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- Added "Motor motion timeout" error check.

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- Set "reference" home switch indicator.
This commit is contained in:
Ron Sluiter
2007-10-17 19:55:42 +00:00
parent c6bc4832d9
commit cc3b613710
1 changed files with 25 additions and 5 deletions
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motorApp/PiSrc/drvPIC848.cc
+25 -5
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@@ -3,9 +3,9 @@ FILENAME... drvPIC848.cc
USAGE... Motor record driver level support for Physik Instrumente (PI)
GmbH & Co. C-848 motor controller.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-10-18 21:31:10 $
Last Modified: $Date: 2007-10-17 19:55:42 $
*/
/*
@@ -36,6 +36,8 @@ Last Modified: $Date: 2005-10-18 21:31:10 $
* Modification Log:
* -----------------
* .01 10/18/05 rls - copied from drvPIC844.cc
* .02 10/17/07 rls - Added "Motor motion timeout" error check.
* - Set "reference" home switch indicator.
*/
/*
@@ -74,6 +76,7 @@ extern "C" {epicsExportAddress(int, drvPIC848debug);}
/* --- Local data. --- */
int PIC848_num_cards = 0;
static char *PIC848_axis[4] = {"A", "B", "C", "D"};
static volatile int motionTO = 10;
/* Local data required for every driver; see "motordrvComCode.h" */
#include "motordrvComCode.h"
@@ -285,6 +288,17 @@ static int set_status(int card, int signal)
motor_info->no_motion_count = 0;
}
if (motor_info->no_motion_count > motionTO)
{
status.Bits.RA_PROBLEM = 1;
send_mess(card, "HLT #", PIC848_axis[signal]);
motor_info->no_motion_count = 0;
errlogSevPrintf(errlogMinor, "Motor motion timeout ERROR on card: %d, signal: %d\n",
card, signal);
}
else
status.Bits.RA_PROBLEM = 0;
plusdir = (status.Bits.RA_DIRECTION) ? true : false;
/* Set limit switch error indicators. */
@@ -311,8 +325,6 @@ static int set_status(int card, int signal)
status.Bits.EA_SLIP_STALL = 0;
status.Bits.EA_HOME = 0;
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity? */
/* NEEDS WORK */
@@ -573,7 +585,15 @@ static int motor_init()
motor_info->pid_present = YES;
motor_info->status.Bits.GAIN_SUPPORT = 1;
cntrl->drive_resolution[motor_index] = 0.0001;
cntrl->drive_resolution[motor_index] = POS_RES;
/* Determine if stage has a reference (home) switch. */
send_mess(card_index, "REF? #", PIC848_axis[motor_index]);
status = recv_mess(card_index, buff, 1);
if (strcmp(&buff[2],"0") == 0)
cntrl->reference[motor_index] = false;
else
cntrl->reference[motor_index] = true;
set_status(card_index, motor_index); /* Read status of each motor */
}