Updated to PI_GCS2_2013_07_12.tgz

motorApp/PIGCS2Src/PIE517Controller.cpp

@@ -21,8 +21,8 @@ Created: 15.12.2010
 #include <stdlib.h>
 #include <math.h>
 
-//#undef asynPrint
-//#define asynPrint(user,reason,format...) 0
+#undef asynPrint
+#define asynPrint(user,reason,format...) 0
 
 
 asynStatus PIE517Controller::init()
@@ -74,11 +74,4 @@ asynStatus PIE517Controller::getNrOutputChannels()
 
 }
 
-asynStatus PIE517Controller::initAxis(PIasynAxis* pAxis)
-{
-    pAxis->m_movingStateMask = pow(2.0, pAxis->getAxisNo());
-
-	return setServo(pAxis, 1);
-}
-
 

motorApp/PIGCS2Src/PIE517Controller.h

@@ -40,7 +40,11 @@ public:
 	~PIE517Controller() {}
 
 	virtual asynStatus init(void);
-	virtual asynStatus initAxis(PIasynAxis* pAxis);
+	virtual asynStatus haltAxis(PIasynAxis* pAxis)
+	{
+		// E-517 does support HLT with single axis
+		return PIGCSController::haltAxis(pAxis);
+	}
 
 private:
     asynStatus setOnline(int outputChannel, int onlineState);

motorApp/PIGCS2Src/PIE755Controller.cpp

@@ -19,8 +19,8 @@ Original Author: Steffen Rau
 #include "PIasynAxis.h"
 #include <stdlib.h>
 
-//#undef asynPrint
-//#define asynPrint(user,reason,format...) 0
+#undef asynPrint
+#define asynPrint(user,reason,format...) 0
 
 
 asynStatus PIE755Controller::getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl)

motorApp/PIGCS2Src/PIGCSController.cpp

@@ -55,6 +55,12 @@ PIGCSController* PIGCSController::CreateGCSController(asynUser* pInterface, cons
 	{
 		return new PIE517Controller(pInterface, szIDN);
 	}
+	else if ( 		strstr(szIDN, "E-753") != NULL
+				||	strstr(szIDN, "E-709") != NULL
+			)
+	{
+		return new PIGCSPiezoController(pInterface, szIDN);
+	}
 	else if ( strstr(szIDN, "E-755") != NULL)
 	{
 		return new PIE755Controller(pInterface, szIDN);
@@ -314,8 +320,6 @@ asynStatus PIGCSController::moveCts( PIasynAxis** pAxesArray, int* pTargetCtsArr
 
 asynStatus PIGCSController::moveCts( PIasynAxis* pAxis, int targetCts )
 {
-	asynStatus status;
-	char cmd[100];
 	double target = double(targetCts) * pAxis->m_CPUdenominator / pAxis->m_CPUnumerator;
     asynPrint(m_pInterface, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
     		"PIGCSController::moveCts(, %d) \n", targetCts);

motorApp/PIGCS2Src/PIGCSPiezoController.cpp

@@ -21,8 +21,8 @@ Created: 15.12.2010
 #include <math.h>
 #include <stdlib.h>
 
-//#undef asynPrint
-//#define asynPrint(user,reason,format...) 0
+#undef asynPrint
+#define asynPrint(user,reason,format...) 0
 
 
 asynStatus PIGCSPiezoController::getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl)
@@ -46,3 +46,33 @@ asynStatus PIGCSPiezoController::getReferencedState(PIasynAxis* pAxis)
 	return asynSuccess;
 }
 
+asynStatus PIGCSPiezoController::initAxis(PIasynAxis* pAxis)
+{
+    pAxis->m_movingStateMask = pow(2.0, pAxis->getAxisNo());
+
+	return setServo(pAxis, 1);
+}
+
+/**
+ *  Currenty no Piezo controller supports "HLT".
+ *  use STP - which will stop all axes...
+ */
+asynStatus PIGCSPiezoController::haltAxis(PIasynAxis* pAxis)
+{
+    asynStatus status = sendOnly("STP");
+    if (status != asynSuccess)
+    {
+    	return status;
+    }
+    int err = getGCSError();
+	// controller will set error code to PI_CNTR_STOP (10)
+    if (err != PI_CNTR_STOP)
+    {
+        asynPrint(m_pCurrentLogSink, ASYN_TRACE_FLOW|ASYN_TRACE_ERROR,
+        		"PIGCSPiezoController::haltAxis() failed, GCS error %d", err);
+        return asynError;
+    }
+    return status;
+}
+
+

