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- IOC crashes at boot-up when Ensemble is power-ed off; error check that pController is not Null.

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- changed EOT LS read status from AXISFAULT to AXISSTATUS so LS status can be monitored independent of fault status.
This commit is contained in:
Ron Sluiter
2010-04-28 18:31:39 +00:00
parent acf99307b6
commit ffe75e7310
4 changed files with 463 additions and 25 deletions
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motorApp/AerotechSrc/Parameters.h
+360
View File
@@ -0,0 +1,360 @@
// File contains parameter numbers and header for Parameters.cpp
// NOTE: this file is controller firmware version dependant and needs to match it
#ifndef __PARAMETERS_H__
#define __PARAMETERS_H__
#define NUMBER_OF_PARAMETERS 340
typedef enum {
ParameterNumber_PosScaleFactor = 3,
ParameterNumber_ServoUpdateRate = 4,
ParameterNumber_ServoMask = 5,
ParameterNumber_GainKpos = 6,
ParameterNumber_GainKi = 7,
ParameterNumber_GainKp = 8,
ParameterNumber_GainVff = 9,
ParameterNumber_GainAff = 10,
ParameterNumber_GainKv = 11,
ParameterNumber_GainKpi = 12,
ParameterNumber_FiltTorq1N0 = 13,
ParameterNumber_FiltTorq1N1 = 14,
ParameterNumber_FiltTorq1N2 = 15,
ParameterNumber_FiltTorq1D1 = 16,
ParameterNumber_FiltTorq1D2 = 17,
ParameterNumber_FiltTorq2N0 = 18,
ParameterNumber_FiltTorq2N1 = 19,
ParameterNumber_FiltTorq2N2 = 20,
ParameterNumber_FiltTorq2D1 = 21,
ParameterNumber_FiltTorq2D2 = 22,
ParameterNumber_IGainDeadTimeUsec = 23,
ParameterNumber_IGainK = 25,
ParameterNumber_AxisRolloverDistCnts = 26,
ParameterNumber_IGainKi = 27,
ParameterNumber_IGainKp = 28,
ParameterNumber_IGainIaOffset = 29,
ParameterNumber_IGainIbOffset = 30,
ParameterNumber_IGainVaOffset = 31,
ParameterNumber_IGainVbOffset = 32,
ParameterNumber_IGainVcOffset = 33,
ParameterNumber_FaultMaskGlobal = 34,
ParameterNumber_FaultMaskDisable = 35,
ParameterNumber_FaultMaskDecel = 36,
ParameterNumber_FaultMaskStop = 37,
ParameterNumber_BrakeOnDriveDisable = 39,
ParameterNumber_FaultMaskAux = 40,
ParameterNumber_FaultEstopInput = 41,
ParameterNumber_ThresholdPosErr = 42,
ParameterNumber_ThresholdAvgIAmp = 43,
ParameterNumber_ThresholdAvgITimeMsec = 44,
ParameterNumber_ThresholdVelCmd = 45,
ParameterNumber_ThresholdVelError = 46,
ParameterNumber_ThresholdSoftCCW = 47,
ParameterNumber_ThresholdSoftCW = 48,
ParameterNumber_ThresholdClampIAmp = 49,
ParameterNumber_ThresholdInPosDist = 50,
ParameterNumber_CfgMotType = 51,
ParameterNumber_CfgMotCyclesRev = 52,
ParameterNumber_CfgMotCntsRev = 53,
ParameterNumber_CfgMotOffsetAng = 55,
ParameterNumber_CfgMotMSetTimeMsec = 56,
ParameterNumber_CfgMotMSetIAmps = 57,
ParameterNumber_CfgFbkPosType = 58,
ParameterNumber_CfgFbkPosChan = 59,
ParameterNumber_CfgFbkPosMultiplier = 60,
ParameterNumber_CfgFbkVelType = 61,
ParameterNumber_CfgFbkVelChan = 62,
