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Restored home search using HomeAsync.abx vendor program.

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Ron Sluiter
2011-12-22 20:24:19 +00:00
parent 86abff6400
commit e3c69c4441
1 changed files with 9 additions and 4 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+9 -4
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@@ -57,7 +57,8 @@ in file LICENSE that is included with this distribution.
* - In order to support SCURVE trajectories; changed from
* MOVE[ABS/INC] to LINEAR move command.
* .13 12-15-11 rls - Bug fix for jog not terminating; must check both
* PLANESTATUS and AXISSTATUS for move_active.
* PLANESTATUS and AXISSTATUS for move_active.
* .14 12-22-11 rls - Restore home search; using HomeAsync.abx vendor program.
*/
@@ -523,9 +524,7 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
epicsUInt32 hparam;
int axis;
/* Return ERROR until Ensemble firmware upgrade.
if (pAxis == NULL || pAxis->pController == NULL)
*/
return (MOTOR_AXIS_ERROR);
axis = pAxis->axis;
@@ -554,7 +553,13 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
sprintf(outputBuff, "SETPARM @%d, %d, %d", axis, PARAMETERID_HomeSetup, hparam); /* HomeDirection */
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff, "HOME @%d", axis);
/* Set IGLOBAL(32) for one axis and IGLOBAL(33) for axis #; according to HomeAsync.ab protocol*/
sprintf(outputBuff, "IGLOBAL(32) = 1");
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff, "IGLOBAL(33) = %d", axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
sprintf(outputBuff,"PROGRAM RUN 5, \"HomeAsync.bcx\"");
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (ret_status)
return(MOTOR_AXIS_ERROR);