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- support homing in both directions.

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- disable LOAD_POS until ABORT command fixed.
- SET_VELOCITY sets both default speed and home feedrate.
This commit is contained in:
Ron Sluiter
2008-11-20 22:27:13 +00:00
parent ca0ab1ab7a
commit 48c293203e
1 changed files with 60 additions and 35 deletions
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motorApp/AerotechSrc/devEnsemble.cc
+60 -35
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@@ -2,9 +2,9 @@
* FILENAME... devEnsemble.cc
* USAGE... Motor record device level support for Aerotech Ensemble.
*
* Version: $Revision: 1.3 $
* Version: $Revision: 1.4 $
* Modified By: $Author: sluiter $
* Last Modified: $Date: 2008-11-18 15:58:21 $
* Last Modified: $Date: 2008-11-20 22:27:13 $
*/
/*
@@ -33,9 +33,12 @@
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .01 04-01-08 caw initialized from devMM4000.cc (Newport)
* Modification Log:
* -----------------
* .01 04-01-08 caw initialized from devMM4000.cc (Newport)
* .02 11-20-08 rls - support homing in both directions.
* - disable LOAD_POS until ABORT command fixed.
* - SET_VELOCITY sets both default speed and home feedrate.
*/
@@ -76,29 +79,29 @@ extern "C" {epicsExportAddress (dset, devEnsemble);}
*/
static msg_types Ensemble_table[] = {
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY, /* JOG_VELOCITY */
IMMEDIATE /* SET_RESOLUTION */
MOTION, /* MOVE_ABS */
MOTION, /* MOVE_REL */
MOTION, /* HOME_FOR */
MOTION, /* HOME_REV */
IMMEDIATE, /* LOAD_POS */
IMMEDIATE, /* SET_VEL_BASE */
IMMEDIATE, /* SET_VELOCITY */
IMMEDIATE, /* SET_ACCEL */
IMMEDIATE, /* GO */
IMMEDIATE, /* SET_ENC_RATIO */
INFO, /* GET_INFO */
MOVE_TERM, /* STOP_AXIS */
VELOCITY, /* JOG */
IMMEDIATE, /* SET_PGAIN */
IMMEDIATE, /* SET_IGAIN */
IMMEDIATE, /* SET_DGAIN */
IMMEDIATE, /* ENABLE_TORQUE */
IMMEDIATE, /* DISABL_TORQUE */
IMMEDIATE, /* PRIMITIVE */
IMMEDIATE, /* SET_HIGH_LIMIT */
IMMEDIATE, /* SET_LOW_LIMIT */
VELOCITY, /* JOG_VELOCITY */
IMMEDIATE /* SET_RESOLUTION */
};
@@ -179,9 +182,7 @@ static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
axis = motor_call->signal;
brdptr = (*trans->tabptr->card_array)[card];
if (brdptr == NULL)
{
return(rtnval = ERROR);
}
cntrl = (struct Ensemblecontroller *) brdptr->DevicePrivate;
cntrl_units = dval * cntrl->drive_resolution[axis];
@@ -232,11 +233,28 @@ static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
case HOME_FOR:
case HOME_REV:
sprintf(buff, "HOME @%d", axis);
{
epicsUInt32 hparam = cntrl->home_dparam[axis];
if (command == HOME_FOR)
hparam |= 0x00000001;
else
hparam &= 0xFFFFFFFE;
cntrl->home_dparam[axis] = hparam;
sprintf(buff, "SETPARM @%d, 106, %d", axis, hparam);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
sprintf(buff, "HOME @%d", axis);
motor_call->type = Ensemble_table[command];
}
break;
case LOAD_POS:
sprintf(buff, "SETPOSCMD @%d, %.*f", axis, maxdigits, cntrl_units);
// Disabled until the ABORT command stops resetting the position offset.
// sprintf(buff, "SETPOSCMD @%d, %.*f", axis, maxdigits, cntrl_units);
send = false;
break;
case SET_VEL_BASE:
@@ -245,7 +263,14 @@ static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
case SET_VELOCITY:
sprintf(buff, "SETPARM @%d, 102, %.*f", //DefaultSpeed
axis, maxdigits, cntrl_units);
strcpy(motor_call->message, buff);
rtnval = motor_end_trans_com(mr, drvtabptr);
rtnval = (RTN_STATUS) motor_start_trans_com(mr, Ensemble_cards);
sprintf(buff, "SETPARM @%d, 107, %.*f", //HomeFeedRate
axis, maxdigits, cntrl_units);
motor_call->type = Ensemble_table[command];
break;
case SET_ACCEL:
@@ -315,7 +340,7 @@ static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
break;
case SET_HIGH_LIMIT:
sprintf(buff, "SETPARM(@%d, 48, %*.f)", axis, maxdigits, cntrl_units); //ThresholdSoftCW
sprintf(buff, "SETPARM(@%d, 48, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCW
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
//trans->state = IDLE_STATE; // No command sent to the controller.
@@ -328,7 +353,7 @@ static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
break;
case SET_LOW_LIMIT:
sprintf(buff, "SETPARM(@%d, 47, %*.f)", axis, maxdigits, cntrl_units); //ThresholdSoftCCW
sprintf(buff, "SETPARM(@%d, 47, %.*f)", axis, maxdigits, cntrl_units); //ThresholdSoftCCW
//motor_info = &(*trans->tabptr->card_array)[card]->motor_info[axis];
//trans->state = IDLE_STATE; // No command sent to the controller.
@@ -350,7 +375,7 @@ static RTN_STATUS Ensemble_build_trans (motor_cmnd command, double *parms,
rtnval = ERROR;
}
if (send)
if (send == true)
{
size = strlen (buff);
if (size > sizeof(buff) || (strlen(motor_call->message) + size) > MAX_MSG_SIZE)