ParameterNumber_CfgFbkVelMultiplier = 63,
ParameterNumber_CfgFbkMultFactorMX = 66,
ParameterNumber_CfgFbkEncSineGain = 67,
ParameterNumber_CfgFbkEncSineOffset = 68,
ParameterNumber_CfgFbkEncCosineGain = 69,
ParameterNumber_CfgFbkEncCosineOffset = 70,
ParameterNumber_CfgFbkEncPhase = 71,
ParameterNumber_GantryMasterAxis = 72,
ParameterNumber_GantrySlaveAxis = 73,
ParameterNumber_MBusMasterSlaveIPAddress = 74,
ParameterNumber_MBusMasterSlaveSubnetMask = 75,
ParameterNumber_MBusMasterSlaveGateway = 76,
ParameterNumber_MBusMasterInputWords = 77,
ParameterNumber_MBusMasterOutputWords = 78,
ParameterNumber_MBusMasterInputBits = 79,
ParameterNumber_MBusMasterOutputBits = 80,
ParameterNumber_MBusMasterVirtualInputs = 81,
ParameterNumber_MBusMasterVirtualOutputs = 82,
ParameterNumber_LimitDecelDistCnts = 84,
ParameterNumber_LimitDebounceTimeMsec = 85,
ParameterNumber_LimitLevelMask = 86,
ParameterNumber_BacklashDistCnts = 87,
ParameterNumber_AuxOutBitMask = 88,
ParameterNumber_AuxOutBitLevel = 89,
ParameterNumber_DriveIOConfig = 90,
ParameterNumber_BrakeOutput = 91,
ParameterNumber_MBusMasterOutputWordsSections = 93,
ParameterNumber_MBusMasterOutputBitsSections = 94,
ParameterNumber_MBusMasterRWReadOffset = 95,
ParameterNumber_AdcScaleFactor = 96,
ParameterNumber_EncoderDivider = 97,
ParameterNumber_FaultAuxInput = 98,
ParameterNumber_BrakeDisableDelay = 99,
ParameterNumber_DacScaleFactor = 100,
ParameterNumber_MaxJogDistance = 101,
ParameterNumber_DefaultSpeed = 102,
ParameterNumber_DefaultRampRate = 103,
ParameterNumber_DecelRateMoveAbort = 104,
ParameterNumber_HomeType = 105,
ParameterNumber_HomeDirection = 106,
ParameterNumber_HomeFeedRate = 107,
ParameterNumber_HomeOffset = 108,
ParameterNumber_HomeAccelDecelRate = 109,
ParameterNumber_DefaultWaitMode = 110,
ParameterNumber_DefaultSCurve = 111,
ParameterNumber_MotionBuffer = 112,
ParameterNumber_DataCollectBufferSize = 113,
ParameterNumber_CfgMotStepperRes = 114,
ParameterNumber_CfgMotStepperHighCur = 115,
ParameterNumber_CfgMotStepperLowCur = 116,
ParameterNumber_CfgMotStepperDGain = 117,
ParameterNumber_CfgMotStepperVerVel = 118,
ParameterNumber_LimitDebounceDistCnts = 119,
ParameterNumber_FiltTorq3N0 = 120,
ParameterNumber_FiltTorq3N1 = 121,
ParameterNumber_FiltTorq3N2 = 122,
ParameterNumber_FiltTorq3D1 = 123,
ParameterNumber_FiltTorq3D2 = 124,
ParameterNumber_FiltTorq4N0 = 125,
ParameterNumber_FiltTorq4N1 = 126,
ParameterNumber_FiltTorq4N2 = 127,
ParameterNumber_FiltTorq4D1 = 128,
ParameterNumber_FiltTorq4D2 = 129,
ParameterNumber_PrintStatementBufferSize = 138,
ParameterNumber_AnalogInputOffset0 = 139,
ParameterNumber_AnalogInputOffset1 = 140,
ParameterNumber_ComPortXonChar = 146,
ParameterNumber_ComPortXoffChar = 147,
ParameterNumber_ComPortBaudRate = 148,
ParameterNumber_ComPortSettings = 149,
ParameterNumber_CfgTask0Slot = 151,
ParameterNumber_CfgTask1Slot = 152,
