lin-epics-modules/motorBase
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Added writeReg32Array method. Made the default output asyn port use array writes. Eliminated the conf asyn port.

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This commit is contained in:
kpetersn
2018-03-26 15:25:49 -05:00
parent dc09abbd14
commit 70d252c44a
2 changed files with 31 additions and 46 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+28 -42
View File
@@ -66,10 +66,7 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
for (i=0; i<MAX_INPUT_REGS; i++) {
status = pasynInt32SyncIO->connect(ANF2InPortName, i+j*AXIS_REG_OFFSET, &pasynUserInReg_[j][i], NULL);
}
for (i=0; i<MAX_OUTPUT_REGS; i++) {
// Maybe send the outputs with Array calls in the future
//status = pasynInt32ArraySyncIO->connect(ANF2OutPortName, i, &pasynUserOutArrayReg_[j][i], NULL);
}
status = pasynInt32ArraySyncIO->connect(ANF2OutPortName, j*AXIS_REG_OFFSET, &pasynUserOutReg_[j], NULL);
}
if (status) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_ERROR,
@@ -252,16 +249,15 @@ asynStatus ANF2Controller::writeInt32(asynUser *pasynUser, epicsInt32 value)
return status;
}
// This could be useful in the future, but it isn't needed yet
/*asynStatus ANF2Controller::writeReg32Array(int axisNo, int axisReg, epicsInt32* output, int nElements, double timeout)
asynStatus ANF2Controller::writeReg32Array(int axisNo, epicsInt32* output, int nElements, double timeout)
{
asynStatus status;
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"writeReg32Array: writing %d elements starting at register %d\n", nElements, axisReg);
status = pasynInt32ArraySyncIO->write(pasynUserOutArrayReg_[axisNo][axisReg], output, nElements, timeout);
return status ;
}*/
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"writeReg32Array: writing %d elements starting for axis %d\n", nElements, axisNo);
status = pasynInt32ArraySyncIO->write(pasynUserOutReg_[axisNo], output, nElements, timeout);
return status;
}
asynStatus ANF2Controller::readReg16(int axisNo, int axisReg, epicsInt32 *input, double timeout)
{
@@ -300,7 +296,7 @@ asynStatus ANF2Controller::readReg32(int axisNo, int axisReg, epicsInt32 *combo,
*
* Initializes register numbers, etc.
*/
ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epicsInt32 config)
ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
@@ -319,16 +315,9 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
}
//printf("ANF2Axis::ANF2Axis : pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
status = pasynInt32ArraySyncIO->connect(ANF2ConfName, axisNo_*AXIS_REG_OFFSET, &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);
/* TODO:
* test config bits and set status bits to prevent methods from sending commands that would generate errors
* reduce the sleeps to see which ones are necessary
* make pasynUserConfWrite_ an output array; create a corresponding controller method to simplify calls
* allow the base speed to be passed as an argument
*/
@@ -338,7 +327,7 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
//getInfo();
// Clear the command/configuration register (a good thing to do but doesn't appear to be necessary)
//status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
// Delay
//epicsThreadSleep(0.05);
@@ -352,7 +341,7 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
confReg_[BASE_SPEED] = 0x00000064;
// Write all the registers
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, confReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, confReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
// Delay
epicsThreadSleep(0.05);
@@ -387,7 +376,6 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
*/
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 */
{
@@ -414,7 +402,7 @@ extern "C" asynStatus ANF2CreateAxis(const char *ANF2Name, /* specify which con
}
pC->lock();
new ANF2Axis(pC, ANF2ConfName, axis, config);
new ANF2Axis(pC, axis, config);
pC->unlock();
return asynSuccess;
}
@@ -458,8 +446,8 @@ void ANF2Axis::reconfig(epicsInt32 value)
printf("Reconfiguring axis %i\n", axisNo_);
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
// Construct the new config
zeroRegisters(confReg);
confReg[CONFIGURATION] = 0x86000000;
@@ -472,7 +460,7 @@ void ANF2Axis::reconfig(epicsInt32 value)
getInfo();
// Send the new config
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, confReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, confReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.05);
getInfo();
