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

pmac Enable PV successfully tested

Browse Source
This commit is contained in:
Michele Brambilla
2022-03-07 16:40:46 +01:00
committed by brambilla_m
parent fbf2331a05
commit 403eecafae
4 changed files with 26 additions and 19 deletions
Download Patch File Download Diff File Expand all files Collapse all files

15
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -909,9 +909,13 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
double position = 0; double position = 0;
int nvals = 0; int nvals = 0;
int axisProblemFlag = 0; int axisProblemFlag = 0;
epicsUInt32 axErr = 0, axStat = 0, highLim = 0, lowLim = 0, axDone = 0; epicsUInt32 axErr = 0, highLim = 0, lowLim = 0, axDone = 0;
int axStat=0;
char message[132], *axMessage; char message[132], *axMessage;
static const char *functionName = "pmacV3Axis::getAxisStatus";
pmacV3Controller* p3C_ = (pmacV3Controller*)pC_;
sprintf(command, "Q%2.2d10 P%2.2d00 P%2.2d23", axisNo_, axisNo_, axisNo_); sprintf(command, "Q%2.2d10 P%2.2d00 P%2.2d23", axisNo_, axisNo_, axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response); cmdStatus = pC_->lowLevelWriteRead(axisNo_, command, response);
nvals = sscanf(response, "%lf %d %d", &position, &axStat, &axDone); nvals = sscanf(response, "%lf %d %d", &position, &axStat, &axDone);
@ -923,6 +927,9 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
updateMsgTxtFromDriver("Cannot read Axis position and status"); updateMsgTxtFromDriver("Cannot read Axis position and status");
} }
// printf("axStat: %d\n", axStat);
setIntegerParam(p3C_->axisState_, axStat);
setDoubleParam(pC_->motorPosition_, position * MULT); setDoubleParam(pC_->motorPosition_, position * MULT);
setDoubleParam(pC_->motorEncoderPosition_, position * MULT); setDoubleParam(pC_->motorEncoderPosition_, position * MULT);
@ -940,8 +947,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
previous_position_ = position; previous_position_ = position;
previous_direction_ = direction; previous_direction_ = direction;
setIntegerParam(pC_->axisStatus_, axStat);
// errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position); // errlogPrintf("Polling, axStat = %d, position = %f\n", axStat, position);
/* are we done? */ /* are we done? */
@ -1059,10 +1064,11 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
/* Set any axis specific general problem bits. */ /* Set any axis specific general problem bits. */
} }
if (axStat < 0 || axErr != 0) { if ((axStat < 0 && axStat != -3) || axErr != 0) {
axisProblemFlag = 1; axisProblemFlag = 1;
if (axisErrorCount < 10) { if (axisErrorCount < 10) {
axMessage = translateAxisError(axErr); axMessage = translateAxisError(axErr);
printf("axErr: %d\taxStat: %d\taxMessage: %s\n", axErr, axStat, axMessage);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error " "drvPmacAxisGetStatus: Axis %d is in deep trouble: axis error "
"code %d, translated: %s:, status code = %d\n", "code %d, translated: %s:, status code = %d\n",
@ -1084,6 +1090,7 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
} }
setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag); setIntegerParam(pC_->motorStatusProblem_, axisProblemFlag);
callParamCallbacks();
return asynSuccess; return asynSuccess;
} }

9
sinqEPICSApp/src/pmacAxis.h
View File

@ -68,6 +68,7 @@ protected:
bool autoEnable; bool autoEnable;
friend class pmacController; friend class pmacController;
friend class pmacV3Controller;
}; };
/*----------------------------------------------------------------------------------------------*/ /*----------------------------------------------------------------------------------------------*/
class pmacHRPTAxis : public pmacAxis class pmacHRPTAxis : public pmacAxis
@ -142,16 +143,10 @@ class pmacV3Axis : public pmacAxis {
public: public:
pmacV3Axis(pmacController *pController, int axisNo); pmacV3Axis(pmacController *pController, int axisNo);
/* : pmacAxis(pController,axisNo, false) { */
/* printf("\n*************************\n\n"); */
/* printf("class name: %s", getClassName(*this)); */
/* printf("\n*************************\n\n"); */
/* }; */
asynStatus poll(bool *moving); asynStatus poll(bool *moving);
protected: protected:
int axisState_;
asynStatus getAxisStatus(bool *moving); asynStatus getAxisStatus(bool *moving);
friend class pmacController; friend class pmacController;

18
sinqEPICSApp/src/pmacController.cpp
View File

@ -858,23 +858,25 @@ asynStatus pmacV3Controller::readInt32(asynUser *pasynUser, epicsInt32 *value) {
int function = pasynUser->reason; int function = pasynUser->reason;
asynStatus status = asynError; asynStatus status = asynError;
pmacAxis *pAxis = NULL; pmacV3Axis *pAxis = NULL;
static const char *functionName = "pmacController::readInt32"; static const char *functionName = "pmacV3Controller::readInt32";
char command[this->PMAC_MAXBUF_]; char command[128];
char response[this->PMAC_MAXBUF_]; char response[128];
debugFlow(functionName); debugFlow(functionName);
pAxis = this->getAxis(pasynUser); pAxis = (pmacV3Axis*)(this->getAxis(pasynUser));
if (!pAxis) { if (!pAxis) {
return asynError; return asynError;
} }
if (function == axisState_) { if (function == axisState_) {
snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_); snprintf(command, sizeof(command), "P%2.2d00", pAxis->axisNo_);
status = this->lowLevelWriteRead(axisNo_, command, response); status = this->lowLevelWriteRead(pAxis->axisNo_, command, response);
*value = strtol(response, NULL, 10); *value = strtol(response, NULL, 10);
setIntegerParam(pAxis->axisState_, value);
return status setIntegerParam(axisState_, *value);
callParamCallbacks();
return status;
} }
return pmacController::readInt32(pasynUser, value); return pmacController::readInt32(pasynUser, value);
} }

3
sinqEPICSApp/src/pmacController.h
View File

@ -183,7 +183,10 @@ public:
friend class pmacAxis; friend class pmacAxis;
protected: protected:
pmacV3Axis **pAxes_; /**< Array of pointers to axis objects */
int enableAxis_; int enableAxis_;
int axisState_;
}; };
#endif /* pmacController_H */ #endif /* pmacController_H */