lin-epics-modules/motorBase
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Print more info. Try to write/read registers for axis 2 (currently doesn't work properly).

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This commit is contained in:
kpetersn
2018-03-20 13:47:56 -05:00
parent fae911bc35
commit 758f6fcc8b
1 changed files with 17 additions and 5 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+17 -5
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@@ -64,10 +64,10 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
for (j=0; j<numAxes; j++) {
/* Connect to ANF2 controller */
for (i=0; i<MAX_INPUT_REGS; i++) {
status = pasynInt32SyncIO->connect(ANF2InPortName, i, &pasynUserInReg_[j][i], NULL);
status = pasynInt32SyncIO->connect(ANF2InPortName, i+j*AXIS_REG_OFFSET, &pasynUserInReg_[j][i], NULL);
}
for (i=0; i<MAX_OUTPUT_REGS; i++) {
status = pasynInt32SyncIO->connect(ANF2OutPortName, i, &pasynUserOutReg_[j][i], NULL);
status = pasynInt32SyncIO->connect(ANF2OutPortName, i+j*AXIS_REG_OFFSET, &pasynUserOutReg_[j][i], NULL);
// Maybe send the outputs with Array calls in the future
//status = pasynInt32ArraySyncIO->connect(ANF2OutPortName, i, &pasynUserOutArrayReg_[j][i], NULL);
}
@@ -114,10 +114,18 @@ extern "C" int ANF2CreateController(const char *portName, const char *ANF2InPort
*/
void ANF2Controller::report(FILE *fp, int level)
{
int i, j;
fprintf(fp, "ANF2 motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
fprintf(fp, " axesCreated=%i\n", axesCreated_);
for (j=0; j<MAX_AXES; j++) {
fprintf(fp, " axis #%i\n", j);
for (i=0; i<MAX_INPUT_REGS; i++) {
fprintf(fp, " reg %i, pasynUserInReg_[%i][%i]=0x%x, pasynUserOutReg_[%i][%i]=0x%x\n", i, j, i, pasynUserInReg_[j][i], j, i, pasynUserOutReg_[j][i]);
}
}
// Call the base class method
asynMotorController::report(fp, level);
}
@@ -321,11 +329,12 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
}
printf("ANF2Axis::ANF2Axis : pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
status = pasynInt32ArraySyncIO->connect(ANF2ConfName, 0, &pasynUserConfWrite_, NULL);
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);
printf("ANF2Axis::ANF2Axis : pasynUserConfWrite_ offset=%d\n", axisNo_*AXIS_REG_OFFSET);
epicsThreadSleep(1.0);
@@ -632,6 +641,9 @@ asynStatus ANF2Axis::setPosition(double position)
epicsInt32 set_position;
//static const char *functionName = "ANF2Axis::setPosition";
set_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, set_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = writeReg32(SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
set_position = NINT(position);
@@ -728,7 +740,7 @@ asynStatus ANF2Axis::poll(bool *moving)
//printf("ANF2Axis::poll: Motor position raw: %d\n", read_val);
position = (double) read_val;
setDoubleParam(pC_->motorPosition_, position);
//printf("ANF2Axis::poll: Motor position: %f\n", position);
//printf("ANF2Axis::poll: Motor #%i position: %f\n", axisNo_, position);
// Read the moving status of this motor
//