Allow errors to be reset via a PV.

motorApp/AMCISrc/ANF2Driver.cpp

@@ -54,6 +54,7 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
   inputDriver_ = epicsStrDup(ANF2InPortName);    // Set this before calls to create Axis objects
   
   // Create controller-specific parameters
+  createParam(ANF2ResetErrorsString,     asynParamInt32,       &ANF2ResetErrors_);
   createParam(ANF2GetInfoString,         asynParamInt32,       &ANF2GetInfo_);
   createParam(ANF2ReconfigString,        asynParamInt32,       &ANF2Reconfig_);
 
@@ -230,7 +231,15 @@ asynStatus ANF2Controller::writeInt32(asynUser *pasynUser, epicsInt32 value)
   /* Set the parameter and readback in the parameter library. */
   status = setIntegerParam(pAxis->axisNo_, function, value);
   
-  if (function == ANF2GetInfo_)
+  if (function == ANF2ResetErrors_)
+  {
+    // Only reset errors when value is 1
+    if (value == 1) {
+        printf("ANF2Controller:writeInt32: Resetting errors for axis = %d\n", pAxis->axisNo_);
+        pAxis->resetErrors();
+
+    }
+  } else if (function == ANF2GetInfo_)
   {
     // Only get info when value is 1
     if (value == 1) {
@@ -476,6 +485,22 @@ void ANF2Axis::zeroRegisters(epicsInt32 *reg)
   }
 }
 
+asynStatus ANF2Axis::resetErrors()
+{
+  asynStatus status;
+  epicsInt32 errorReg[5];
+  //static const char *functionName = "ANF2Axis::resetErrors";
+  
+  zeroRegisters(errorReg);
+  
+  errorReg[0] = 0x800 << 16;
+
+  // Send the reset error command
+  status = pC_->writeReg32Array(axisNo_, errorReg, 5, DEFAULT_CONTROLLER_TIMEOUT);
+  
+  return status;
+}
+
 void ANF2Axis::getInfo()
 {
   asynStatus status;

motorApp/AMCISrc/ANF2Driver.h

@@ -55,11 +55,12 @@ K. Goetze 2014-03-24
 #define CONFIG_REG_4  4
 
 // No. of controller-specific parameters
-#define NUM_ANF2_PARAMS 2
+#define NUM_ANF2_PARAMS 3
 
 /** drvInfo strings for extra parameters that the ACR controller supports */
+#define ANF2ResetErrorsString       "ANF2_RESET_ERRORS"
 #define ANF2GetInfoString           "ANF2_GET_INFO"
-#define ANF2ReconfigString           "ANF2_RECONFIG"
+#define ANF2ReconfigString          "ANF2_RECONFIG"
 
 class ANF2Axis : public asynMotorAxis
 {
@@ -80,6 +81,7 @@ private:
                                    *   Abbreviated because it is used very frequently */
   asynStatus sendAccelAndVelocity(double accel, double velocity);
   double correctAccel(double minVelocity, double maxVelocity, double acceleration);
+  asynStatus resetErrors();
   void getInfo();
   epicsInt32 inputReg_[10];
   void reconfig(epicsInt32 value);
@@ -135,8 +137,9 @@ public:
   /* These are the methods that are new to this class */
   
 protected:
-  int ANF2GetInfo_;          /**< Jerk time parameter index */        
-  int ANF2Reconfig_;          /**< Jerk time parameter index */        
+  int ANF2ResetErrors_;     /** Reset Errors parameter index */
+  int ANF2GetInfo_;          /**< Get Info parameter index */        
+  int ANF2Reconfig_;          /**< Reconfig parameter index */        
 
 
 private:

motorApp/Db/ANF2Aux.template

@@ -1,5 +1,15 @@
 # Database for extra PVs for AMCI ANG1 controllers
 
+record(bo,"$(P)$(R)ResetErrors") {
+    field(DESC,"Reset Errors")
+    field(PINI, "0")
+    field(VAL,"0")
+    field(DTYP, "asynInt32")
+    field(OUT,"@asyn($(PORT),$(ADDR))ANF2_RESET_ERRORS")
+    field(ZNAM, "Done")
+    field(ONAM, "Reset")
+}
+
 record(bo,"$(P)$(R)GetInfo") {
     field(DESC,"Get Info")
     field(PINI, "0")