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- change input EOS to prompt ">".

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- support enable/disable "torque".
- zero move bug fix.
- set firmwareVersion.
This commit is contained in:
Ron Sluiter
2008-11-19 21:29:32 +00:00
parent 66398a7b17
commit ca0ab1ab7a
1 changed files with 53 additions and 53 deletions
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motorApp/AttocubeSrc/drvANC150Asyn.cc
+53 -53
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@@ -2,9 +2,9 @@
FILENAME... drvANC150Asyn.cc
USAGE... Motor record driver level support for Kohzu SC800
Version: $Revision: 1.3 $
Version: $Revision: 1.4 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-10-31 18:30:01 $
Last Modified: $Date: 2008-11-19 21:29:32 $
*/
@@ -40,6 +40,10 @@ Last Modified: $Date: 2008-10-31 18:30:01 $
* - support for CNEN field.
* - simulate trajectory positon so RDBL link updates.
* - allow zero moves so motor record does not get stuck.
* .03 11-19-08 rls - change input EOS to prompt ">".
* - support enable/disable "torque".
* - zero move bug fix.
* - set firmwareVersion.
*/
@@ -64,7 +68,7 @@ Last Modified: $Date: 2008-10-31 18:30:01 $
/* End-of-string defines */
#define ANC150_OUT_EOS "\r\n" /* Command */
#define ANC150_IN_EOS "\r\n" /* Reply */
#define ANC150_IN_EOS "> " /* Reply */
#define NINT(f) (long)((f)>0 ? (f)+0.5 : (f)-0.5) /* Nearest integer. */
@@ -287,7 +291,6 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
{
int ret_status = MOTOR_AXIS_ERROR;
int status;
char buff[20];
if (pAxis == NULL)
return(MOTOR_AXIS_ERROR);
@@ -333,16 +336,6 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
"ANC150 does not support setting derivative gain\n");
break;
}
case motorAxisClosedLoop:
{
if (value == 0.0)
sprintf(buff, "setm %d gnd", pAxis->axis + 1);
else
sprintf(buff, "setm %d stp", pAxis->axis + 1);
status = sendOnly(pAxis->pController, buff);
break;
}
default:
PRINT(pAxis->logParam, motorAxisTraceError,
"motorAxisSetDouble: unknown function %d\n", function);
@@ -358,6 +351,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
{
int ret_status = MOTOR_AXIS_ERROR;
int status;
char buff[20];
if (pAxis == NULL)
return(MOTOR_AXIS_ERROR);
@@ -365,20 +359,14 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
switch (function)
{
case motorAxisClosedLoop:
if (value)
{
/*
* The ANC150 only allows turning on and off ALL motors (MO and MF
* commands), not individual axes
*/
/* Don't implement */
ret_status = MOTOR_AXIS_OK;
}
if (value == 0.0)
sprintf(buff, "setm %d gnd", pAxis->axis + 1);
else
{
ret_status = MOTOR_AXIS_OK;
}
sprintf(buff, "setm %d stp", pAxis->axis + 1);
ret_status = sendOnly(pAxis->pController, buff);
break;
default:
PRINT(pAxis->logParam, motorAxisTraceError,
"motorAxisSetInteger: unknown function %d\n", function);
@@ -436,6 +424,8 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
fmove = (double) imove;
ffrequency = (double) pAxis->frequency;
pAxis->moveinterval = fmove / ffrequency;
if (pAxis->moveinterval <= 0.0)
pAxis->moveinterval = epicsThreadSleepQuantum();
*pAxis->movetimer = epicsTime::getCurrent() + pAxis->moveinterval;
sprintf(buff, "%s %d %ld", moveCommand, pAxis->axis + 1, imove);
@@ -509,6 +499,10 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
status = sendOnly(pAxis->pController, buff);
if (status)
return(MOTOR_AXIS_ERROR);
/* Reset timer; indicating move is done. */
*pAxis->movetimer = epicsTime::getCurrent();
return(MOTOR_AXIS_OK);
}
@@ -691,8 +685,6 @@ int ANC150AsynConfig(int card, /* Controller number */
int retry = 0;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
size_t nRead;
int eomReason;
if (numANC150Controllers < 1)
{
