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Implemented home with array writes. Causes a command error with my test configuration.

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kpetersn
2018-03-23 16:30:15 -05:00
parent 192b396a99
commit c70152574c
1 changed files with 19 additions and 8 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+19 -8
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@@ -614,19 +614,30 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
asynStatus ANF2Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
int home_bit;
// static const char *functionName = "ANF2Axis::home";
//status = sendAccelAndVelocity(acceleration, maxVelocity);
// Clear the command/configuration register
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.05);
// Clear the motition registers
zeroRegisters(motionReg_);
// This sets indices 2 & 3 of motionReg_
status = sendAccelAndVelocity(acceleration, maxVelocity);
if (forwards) {
printf(" ** HOMING FORWARDS **\n");
home_bit = 0x20;
status = pC_->writeReg16(axisNo_, CMD_MSW, home_bit, DEFAULT_CONTROLLER_TIMEOUT);
motionReg_[0] = 0x20 << 16;
} else {
home_bit = 0x40;
status = pC_->writeReg16(axisNo_, CMD_MSW, home_bit, DEFAULT_CONTROLLER_TIMEOUT);
printf(" ** HOMING REVERSE **\n");
motionReg_[0] = 0x40 << 16;
}
// Write all the registers atomically
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, motionReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
return status;
}
@@ -723,8 +734,8 @@ asynStatus ANF2Axis::setPosition(double position)
// ENABLE TORQUE
asynStatus ANF2Axis::setClosedLoop(bool closedLoop)
{
asynStatus status;
epicsInt32 clReg[5];
//asynStatus status;
//epicsInt32 clReg[5];
//static const char *functionName = "ANF2Axis::setClosedLoop";
// The ANF2 doesn't have a closed-loop enable/disable command, so do nothing.