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Many improvements to the MasterMACS motor driver. It is working but the hardware is shaky.

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Added support for dose rate controlled Phytron motors. Not tested!
Small bug fixes
This commit is contained in:
koennecke
2023-05-31 09:13:41 +02:00
parent f333a27482
commit 72afd02b4e
9 changed files with 394 additions and 183 deletions
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357
sinqEPICSApp/src/MasterMACSDriver.cpp
View File

@ -141,6 +141,12 @@ asynStatus
SINQAxis *axis = getAxis(axisNo);
pasynOctetSyncIO->flush(pasynUserController_);
/* read with a short timeout in order to remove duplicate messages
* from the line. This also serves to slow down communication
*/
pasynOctetSyncIO->read(pasynUserController_, mmacsResponse, 35, .4, &in, &reason);
/* pack data for MasterMACS */
len = strlen(command) + 6;
mmacsData = (char *) malloc(len * sizeof(char));
@ -158,7 +164,7 @@ asynStatus
/* 0x03 is appended by asyn */
/* send the stuff away ... */
//errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
errlogSevPrintf(errlogMajor,"Sending command: %s\n", command);
status =
pasynOctetSyncIO->writeRead(pasynUserController_, mmacsData,
@ -180,13 +186,14 @@ asynStatus
}
free(mmacsData);
/* format and print the response in hex for debugging purposes
/* format and print the response in hex for debugging purposes */
/*
for(i = 0, idx = 0; i < in; i++){
sprintf(hexResponse + idx, "%02x ", (unsigned int)mmacsResponse[i]);
idx = strlen(hexResponse);
}
errlogSevPrintf(errlogMajor,"Reply in hex: %s\n", hexResponse);
*/
*/
/* Here we have read the data from the MasterMACS. We proceed to extract
* the payload and the state of the ACK byte and place that reply into data
@ -227,7 +234,7 @@ asynStatus
lenPayload = idx - 4;
memcpy(reply + 4, mmacsResponse + 4, lenPayload);
reply[4 + lenPayload] = (char) 0;
//errlogSevPrintf(errlogMajor, "Completed reply at end of transactController: %s ", reply);
errlogSevPrintf(errlogMajor, "Completed reply at end of transactController: %s ", reply);
return status;
}
@ -241,6 +248,7 @@ asynStatus
MasterMACSAxis *pAxis = NULL;
char command[64] = { 0 };
char response[64] = { 0 };
int devStatus;
pAxis = (MasterMACSAxis *) this->getAxis(pasynUser);
if (!pAxis) {
@ -252,19 +260,29 @@ asynStatus
pAxis->setIntegerParam(function, value);
if (function == enableAxis_) {
if (value == 1) {
/* download parameters, does not work as of now */
/*
sprintf(command, "%dS85=1.", pAxis->axisNo_);
status = transactController(pAxis->axisNo_, command, response);
*/
/*
* Read the status in order to prevent execssiove commands
*/
devStatus = pAxis->readStatus();
if(devStatus < 900){
return asynError;
}
if (value == 1 && !pAxis->isOn(devStatus) ) {
/* download parameters, does not work as of now */
/*
sprintf(command, "%dS85=1.", pAxis->axisNo_);
status = transactController(pAxis->axisNo_, command, response);
*/
/* actually enable */
sprintf(command, "%dS04=1.0", pAxis->axisNo_);
status = transactController(pAxis->axisNo_, command, response);
} else {
sprintf(command, "%dS04=0.0", pAxis->axisNo_);
status = transactController(pAxis->axisNo_, command, response);
/* actually enable */
sprintf(command, "%dS04=1", pAxis->axisNo_);
status = transactController(pAxis->axisNo_, command, response);
} else {
if(pAxis->isOn(devStatus)) {
// only send command when necessary
sprintf(command, "%dS04=0", pAxis->axisNo_);
status = transactController(pAxis->axisNo_, command, response);
}
}
if (status == asynSuccess) {
pAxis->updateMsgTxtFromDriver("");
@ -300,8 +318,13 @@ asynStatus
return asynError;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &fval);