@@ -540,7 +528,7 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
//printf(" ** ANF2Axis::move called, relative = %d, axisNo_ = %i\n", relative, this->axisNo_);
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.05);
@@ -576,7 +564,7 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
// Write all the registers atomically
// The number of elements refers to the number of epicsInt32s registers_
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, motionReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, motionReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
// Delay the first status read, give the controller some time to return moving status
epicsThreadSleep(0.05);
@@ -590,7 +578,7 @@ asynStatus ANF2Axis::home(double minVelocity, double maxVelocity, double acceler
// static const char *functionName = "ANF2Axis::home";
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.05);
@@ -609,7 +597,7 @@ asynStatus ANF2Axis::home(double minVelocity, double maxVelocity, double acceler
}
// Write all the registers atomically
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, motionReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, motionReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}
@@ -657,13 +645,13 @@ asynStatus ANF2Axis::stop(double acceleration)
// The stop commands ignore all 32-bit registers beyond the first
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 1, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, zeroReg_, 1, DEFAULT_CONTROLLER_TIMEOUT);
//stopReg = 0x10 << 16; Immediate stop
stopReg = 0x4 << 16; // Hold move
//
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, &stopReg, 1, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, &stopReg, 1, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}
@@ -679,7 +667,7 @@ asynStatus ANF2Axis::setPosition(double position)
printf("setPosition(%lf) for axisNo_=%i\n", position, axisNo_);
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.1);
@@ -693,13 +681,13 @@ asynStatus ANF2Axis::setPosition(double position)
//posReg[4] = 0x0;
// Write all the registers atomically
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, posReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg32Array(axisNo_, posReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.20);
// The ANG1 driver does this; do we need to?
// Clear the command/configuration register
//status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}
@@ -863,17 +851,15 @@ static void ANF2StartPollerCallFunc(const iocshArgBuf *args)
/* ANF2CreateAxis */
static const iocshArg ANF2CreateAxisArg0 = {"Port name", 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 ANF2CreateAxisArg1 = {"Axis number", iocshArgInt};
static const iocshArg ANF2CreateAxisArg2 = {"Hex config", iocshArgString};
static const iocshArg * const ANF2CreateAxisArgs[] = {&ANF2CreateAxisArg0,
&ANF2CreateAxisArg1,
&ANF2CreateAxisArg2,
&ANF2CreateAxisArg3};
static const iocshFuncDef ANF2CreateAxisDef = {"ANF2CreateAxis", 4, ANF2CreateAxisArgs};
&ANF2CreateAxisArg2};
static const iocshFuncDef ANF2CreateAxisDef = {"ANF2CreateAxis", 3, ANF2CreateAxisArgs};
static void ANF2CreateAxisCallFunc(const iocshArgBuf *args)
{
ANF2CreateAxis(args[0].sval, args[1].sval, args[2].ival, args[3].sval);
ANF2CreateAxis(args[0].sval, args[1].ival, args[2].sval);
}
motorApp/AMCISrc/ANF2Driver.h
+3 -4
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, const char *ANF2ConfName, int axisNo, epicsInt32 config);
ANF2Axis(class ANF2Controller *pC, 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);
@@ -83,7 +83,6 @@ private:
void reconfig(epicsInt32 value);
void zeroRegisters(epicsInt32 *reg);
asynUser *pasynUserForceRead_;
asynUser *pasynUserConfWrite_;
int axisNo_;
epicsInt32 config_;
epicsInt32 motionReg_[5];
@@ -102,7 +101,7 @@ public:
ANF2Axis* getAxis(asynUser *pasynUser);
ANF2Axis* getAxis(int axisNo);
asynUser *pasynUserInReg_[MAX_MODULES*MAX_AXES_PER_MODULE][MAX_INPUT_REGS];
//asynUser *pasynUserOutArrayReg_[MAX_MODULES*MAX_AXES_PER_MODULE][MAX_OUTPUT_REGS];
asynUser *pasynUserOutReg_[MAX_MODULES*MAX_AXES_PER_MODULE];
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
@@ -119,7 +118,7 @@ protected:
private:
asynStatus writeReg16(int, int, int, double);
asynStatus writeReg32(int, int, int, double);
//asynStatus writeReg32Array(int, int, epicsInt32*, int, double);
asynStatus writeReg32Array(int, epicsInt32*, int, double);
asynStatus readReg16(int, int, epicsInt32*, double);
asynStatus readReg32(int, int, epicsInt32*, double);
char *inputDriver_;