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Added MsgTxt support to Nanotec motor driver

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This commit is contained in:
koennecke
2019-01-08 11:55:50 +01:00
parent 02ab5ff9b8
commit 3bea34700e
2 changed files with 39 additions and 24 deletions
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50
sinqEPICSApp/src/NanotecDriver.cpp
View File

@ -14,6 +14,9 @@ list to the motor controller constructor.
Mark Koennecke
July 2015
Modified to use the MsgTxt field for SINQ
Mark Koennecke, January 2019
*/
@ -43,12 +46,7 @@ July 2015
* \param[in] NanotecPortName The name of the drvAsynSerialPort that was created previously to connect to the Nanotec controller
*/
NanotecController::NanotecController(const char *portName, const char *NanotecPortName, int motCount, const char *bus)
: asynMotorController(portName, motCount+1, 0,
0, // No additional interfaces beyond those in base class
0, // No additional callback interfaces beyond those in base class
ASYN_CANBLOCK | ASYN_MULTIDEVICE,
1, // autoconnect
0, 0) // Default priority and stack size
: SINQController(portName, NanotecPortName, motCount+1)
{
int axis, busAddress;
asynStatus status;
@ -136,7 +134,7 @@ NanotecAxis* NanotecController::getAxis(int axisNo)
* Initializes register numbers, etc.
*/
NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
: asynMotorAxis(pC, axisNo),
: SINQAxis(pC, axisNo),
pC_(pC)
{
this->busAddress = busAddress;
@ -162,17 +160,21 @@ void NanotecAxis::report(FILE *fp, int level)
//asynMotorAxis::report(fp, level);
}
asynStatus NanotecController::transactController(char command[COMLEN], char reply[COMLEN])
asynStatus NanotecController::transactController(int axisNo, char command[COMLEN], char reply[COMLEN])
{
asynStatus status;
size_t in, out;
int reason;
SINQAxis *axis = getAxis(axisNo);
pasynOctetSyncIO->flush(pasynUserController_);
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason);
if(status != asynSuccess){
if(axis != NULL){
axis->updateMsgTxtFromDriver("Lost connection to motor controller");
}
return status;
}
@ -200,6 +202,8 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
size_t in, out;
int reason;
updateMsgTxtFromDriver("");
// status = sendAccelAndVelocity(acceleration, maxVelocity);
if (relative) {
@ -215,7 +219,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
set mode
*/
snprintf(command,sizeof(command),"#%dp2",busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -224,7 +228,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
set target
*/
snprintf(command,sizeof(command),"#%ds%d",busAddress, (int)position);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -233,7 +237,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
and start..
*/
snprintf(command,sizeof(command),"#%dA",busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -250,11 +254,13 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
setIntegerParam(pC_->motorStatusAtHome_, false);
updateMsgTxtFromDriver("");
/*
reset positioning errors
*/
snprintf(command,sizeof(command),"#%dD",busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -263,7 +269,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
set mode
*/
snprintf(command,sizeof(command),"#%dp4",busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -273,7 +279,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
set direction
*/
snprintf(command,sizeof(command),"#%dd0",busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -283,7 +289,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
and start..
*/
snprintf(command,sizeof(command),"#%dA",busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){
return status;
}
@ -304,6 +310,7 @@ asynStatus NanotecAxis::moveVelocity(double minVelocity, double maxVelocity, dou
// "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
// functionName, minVelocity, maxVelocity, acceleration);
updateMsgTxtFromDriver("");
if (maxVelocity > 0.) {
@ -326,7 +333,7 @@ asynStatus NanotecAxis::stop(double acceleration )
char command[COMLEN], reply[COMLEN];
sprintf(command, "#%dS1", busAddress);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
return status;
@ -338,8 +345,10 @@ asynStatus NanotecAxis::setPosition(double position)
//static const char *functionName = "NanotecAxis::setPosition";
char command[COMLEN], reply[COMLEN];
updateMsgTxtFromDriver("");
sprintf(command, "#%dD%d", busAddress, (int)position);
status = pC_->transactController(command,reply);
status = pC_->transactController(axisNo_,command,reply);
next_poll = -1;
return status;
@ -380,7 +389,7 @@ asynStatus NanotecAxis::poll(bool *moving)
// Read the current motor position
sprintf(command,"#%dC", busAddress);
comStatus = pC_->transactController(command,reply);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
pPtr = strchr(reply,'C');
@ -394,7 +403,7 @@ asynStatus NanotecAxis::poll(bool *moving)
// Read the moving status of this motor
sprintf(command,"#%d$",busAddress);
comStatus = pC_->transactController(command,reply);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
pPtr = strchr(reply,'$');
@ -438,10 +447,13 @@ asynStatus NanotecAxis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, true);
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_);
updateMsgTxtFromDriver("Positioning problem");
if(ABS(posVal - lowLim) < ABS(posVal - highLim)){
setIntegerParam(pC_->motorStatusLowLimit_, true);
updateMsgTxtFromDriver("Low Limit Hit");
} else {
setIntegerParam(pC_->motorStatusHighLimit_, true);
updateMsgTxtFromDriver("High Limit Hit");
}
*moving = false;
}

13
sinqEPICSApp/src/NanotecDriver.h
View File

@ -5,15 +5,18 @@ USAGE... Motor driver support for the Nanotec SMCI controller.
Mark Koennecke
July 2015
Modified to use the MsgTxt field for SINQ
Mark Koennecke, January 2019
*/
#include "asynMotorController.h"
#include "asynMotorAxis.h"
#include "SINQController.h"
#include "SINQAxis.h"
#define COMLEN 80
#define MAXMOT 99
class NanotecAxis : public asynMotorAxis
class NanotecAxis : public SINQAxis
{
public:
/* These are the methods we override from the base class */
@ -38,7 +41,7 @@ private:
friend class NanotecController;
};
class NanotecController : public asynMotorController {
class NanotecController : public SINQController {
public:
NanotecController(const char *portName, const char *NanotecPortName, int numMot, const char *busAddresses);
@ -50,7 +53,7 @@ friend class NanotecAxis;
private:
asynUser *pasynUserController_;
asynStatus transactController(char command[COMLEN], char reply[COMLEN]);
asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);