ParameterNumber_CfgTask2Slot = 153,
ParameterNumber_CfgTask3Slot = 154,
ParameterNumber_CfgTask4Slot = 155,
ParameterNumber_CfgTask0Code = 156,
ParameterNumber_CfgTask1Code = 157,
ParameterNumber_CfgTask2Code = 158,
ParameterNumber_CfgTask3Code = 159,
ParameterNumber_CfgTask4Code = 160,
ParameterNumber_CfgTask0Data = 161,
ParameterNumber_CfgTask1Data = 162,
ParameterNumber_CfgTask2Data = 163,
ParameterNumber_CfgTask3Data = 164,
ParameterNumber_CfgTask4Data = 165,
ParameterNumber_CfgTask0Stack = 166,
ParameterNumber_CfgTask1Stack = 167,
ParameterNumber_CfgTask2Stack = 168,
ParameterNumber_CfgTask3Stack = 169,
ParameterNumber_CfgTask4Stack = 170,
ParameterNumber_CfgTask0SysStack = 171,
ParameterNumber_CfgTask1SysStack = 172,
ParameterNumber_CfgTask2SysStack = 173,
ParameterNumber_CfgTask3SysStack = 174,
ParameterNumber_CfgTask4SysStack = 175,
ParameterNumber_CfgTask0AutoProgram = 176,
ParameterNumber_CfgTask1AutoProgram = 180,
ParameterNumber_CfgTask2AutoProgram = 184,
ParameterNumber_CfgTask3AutoProgram = 188,
ParameterNumber_CfgTask4AutoProgram = 192,
ParameterNumber_MaxJogSpeed = 201,
ParameterNumber_CfgIntegerRegisters = 202,
ParameterNumber_CfgDoubleRegisters = 203,
ParameterNumber_PositionDecimalPlaces = 204,
ParameterNumber_CfgTask0TaskFaultAxisMask = 205,
ParameterNumber_CfgTask1TaskFaultAxisMask = 206,
ParameterNumber_CfgTask2TaskFaultAxisMask = 207,
ParameterNumber_CfgTask3TaskFaultAxisMask = 208,
ParameterNumber_CfgTask4TaskFaultAxisMask = 209,
ParameterNumber_AxisCalibrationFile = 210,
ParameterNumber_InetGlbIntStartReg = 214,
ParameterNumber_InetGlbIntNumReg = 215,
ParameterNumber_InetGlbDblStartReg = 216,
ParameterNumber_InetGlbDblNumReg = 217,
ParameterNumber_InetGlbRegBcastRate = 218,
ParameterNumber_InetGlbRegEnableFlags = 219,
ParameterNumber_MBusSlaveUnitID = 220,
ParameterNumber_MBusSlaveInputWords = 221,
ParameterNumber_MBusSlaveOutputWords = 222,
ParameterNumber_MBusSlaveInputBits = 223,
ParameterNumber_MBusSlaveOutputBits = 224,
ParameterNumber_MBusSlaveInputWordsOffset = 225,
ParameterNumber_MBusSlaveOutputWordsOffset = 226,
ParameterNumber_MBusSlaveInputBitsOffset = 227,
ParameterNumber_MBusSlaveOutputBitsOffset = 228,
ParameterNumber_MBusSlaveRWReadOffset = 229,
ParameterNumber_MBusSlaveRWWriteOffset = 230,
ParameterNumber_MBusMasterInputWordsOffset = 231,
ParameterNumber_MBusMasterOutputWordsOffset = 232,
ParameterNumber_MBusMasterInputBitsOffset = 233,
ParameterNumber_MBusMasterOutputBitsOffset = 234,
ParameterNumber_MBusMasterStatusWordsOffset = 235,
ParameterNumber_MBusMasterStatusBitsOffset = 236,
ParameterNumber_MBusMasterVirtualInputsOffset = 237,
ParameterNumber_MBusMasterVirtualOutputsOffset = 238,
ParameterNumber_MBusMasterRWWriteOffset = 239,
ParameterNumber_MBusMasterFunctions = 240,
ParameterNumber_MBusConfigFlags = 241,
ParameterNumber_MBusSlaveType = 242,
