lin-epics-modules/motorBase
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Only require user to specify numAxes so any combination of controller modules can be used.

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This commit is contained in:
kpetersn
2018-04-18 14:41:19 -05:00
parent 28a642cf79
commit c5316018b9
3 changed files with 21 additions and 38 deletions
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iocBoot/iocWithAsyn/motor.cmd.ANF2
+4 -5
View File
@@ -50,8 +50,7 @@ dbLoadTemplate("templates/motor.substitutions.ANF2")
# portName, The name of the asyn port that will be created by this driver
# ANF2InPortName, The name of the In drvAsynIPPPort to read from the ANF2 controller
# ANF2OutPortName, The name of the Out drvAsynIPPPort to write to the ANF2 controller
# numModules, The number of modules in the stack (Max=6)
# axesPerModule) The number of axes per module (ANF1=1, ANF2=2)
# numAxes) The number of axes in the stack (max=12)
#
# ANF2CreateAxis(
# ANF2Name, The controller's asyn port
@@ -64,10 +63,10 @@ dbLoadTemplate("templates/motor.substitutions.ANF2")
# does correct the acceleration sent by the motor record to give the desired acceleration time.
# Controller 1 (One ANF2E, Five ANF2's)
ANF2CreateController("$(PORT1)", "$(PORT1)_In", "$(PORT1)_Out", 6, 2)
ANF2CreateController("$(PORT1)", "$(PORT1)_In", "$(PORT1)_Out", 12)
# Axes for Controller 1
ANF2CreateAxis("$(PORT1)", 0, "0x86280000", 100, 0)
ANF2CreateAxis("$(PORT1)", 1, "0x86000000", 57, 32)
ANF2CreateAxis("$(PORT1)", 1, "0x86000000", 100, 0)
ANF2CreateAxis("$(PORT1)", 2, "0x84000000", 100, 0)
ANF2CreateAxis("$(PORT1)", 3, "0x84000000", 100, 0)
ANF2CreateAxis("$(PORT1)", 4, "0x84000000", 100, 0)
@@ -80,7 +79,7 @@ ANF2CreateAxis("$(PORT1)", 10, "0x84000000", 100, 0)
ANF2CreateAxis("$(PORT1)", 11, "0x84000000", 100, 0)
# Controller 2 (One ANF1E, Five ANF1's)
ANF2CreateController("$(PORT2)", "$(PORT2)_In", "$(PORT2)_Out", 6, 1)
ANF2CreateController("$(PORT2)", "$(PORT2)_In", "$(PORT2)_Out", 6)
# Axes for Controller 2
ANF2CreateAxis("$(PORT2)", 0, "0x84000000", 100, 0)
ANF2CreateAxis("$(PORT2)", 1, "0x84000000", 100, 0)
motorApp/AMCISrc/ANF2Driver.cpp
+13 -28
View File
@@ -32,12 +32,11 @@ static const char *driverName = "ANF2MotorDriver";
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] ANF2InPortName The name of the drvAsynSerialPort that was created previously to connect to the ANF2 controller
* \param[in] ANF2OutPortName The name of the drvAsynSerialPort that was created previously to connect to the ANF2 controller
* \param[in] numModules The number of modules on the controller stack
* \param[in] axesPerModule The number of axes per module (ANF1=1, ANF2=2)
* \param[in] numAxes The number of axes on the controller stack
*/
ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName,
int numModules, int axesPerModule)
: asynMotorController(portName, (numModules*axesPerModule), NUM_ANF2_PARAMS,
int numAxes)
: asynMotorController(portName, numAxes, NUM_ANF2_PARAMS,
asynInt32ArrayMask, // One additional interface beyond those in base class
asynInt32ArrayMask, // One additional callback interface beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
@@ -58,9 +57,7 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
createParam(ANF2GetInfoString, asynParamInt32, &ANF2GetInfo_);
//createParam(ANF2ReconfigString, asynParamInt32, &ANF2Reconfig_);
numModules_ = numModules;
axesPerModule_ = axesPerModule;
numAxes_ = numModules * axesPerModule;
numAxes_ = numAxes;
for (j=0; j<numAxes_; j++) {
