From a05f47f96cf39bf2286157e9ed65c8bc0ec372e0 Mon Sep 17 00:00:00 2001
From: kpetersn <kmpeters@anl.gov>
Date: Wed, 14 Mar 2018 11:18:25 -0500
Subject: [PATCH] Cleaned up code.  Reduced delays added for testing.

---
 motorApp/AMCISrc/ANF2Driver.cpp | 43 ++++++++++-----------------------
 1 file changed, 13 insertions(+), 30 deletions(-)

diff --git a/motorApp/AMCISrc/ANF2Driver.cpp b/motorApp/AMCISrc/ANF2Driver.cpp
index eb67b6ad..6552cea5 100644
--- a/motorApp/AMCISrc/ANF2Driver.cpp
+++ b/motorApp/AMCISrc/ANF2Driver.cpp
@@ -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 */