lin-epics-modules/motorBase
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Print somewhat helpful info in asyn traces.

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kpetersn
2018-04-17 16:51:53 -05:00
parent a46564cc3c
commit dad0f34037
1 changed files with 37 additions and 28 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+37 -28
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@@ -274,8 +274,13 @@ asynStatus ANF2Controller::writeInt32(asynUser *pasynUser, epicsInt32 value)
asynStatus ANF2Controller::writeReg32Array(int axisNo, epicsInt32* output, int nElements, double timeout)
{
asynStatus status;
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"writeReg32Array: writing %d elements starting for axis %d\n", nElements, axisNo);
ANF2Axis *pAxis = getAxis(axisNo);
static const char *functionName = "ANF2Controller::writeReg32Array";
// This message isn't very helpful. Print something better in the future.
asynPrint(pAxis->pasynUser_, ASYN_TRACEIO_DRIVER,
"%s: axisNo=%i, nElements=%d\n",
functionName, axisNo, nElements);
status = pasynInt32ArraySyncIO->write(pasynUserOutReg_[axisNo], output, nElements, timeout);
return status;
@@ -286,7 +291,7 @@ asynStatus ANF2Controller::readReg16(int axisNo, int axisReg, epicsInt32 *input,
asynStatus status;
//printf("axisReg = %d\n", axisReg);
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"readReg16 reg = %d\n", axisReg);
//asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"readReg16 reg = %d\n", axisReg);
status = pasynInt32SyncIO->read(pasynUserInReg_[axisNo][axisReg], input, timeout);
return status ;
@@ -325,7 +330,7 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config, epicsInt32
int status;
axisNo_ = axisNo;
//this->axisNo_ = axisNo;
config_ = config;
baseSpeed_ = baseSpeed;
homingTimeout_ = homingTimeout;
@@ -337,11 +342,9 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, int axisNo, epicsInt32 config, epicsInt32
//printf("%s:%s: Error, unable to connect pasynUserForceRead_ to Modbus input driver %s\n", pC_->inputDriver_, pC_->functionName, myModbusInputDriver);
printf("%s: Error, unable to connect pasynUserForceRead_ to Modbus input driver\n", pC_->inputDriver_);
}
//printf("ANF2Axis::ANF2Axis : pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
/* TODO:
* reduce the sleeps to see which ones are necessary
* print out useful info for asyn traces
* make reconfig useful?
*/
@@ -491,7 +494,9 @@ asynStatus ANF2Axis::resetErrors()
{
asynStatus status;
epicsInt32 errorReg[5];
//static const char *functionName = "ANF2Axis::resetErrors";
static const char *functionName = "ANF2Axis::resetErrors";
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER, "%s: axisNo=%i\n", functionName, axisNo_);
zeroRegisters(errorReg);
@@ -568,7 +573,7 @@ void ANF2Axis::report(FILE *fp, int level)
// TODO: make this more useful
if (level > 0) {
fprintf(fp, "Configuration for axis %i:\n", axisNo_);
fprintf(fp, "Configuration for axis %i [0x%x]:\n", axisNo_, config_);
fprintf(fp, " Base Speed: %i\n", baseSpeed_);
fprintf(fp, " Homing Timeout: %i\n", homingTimeout_);
fprintf(fp, " Capture Input: %i (Active State: %i)\n", CaptInput_, CaptInputAS_);
@@ -584,11 +589,6 @@ void ANF2Axis::report(FILE *fp, int level)
fprintf(fp, " Card Axis: %i\n", CardAxis_);
fprintf(fp, " Operation Mode for Axis: %i\n", OpMode_);
fprintf(fp, "\n");
/*fprintf(fp, " axis %d\n", axisNo_);
fprintf(fp, " this->axisNo_ %i\n", this->axisNo_);
fprintf(fp, " this->config_ %x\n", this->config_);
fprintf(fp, " config_ %x\n", config_);*/
}
//printf("ANF2Axis::report -> BEFORE asynMotorAxis::report!!\n");
@@ -603,7 +603,7 @@ void ANF2Axis::report(FILE *fp, int level)
// SET VEL & ACCEL
asynStatus ANF2Axis::sendAccelAndVelocity(double acceleration, double velocity)
{
// static const char *functionName = "ANF2::sendAccelAndVelocity";
// static const char *functionName = "ANF2Axis::sendAccelAndVelocity";
// ANF2 speed range is 1 to 1,000,000 steps/sec
if (velocity > 1000000.0) {