devStatus = (int) fval;
if(pPtr) {
sscanf(pPtr + 1, "%f", &fval);
devStatus = (int) fval;
} else {
devStatus = 0;
errlogPrintf(" Bad reply %s when trying to read motor status %d\n", reply, pAxis->axisNo_);
}
isOn = pAxis->isOn(devStatus);
/* errlogPrintf("isOn in readInt32: %d, devStatus = %d\n", isOn, devStatus); */
setIntegerParam(axisEnabled_, isOn);
@ -343,6 +366,24 @@ void MasterMACSAxis::report(FILE * fp, int level)
}
}
int MasterMACSAxis::readStatus()
{
char command[COMLEN], reply[COMLEN], *pPtr;
float fval;
int devStatus, status;
sprintf(command, "%dR10", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
if (status == asynError) {
return -1000;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &fval);
devStatus = (int) fval;
return devStatus;
}
int MasterMACSAxis::isOn(int axisStatus)
{
if (CHECK_BIT(axisStatus, 0) && CHECK_BIT(axisStatus, 1)) {
@ -356,9 +397,8 @@ asynStatus
double maxVelocity, double acceleration)
{
asynStatus status;
char command[COMLEN], reply[COMLEN], *pPtr;
char command[COMLEN], reply[COMLEN];
int devStatus;
float fval;
errlogPrintf("minVelocity = %f, maxVelocity = %f\n", minVelocity,
maxVelocity);
@ -370,33 +410,33 @@ asynStatus
/*
* reset error code
*/
sprintf(command, "%dS17=0", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
if(errorCodeFound){
sprintf(command, "%dS17=0", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
errorCodeFound = 0;
}
/*
* test if the thing is On
*/
sprintf(command, "%dR10", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
if (status == asynError) {
return asynError;
devStatus = readStatus();
if(devStatus < 900) {
return asynError;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &fval);
devStatus = (int) fval;
if (!isOn(devStatus)) {
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("Motor disabled");
errlogPrintf("ERROR: trying to start disabled axis %d\n", axisNo_);
return asynError;
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("Motor disabled");
errlogPrintf("ERROR: trying to start disabled axis %d\n", axisNo_);
return asynError;
}
/*
* set speed
*/
/* temporarily disabled in order to get the basic logic right
sprintf(command, "%dS05=%f", axisNo_, maxVelocity / 1000);
status = pC_->transactController(axisNo_, command, reply);
*/
if (relative) {
position += this->position;
@ -432,28 +472,23 @@ asynStatus
double acceleration, int forwards)
{
asynStatus status;
char command[COMLEN], reply[COMLEN], *pPtr;
char command[COMLEN], reply[COMLEN];
int devStatus;
float fval;
memset(command, 0, COMLEN * sizeof(char));
/*
* test if the thing is On
*/
sprintf(command, "%dR10", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
if (status == asynError) {
return asynError;
devStatus = readStatus();
if(devStatus < 900) {
return asynError;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &fval);
devStatus = (int) fval;
if (!isOn(devStatus)) {
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("Motor disabled");
errlogPrintf("ERROR: trying to home disabled axis %d\n", axisNo_);
return asynError;
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("Motor disabled");
errlogPrintf("ERROR: trying to home disabled axis %d\n", axisNo_);
return asynError;
}
setIntegerParam(pC_->motorStatusProblem_, false);
@ -483,15 +518,20 @@ asynStatus MasterMACSAxis::stop(double acceleration)
{
asynStatus status = asynSuccess;
char command[COMLEN], reply[COMLEN];
int devStatus;
memset(command, 0, COMLEN * sizeof(char));
if (errorReported == 0) {
sprintf(command, "%dS00=8", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
updateMsgTxtFromDriver("Axis interrupted");
errorReported = 1;
devStatus = readStatus();
if(!CHECK_BIT(devStatus, 10)) {
// only try to stop when running ...
