lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Cleaned up code. Reduced delays added for testing.

Browse Source
This commit is contained in:
kpetersn
2018-03-14 11:18:25 -05:00
parent faba02a442
commit a05f47f96c
1 changed files with 13 additions and 30 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/AMCISrc/ANF2Driver.cpp
+13 -30
View File
@@ -68,6 +68,7 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
}
for (i=0; i<MAX_OUTPUT_REGS; i++) {
status = pasynInt32SyncIO->connect(ANF2OutPortName, i, &pasynUserOutReg_[j][i], NULL);
// Maybe send the outputs with Array calls in the future
//status = pasynInt32ArraySyncIO->connect(ANF2OutPortName, i, &pasynUserOutArrayReg_[j][i], NULL);
}
}
@@ -204,6 +205,7 @@ asynStatus ANF2Controller::writeReg16(int axisNo, int axisReg, int output, doubl
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 status;
@@ -222,6 +224,8 @@ asynStatus ANF2Controller::writeReg32(int axisNo, int axisReg, int output, doubl
asynStatus status;
int lower,upper;
// This is the way the ANG1 driver does it, and the code doesn't appear to work
/*float fnum;
fnum = (output / 1000.0);
@@ -243,7 +247,7 @@ asynStatus ANF2Controller::writeReg32(int axisNo, int axisReg, int output, doubl
axisReg++;
status = writeReg16(axisNo, axisReg, lower, DEFAULT_CONTROLLER_TIMEOUT);
// No breaking up the output value required when writing an array
// No breaking up the output value required when writing an array - maybe do this in the future
//status = pasynInt32ArraySyncIO->write(pasynUserOutArrayReg_[axisNo][axisReg], &output, 2, timeout);
return status ;
@@ -303,14 +307,11 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
pC_(pC)
{
int status;
long long bigConfig;
long long configAndSpeed;
epicsInt32 configBits[2];
axisNo_ = axisNo;
//this->axisNo_ = axisNo;
//status = pasynInt32SyncIO->connect(myModbusInputDriver, 0, &pasynUserForceRead_, "MODBUS_READ");
status = pasynInt32SyncIO->connect(pC_->inputDriver_, 0, &pasynUserForceRead_, "MODBUS_READ");
if (status) {
//printf("%s:%s: Error, unable to connect pasynUserForceRead_ to Modbus input driver %s\n", pC_->inputDriver_, pC_->functionName, myModbusInputDriver);
@@ -324,46 +325,34 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
}
printf("ANF2Axis::ANF2Axis : pasynUserConfWrite_->reason=%d\n", pasynUserConfWrite_->reason);
epicsThreadSleep(3.0);
epicsThreadSleep(1.0);
// Read data that is likely to be stale
getInfo();
// Send the configuration
//status = pC_->writeReg32(axisNo_, CONFIG_MSW, config, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CONFIG_MSW, 0x8600, DEFAULT_CONTROLLER_TIMEOUT);
// Send the configuration bits
//status = pasynInt32SyncIO->write(pasynUserConfWrite_, config, DEFAULT_CONTROLLER_TIMEOUT);
// Set the start speed to a non-zero value (100)
//status = pC_->writeReg16(axisNo_, POS_WR_LWR, 0x0064, DEFAULT_CONTROLLER_TIMEOUT);
//epicsThreadSleep(0.01);
/*bigConfig = (long long) config & 0xFFFFFFFF;
configAndSpeed = (bigConfig << 32) | 0x00000064;
printf("bigConfig = %lx, configAndSpeed = %lx\n", bigConfig, configAndSpeed);
status = pasynInt32SyncIO->write(pasynUserConfWrite_, configAndSpeed, DEFAULT_CONTROLLER_TIMEOUT);*/
// Send the configuration (array)
// assemble the configuration bits; set the start speed to a non-zero value (100), which is required for the configuration to be accepted
configBits[0] = config;
configBits[1] = 0x00000064;
/*status = pasynInt32SyncIO->write(pasynUserConfWrite_, *configBits, DEFAULT_CONTROLLER_TIMEOUT);
status = pasynInt32SyncIO->write(pasynUserConfWrite_, *(configBits+1), DEFAULT_CONTROLLER_TIMEOUT);*/
// Does the number of elements refer to the number of 16-bit elements?
//status = this->pC_->writeReg32Array(axisNo, CONFIG_MSW, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
//
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
// Mabye do it this way in the future
//status = this->pC_->writeReg32Array(axisNo, CONFIG_MSW, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
// Delay
epicsThreadSleep(10.0);
epicsThreadSleep(1.0);
// Read the configuration? Or maybe the command registers?
getInfo();
//IAMHERE
// set position to 0
//setPosition(0);
setPosition(1337);
//setPosition(3141);
// Delay
epicsThreadSleep(1.0);
@@ -382,12 +371,6 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
0x4 - Home Input (0 = Disabled, 1 = Enabled)
0x8 -
*/
extern "C" asynStatus ANF2CreateAxis(const char *ANF2Name, /* specify which controller by port name */