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Restored home search using HomeAsync.abx vendor program.

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Replaced stepSize
This commit is contained in:
Ron Sluiter
2012-03-05 20:02:01 +00:00
parent 7720f24e12
commit 50906dfd96
1 changed files with 26 additions and 11 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+26 -11
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@@ -58,6 +58,8 @@ in file LICENSE that is included with this distribution.
* MOVE[ABS/INC] to LINEAR move command.
* .13 12-15-11 rls - Bug fix for jog not terminating; must check both
* PLANESTATUS and AXISSTATUS for move_active.
* .14 12-22-11 rls - Restore home search; using HomeAsync.abx vendor program.
* .15 02-02-12 rls - Replace "stepSize > 0.0" test with ReverseDirec parameter.
*/
@@ -145,6 +147,7 @@ typedef struct motorAxisHandle
epicsMutexId mutexId;
Switch_Level swconfig;
int lastFault;
bool ReverseDirec;
} motorAxis;
typedef struct
@@ -523,9 +526,7 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
epicsUInt32 hparam;
int axis;
/* Return ERROR until Ensemble firmware upgrade.
if (pAxis == NULL || pAxis->pController == NULL)
*/
return (MOTOR_AXIS_ERROR);
axis = pAxis->axis;
@@ -554,7 +555,13 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
sprintf(outputBuff, "SETPARM @%d, %d, %d", axis, PARAMETERID_HomeSetup, hparam); /* HomeDirection */
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff, "HOME @%d", axis);
/* Set IGLOBAL(32) for one axis and IGLOBAL(33) for axis #; according to HomeAsync.ab protocol*/
sprintf(outputBuff, "IGLOBAL(32) = 1");
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff, "IGLOBAL(33) = %d", axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff,"PROGRAM RUN 5, \"HomeAsync.bcx\"");
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (ret_status)
return(MOTOR_AXIS_ERROR);
@@ -710,7 +717,8 @@ static void EnsemblePoller(EnsembleController *pController)
motorParam->setInteger(pAxis->params, motorAxisPowerOn, axisStatus.Bits.axis_enabled);
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, axisStatus.Bits.home_limit);
if (pAxis->stepSize > 0.0)
if (pAxis->ReverseDirec == true)
motorParam->setInteger(pAxis->params, motorAxisDirection, axisStatus.Bits.motion_ccw);
else
motorParam->setInteger(pAxis->params, motorAxisDirection, !axisStatus.Bits.motion_ccw);
@@ -718,7 +726,7 @@ static void EnsemblePoller(EnsembleController *pController)
CW_sw_active = !(axisStatus.Bits.CW_limit ^ pAxis->swconfig.Bits.CWEOTSWstate);
CCW_sw_active = !(axisStatus.Bits.CCW_limit ^ pAxis->swconfig.Bits.CCWEOTSWstate);
if (!((pAxis->stepSize > 0.0) ^ (pAxis->swconfig.Bits.EOTswitch)))
if (pAxis->ReverseDirec == false)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, CW_sw_active);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, CCW_sw_active);
@@ -840,6 +848,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
int axis, status, digits, retry = 0;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
int numAxesFound;
static char getparamstr[] = "GETPARM(@%d, %d)";
if (numEnsembleControllers < 1)
{
@@ -898,7 +907,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
for (axis = 0; axis < ENSEMBLE_MAX_AXES && numAxesFound < numAxes; axis++)
{
/* Does this axis actually exist? */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, PARAMETERID_AxisName);
sprintf(outputBuff, getparamstr, axis, PARAMETERID_AxisName);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
/* We know the axis exists if we got an ACK response */
@@ -911,7 +920,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
pAxis->mutexId = epicsMutexMustCreate();
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS);
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, PARAMETERID_PositionFeedbackType);
sprintf(outputBuff, getparamstr, axis, PARAMETERID_PositionFeedbackType);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR && atoi(&inputBuff[1]) > 0)
{
@@ -919,7 +928,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
motorParam->setInteger(pAxis->params, motorAxisHasEncoder, 1);
}
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, PARAMETERID_CountsPerUnit);
sprintf(outputBuff, getparamstr, axis, PARAMETERID_CountsPerUnit);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->stepSize = 1 / atof(&inputBuff[1]);
@@ -930,18 +939,18 @@ int EnsembleAsynConfig(int card, /* Controller number */
digits = 1;
pAxis->maxDigits = digits;
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, PARAMETERID_HomeOffset);
sprintf(outputBuff, getparamstr, axis, PARAMETERID_HomeOffset);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->homePreset = atof(&inputBuff[1]);
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, PARAMETERID_HomeSetup);
sprintf(outputBuff, getparamstr, axis, PARAMETERID_HomeSetup);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->homeDirection = atoi(&inputBuff[1]);
numAxesFound++;
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, PARAMETERID_EndOfTravelLimitSetup);
sprintf(outputBuff, getparamstr, axis, PARAMETERID_EndOfTravelLimitSetup);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->swconfig.All = atoi(&inputBuff[1]);
@@ -952,6 +961,12 @@ int EnsembleAsynConfig(int card, /* Controller number */
/* Set RAMP MODE to RATE. */
sprintf(outputBuff, "RAMP MODE @%d RATE", axis);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
/* Get Reverse Direction indicator. */
sprintf(outputBuff, getparamstr, axis, PARAMETERID_ReverseMotionDirection);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->ReverseDirec = (bool) atoi(&inputBuff[1]);
}
}