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Added a port to enable atomic writes of the config data

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This commit is contained in:
kpetersn
2018-03-09 15:54:00 -06:00
parent 5651f7071e
commit 43c8eee384
2 changed files with 22 additions and 10 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+20 -9
View File
@@ -283,7 +283,7 @@ 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, const char *ANF2ConfName, int axisNo, epicsInt32 config)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
@@ -300,14 +300,22 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
}
printf("ANF2Axis::ANF2Axis : pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
status = pasynInt32SyncIO->connect(ANF2ConfName, 0, &pasynUserConfWrite_, NULL);
if (status) {
printf("%s: Error, unable to connect pasynUserConfWrite_ to Modbus input driver\n", ANF2ConfName);
}
printf("ANF2Axis::ANF2Axis : pasynUserConfWrite_->reason=%d\n", pasynUserConfWrite_->reason);
epicsThreadSleep(3.0);
// Read data that is likely to be stale
//getInfo();
getInfo();
// Send the configuration
//status = pC_->writeReg32(axisNo_, CONFIG_MSW, config, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg16(axisNo_, CONFIG_MSW, 0x8600, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CONFIG_MSW, 0x8600, DEFAULT_CONTROLLER_TIMEOUT);
status = pasynInt32SyncIO->write(pasynUserConfWrite_, config, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.01);
// Delay
epicsThreadSleep(1.0);
@@ -347,6 +355,7 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
*/
extern "C" asynStatus ANF2CreateAxis(const char *ANF2Name, /* specify which controller by port name */
const char *ANF2ConfName, /* specify which config port name */
int axis, /* axis number 0-1 */
const char *hexConfig) /* desired configuration in hex */
{
@@ -373,7 +382,7 @@ extern "C" asynStatus ANF2CreateAxis(const char *ANF2Name, /* specify which con
}
pC->lock();
new ANF2Axis(pC, axis, config);
new ANF2Axis(pC, ANF2ConfName, axis, config);
pC->unlock();
return asynSuccess;
}
@@ -734,15 +743,17 @@ static void ANF2CreateControllerCallFunc(const iocshArgBuf *args)
/* ANF2CreateAxis */
static const iocshArg ANF2CreateAxisArg0 = {"Port name", iocshArgString};
static const iocshArg ANF2CreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg ANF2CreateAxisArg2 = {"Hex config", iocshArgString};
static const iocshArg ANF2CreateAxisArg1 = {"Config port name", iocshArgString};
static const iocshArg ANF2CreateAxisArg2 = {"Axis number", iocshArgInt};
static const iocshArg ANF2CreateAxisArg3 = {"Hex config", iocshArgString};
static const iocshArg * const ANF2CreateAxisArgs[] = {&ANF2CreateAxisArg0,
&ANF2CreateAxisArg1,
&ANF2CreateAxisArg2};
static const iocshFuncDef ANF2CreateAxisDef = {"ANF2CreateAxis", 3, ANF2CreateAxisArgs};
&ANF2CreateAxisArg2,
&ANF2CreateAxisArg3};
static const iocshFuncDef ANF2CreateAxisDef = {"ANF2CreateAxis", 4, ANF2CreateAxisArgs};
static void ANF2CreateAxisCallFunc(const iocshArgBuf *args)
{
ANF2CreateAxis(args[0].sval, args[1].ival, args[2].sval);
ANF2CreateAxis(args[0].sval, args[1].sval, args[2].ival, args[3].sval);
}
motorApp/AMCISrc/ANF2Driver.h
+2 -1
View File
@@ -62,7 +62,7 @@ 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, const char *ANF2ConfName, int axisNo, epicsInt32 config);
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);
@@ -78,6 +78,7 @@ private:
asynStatus sendAccelAndVelocity(double accel, double velocity);
void getInfo();
asynUser *pasynUserForceRead_;
asynUser *pasynUserConfWrite_;
int axisNo_;
epicsInt32 config_;