ParameterNumber_PosUnitsDisplay = 243,
ParameterNumber_InetSock1IPAddress = 247,
ParameterNumber_InetSock1Port = 248,
ParameterNumber_InetSock1Flags = 249,
ParameterNumber_InetSock1OutThreshBytes = 250,
ParameterNumber_InetSock2IPAddress = 251,
ParameterNumber_InetSock2Port = 252,
ParameterNumber_InetSock2Flags = 253,
ParameterNumber_InetSock2OutThreshBytes = 254,
ParameterNumber_InetSock1ActiveTimeSec = 255,
ParameterNumber_InetSock2ActiveTimeSec = 256,
ParameterNumber_UserInteger1 = 261,
ParameterNumber_UserInteger2 = 262,
ParameterNumber_UserDouble1 = 263,
ParameterNumber_UserDouble2 = 264,
ParameterNumber_UserString1 = 265,
ParameterNumber_UserString2 = 269,
ParameterNumber_CfgFbkEncAbsSetup = 273,
ParameterNumber_CfgFbkEncAbsPosBits = 274,
ParameterNumber_CfgFbkEncAbsRevBits = 275,
ParameterNumber_AsciiCmdEnable = 281,
ParameterNumber_ComPortAuxXonChar = 283,
ParameterNumber_ComPortAuxXoffChar = 284,
ParameterNumber_ComPortAuxBaudRate = 285,
ParameterNumber_ComPortAuxSettings = 286,
ParameterNumber_JoystickVertCenter = 288,
ParameterNumber_JoystickVertDeadband = 289,
ParameterNumber_JoystickHorzCenter = 290,
ParameterNumber_JoystickHorzDeadband = 291,
ParameterNumber_JoystickFeedrateLow = 292,
ParameterNumber_JoystickFeedrateHigh = 293,
ParameterNumber_JoystickAxisPair1 = 294,
ParameterNumber_JoystickAxisPair2 = 295,
ParameterNumber_JoystickAxisPair3 = 296,
ParameterNumber_JoystickAxisPair4 = 297,
ParameterNumber_JoystickConfig = 298,
ParameterNumber_HomePositionSet = 299,
ParameterNumber_CfgTask0AxisMask = 300,
ParameterNumber_CfgTask1AxisMask = 301,
ParameterNumber_CfgTask2AxisMask = 302,
ParameterNumber_CfgTask3AxisMask = 303,
ParameterNumber_CfgTask4AxisMask = 304,
ParameterNumber_AxisCalibrationFile2D = 305,
ParameterNumber_FaultMaskDisableDelay = 309,
ParameterNumber_DefaultVectorSpeed = 310,
ParameterNumber_DefaultVectorRampRate = 311,
ParameterNumber_CfgTask0StopOnAxisFault = 312,
ParameterNumber_CfgTask1StopOnAxisFault = 313,
ParameterNumber_CfgTask2StopOnAxisFault = 314,
ParameterNumber_CfgTask3StopOnAxisFault = 315,
ParameterNumber_CfgTask4StopOnAxisFault = 316,
ParameterNumber_GpibEOSChar = 317,
ParameterNumber_GpibPrimaryAddress = 318,
ParameterNumber_GpibParallelResponse = 319,
ParameterNumber_AsciiCmdEOSChar = 320,
ParameterNumber_AsciiCmdAckChar = 321,
ParameterNumber_AsciiCmdNakChar = 322,
ParameterNumber_AsciiCmdFaultChar = 323,
ParameterNumber_CfgTask0StopFaultMask = 324,
ParameterNumber_CfgTask1StopFaultMask = 325,
ParameterNumber_CfgTask2StopFaultMask = 326,
ParameterNumber_CfgTask3StopFaultMask = 327,
ParameterNumber_CfgTask4StopFaultMask = 328,
ParameterNumber_FaultAxisGroup = 330,
ParameterNumber_HarmonicCancellation0Period = 336,
ParameterNumber_HarmonicCancellation0Type = 337,
ParameterNumber_HarmonicCancellation0Channel = 338,
ParameterNumber_HarmonicCancellation0Gain = 339,
