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Set the configuration bits with array writes

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This commit is contained in:
kpetersn
2018-03-14 10:28:05 -05:00
parent 43c8eee384
commit faba02a442
2 changed files with 48 additions and 10 deletions
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motorApp/AMCISrc/ANF2Driver.cpp
+44 -8
View File
@@ -39,8 +39,8 @@ static const char *driverName = "ANF2MotorDriver";
ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName, const char *ANF2OutPortName, int numAxes,
double movingPollPeriod, double idlePollPeriod)
: asynMotorController(portName, numAxes, NUM_ANF2_PARAMS,
0, // No additional interfaces beyond those in base class
0, // No additional callback interfaces beyond those in base class
asynInt32ArrayMask, // One additional interface beyond those in base class
asynInt32ArrayMask, // One additional callback interface beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
@@ -68,6 +68,7 @@ ANF2Controller::ANF2Controller(const char *portName, const char *ANF2InPortName,
}
for (i=0; i<MAX_OUTPUT_REGS; i++) {
status = pasynInt32SyncIO->connect(ANF2OutPortName, i, &pasynUserOutReg_[j][i], NULL);
//status = pasynInt32ArraySyncIO->connect(ANF2OutPortName, i, &pasynUserOutArrayReg_[j][i], NULL);
}
}
if (status) {
@@ -197,11 +198,22 @@ asynStatus ANF2Controller::writeReg16(int axisNo, int axisReg, int output, doubl
//printf("writeReg16: writing %d to register %d\n", output, axisReg);
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"writeReg16: writing %d to register %d\n", output, axisReg);
status = pasynInt32SyncIO->write(pasynUserOutReg_[axisNo][axisReg], output, timeout);
//status = pasynInt32ArraySyncIO->write(pasynUserOutArrayReg_[axisNo][axisReg], &output, 1, timeout);
epicsThreadSleep(0.01);
return status ;
}
/*asynStatus ANF2Controller::writeReg32Array(int axisNo, int axisReg, epicsInt32* output, int nElements, double timeout)
{
asynStatus status;
asynPrint(this->pasynUserSelf, ASYN_TRACEIO_DRIVER,"writeReg32Array: writing %d elements starting at register %d\n", nElements, axisReg);
status = pasynInt32ArraySyncIO->write(pasynUserOutArrayReg_[axisNo][axisReg], output, nElements, timeout);
return status ;
}*/
asynStatus ANF2Controller::writeReg32(int axisNo, int axisReg, int output, double timeout)
{
//.. break 32-bit integer into 2 pieces
@@ -231,6 +243,9 @@ asynStatus ANF2Controller::writeReg32(int axisNo, int axisReg, int output, doubl
axisReg++;
status = writeReg16(axisNo, axisReg, lower, DEFAULT_CONTROLLER_TIMEOUT);
// No breaking up the output value required when writing an array
//status = pasynInt32ArraySyncIO->write(pasynUserOutArrayReg_[axisNo][axisReg], &output, 2, timeout);
return status ;
}
@@ -288,6 +303,9 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
pC_(pC)
{
int status;
long long bigConfig;
long long configAndSpeed;
epicsInt32 configBits[2];
axisNo_ = axisNo;
//this->axisNo_ = axisNo;
@@ -300,7 +318,7 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
}
printf("ANF2Axis::ANF2Axis : pasynUserForceRead_->reason=%d\n", pasynUserForceRead_->reason);
status = pasynInt32SyncIO->connect(ANF2ConfName, 0, &pasynUserConfWrite_, NULL);
status = pasynInt32ArraySyncIO->connect(ANF2ConfName, 0, &pasynUserConfWrite_, NULL);
if (status) {
printf("%s: Error, unable to connect pasynUserConfWrite_ to Modbus input driver\n", ANF2ConfName);
}
@@ -314,11 +332,29 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
// Send the configuration
//status = pC_->writeReg32(axisNo_, CONFIG_MSW, config, DEFAULT_CONTROLLER_TIMEOUT);
//status = pC_->writeReg16(axisNo_, CONFIG_MSW, 0x8600, DEFAULT_CONTROLLER_TIMEOUT);
status = pasynInt32SyncIO->write(pasynUserConfWrite_, config, DEFAULT_CONTROLLER_TIMEOUT);
epicsThreadSleep(0.01);
// Send the configuration bits
//status = pasynInt32SyncIO->write(pasynUserConfWrite_, config, DEFAULT_CONTROLLER_TIMEOUT);
// Set the start speed to a non-zero value (100)
//status = pC_->writeReg16(axisNo_, POS_WR_LWR, 0x0064, DEFAULT_CONTROLLER_TIMEOUT);
//epicsThreadSleep(0.01);
/*bigConfig = (long long) config & 0xFFFFFFFF;
configAndSpeed = (bigConfig << 32) | 0x00000064;
printf("bigConfig = %lx, configAndSpeed = %lx\n", bigConfig, configAndSpeed);
status = pasynInt32SyncIO->write(pasynUserConfWrite_, configAndSpeed, DEFAULT_CONTROLLER_TIMEOUT);*/
configBits[0] = config;
configBits[1] = 0x00000064;
/*status = pasynInt32SyncIO->write(pasynUserConfWrite_, *configBits, DEFAULT_CONTROLLER_TIMEOUT);
status = pasynInt32SyncIO->write(pasynUserConfWrite_, *(configBits+1), DEFAULT_CONTROLLER_TIMEOUT);*/
// Does the number of elements refer to the number of 16-bit elements?
//status = this->pC_->writeReg32Array(axisNo, CONFIG_MSW, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
//
status = pasynInt32ArraySyncIO->write(pasynUserConfWrite_, configBits, 4, DEFAULT_CONTROLLER_TIMEOUT);
// Delay
epicsThreadSleep(1.0);
epicsThreadSleep(10.0);
// Read the configuration? Or maybe the command registers?
getInfo();
@@ -326,8 +362,8 @@ ANF2Axis::ANF2Axis(ANF2Controller *pC, const char *ANF2ConfName, int axisNo, epi
//IAMHERE
// set position to 0
setPosition(0);
//setPosition(1337);
//setPosition(0);
setPosition(1337);
// Delay
epicsThreadSleep(1.0);
motorApp/AMCISrc/ANF2Driver.h
+4 -2
View File
@@ -12,6 +12,8 @@ K. Goetze 2014-03-24
#include "asynMotorController.h"
#include "asynMotorAxis.h"
//#include <asynInt32Array.h>
#include <asynInt32ArraySyncIO.h>
#define MAX_AXES 2
@@ -94,8 +96,7 @@ public:
ANF2Axis* getAxis(int axisNo);
asynUser *pasynUserInReg_[MAX_AXES][MAX_INPUT_REGS];
asynUser *pasynUserOutReg_[MAX_AXES][MAX_OUTPUT_REGS];
// asynUser *pasynUserForceRead_;
//asynUser *pasynUserOutArrayReg_[MAX_AXES][MAX_OUTPUT_REGS];
/* These are the methods that we override from asynMotorDriver */
asynStatus writeInt32(asynUser *pasynUser, epicsInt32 value);
@@ -111,6 +112,7 @@ protected:
private:
asynStatus writeReg16(int, int, int, double);
asynStatus writeReg32(int, int, int, double);
//asynStatus writeReg32Array(int, int, epicsInt32*, int, double);
asynStatus readReg16(int, int, epicsInt32*, double);
asynStatus readReg32(int, int, epicsInt32*, double);
char *inputDriver_;