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Added ignoreLimit argument to MMC200Controller()

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This commit is contained in:
kmpeters
2013-10-08 18:25:07 +00:00
parent e410d7ba5c
commit dba34ec14c
2 changed files with 39 additions and 14 deletions
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motorApp/MicronixSrc/MMC200Driver.cpp
+35 -13
View File
@@ -29,7 +29,7 @@ July 10, 2013
* \param[in] idlePollPeriod The time between polls when no axis is moving
*/
MMC200Controller::MMC200Controller(const char *portName, const char *MMC200PortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
double movingPollPeriod, double idlePollPeriod, int ignoreLimits)
: asynMotorController(portName, numAxes, NUM_MMC200_PARAMS,
0, // No additional interfaces beyond those in base class
0, // No additional callback interfaces beyond those in base class
@@ -42,6 +42,12 @@ MMC200Controller::MMC200Controller(const char *portName, const char *MMC200PortN
MMC200Axis *pAxis;
static const char *functionName = "MMC200Controller::MMC200Controller";
/* Set flag to ignore limits */
if (ignoreLimits == 0)
ignoreLimits_ = 0;
else
ignoreLimits_ = 1;
/* Connect to MMC200 controller */
status = pasynOctetSyncIO->connect(MMC200PortName, 0, &pasynUserController_, NULL);
if (status) {
@@ -66,10 +72,10 @@ MMC200Controller::MMC200Controller(const char *portName, const char *MMC200PortN
* \param[in] idlePollPeriod The time in ms between polls when no axis is moving
*/
extern "C" int MMC200CreateController(const char *portName, const char *MMC200PortName, int numAxes,
int movingPollPeriod, int idlePollPeriod)
int movingPollPeriod, int idlePollPeriod, int ignoreLimits)
{
MMC200Controller *pMMC200Controller
= new MMC200Controller(portName, MMC200PortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000.);
= new MMC200Controller(portName, MMC200PortName, numAxes, movingPollPeriod/1000., idlePollPeriod/1000., ignoreLimits);
pMMC200Controller = NULL;
return(asynSuccess);
}
@@ -83,8 +89,12 @@ extern "C" int MMC200CreateController(const char *portName, const char *MMC200Po
*/
void MMC200Controller::report(FILE *fp, int level)
{
fprintf(fp, "MMC-200 motor driver %s, numAxes=%d, moving poll period=%f, idle poll period=%f\n",
this->portName, numAxes_, movingPollPeriod_, idlePollPeriod_);
fprintf(fp, "MMC-200 motor driver\n");
fprintf(fp, " port name=%s\n", this->portName);
fprintf(fp, " num axes=%d\n", numAxes_);
fprintf(fp, " moving poll period=%f\n", movingPollPeriod_);
fprintf(fp, " idle poll period=%f\n", idlePollPeriod_);
fprintf(fp, " ignore limits=%d\n", ignoreLimits_);
// Call the base class method
asynMotorController::report(fp, level);
@@ -327,7 +337,8 @@ asynStatus MMC200Axis::poll(bool *moving)
{
int done;
int driveOn;
int limit;
int lowLimit;
int highLimit;
int status;
double pos;
double enc;
@@ -366,10 +377,19 @@ asynStatus MMC200Axis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;
limit = status & 0x2;
setIntegerParam(pC_->motorStatusHighLimit_, limit);
limit = status & 0x1;
setIntegerParam(pC_->motorStatusLowLimit_, limit);
/* Only check limit bits if ignore flag is zero */
if (pC_->ignoreLimits_ == 0)
{
highLimit = status & 0x2;
lowLimit = status & 0x1;
}
else
{
highLimit = 0;
lowLimit = 0;
}
setIntegerParam(pC_->motorStatusHighLimit_, highLimit);
setIntegerParam(pC_->motorStatusLowLimit_, lowLimit);
//setIntegerParam(pC_->motorStatusAtHome_, limit);
@@ -396,15 +416,17 @@ static const iocshArg MMC200CreateControllerArg1 = {"MMC-200 port name", iocshAr
static const iocshArg MMC200CreateControllerArg2 = {"Number of axes", iocshArgInt};
static const iocshArg MMC200CreateControllerArg3 = {"Moving poll period (ms)", iocshArgInt};
static const iocshArg MMC200CreateControllerArg4 = {"Idle poll period (ms)", iocshArgInt};
static const iocshArg MMC200CreateControllerArg5 = {"Ignore limit flag", iocshArgInt};
static const iocshArg * const MMC200CreateControllerArgs[] = {&MMC200CreateControllerArg0,
&MMC200CreateControllerArg1,
&MMC200CreateControllerArg2,
&MMC200CreateControllerArg3,
&MMC200CreateControllerArg4};
static const iocshFuncDef MMC200CreateControllerDef = {"MMC200CreateController", 5, MMC200CreateControllerArgs};
&MMC200CreateControllerArg4,
&MMC200CreateControllerArg5};
static const iocshFuncDef MMC200CreateControllerDef = {"MMC200CreateController", 6, MMC200CreateControllerArgs};
static void MMC200CreateContollerCallFunc(const iocshArgBuf *args)
{
MMC200CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival);
MMC200CreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival, args[4].ival, args[5].ival);
}
static void MMC200Register(void)
motorApp/MicronixSrc/MMC200Driver.h
+4 -1
View File
@@ -44,11 +44,14 @@ friend class MMC200Controller;
class MMC200Controller : public asynMotorController {
public:
MMC200Controller(const char *portName, const char *MMC200PortName, int numAxes, double movingPollPeriod, double idlePollPeriod);
MMC200Controller(const char *portName, const char *MMC200PortName, int numAxes, double movingPollPeriod, double idlePollPeriod, int ignoreLimits);
void report(FILE *fp, int level);
MMC200Axis* getAxis(asynUser *pasynUser);
MMC200Axis* getAxis(int axisNo);
private:
int ignoreLimits_; /* 1 = ignore limits */
friend class MMC200Axis;
};