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Modified the stop method to use array writes.

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kpetersn
2018-03-23 15:44:35 -05:00
parent db987bd349
commit be825dd688
1 changed files with 9 additions and 8 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+9 -8
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@@ -664,20 +664,21 @@ asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double
asynStatus ANF2Axis::stop(double acceleration)
{
asynStatus status;
int stop_bit;
epicsInt32 stopReg;
//static const char *functionName = "ANF2Axis::stop";
printf("\n STOP \n\n");
// do nothing (for testing)
//return asynSuccess;
// The stop commands ignore all 32-bit registers beyond the first
stop_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, stop_bit, DEFAULT_CONTROLLER_TIMEOUT);
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 1, DEFAULT_CONTROLLER_TIMEOUT);
// stop_bit = 0x10; Immediate stop
stop_bit = 0x4; // Hold move
status = pC_->writeReg16(axisNo_, CMD_MSW, stop_bit, DEFAULT_CONTROLLER_TIMEOUT);
//stopReg = 0x10 << 16; Immediate stop
stopReg = 0x4 << 16; // Hold move
//
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, &stopReg, 1, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}