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- Bug fix on "Acknowledged fault before enabling drive".

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- Change back to reading EOT LS's and let record determine limit error condition.
This commit is contained in:
Ron Sluiter
2010-04-19 19:32:33 +00:00
parent 903f18bae2
commit 5f24d16cef
2 changed files with 154 additions and 31 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+30 -31
View File
@@ -32,7 +32,8 @@ in file LICENSE that is included with this distribution.
* .02 03-02-10 rls Original check into version control.
* .03 03-16-10 rls Switch to C++ file.
* .04 04-07-10 rls Acknowledged fault before enabling drive.
*
* .05 04-19-10 rls Change back to reading EOT LS's and let record determine
* limit error condition.
*/
@@ -44,9 +45,6 @@ in file LICENSE that is included with this distribution.
#include <stdio.h>
#include <string.h>
#include "drvEnsembleAsyn.h"
#include "paramLib.h"
#include "epicsFindSymbol.h"
#include "epicsTime.h"
#include "epicsThread.h"
@@ -63,6 +61,9 @@ in file LICENSE that is included with this distribution.
#define DEFINE_MOTOR_PROTOTYPES 1
#include "motor_interface.h"
#include "paramLib.h"
#include "drvEnsembleAsyn.h"
motorAxisDrvSET_t motorEnsemble =
{
14,
@@ -373,7 +374,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int value)
{
int ret_status = MOTOR_AXIS_ERROR;
int status;
int status, FaultStatus;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
@@ -390,9 +391,10 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
{
sprintf(outputBuff, "AXISFAULT @%d", pAxis->axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (ret_status != 0)
if (ret_status == 0 && inputBuff[0] == ASCII_ACK_CHAR && (FaultStatus = atoi(&inputBuff[1])))
{
PRINT(pAxis->logParam, TERROR, "motorAxisSetInteger: FAULTACK = %X\n", ret_status);
PRINT(pAxis->logParam, TERROR, "motorAxisSetInteger: FAULTACK = %X\n", FaultStatus);
sprintf(outputBuff, "FAULTACK @%d", pAxis->axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
}
@@ -611,7 +613,8 @@ static void EnsemblePoller(EnsembleController *pController)
/* This is the task that polls the Ensemble */
double timeout;
AXIS_HDL pAxis;
int status, itera, comStatus, axisStatus;
int status, itera, comStatus;
Axis_Status axisStatus;
bool anyMoving;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
@@ -645,7 +648,7 @@ static void EnsemblePoller(EnsembleController *pController)
else
{
PARAMS params = pAxis->params;
axisStatus = 0;
axisStatus.All = 0;
if (inputBuff[0] != ASCII_ACK_CHAR)
{
epicsMutexUnlock(pAxis->mutexId);
@@ -654,18 +657,28 @@ static void EnsemblePoller(EnsembleController *pController)
else
{
motorParam->setInteger(params, motorAxisCommError, 0);
axisStatus = atoi(&inputBuff[1]);
motorParam->setInteger(params, motorAxisDone, axisStatus & IN_MOTION_BIT ? 0 : 1);
if (axisStatus & IN_MOTION_BIT)
axisStatus.All = atoi(&inputBuff[1]);
motorParam->setInteger(params, motorAxisDone, !axisStatus.Bits.move_active);
if (axisStatus.Bits.move_active)
anyMoving = true;
motorParam->setInteger(pAxis->params, motorAxisPowerOn, axisStatus & ENABLED_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, axisStatus & HOME_MARKER_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisPowerOn, axisStatus.Bits.axis_enabled);
motorParam->setInteger(pAxis->params, motorAxisHomeSignal, axisStatus.Bits.home_limit);
if (pAxis->stepSize > 0.0)
motorParam->setInteger(pAxis->params, motorAxisDirection, axisStatus & DIRECTION_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisDirection, axisStatus.Bits.motion_ccw);
else
motorParam->setInteger(pAxis->params, motorAxisDirection, axisStatus & DIRECTION_BIT ? 0 : 1);
motorParam->setInteger(pAxis->params, motorAxisDirection, !axisStatus.Bits.motion_ccw);
if (pAxis->stepSize > 0.0)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisStatus.Bits.CW_limit);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisStatus.Bits.CCW_limit);
}
else
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisStatus.Bits.CCW_limit);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisStatus.Bits.CW_limit);
}
}
pAxis->axisStatus = axisStatus;
pAxis->axisStatus = axisStatus.All;
}
sprintf(outputBuff, "PFBKPROG(@%d)", pAxis->axis);
comStatus = sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
@@ -707,20 +720,6 @@ static void EnsemblePoller(EnsembleController *pController)
epicsMutexUnlock(pAxis->mutexId);
continue;
}
else
{
axisStatus = atoi(&inputBuff[1]);
if (pAxis->stepSize > 0.0)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisStatus & CW_FAULT_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisStatus & CCW_FAULT_BIT ? 1 : 0);
}
else
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisStatus & CCW_FAULT_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisStatus & CW_FAULT_BIT ? 1 : 0);
}
}
}
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);
motorApp/AerotechSrc/drvEnsembleAsyn.h
+124
View File
@@ -1,6 +1,130 @@
/*
FILENAME... drvEnsembleAsyn.h
USAGE... This file contains Aerotech Ensemble Asyn driver "include" information.
