lin-epics-modules/sinqepicsapp
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Added MsgTxt support to Nanotec motor driver

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

50
sinqEPICSApp/src/NanotecDriver.cpp
View File

@ -14,6 +14,9 @@ list to the motor controller constructor.
Mark Koennecke Mark Koennecke
July 2015 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 * \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) NanotecController::NanotecController(const char *portName, const char *NanotecPortName, int motCount, const char *bus)
: asynMotorController(portName, motCount+1, 0, : SINQController(portName, NanotecPortName, motCount+1)
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
{ {
int axis, busAddress; int axis, busAddress;
asynStatus status; asynStatus status;
@ -136,7 +134,7 @@ NanotecAxis* NanotecController::getAxis(int axisNo)
* Initializes register numbers, etc. * Initializes register numbers, etc.
*/ */
NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress) NanotecAxis::NanotecAxis(NanotecController *pC, int axisNo, int busAddress)
: asynMotorAxis(pC, axisNo), : SINQAxis(pC, axisNo),
pC_(pC) pC_(pC)
{ {
this->busAddress = busAddress; this->busAddress = busAddress;
@ -162,17 +160,21 @@ void NanotecAxis::report(FILE *fp, int level)
//asynMotorAxis::report(fp, 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; asynStatus status;
size_t in, out; size_t in, out;
int reason; int reason;
SINQAxis *axis = getAxis(axisNo);
pasynOctetSyncIO->flush(pasynUserController_); pasynOctetSyncIO->flush(pasynUserController_);
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command), status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,COMLEN, 1.,&out,&in,&reason); reply,COMLEN, 1.,&out,&in,&reason);
if(status != asynSuccess){ if(status != asynSuccess){
if(axis != NULL){
axis->updateMsgTxtFromDriver("Lost connection to motor controller");
}
return status; return status;
} }
@ -200,6 +202,8 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
size_t in, out; size_t in, out;
int reason; int reason;
updateMsgTxtFromDriver("");
// status = sendAccelAndVelocity(acceleration, maxVelocity); // status = sendAccelAndVelocity(acceleration, maxVelocity);
if (relative) { if (relative) {
@ -215,7 +219,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
set mode set mode
*/ */
snprintf(command,sizeof(command),"#%dp2",busAddress); snprintf(command,sizeof(command),"#%dp2",busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -224,7 +228,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
set target set target
*/ */
snprintf(command,sizeof(command),"#%ds%d",busAddress, (int)position); snprintf(command,sizeof(command),"#%ds%d",busAddress, (int)position);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -233,7 +237,7 @@ asynStatus NanotecAxis::move(double position, int relative, double minVelocity,
and start.. and start..
*/ */
snprintf(command,sizeof(command),"#%dA",busAddress); snprintf(command,sizeof(command),"#%dA",busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -250,11 +254,13 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
setIntegerParam(pC_->motorStatusAtHome_, false); setIntegerParam(pC_->motorStatusAtHome_, false);
updateMsgTxtFromDriver("");
/* /*
reset positioning errors reset positioning errors
*/ */
snprintf(command,sizeof(command),"#%dD",busAddress); snprintf(command,sizeof(command),"#%dD",busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -263,7 +269,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
set mode set mode
*/ */
snprintf(command,sizeof(command),"#%dp4",busAddress); snprintf(command,sizeof(command),"#%dp4",busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -273,7 +279,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
set direction set direction
*/ */
snprintf(command,sizeof(command),"#%dd0",busAddress); snprintf(command,sizeof(command),"#%dd0",busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -283,7 +289,7 @@ asynStatus NanotecAxis::home(double minVelocity, double maxVelocity, double acce
and start.. and start..
*/ */
snprintf(command,sizeof(command),"#%dA",busAddress); snprintf(command,sizeof(command),"#%dA",busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
if(status != asynSuccess){ if(status != asynSuccess){
return status; return status;
} }
@ -304,6 +310,7 @@ asynStatus NanotecAxis::moveVelocity(double minVelocity, double maxVelocity, dou
// "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n", // "%s: minVelocity=%f, maxVelocity=%f, acceleration=%f\n",
// functionName, minVelocity, maxVelocity, acceleration); // functionName, minVelocity, maxVelocity, acceleration);
updateMsgTxtFromDriver("");
if (maxVelocity > 0.) { if (maxVelocity > 0.) {
@ -326,7 +333,7 @@ asynStatus NanotecAxis::stop(double acceleration )
char command[COMLEN], reply[COMLEN]; char command[COMLEN], reply[COMLEN];
sprintf(command, "#%dS1", busAddress); sprintf(command, "#%dS1", busAddress);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_); errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
return status; return status;
@ -338,8 +345,10 @@ asynStatus NanotecAxis::setPosition(double position)
//static const char *functionName = "NanotecAxis::setPosition"; //static const char *functionName = "NanotecAxis::setPosition";
char command[COMLEN], reply[COMLEN]; char command[COMLEN], reply[COMLEN];
updateMsgTxtFromDriver("");
sprintf(command, "#%dD%d", busAddress, (int)position); sprintf(command, "#%dD%d", busAddress, (int)position);
status = pC_->transactController(command,reply); status = pC_->transactController(axisNo_,command,reply);
next_poll = -1; next_poll = -1;
return status; return status;
@ -380,7 +389,7 @@ asynStatus NanotecAxis::poll(bool *moving)
// Read the current motor position // Read the current motor position
sprintf(command,"#%dC", busAddress); sprintf(command,"#%dC", busAddress);
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
pPtr = strchr(reply,'C'); pPtr = strchr(reply,'C');
@ -394,7 +403,7 @@ asynStatus NanotecAxis::poll(bool *moving)
// Read the moving status of this motor // Read the moving status of this motor
sprintf(command,"#%d$",busAddress); sprintf(command,"#%d$",busAddress);
comStatus = pC_->transactController(command,reply); comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip; if(comStatus) goto skip;
pPtr = strchr(reply,'$'); pPtr = strchr(reply,'$');
@ -438,10 +447,13 @@ asynStatus NanotecAxis::poll(bool *moving)
setIntegerParam(pC_->motorStatusDone_, true); setIntegerParam(pC_->motorStatusDone_, true);
setIntegerParam(pC_->motorStatusProblem_, true); setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_); errlogSevPrintf(errlogMajor, "Limit or other positioning problem at %d", axisNo_);
updateMsgTxtFromDriver("Positioning problem");
if(ABS(posVal - lowLim) < ABS(posVal - highLim)){ if(ABS(posVal - lowLim) < ABS(posVal - highLim)){
setIntegerParam(pC_->motorStatusLowLimit_, true); setIntegerParam(pC_->motorStatusLowLimit_, true);
updateMsgTxtFromDriver("Low Limit Hit");
} else { } else {
setIntegerParam(pC_->motorStatusHighLimit_, true); setIntegerParam(pC_->motorStatusHighLimit_, true);
updateMsgTxtFromDriver("High Limit Hit");
} }
*moving = false; *moving = false;
} }

13
sinqEPICSApp/src/NanotecDriver.h
View File

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