/* Connect to ANF2 controller */
@@ -86,26 +83,16 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] ANF2InPortName The name of the drvAsynIPPPort that was created previously to connect to the ANF2 controller
* \param[in] ANF2OutPortName The name of the drvAsynIPPPort that was created previously to connect to the ANF2 controller
* \param[in] numModules The number of modules on the controller stack
* \param[in] axesPerModule The number of axes per module (ANF1=1, ANF2=2)
* \param[in] numAxes The number of axes on the controller stack
*/
extern "C" int ANF2CreateController(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName,
int numModules, int axesPerModule)
extern "C" int ANF2CreateController(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes)
{
// Enforce max values
if (numModules > MAX_MODULES) {
numModules = MAX_MODULES;
}
if (axesPerModule > MAX_AXES_PER_MODULE) {
axesPerModule = MAX_AXES_PER_MODULE;
if (numAxes > MAX_AXES) {
numAxes = MAX_AXES;
}
/*
ANF2Controller *pANF2Controller
= new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numModules, axesPerModule);
pANF2Controller = NULL;
*/
new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numModules, axesPerModule);
new ANF2Controller(portName, ANF2InPortName, ANF2OutPortName, numAxes);
return(asynSuccess);
}
@@ -1047,17 +1034,15 @@ asynStatus ANF2Axis::poll(bool *moving)
static const iocshArg ANF2CreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg ANF2CreateControllerArg1 = {"ANF2 In port name", iocshArgString};
static const iocshArg ANF2CreateControllerArg2 = {"ANF2 Out port name", iocshArgString};
static const iocshArg ANF2CreateControllerArg3 = {"Number of modules", iocshArgInt};
static const iocshArg ANF2CreateControllerArg4 = {"Axes per module", iocshArgInt};
static const iocshArg ANF2CreateControllerArg3 = {"Number of axes", iocshArgInt};
static const iocshArg * const ANF2CreateControllerArgs[] = {&ANF2CreateControllerArg0,
&ANF2CreateControllerArg1,
&ANF2CreateControllerArg2,
&ANF2CreateControllerArg3,
&ANF2CreateControllerArg4};
static const iocshFuncDef ANF2CreateControllerDef = {"ANF2CreateController", 5, ANF2CreateControllerArgs};
&ANF2CreateControllerArg3};
static const iocshFuncDef ANF2CreateControllerDef = {"ANF2CreateController", 4, ANF2CreateControllerArgs};
static void ANF2CreateControllerCallFunc(const iocshArgBuf *args)
{
ANF2CreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival, args[4].ival);
ANF2CreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival);
}
/* ANF2StartPoller */
motorApp/AMCISrc/ANF2Driver.h
+4 -5
View File
@@ -15,8 +15,7 @@ K. Goetze 2014-03-24
//#include <asynInt32Array.h>
#include <asynInt32ArraySyncIO.h>
#define MAX_MODULES 6
#define MAX_AXES_PER_MODULE 2
#define MAX_AXES 12
#define MAX_INPUT_REGS 10
#define MAX_OUTPUT_REGS 10
@@ -115,14 +114,14 @@ friend class ANF2Controller;
class ANF2Controller : public asynMotorController {
public:
ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numModules, int axesPerModule);
ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes);
void doStartPoller(double movingPollPeriod, double idlePollPeriod);
void report(FILE *fp, int level);
ANF2Axis* getAxis(asynUser *pasynUser);
ANF2Axis* getAxis(int axisNo);
asynUser *pasynUserInReg_[MAX_MODULES*MAX_AXES_PER_MODULE][MAX_INPUT_REGS];
asynUser *pasynUserOutReg_[MAX_MODULES*MAX_AXES_PER_MODULE];
asynUser *pasynUserInReg_[MAX_AXES][MAX_INPUT_REGS];
asynUser *pasynUserOutReg_[MAX_AXES];
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);