName, functionName, config);
}
// baseSpeed is steps/second (1-1,000,000)
if (baseSpeed < 1) {
baseSpeed = 1;
}
if (baseSpeed > 1000000) {
baseSpeed = 1000000;
}
// homingTimeout is seconds (0-300)
if (homingTimeout < 0) {
homingTimeout = 0;
}
if (homingTimeout > 300) {
homingTimeout = 300;
}
pC->lock();
new ANF2Axis(pC, axis, config);
new ANF2Axis(pC, axis, config, baseSpeed, homingTimeout);
pC->unlock();
return asynSuccess;
}
@@ -455,6 +476,7 @@ void ANF2Axis::getInfo()
status = pasynInt32SyncIO->write(pasynUserForceRead_, 1, DEFAULT_CONTROLLER_TIMEOUT);
printf("Configuration for axis %i:\n", axisNo_);
printf(" Base Speed: %i\tHoming Timeout: %i\n", baseSpeed_, homingTimeout_);
printf(" Capture Input: %i\tActive State: %i\n", CaptInput_, CaptInputAS_);
printf(" External Input: %i\tActive State: %i\n", ExtInput_, ExtInputAS_);
printf(" Home Input: %i\tActive State: %i\n", HomeInput_, HomeInputAS_);
@@ -895,13 +917,17 @@ static void ANF2StartPollerCallFunc(const iocshArgBuf *args)
static const iocshArg ANF2CreateAxisArg0 = {"Port name", iocshArgString};
static const iocshArg ANF2CreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg ANF2CreateAxisArg2 = {"Hex config", iocshArgString};
static const iocshArg ANF2CreateAxisArg3 = {"Base speed", iocshArgInt};
static const iocshArg ANF2CreateAxisArg4 = {"Homing timeout", iocshArgInt};
static const iocshArg * const ANF2CreateAxisArgs[] = {&ANF2CreateAxisArg0,
&ANF2CreateAxisArg1,
&ANF2CreateAxisArg2};
static const iocshFuncDef ANF2CreateAxisDef = {"ANF2CreateAxis", 3, ANF2CreateAxisArgs};
&ANF2CreateAxisArg2,
&ANF2CreateAxisArg3,
&ANF2CreateAxisArg4};
static const iocshFuncDef ANF2CreateAxisDef = {"ANF2CreateAxis", 5, ANF2CreateAxisArgs};
static void ANF2CreateAxisCallFunc(const iocshArgBuf *args)
{
ANF2CreateAxis(args[0].sval, args[1].ival, args[2].sval);
ANF2CreateAxis(args[0].sval, args[1].ival, args[2].sval, args[3].ival, args[4].ival);
}
motorApp/AMCISrc/ANF2Driver.h
+3 -1
View File
@@ -65,7 +65,7 @@ class ANF2Axis : public asynMotorAxis
{
public:
/* These are the methods we override from the base class */
ANF2Axis(class ANF2Controller *pC, int axisNo, epicsInt32 config);
ANF2Axis(class ANF2Controller *pC, int axisNo, epicsInt32 config, epicsInt32 baseSpeed, epicsInt32 homingTimeout);
void report(FILE *fp, int level);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus moveVelocity(double min_velocity, double max_velocity, double acceleration);
@@ -84,6 +84,8 @@ private:
void zeroRegisters(epicsInt32 *reg);
asynUser *pasynUserForceRead_;
int axisNo_;
epicsInt32 baseSpeed_;
epicsInt32 homingTimeout_;
epicsInt32 config_;
epicsInt32 motionReg_[5];
epicsInt32 confReg_[5];