@@ -724,8 +716,8 @@ int ANC150AsynConfig(int card, /* Controller number */
}
/* Set command End-of-string */
pasynOctetSyncIO->setInputEos(pController->pasynUser, ANC150_IN_EOS,strlen(ANC150_IN_EOS));
pasynOctetSyncIO->setOutputEos(pController->pasynUser, ANC150_OUT_EOS,strlen(ANC150_OUT_EOS));
pasynOctetSyncIO->setInputEos(pController->pasynUser, ANC150_IN_EOS, strlen(ANC150_IN_EOS));
pasynOctetSyncIO->setOutputEos(pController->pasynUser, ANC150_OUT_EOS, strlen(ANC150_OUT_EOS));
do
{
@@ -742,11 +734,6 @@ int ANC150AsynConfig(int card, /* Controller number */
if (status != asynSuccess)
return(MOTOR_AXIS_ERROR);
status = pasynOctetSyncIO->read(pController->pasynUser, inputBuff, sizeof(inputBuff),
TIMEOUT, &nRead, &eomReason);
strcat(pController->firmwareVersion, " ");
strcat(pController->firmwareVersion, inputBuff);
pasynOctetSyncIO->flush(pController->pasynUser);
/* Don't initialize pAxis until all the error checks have passed;
* prevents drvAsynMotorConfigure from crashing. */
@@ -794,17 +781,16 @@ static int sendOnly(ANC150Controller * pController, char *outputBuff)
status = pasynOctetSyncIO->writeRead(pController->pasynUser, outputBuff, nRequested,
inputBuff, sizeof(inputBuff), TIMEOUT, &nActual,
&nRead, &eomReason);
if (nActual != (size_t) nRequested)
status = asynError;
if (status != asynSuccess)
{
asynPrint(pController->pasynUser, ASYN_TRACE_ERROR,
"drvANC150Asyn:sendOnly: error sending command %d, sent=%d, status=%d\n",
outputBuff, nActual, status);
}
else /* Eat the echo. */
status = pasynOctetSyncIO->read(pController->pasynUser, inputBuff, sizeof(inputBuff),
TIMEOUT, &nRead, &eomReason);
return(status);
}
@@ -817,22 +803,42 @@ static asynStatus sendAndReceive(ANC150Controller *pController, char *outputBuff
size_t nWrite, nRead;
int eomReason;
asynStatus status;
char localbuf[BUFFER_SIZE];
status = pasynOctetSyncIO->writeRead(pController->pasynUser,
outputBuff, nWriteRequested,
inputBuff, inputSize,
status = pasynOctetSyncIO->writeRead(pController->pasynUser, outputBuff,
nWriteRequested, localbuf, BUFFER_SIZE,
TIMEOUT, &nWrite, &nRead, &eomReason);
if (nWrite != (size_t) nWriteRequested)
status = asynError;
if (status == asynSuccess)
{
if (nWrite != (size_t) nWriteRequested ||
strncmp(outputBuff, localbuf, nWrite) != 0)
status = asynError;
}
if (status == asynSuccess)
{
char *echo, *reply, *ack;
if ((echo = strstr(localbuf, "\r\n")) == NULL)
status = asynError;
else if ((reply = strstr(&echo[2], "\r\n")) == NULL)
status = asynError;
else if ((ack = strstr(&reply[2], "\r\n")) == NULL)
status = asynError;
else
{
*reply = 0; /* Terminate reply at \r. */
strcpy(inputBuff, &echo[2]);
}
}
if (status != asynSuccess)
{
asynPrint(pController->pasynUser, ASYN_TRACE_ERROR,
"drvANC150Asyn:sendAndReceive error calling writeRead, output=%s status=%d, error=%s\n",
outputBuff, status, pController->pasynUser->errorMessage);
}
else /* Eat the echo. */
status = pasynOctetSyncIO->read(pController->pasynUser, inputBuff,
inputSize, TIMEOUT, &nRead, &eomReason);
return(status);
}
@@ -843,8 +849,6 @@ static asynStatus getFreq(ANC150Controller *pController, int axis)
asynStatus status;
char inputBuff[BUFFER_SIZE];
char outputBuff[BUFFER_SIZE];
size_t nRead;
int eomReason;
AXIS_HDL pAxis;
int savedfreq;
@@ -853,12 +857,8 @@ static asynStatus getFreq(ANC150Controller *pController, int axis)
if (status != asynSuccess)
return(status);
else if (strncmp(inputBuff, "Axis not in computer control mode", 34) == 0) /* Eat the ERROR msg. */
{
status = pasynOctetSyncIO->read(pController->pasynUser, inputBuff, sizeof(inputBuff),
TIMEOUT, &nRead, &eomReason);
else if (strncmp(inputBuff, "Axis not in computer control mode", 34) == 0)
return(status);
}
else
{
pAxis = pController->pAxis;