lin-epics-modules/motorBase
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Many changes getting it working

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This commit is contained in:
MarkRivers
2011-03-09 03:16:04 +00:00
parent 625c078150
commit b5679ec189
1 changed files with 42 additions and 18 deletions
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motorApp/ACRSrc/ACRMotorDriver.cpp
+42 -18
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@@ -46,7 +46,7 @@ public:
class ACRMotorController : asynMotorDriver {
public:
ACRMotorController(const char *portName, const char *ACRPortName, int numAxes, int movingPollRate, int idlePollRate);
ACRMotorController(const char *portName, const char *ACRPortName, int numAxes, int movingPollPeriod, int idlePollPeriod);
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
@@ -79,7 +79,7 @@ private:
char inString[MAX_ACR_STRING_SIZE];
};
ACRMotorController::ACRMotorController(const char *portName, const char *ACRPortName, int numAxes, int movingPollRate, int idlePollRate)
ACRMotorController::ACRMotorController(const char *portName, const char *ACRPortName, int numAxes, int movingPollPeriod, int idlePollPeriod)
: asynMotorDriver(portName, numAxes, NUM_ACR_CONTROLLER_PARAMS,
asynInt32Mask | asynFloat64Mask,
asynInt32Mask | asynFloat64Mask,
@@ -94,8 +94,8 @@ ACRMotorController::ACRMotorController(const char *portName, const char *ACRPort
if (numAxes < 1 ) numAxes = 1;
this->numAxes = numAxes;
this->idlePollPeriod = 1. / (idlePollRate/1000.);
this->movingPollPeriod = 1. / (movingPollRate/1000.);
this->idlePollPeriod = idlePollPeriod/1000.;
this->movingPollPeriod = movingPollPeriod/1000.;
this->pAxes = (ACRMotorAxis**) calloc(numAxes, sizeof(ACRMotorAxis*));
this->pollEventId = epicsEventMustCreate(epicsEventEmpty);
@@ -108,7 +108,9 @@ ACRMotorController::ACRMotorController(const char *portName, const char *ACRPort
}
// Turn off command echoing
sprintf(this->outString, "BIT1792=0");
writeACR();
// Turn off command prompt
sprintf(this->outString, "BIT1794=1");
writeACR();
for (axis=0; axis<numAxes; axis++) {
pAxis = new ACRMotorAxis(axis);
this->pAxes[axis] = pAxis;
@@ -126,10 +128,10 @@ ACRMotorController::ACRMotorController(const char *portName, const char *ACRPort
/** Configuration command, called directly or from iocsh */
extern "C" int ACRMotorCreateController(const char *portName, const char *ACRPortName, int numAxes, int movingPollRate, int idlePollRate)
extern "C" int ACRMotorCreateController(const char *portName, const char *ACRPortName, int numAxes, int movingPollPeriod, int idlePollPeriod)
{
ACRMotorController *pACRMotorController
= new ACRMotorController(portName, ACRPortName, numAxes, movingPollRate, idlePollRate);
= new ACRMotorController(portName, ACRPortName, numAxes, movingPollPeriod, idlePollPeriod);
pACRMotorController = NULL;
return(asynSuccess);
}
@@ -138,7 +140,7 @@ ACRMotorAxis::ACRMotorAxis(int axisNumber)
: axisNumber(axisNumber)
{
sprintf(this->axisName, "AXIS%d", axisNumber);
this->positionRegister = 12288 + 256*axisNumber;
this->positionRegister = 12290 + 256*axisNumber;
this->flagsRegister = 4120 + axisNumber;
}
@@ -147,8 +149,8 @@ void ACRMotorController::report(FILE *fp, int level)
int axis;
ACRMotorAxis *pAxis;
fprintf(fp, "ACR motor driver %s, numAxes=%d\n",
this->portName, this->numAxes);
fprintf(fp, "ACR motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, this->numAxes, this->movingPollPeriod, this->idlePollPeriod);
if (level > 0) {
for (axis=0; axis<this->numAxes; axis++) {
@@ -224,7 +226,8 @@ asynStatus ACRMotorController::writeFloat64(asynUser *pasynUser, epicsFloat64 va
if (function == motorPosition)
{
sprintf(this->outString, "%s RES %f", pAxis->axisName, value);
sprintf(this->outString, "%s RES %f", pAxis->axisName, value/pAxis->pulsesPerUnit);
status = writeACR();