sprintf(command, "%dS00=8", axisNo_);
status = pC_->transactController(axisNo_, command, reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
updateMsgTxtFromDriver("Axis interrupted");
errorReported = 1;
}
}
return status;
}
@ -525,7 +565,7 @@ asynStatus MasterMACSAxis::poll(bool * moving)
{
asynStatus comStatus = asynSuccess;
char command[COMLEN], reply[COMLEN], *pPtr;
float errStatus, fval;
float errStatus;
unsigned int errCode, derCode, devStatus;
// protect against excessive polling
@ -560,25 +600,21 @@ asynStatus MasterMACSAxis::poll(bool * moving)
// Read the overall status of this motor */
sprintf(command, "%dR10", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply);
if (comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
goto skip;
devStatus = readStatus();
if(devStatus < 900) {
setIntegerParam(pC_->motorStatusProblem_, true);
goto skip;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &fval);
devStatus = (int) fval;
errlogPrintf("Axis %d, position %lf, devStatus %d\n", axisNo_,
position, devStatus);
if (!isOn(devStatus)) {
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("Motor disabled");
*moving = false;
setIntegerParam(pC_->motorStatusDone_, true);
goto skip;
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("Motor disabled");
*moving = false;
setIntegerParam(pC_->motorStatusDone_, true);
goto skip;
}
/*
@ -613,48 +649,13 @@ asynStatus MasterMACSAxis::poll(bool * moving)
setIntegerParam(pC_->motorStatusAtHome_, true);
}
/* read error codes */
sprintf(command, "%dR11", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply);
if (comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
goto skip;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &errStatus);
errCode = (unsigned int) errStatus;
sprintf(command, "%dR18", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply);
if (comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
goto skip;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &errStatus);
derCode = (unsigned int) errStatus;
errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
errCode, derCode);
setIntegerParam(pC_->motorStatusLowLimit_, false);
/* check for limit switches*/
setIntegerParam(pC_->motorStatusLowLimit_, false);
setIntegerParam(pC_->motorStatusHighLimit_, false);
if (errCode == 0) {
/* There still may be errors in the status code */
if (CHECK_BIT(devStatus, 3)) {
if (CHECK_BIT(devStatus, 11)) {
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor,
"Fault bit in status code, but no error code on %d",
axisNo_);
updateMsgTxtFromDriver
("Fault bit in status code without error code");
}
if (CHECK_BIT(devStatus, 11)) {
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor,
"Limit bit in status code, but no error code on %d",
"Limit bit in status code %d",
axisNo_);
/* guessing which limit has been hit ... */
if (position > 0) {
@ -666,69 +667,99 @@ asynStatus MasterMACSAxis::poll(bool * moving)
setIntegerParam(pC_->motorStatusLowLimit_, true);
setIntegerParam(pC_->motorStatusProblem_, false);
}
goto skip;
}
goto skip;
}
/* check for error conditions */
if (CHECK_BIT(devStatus, 3)) {
/* read error codes */
sprintf(command, "%dR11", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply);
if (comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
goto skip;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &errStatus);
