lin-epics-modules/motorBase
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Parse the config string and store some info about the axes. This can be done better in the future.

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This commit is contained in:
kpetersn
2018-03-27 13:49:12 -05:00
parent 70d252c44a
commit a877f4c188
2 changed files with 61 additions and 0 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+42
View File
@@ -349,6 +349,34 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config)
// Read the configuration? Or maybe the command registers?
//getInfo();
// Parse the configuration (mostly for asynReport purposes)
// MSW
CaptInput_ = (config & (0x1 << 16)) >> 16;
ExtInput_ = (config & (0x2 << 16)) >> 17;
HomeInput_ = (config & (0x4 << 16)) >> 18;
CWInput_ = (config & (0x18 << 16)) >> 19;
CCWInput_ = (config & (0x60 << 16)) >> 21;
BHPO_ = (config & (0x80 << 16)) >> 23;
QuadEnc_ = (config & (0x100 << 16)) >> 24;
DiagFbk_ = (config & (0x200 << 16)) >> 25;
OutPulse_ = (config & (0x400 << 16)) >> 26;
HomeOp_ = (config & (0x800 << 16)) >> 27;
CardAxis_ = (config & (0x4000 << 16)) >> 30;
OpMode_ = (config & (0x8000 << 16)) >> 31;
// LSW
CaptInputAS_ = config & 0x1;
ExtInputAS_ = (config & 0x2) >> 1;
HomeInputAS_ = (config & 0x4) >> 2;
CWInputAS_ = (config & 0x8) >> 3;
CCWInputAS_ = (config & 0x10) >> 4;
// Only allow UEIP to be used if the axis is configured to have a quadrature encoder
if (QuadEnc_ != 0x0) {
setIntegerParam(pC_->motorStatusHasEncoder_, 1);
} else {
setIntegerParam(pC_->motorStatusHasEncoder_, 0);
}
// set position to 0 to clear the "position invalid" status that results from configuring the axis
setPosition(0);
// Tell asynMotor device support the position is zero so that autosave will restore the saved position (doesn't appear to be necessary)
@@ -426,6 +454,20 @@ void ANF2Axis::getInfo()
// For a read (not sure why this is necessary)
status = pasynInt32SyncIO->write(pasynUserForceRead_, 1, DEFAULT_CONTROLLER_TIMEOUT);
printf("Configuration for axis %i:\n", axisNo_);
printf(" Capture Input: %i\tActive State: %i\n", CaptInput_, CaptInputAS_);
printf(" External Input: %i\tActive State: %i\n", ExtInput_, ExtInputAS_);
printf(" Home Input: %i\tActive State: %i\n", HomeInput_, HomeInputAS_);
printf(" CW Input: %i\tActive State: %i\n", CWInput_, CWInputAS_);
printf(" CCW Input: %i\tActive State: %i\n", CCWInput_, CCWInputAS_);
printf(" Backplane Home Proximity Operation: %i\n", BHPO_);
printf(" Quadrature Encoder: %i\n", QuadEnc_);
printf(" Diagnostic Feedback: %i\n", DiagFbk_);
printf(" Output Pulse Type: %i\n", OutPulse_);
printf(" Home Operation: %i\n", HomeOp_);
printf(" Card Axis: %i\n", CardAxis_);
printf(" Operation Mode for Axis: %i\n", OpMode_);
printf("Registers for axis %i:\n", axisNo_);
for( i=0; i<MAX_INPUT_REGS; i++)
motorApp/AMCISrc/ANF2Driver.h
+19
View File
@@ -88,6 +88,25 @@ private:
epicsInt32 motionReg_[5];
epicsInt32 confReg_[5];
epicsInt32 zeroReg_[5];
// Configuration bits
short CaptInput_;
short ExtInput_;
short HomeInput_;
short CWInput_;
short CCWInput_;
short BHPO_;
short QuadEnc_;
short DiagFbk_;
short OutPulse_;
short HomeOp_;
short CardAxis_;
short OpMode_;
// LSW
short CaptInputAS_;
short ExtInputAS_;
short HomeInputAS_;
short CWInputAS_;
short CCWInputAS_;
friend class ANF2Controller;
};