ParameterNumber_HarmonicCancellation0Phase = 340,
ParameterNumber_HarmonicCancellation1Period = 341,
ParameterNumber_HarmonicCancellation1Type = 342,
ParameterNumber_HarmonicCancellation1Channel = 343,
ParameterNumber_HarmonicCancellation1Gain = 344,
ParameterNumber_HarmonicCancellation1Phase = 345,
ParameterNumber_HarmonicCancellation2Period = 346,
ParameterNumber_HarmonicCancellation2Type = 347,
ParameterNumber_HarmonicCancellation2Channel = 348,
ParameterNumber_HarmonicCancellation2Gain = 349,
ParameterNumber_HarmonicCancellation2Phase = 350,
ParameterNumber_AsciiCmdTimeout = 356,
ParameterNumber_AsciiCmdTimeoutChar = 357,
ParameterNumber_CfgFbkRDGain = 358,
ParameterNumber_CfgFbkRDConfig = 359,
ParameterNumber_CfgFbkRDCosPhase = 360,
ParameterNumber_SoftLimitMode = 367,
ParameterNumber_PsoSSI1Config = 368,
ParameterNumber_PsoSSI2Config = 369,
ParameterNumber_CfgFbkEncQuadDivider = 370,
ParameterNumber_HarmonicCancellation3Period = 371,
ParameterNumber_HarmonicCancellation3Type = 372,
ParameterNumber_HarmonicCancellation3Channel = 373,
ParameterNumber_HarmonicCancellation3Gain = 374,
ParameterNumber_HarmonicCancellation3Phase = 375,
ParameterNumber_HarmonicCancellation4Period = 376,
ParameterNumber_HarmonicCancellation4Type = 377,
ParameterNumber_HarmonicCancellation4Channel = 378,
ParameterNumber_HarmonicCancellation4Gain = 379,
ParameterNumber_HarmonicCancellation4Phase = 380,
ParameterNumber_EnhancedThroughputChannel = 381,
ParameterNumber_EnhancedThroughputGain = 382,
ParameterNumber_HarmonicCancellationSetup = 383,
ParameterNumber_EnhancedThroughputCurrentClamp = 384,
ParameterNumber_Analog0Filter0CoeffN0 = 385,
ParameterNumber_Analog0Filter0CoeffN1 = 386,
ParameterNumber_Analog0Filter0CoeffN2 = 387,
ParameterNumber_Analog0Filter0CoeffD1 = 388,
ParameterNumber_Analog0Filter0CoeffD2 = 389,
ParameterNumber_Analog0Filter1CoeffN0 = 390,
ParameterNumber_Analog0Filter1CoeffN1 = 391,
ParameterNumber_Analog0Filter1CoeffN2 = 392,
ParameterNumber_Analog0Filter1CoeffD1 = 393,
ParameterNumber_Analog0Filter1CoeffD2 = 394,
ParameterNumber_Analog1Filter0CoeffN0 = 395,
ParameterNumber_Analog1Filter0CoeffN1 = 396,
ParameterNumber_Analog1Filter0CoeffN2 = 397,
ParameterNumber_Analog1Filter0CoeffD1 = 398,
ParameterNumber_Analog1Filter0CoeffD2 = 399,
ParameterNumber_Analog1Filter1CoeffN0 = 400,
ParameterNumber_Analog1Filter1CoeffN1 = 401,
ParameterNumber_Analog1Filter1CoeffN2 = 402,
ParameterNumber_Analog1Filter1CoeffD1 = 403,
ParameterNumber_Analog1Filter1CoeffD2 = 404,
ParameterNumber_ThresholdScheduleSetup = 405,
ParameterNumber_ThresholdRegion2High = 406,
ParameterNumber_ThresholdRegion2Low = 407,
ParameterNumber_ThresholdRegion3GainKpos = 408,
ParameterNumber_ThresholdRegion3GainKp = 409,
ParameterNumber_ThresholdRegion3GainKi = 410,
ParameterNumber_ThresholdRegion3GainKpi = 411,
ParameterNumber_ThresholdRegion4High = 412,