errCode = (unsigned int) errStatus;
/*
* from here on we are processing errors
*/
sprintf(command, "%dR18", axisNo_);
comStatus = pC_->transactController(axisNo_, command, reply);
if (comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
goto skip;
}
pPtr = strstr(reply, "=");
sscanf(pPtr + 1, "%f", &errStatus);
derCode = (unsigned int) errStatus;
setIntegerParam(pC_->motorStatusProblem_, true);
errlogPrintf("Axis %d, errCode(R11) %d, derCode(R18) %d\n", axisNo_,
errCode, derCode);
if (CHECK_BIT(errCode, 0)) {
errlogSevPrintf(errlogMajor, "CAN error on %d", axisNo_);
updateMsgTxtFromDriver("CAN error");
} else if (CHECK_BIT(errCode, 1)) {
errlogSevPrintf(errlogMajor, "Short circuit on %d", axisNo_);
updateMsgTxtFromDriver("Short circuit");
} else if (CHECK_BIT(errCode, 2)) {
errlogSevPrintf(errlogMajor, "Invalide Setup on %d", axisNo_);
updateMsgTxtFromDriver("Invalid Setup");
} else if (CHECK_BIT(errCode, 3)) {
errlogSevPrintf(errlogMajor, "Control error on %d", axisNo_);
updateMsgTxtFromDriver("Control error");
} else if (CHECK_BIT(errCode, 4)) {
errlogSevPrintf(errlogMajor, "CAN communication error on %d",
setIntegerParam(pC_->motorStatusProblem_, true);
if (errCode == 0) {
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor,
"Fault bit in status code, but no error code on %d\n", axisNo_);
updateMsgTxtFromDriver ("Fault bit in status code without error code");
goto skip;
}
errorCodeFound = 1;
if (CHECK_BIT(errCode, 0)) {
errlogSevPrintf(errlogMajor, "CAN error on %d", axisNo_);
updateMsgTxtFromDriver("CAN error");
} else if (CHECK_BIT(errCode, 1)) {
errlogSevPrintf(errlogMajor, "Short circuit on %d", axisNo_);
updateMsgTxtFromDriver("Short circuit");
} else if (CHECK_BIT(errCode, 2)) {
errlogSevPrintf(errlogMajor, "Invalide Setup on %d", axisNo_);
updateMsgTxtFromDriver("Invalid Setup");
} else if (CHECK_BIT(errCode, 3)) {
errlogSevPrintf(errlogMajor, "Control error on %d", axisNo_);
updateMsgTxtFromDriver("Control error");
} else if (CHECK_BIT(errCode, 4)) {
errlogSevPrintf(errlogMajor, "CAN communication error on %d",
axisNo_);
updateMsgTxtFromDriver("CAN communication error");
} else if (CHECK_BIT(errCode, 5)) {
errlogSevPrintf(errlogMajor, "Feedback error on %d", axisNo_);
updateMsgTxtFromDriver("Feedback error");
} else if (CHECK_BIT(errCode, 6)) {
updateMsgTxtFromDriver("Hit positive limit switch");
setIntegerParam(pC_->motorStatusHighLimit_, true);
setIntegerParam(pC_->motorStatusProblem_, false);
} else if (CHECK_BIT(errCode, 7)) {
updateMsgTxtFromDriver("Hit negative limit switch");
setIntegerParam(pC_->motorStatusLowLimit_, true);
setIntegerParam(pC_->motorStatusProblem_, false);
} else if (CHECK_BIT(errCode, 8)) {
errlogSevPrintf(errlogMajor, "Over current %d", axisNo_);
updateMsgTxtFromDriver("Over current");
} else if (CHECK_BIT(errCode, 9)) {
errlogSevPrintf(errlogMajor, "I2T protection on %d", axisNo_);
updateMsgTxtFromDriver("I2t protection");
} else if (CHECK_BIT(errCode, 10)) {
errlogSevPrintf(errlogMajor, "Over heated motor on %d", axisNo_);
updateMsgTxtFromDriver("Motor overheated");
} else if (CHECK_BIT(errCode, 11)) {
errlogSevPrintf(errlogMajor, "Over temperature drive on %d",
axisNo_);
updateMsgTxtFromDriver("CAN communication error");
} else if (CHECK_BIT(errCode, 5)) {
errlogSevPrintf(errlogMajor, "Feedback error on %d", axisNo_);
updateMsgTxtFromDriver("Feedback error");
