lin-epics-modules/motorBase
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Send all the registers when setting the configuration (fixes failure-to-configure problem after an error occurs). Also try to send move data with all 10 registers (fails in the same way as setting the registers independently)

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This commit is contained in:
kpetersn
2018-03-16 15:16:03 -05:00
parent aaae2e642a
commit d792f9afe7
2 changed files with 46 additions and 11 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+45 -11
View File
@@ -308,6 +308,12 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
axisNo_ = axisNo;
//this->axisNo_ = axisNo;
registers_[0] = 0x0;
registers_[1] = 0x0;
registers_[2] = 0x0;
registers_[3] = 0x0;
registers_[4] = 0x0;
status = pasynInt32SyncIO->connect(pC_->inputDriver_, 0, &pasynUserForceRead_, "MODBUS_READ");
if (status) {
//printf("%s:%s: Error, unable to connect pasynUserForceRead_ to Modbus input driver %s\n", pC_->inputDriver_, pC_->functionName, myModbusInputDriver);
@@ -334,10 +340,15 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
configBits[0] = config;
configBits[1] = 0x00000064;
registers_[0] = config;
registers_[1] = 0x00000064;
// Does the number of elements refer to the number of 16-bit elements?
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
// Mabye do it this way in the future
//status = this->pC_->writeReg32Array(axisNo, CONFIG_MSW, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
// Write all the registers
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, registers_, 10, DEFAULT_CONTROLLER_TIMEOUT);
// Delay
epicsThreadSleep(1.0);
@@ -447,7 +458,10 @@ asynStatus ANF2Axis::sendAccelAndVelocity(double acceleration, double velocity)
// static const char *functionName = "ANF2::sendAccelAndVelocity";
// Send the velocity
status = pC_->writeReg32(axisNo_, SPD_UPR, NINT(velocity), DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg32(axisNo_, SPD_UPR, NINT(velocity), DEFAULT_CONTROLLER_TIMEOUT);
// Set the velocity register
registers_[2] = NINT(velocity);
// Send the acceleration
// ANF2 acceleration range 1 to 5000 steps/ms/sec
@@ -463,8 +477,12 @@ asynStatus ANF2Axis::sendAccelAndVelocity(double acceleration, double velocity)
acceleration = 5000000;
}
// ANF2 acceleration units are steps/millisecond/second, so we divide by 1000 here
status = pC_->writeReg16(axisNo_, ACCEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
status = pC_->writeReg16(axisNo_, DECEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, ACCEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, DECEL, NINT(acceleration/1000.0), DEFAULT_CONTROLLER_TIMEOUT);
// Set the accel/decel register
registers_[3] = (NINT(acceleration/1000.0) << 16) | (NINT(acceleration/1000.0));
return status;
}
@@ -481,30 +499,46 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
if (relative) {
printf(" ** relative move called\n");
//status = pC_->writeReg32(axisNo_, SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
//distance = position * SOM_OTHER_SCALE_FACTOR;
distance = NINT(position);
status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x2;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
// Set position and cmd registers
registers_[1] = NINT(position);
registers_[0] = 0x2 << 16;
} else {
// absolute
printf(" ** absolute move called\n");
//status = pC_->writeReg32(axisNo_, SPD_UPR, velo, DEFAULT_CONTROLLER_TIMEOUT);
//distance = position * SOM_OTHER_SCALE_FACTOR;
distance = NINT(position);
printf(" ** distance = %d\n", distance);
status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg32(axisNo_, POS_WR_UPR, distance, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x0;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
move_bit = 0x1;
status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CMD_MSW, move_bit, DEFAULT_CONTROLLER_TIMEOUT);
// Set position and cmd registers
registers_[1] = NINT(position);
registers_[0] = 0x1 << 16;
}
// The final registers are zero for absolute and relative moves
registers_[4] = 0x0;
// Write all the registers atomically IAMHERE
// Does the number of elements refer to the number of 16-bit elements?
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, registers_, 10, DEFAULT_CONTROLLER_TIMEOUT);
// Delay the first status read, give the controller some time to return moving status
epicsThreadSleep(0.05);
return status;
motorApp/AMCISrc/ANF2Driver.h
+1
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@@ -83,6 +83,7 @@ private:
asynUser *pasynUserConfWrite_;
int axisNo_;
epicsInt32 config_;
epicsInt32 registers_[5];
friend class ANF2Controller;
};