ParameterNumber_ThresholdRegion4Low = 413,
ParameterNumber_ThresholdRegion5GainKpos = 414,
ParameterNumber_ThresholdRegion5GainKp = 415,
ParameterNumber_ThresholdRegion5GainKi = 416,
ParameterNumber_ThresholdRegion5GainKpi = 417,
ParameterNumber_DynamicScheduleSetup = 418,
ParameterNumber_DynamicGainKposScale = 419,
ParameterNumber_DynamicGainKpScale = 420,
ParameterNumber_DynamicGainKiScale = 421,
ParameterNumber_LinearAmpMaxPower = 422,
ParameterNumber_LinearAmpDeratingFactor = 423,
ParameterNumber_LinearAmpBusVoltage = 424,
ParameterNumber_MotorResistance = 425,
ParameterNumber_MotorBackEMFConstant = 426
} ParameterNumber;
typedef struct {
const char* Name;
int Number;
} ParameterInformation;
// returns information about parameters, array size is NUMBER_OF_PARAMETERS
ParameterInformation* GetParameterInformation();
#endif
motorApp/AerotechSrc/README
+30 -8
View File
@@ -1,15 +1,23 @@
DESIGN NOTES
============
- The EPICS driver neither reads nor writes the Ensemble's soft limits.
It is recommended that the Ensemble soft limits be disabled and the
user rely on the EPICS motor record soft limits.
- The EPICS driver neither reads nor writes the Ensemble's soft limits. It is
recommended that the Ensemble soft limits be disabled and the user rely on the
EPICS motor record soft limits.
- Since the Ensemble network connection requires period communication
from the host to prevent the Ensemble from closing the network socket,
the Ensemble support based on the old device driver architecture will
be removed after R5-6. The asyn motor architecture supports continuous,
periodic updates; the old architecture does not.
- Since the Ensemble network connection requires period communication from the
host to prevent the Ensemble from closing the network socket, the Ensemble
support based on the old device driver architecture will be removed after R5-6.
The asyn motor architecture supports continuous, periodic updates; the old
architecture does not.
- This driver assumes that the EOT limit switches have been configured
correctly. If the PosScaleFactor parameter is positive, then a positive move
is a move in the direction of the CW EOT limit switch and a negative move is a
move in the direction of the CCW EOT limit switch. If the PosScaleFactor
parameter is negative, then a positive move is a move in the direction of the
CCW EOT limit switch and a negative move is a move in the direction of the CW
EOT limit switch
ENSEMBLE CONFIGURATION NOTES
@@ -19,3 +27,17 @@ ENSEMBLE CONFIGURATION NOTES
- Set the "Idle Polling" parameter the EnsembleAsynConfig() call <=
InetSock1ActiveTimeSec Parameter. This will prevent the Ensemble
from closing the socket.
DRIVER LIMITATIONS
------------------
The driver reads the controllers configuration information only at boot-up
(iocInit). If any of the following Ensemble parameters are changed, EPICS
must be rebooted.