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set axis %d to position %d\n",
driverName, functionName, pAxis->axisNumber, value);
@@ -261,7 +264,9 @@ asynStatus ACRMotorController::moveAxis(asynUser*pasynUser, double position, int
} else {
sprintf(this->outString, "%s JOG ABS %f", pAxis->axisName, position/pAxis->pulsesPerUnit);
writeACR();
};
}
// Wake up the poller task to begin polling quickly
epicsEventSignal(this->pollEventId);
setIntegerParam(pAxis->axisNumber, motorStatusDone, 0);
callParamCallbacks(pAxis->axisNumber);
@@ -284,6 +289,9 @@ asynStatus ACRMotorController::homeAxis(asynUser *pasynUser, double min_velocity
status = writeACR();
sprintf(this->outString, "%s JOG HOME %d", pAxis->axisName, forwards ? 1 : -1);
status = writeACR();
// Wake up the poller task to begin polling quickly
epicsEventSignal(this->pollEventId);
setIntegerParam(pAxis->axisNumber, motorStatusDone, 0);
callParamCallbacks(pAxis->axisNumber);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
@@ -293,17 +301,32 @@ asynStatus ACRMotorController::homeAxis(asynUser *pasynUser, double min_velocity
}
asynStatus ACRMotorController::moveVelocityAxis(asynUser *pasynUser, double min_velocity, double velocity, double acceleration)
asynStatus ACRMotorController::moveVelocityAxis(asynUser *pasynUser, double min_velocity, double max_velocity, double acceleration)
{
asynStatus status = asynError;
double speed=max_velocity;
int forwards=1;
ACRMotorAxis *pAxis = this->getAxis(pasynUser);
static const char *functionName = "moveVelocityAxis";
if (speed < 0) {
speed = -speed;
forwards = 0;
}
sprintf(this->outString, "%s JOG ACC %f", pAxis->axisName, acceleration/pAxis->pulsesPerUnit);
status = writeACR();
sprintf(this->outString, "%s JOG VEL %f", pAxis->axisName, speed/pAxis->pulsesPerUnit);
status = writeACR();
sprintf(this->outString, "%s JOG %s", pAxis->axisName, forwards ? "FWD" : "REV");
status = writeACR();
// Wake up the poller task to begin polling quickly
epicsEventSignal(this->pollEventId);
setIntegerParam(pAxis->axisNumber, motorStatusDone, 0);
callParamCallbacks(pAxis->axisNumber);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"%s:%s: Set port %s, axis %d move with velocity of %f, accel=%f\n",
driverName, functionName, this->portName, pAxis->axisNumber, velocity, acceleration );
"%s:%s: Set port %s, axis %d move with velocity of %f, accel=%f, forwards=%d\n",
driverName, functionName, this->portName, pAxis->axisNumber, speed, acceleration, forwards);
return status;
}
@@ -370,8 +393,9 @@ void ACRMotorController::ACRMotorPoller()
// Read the current encoder position
sprintf(this->outString, "?P%d", pAxis->positionRegister);
this->writeReadACR();
pAxis->currentPosition = atof(this->inString) * pAxis->pulsesPerUnit;
pAxis->currentPosition = atof(this->inString);
setDoubleParam(i, motorEncoderPosition, pAxis->currentPosition);
setDoubleParam(i, motorPosition, pAxis->currentPosition);
// Read the current flags
sprintf(this->outString, "?P%d", pAxis->flagsRegister);
this->writeReadACR();
@@ -443,8 +467,8 @@ asynStatus ACRMotorController::writeReadACR(const char *output, char *input, siz
static const iocshArg ACRMotorCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg ACRMotorCreateControllerArg1 = {"ACR port name", iocshArgString};
static const iocshArg ACRMotorCreateControllerArg2 = {"Number of axes", iocshArgInt};
static const iocshArg ACRMotorCreateControllerArg3 = {"Moving poll rate", iocshArgInt};
static const iocshArg ACRMotorCreateControllerArg4 = {"Idle poll rate", iocshArgInt};
static const iocshArg ACRMotorCreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg ACRMotorCreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg * const ACRMotorCreateControllerArgs[] = {&ACRMotorCreateControllerArg0,
&ACRMotorCreateControllerArg1,
&ACRMotorCreateControllerArg2,