Version: $Revision$
Modified By: $Author$
Last Modified: $Date$
HeadURL: $URL$
*/
/*
* Original Author: Chad Weimer
* Date: 10/16/97
*
* Experimental Physics and Industrial Control System (EPICS)
*
* Copyright 1991, the Regents of the University of California,
* and the University of Chicago Board of Governors.
*
* This software was produced under U.S. Government contracts:
* (W-7405-ENG-36) at the Los Alamos National Laboratory,
* and (W-31-109-ENG-38) at Argonne National Laboratory.
*
* Initial development by:
* The Controls and Automation Group (AT-8)
* Ground Test Accelerator
* Accelerator Technology Division
* Los Alamos National Laboratory
*
* Co-developed with
* The Controls and Computing Group
* Accelerator Systems Division
* Advanced Photon Source
* Argonne National Laboratory
*
* Modification Log:
* -----------------
* .00 04-01-08 caw initialized from drvMM4000.h (Newport)
*/
#ifndef DRV_MOTOR_ENSEMBLE_ASYN_H
#define DRV_MOTOR_ENSEMBLE_ASYN_H
#include "motor.h"
/* Axis Status Register Bitmap */
typedef union
{
epicsUInt32 All;
struct
{
#ifdef MSB_First
unsigned int ESTOP :1;
unsigned int cos_encoder_err :1;
unsigned int sin_encoder_err :1;
unsigned int hall_C :1;
unsigned int hall_B :1;
unsigned int hall_A :1;
unsigned int marker :1;
unsigned int home_limit :1;
unsigned int CCW_limit :1;
unsigned int CW_limit :1;
unsigned int na18_21 :4; /* N/A bits 18-21 */
unsigned int gantry_master_active :1;
unsigned int gantry_mode_active :1;
unsigned int master_suppressed :1;
unsigned int homing_active :1;
unsigned int joystick_active :1;
unsigned int axis_calib_enabled :1;
unsigned int axis_calib_active :1;
unsigned int na10 :1; /* N/A bit 10 */
unsigned int motion_ccw :1;
unsigned int brake_on :1;
unsigned int current_clamp :1;
unsigned int pos_capture_active :1;
unsigned int dec_active :1;
unsigned int acc_active :1;
unsigned int move_active :1;
unsigned int in_position :1;
unsigned int home_cycle_complete :1;
unsigned int axis_enabled :1;
#else
unsigned int axis_enabled :1;
unsigned int home_cycle_complete :1;
unsigned int in_position :1;
unsigned int move_active :1;
unsigned int acc_active :1;
unsigned int dec_active :1;
unsigned int pos_capture_active :1;
unsigned int current_clamp :1;
unsigned int brake_on :1;
unsigned int motion_ccw :1;
unsigned int na10 :1; /* N/A bit 10 */
unsigned int axis_calib_active :1;
unsigned int axis_calib_enabled :1;
unsigned int joystick_active :1;
unsigned int homing_active :1;
unsigned int master_suppressed :1;
unsigned int gantry_mode_active :1;
unsigned int gantry_master_active :1;
unsigned int na18_21 :4; /* N/A bits 18-21 */
unsigned int CW_limit :1;
unsigned int CCW_limit :1;
unsigned int home_limit :1;
unsigned int marker :1;
unsigned int hall_A :1;
unsigned int hall_B :1;
unsigned int hall_C :1;
unsigned int sin_encoder_err :1;
unsigned int cos_encoder_err :1;
unsigned int ESTOP :1;
#endif
} Bits;
} Axis_Status;
#ifdef __cplusplus
extern "C" {
#endif