- CfgFbkPosType
- PosScaleFactor
- HomeOffset
- HomeDirection
- LimitLevelMask
motorApp/AerotechSrc/drvEnsembleAsyn.cc
+49 -17
View File
@@ -36,6 +36,10 @@ in file LICENSE that is included with this distribution.
* limit error condition.
* .06 04-21-10 rls Temporarily backing out previous change on EOT LS's; need
* more cnfg. info from controller on LS active high/low.
* .07 04-28-10 rls - IOC crashes at boot-up when Ensemble is power-ed off;
* error check that pController is not Null.
* - changed EOT LS read status from AXISFAULT to AXISSTATUS so
* LS status can be monitored independent of fault status.
*/
@@ -65,6 +69,7 @@ in file LICENSE that is included with this distribution.
#include "paramLib.h"
#include "drvEnsembleAsyn.h"
#include "Parameters.h"
motorAxisDrvSET_t motorEnsemble =
{
@@ -118,6 +123,8 @@ typedef struct motorAxisHandle
motorAxisLogFunc print;
void *logParam;
epicsMutexId mutexId;
Switch_Level swconfig;
int lastFault;
} motorAxis;
typedef struct
@@ -308,7 +315,7 @@ static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double
double deviceValue;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return (MOTOR_AXIS_ERROR);
else
{
@@ -379,7 +386,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
int status, FaultStatus;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return (MOTOR_AXIS_ERROR);
epicsMutexLock(pAxis->mutexId);
@@ -427,7 +434,7 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
bool posdir;
int axis, maxDigits;
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return (MOTOR_AXIS_ERROR);
axis = pAxis->axis;
@@ -491,7 +498,7 @@ static int motorAxisHome(AXIS_HDL pAxis, double min_velocity, double max_velocit
epicsUInt32 hparam;
int axis;
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return (MOTOR_AXIS_ERROR);
axis = pAxis->axis;
@@ -543,7 +550,7 @@ static int motorAxisVelocityMove(AXIS_HDL pAxis, double min_velocity, double vel
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
int ret_status;
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return(MOTOR_AXIS_ERROR);
sprintf(outputBuff, "SETPARM @%d, 103, %.*f", pAxis->axis, pAxis->maxDigits, acceleration);
@@ -581,7 +588,7 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
int ret_status;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return (MOTOR_AXIS_ERROR);
PRINT(pAxis->logParam, FLOW, "Set card %d, axis %d\n",
@@ -595,7 +602,7 @@ static int motorAxisStop(AXIS_HDL pAxis, double acceleration)
static int motorAxisforceCallback(AXIS_HDL pAxis)
{
if (pAxis == NULL)
if (pAxis == NULL || pAxis->pController == NULL)
return(MOTOR_AXIS_ERROR);
PRINT(pAxis->logParam, FLOW, "motorAxisforceCallback: request card %d, axis %d status update\n",
@@ -658,6 +665,8 @@ static void EnsemblePoller(EnsembleController *pController)
}
else
{
int CW_sw_active, CCW_sw_active;
motorParam->setInteger(params, motorAxisCommError, 0);
axisStatus.All = atoi(&inputBuff[1]);
motorParam->setInteger(params, motorAxisDone, !axisStatus.Bits.move_active);
@@ -669,6 +678,20 @@ static void EnsemblePoller(EnsembleController *pController)
motorParam->setInteger(pAxis->params, motorAxisDirection, axisStatus.Bits.motion_ccw);
else
motorParam->setInteger(pAxis->params, motorAxisDirection, !axisStatus.Bits.motion_ccw);
CW_sw_active = !(axisStatus.Bits.CW_limit ^ pAxis->swconfig.Bits.CWEOTSWstate);
CCW_sw_active = !(axisStatus.Bits.CCW_limit ^ pAxis->swconfig.Bits.CCWEOTSWstate);
if (!((pAxis->stepSize > 0.0) ^ (pAxis->swconfig.Bits.EOTswitch)))