} else if (CHECK_BIT(errCode, 6)) {
updateMsgTxtFromDriver("Hit positive limit switch");
setIntegerParam(pC_->motorStatusHighLimit_, true);
setIntegerParam(pC_->motorStatusProblem_, false);
} else if (CHECK_BIT(errCode, 7)) {
updateMsgTxtFromDriver("Hit negative limit switch");
setIntegerParam(pC_->motorStatusLowLimit_, true);
setIntegerParam(pC_->motorStatusProblem_, false);
} else if (CHECK_BIT(errCode, 8)) {
errlogSevPrintf(errlogMajor, "Over current %d", axisNo_);
updateMsgTxtFromDriver("Over current");
} else if (CHECK_BIT(errCode, 9)) {
errlogSevPrintf(errlogMajor, "I2T protection on %d", axisNo_);
updateMsgTxtFromDriver("I2t protection");
} else if (CHECK_BIT(errCode, 10)) {
errlogSevPrintf(errlogMajor, "Over heated motor on %d", axisNo_);
updateMsgTxtFromDriver("Motor overheated");
} else if (CHECK_BIT(errCode, 11)) {
errlogSevPrintf(errlogMajor, "Over temperature drive on %d",
axisNo_);
updateMsgTxtFromDriver("Over temperature drive");
} else if (CHECK_BIT(errCode, 12)) {
errlogSevPrintf(errlogMajor, "Over voltage on %d", axisNo_);
updateMsgTxtFromDriver("Over voltage");
} else if (CHECK_BIT(errCode, 13)) {
errlogSevPrintf(errlogMajor, "Under voltage on %d", axisNo_);
updateMsgTxtFromDriver("Under voltage");
} else if (CHECK_BIT(errCode, 14)) {
errlogSevPrintf(errlogMajor, "Command error on %d", axisNo_);
updateMsgTxtFromDriver("Command error");
} else if (CHECK_BIT(errCode, 15)) {
errlogSevPrintf(errlogMajor, "Motor disabled on %d", axisNo_);
updateMsgTxtFromDriver("Motor disabled");
}
updateMsgTxtFromDriver("Over temperature drive");
} else if (CHECK_BIT(errCode, 12)) {
errlogSevPrintf(errlogMajor, "Over voltage on %d", axisNo_);
updateMsgTxtFromDriver("Over voltage");
} else if (CHECK_BIT(errCode, 13)) {
errlogSevPrintf(errlogMajor, "Under voltage on %d", axisNo_);
updateMsgTxtFromDriver("Under voltage");
} else if (CHECK_BIT(errCode, 14)) {
errlogSevPrintf(errlogMajor, "Command error on %d", axisNo_);
updateMsgTxtFromDriver("Command error");
} else if (CHECK_BIT(errCode, 15)) {
errlogSevPrintf(errlogMajor, "Motor disabled on %d", axisNo_);
updateMsgTxtFromDriver("Motor disabled");
}
}
skip:
callParamCallbacks();

2
sinqEPICSApp/src/MasterMACSDriver.h
View File

@ -38,6 +38,8 @@ private:
int errorReported;
int hasStarted; /* The motor status is invalid if the thing has not run once */
int isOn(int axisStatus);
int readStatus();
int errorCodeFound;
friend class MasterMACSController;
};

133
sinqEPICSApp/src/PhytronDriver.cpp
View File

@ -77,12 +77,27 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
pasynOctetSyncIO->setOutputEos(pasynUserController_,etx,strlen(etx));
pasynOctetSyncIO->setInputEos(pasynUserController_,etx,strlen(etx));
new PhytronAxis(this, 1, encX);
new PhytronAxis(this, 2, encY);
/* The special selector D selects the dose controlled axis version */
if(strcmp(sel, (const char *)"D") == 0) {
new PhytronDoseAxis(this, 1, encX);
new PhytronDoseAxis(this, 2, encY);
} else {
new PhytronAxis(this, 1, encX);
new PhytronAxis(this, 2, encY);
}
startPoller(1000./1000., IDLEPOLL, 2);
}
PhytronDoseController::PhytronDoseController(const char *portName, const char *PhytronPortName, const char *sel ,
int encX, int encY)
: PhytronController(portName, PhytronPortName, sel, encX, encY)
{
new PhytronDoseAxis(this, 1, encX);
new PhytronDoseAxis(this, 2, encY);
}
/** Creates a new PhytronController object.