@@ -646,12 +646,14 @@ double ANF2Axis::correctAccel(double minVelocity, double maxVelocity, double acc
{
double accelTime;
double newAccel;
static const char *functionName = "ANF2Axis::correctAccel";
accelTime = (maxVelocity - minVelocity) / acceleration;
newAccel = (maxVelocity - (double)baseSpeed_) / accelTime;
//printf("old acceleration = %lf\n", acceleration);
//printf("new acceleration = %lf\n", newAccel);
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER,
"%s: axisNo=%i, old acceleration=%lf, new acceleration=%lf\n",
functionName, axisNo_, acceleration, newAccel);
return newAccel;
}
@@ -662,8 +664,11 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
{
asynStatus status;
epicsInt32 posInt;
//printf(" ** ANF2Axis::move called, relative = %d, axisNo_ = %i\n", relative, this->axisNo_);
static const char *functionName = "ANF2Axis::move";
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER,
"%s: axisNo=%i, relative=%i, minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, axisNo_, relative, minVelocity, maxVelocity, acceleration);
// Clear the command/configuration register
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
@@ -714,7 +719,11 @@ asynStatus ANF2Axis::move(double position, int relative, double minVelocity, dou
asynStatus ANF2Axis::home(double minVelocity, double maxVelocity, double acceleration, int forwards)
{
asynStatus status;
// static const char *functionName = "ANF2Axis::home";
static const char *functionName = "ANF2Axis::home";
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER,
"%s: axisNo=%i, forwards=%i, minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, axisNo_, forwards, minVelocity, maxVelocity, acceleration);
// Clear the command/configuration register
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
@@ -754,9 +763,9 @@ asynStatus ANF2Axis::moveVelocity(double minVelocity, double maxVelocity, double
//int velo, distance;
static const char *functionName = "ANF2Axis::moveVelocity";
asynPrint(pasynUser_, ASYN_TRACE_FLOW,
"%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, minVelocity, maxVelocity, acceleration);
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER,
"%s: axisNo=%d, minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
functionName, axisNo_, minVelocity, maxVelocity, acceleration);
//
// The jog command requires a different stop than a move command
@@ -826,7 +835,9 @@ asynStatus ANF2Axis::stop(double acceleration)
{
asynStatus status;
epicsInt32 stopReg;
//static const char *functionName = "ANF2Axis::stop";
static const char *functionName = "ANF2Axis::stop";
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER, "%s: axisNo=%i\n", functionName, axisNo_);
//printf("\n STOP \n\n");
@@ -863,9 +874,9 @@ asynStatus ANF2Axis::setPosition(double position)
asynStatus status;
epicsInt32 set_position;
epicsInt32 posReg[5];
//static const char *functionName = "ANF2Axis::setPosition";
static const char *functionName = "ANF2Axis::setPosition";
//printf("setPosition(%lf) for axisNo_=%i\n", position, axisNo_);
asynPrint(pasynUser_, ASYN_TRACEIO_DRIVER, "%s: axisNo=%i, position=%lf\n", functionName, axisNo_, position);
// Clear the command/configuration register
status = pC_->writeReg32Array(axisNo_, zeroReg_, 5, DEFAULT_CONTROLLER_TIMEOUT);
@@ -951,15 +962,13 @@ asynStatus ANF2Axis::poll(bool *moving)
// if status goto end
// Read the current motor position
//
//readReg32(int reg, epicsInt32 *combo, double timeout)
status = pC_->readReg32(axisNo_, POS_RD_UPR, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
//printf("ANF2Axis::poll: Motor position raw: %d\n", read_val);
position = (double) read_val;
setDoubleParam(pC_->motorPosition_, position);
//printf("ANF2Axis::poll: Motor #%i position: %f\n", axisNo_, position);
// TODO: read encoder position
// Read encoder position
status = pC_->readReg32(axisNo_, EN_POS_UPR, &read_val, DEFAULT_CONTROLLER_TIMEOUT);
//printf("ANF2Axis::poll: Motor encoder position raw: %d\n", read_val);
encPosition = (double) read_val;