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, CW_sw_active);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, CCW_sw_active);
}
else
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, CCW_sw_active);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, CW_sw_active);
}
}
pAxis->axisStatus = axisStatus.All;
}
@@ -717,15 +740,16 @@ static void EnsemblePoller(EnsembleController *pController)
int axisFault;
axisFault = atoi(&inputBuff[1]);
if (pAxis->stepSize > 0.0)
if (axisFault == 0)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisFault & CW_FAULT_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisFault & CCW_FAULT_BIT ? 1 : 0);
pAxis->lastFault = 0;
motorParam->setInteger(pAxis->params, motorAxisProblem, 0);
}
else
else if (axisFault != pAxis->lastFault)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisFault & CCW_FAULT_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisFault & CW_FAULT_BIT ? 1 : 0);
pAxis->lastFault = axisFault;
motorParam->setInteger(pAxis->params, motorAxisProblem, 1);
PRINT(pAxis->logParam, TERROR, "EnsemblePoller: controller fault on axis=%d fault=0x%X\n", itera, axisFault);
}
}
}
@@ -851,7 +875,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
pAxis->mutexId = epicsMutexMustCreate();
pAxis->params = motorParam->create(0, MOTOR_AXIS_NUM_PARAMS);
sprintf(outputBuff, "GETPARM(@%d, 58)", axis); /* CfgFbkPosType */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_CfgFbkPosType);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
{
@@ -859,7 +883,7 @@ int EnsembleAsynConfig(int card, /* Controller number */
pAxis->closedLoop = 1;
}
sprintf(outputBuff, "GETPARM(@%d, 3)", axis); /* PosScaleFactor */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_PosScaleFactor);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->stepSize = 1 / atof(&inputBuff[1]);
@@ -870,16 +894,21 @@ int EnsembleAsynConfig(int card, /* Controller number */
digits = 1;
pAxis->maxDigits = digits;
sprintf(outputBuff, "GETPARM(@%d, 108)", axis); /* HomeOffset */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_HomeOffset);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->homePreset = atof(&inputBuff[1]);
sprintf(outputBuff, "GETPARM(@%d, 106)", axis); /* HomeDirection */
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_HomeDirection);
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->homeDirection = atoi(&inputBuff[1]);
numAxesFound++;
sprintf(outputBuff, "GETPARM(@%d, %d)", axis, ParameterNumber_LimitLevelMask); /* */
sendAndReceive(pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
pAxis->swconfig.All = atoi(&inputBuff[1]);
}
}
@@ -901,6 +930,9 @@ static asynStatus sendAndReceive(EnsembleController *pController, char *outputBu
int eomReason;
asynStatus status;
if (pController == NULL)
return(asynError);
strcpy(outputCopy, outputBuff);
if (outputCopy[strlen(outputCopy) - 1] != ASCII_EOS_CHAR)
strcat(outputCopy, ASCII_EOS_STR);
motorApp/AerotechSrc/drvEnsembleAsyn.h
+24
View File
@@ -125,6 +125,30 @@ typedef union
} Bits;
} Axis_Status;
/* LimitLevelMask parameter bitmap */
typedef union
{
epicsUInt32 All;
struct
{
#ifdef MSB_First
unsigned int na5 :27;
unsigned int EOTswitch :1;
unsigned int LIF481mode :1;
unsigned int CWEOTSWstate :1;
unsigned int CCWEOTSWstate :1;
unsigned int HomeSWstate :1;
#else
unsigned int HomeSWstate :1;
unsigned int CCWEOTSWstate :1;
unsigned int CWEOTSWstate :1;
unsigned int LIF481mode :1;
unsigned int EOTswitch :1;
unsigned int na5 :27;
#endif
} Bits;
} Switch_Level;
#ifdef __cplusplus
extern "C" {
#endif