motorApp/PIGCS2Src/PIGCSPiezoController.h

@@ -37,6 +37,8 @@ public:
 	~PIGCSPiezoController() {}
 
 	virtual asynStatus init(void) { return PIGCSController::init(); }
+	virtual asynStatus initAxis(PIasynAxis* pAxis);
+	virtual asynStatus haltAxis(PIasynAxis* pAxis);
 
     virtual asynStatus getStatus(PIasynAxis* pAxis, int& homing, int& moving, int& negLimit, int& posLimit, int& servoControl);
     virtual asynStatus getReferencedState(PIasynAxis* pAxis);

motorApp/PIGCS2Src/PIHexapodController.cpp

@@ -43,6 +43,7 @@ asynStatus PIHexapodController::init(void)
 		m_bCanReadStatusWithChar4 = false;
 		getGCSError(); // clear error UNKNOWN COMMAND
 	}
+/* m_bCanReadPosWithChar3=true causes DMOV problems */
 //	status = sendAndReceive(char(3), buf, 199);
 //	if (status == asynSuccess)
 //	{
@@ -229,6 +230,7 @@ asynStatus PIHexapodController::moveCts( PIasynAxis** pAxesArray, int* pTargetCt
 
 asynStatus PIHexapodController::getAxisPosition(PIasynAxis* pAxis, double& position)
 {
+	m_pCurrentLogSink = m_pInterface;
 	if (!m_bAnyAxisMoving)
 	{
 		return PIGCSController::getAxisPosition(pAxis, position);

motorApp/PIGCS2Src/PIasynController.cpp

@@ -35,6 +35,7 @@ Based on drvMotorSim.c, Mark Rivers, December 13, 2009
 #include <iocsh.h>
 #include <epicsExport.h>
 #include <asynOctetSyncIO.h>
+#include <motorVersion.h>
 #include <motor_interface.h>
 #include <ctype.h>
 
@@ -261,7 +262,7 @@ asynStatus PIasynController::writeInt32(asynUser *pasynUser, epicsInt32 value)
      * status at the end, but that's OK */
     status = pAxis->setIntegerParam(function, value);
     
-    if (function == motorClosedLoop_)
+    if (function == motorSetClosedLoop_)
     {
         asynPrint(pasynUser, ASYN_TRACE_FLOW,
         		"%s:%s: %sing Closed-Loop Control flag on driver %s\n",
@@ -346,7 +347,7 @@ asynStatus PIasynController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
         /* Call base class call its method (if we have our parameters check this here) */
         status = asynMotorController::writeFloat64(pasynUser, value);
     }
-    else if (function == motorEncoderRatio_)
+    else if (function == motorEncRatio_)
     {
         /* Call base class call its method (if we have our parameters check this here) */
         status = asynMotorController::writeFloat64(pasynUser, value);
@@ -486,15 +487,16 @@ asynStatus PIasynController::configAxis(PIasynAxis *pAxis)
 
 asynStatus PIasynController::poll()
 {
-	return m_pGCSController->getGlobalState(pAxes_, numAxes_);
+    m_pGCSController->getGlobalState(pAxes_, numAxes_);
 
-	setDoubleParam( 0, PI_SUP_RBPIVOT_X, m_pGCSController->GetPivotX());
+    setDoubleParam( 0, PI_SUP_RBPIVOT_X, m_pGCSController->GetPivotX());
     setDoubleParam( 0, PI_SUP_RBPIVOT_Y, m_pGCSController->GetPivotY());
     setDoubleParam( 0, PI_SUP_RBPIVOT_Z, m_pGCSController->GetPivotZ());
 
     setIntegerParam( 0, PI_SUP_LAST_ERR, m_pGCSController->GetLastError() );
 
     callParamCallbacks();
+    return asynSuccess;
 }