* Configuration command, called directly or from iocsh
@ -97,6 +112,14 @@ extern "C" int PhytronCreateController(const char *portName, const char *Phytron
return(asynSuccess);
}
extern "C" int PhytronDoseCreateController(const char *portName, const char *PhytronPortName, const char *selector,
int encX, int encY)
{
new PhytronDoseController(portName, PhytronPortName,selector, encX, encY);
return(asynSuccess);
}
/** Reports on status of the driver
* \param[in] fp The file pointer on which report information will be written
* \param[in] level The level of report detail desired
@ -129,6 +152,23 @@ PhytronAxis* PhytronController::getAxis(int axisNo)
return static_cast<PhytronAxis*>(asynMotorController::getAxis(axisNo));
}
/** Returns a pointer to an PhytronDoseAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] pasynUser asynUser structure that encodes the axis index number. */
PhytronDoseAxis* PhytronDoseController::getAxis(asynUser *pasynUser)
{
return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(pasynUser));
}
/** Returns a pointer to an PhytronDoseAxis object.
* Returns NULL if the axis number encoded in pasynUser is invalid.
* \param[in] axisNo Axis index number. */
PhytronDoseAxis* PhytronDoseController::getAxis(int axisNo)
{
return static_cast<PhytronDoseAxis*>(asynMotorController::getAxis(axisNo));
}
/**
* send a command to the Phytron and read the reply. Do some error and controller
* issue fixing on the way
@ -569,6 +609,79 @@ asynStatus PhytronAxis::poll(bool *moving)
return comStatus;
}
/* The special PhytronDoseAxis code used when the speed is controlled through the neutron flux
*/
PhytronDoseAxis::PhytronDoseAxis(PhytronController *pC, int axisNo, int enc)
: PhytronAxis(pC, axisNo, enc)
{
if(axisNo == 1){
doseChar = '3';
} else {
doseChar = '4';
}
}
asynStatus PhytronDoseAxis::move(double position, int relative, double minVelocity, double maxVelocity, double acceleration)
{
asynStatus status;
//static const char *functionName = "PhytronDoseAxis::move";
char command[COMLEN], reply[COMLEN];
float realTarget;
updateMsgTxtFromDriver("");
/*
set conversion factor from neutron rate to speed
*/
sprintf(command, "R%c3S%f", doseChar, maxVelocity);
status = pC_->transactController(axisNo_,command,reply);
if(strstr(reply,"NACK") != NULL){
errlogSevPrintf(errlogMajor, "Speed not accepted on %d", axisNo_);
updateMsgTxtFromDriver("Invalid speed");
setIntegerParam(pC_->motorStatusProblem_, true);
return asynError;
}
/*
actually send a move command
*/
if (relative) {
position += this->position;
}
homing = 0;
/* set target */
realTarget = position/1000.;
if(realTarget > this->position) {
sprintf(command, "R%c1S%f", doseChar,realTarget);
} else {
sprintf(command, "R%c2S%f", doseChar,realTarget);
}
status = pC_->transactController(axisNo_,command,reply);
if(strstr(reply,"NACK") != NULL){
errlogSevPrintf(errlogMajor, "Drive command not acknowledged on %d", axisNo_);
updateMsgTxtFromDriver("Drive command not acknowledged");
setIntegerParam(pC_->motorStatusProblem_, true);
return asynError;
}
/* really start the move */
sprintf(command, "R%c01S", doseChar);
status = pC_->transactController(axisNo_,command,reply);
if(strstr(reply,"NACK") != NULL){
errlogSevPrintf(errlogMajor, "Drive start command not acknowledged on %d", axisNo_);
updateMsgTxtFromDriver("Drive command not acknowledged");
setIntegerParam(pC_->motorStatusProblem_, true);
return asynError;
}
next_poll = -1;
return status;
}
extern "C" asynStatus PhytronConfBrake(const char *port, /* specify which controller by port name */
int axis, /* axis: 0, 1 */
int brakeNO) /* brakeIO No, 1-8 */
@ -615,6 +728,21 @@ static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
PhytronCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
}
static const iocshArg PhytronDoseCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg PhytronDoseCreateControllerArg1 = {"Phytron port name", iocshArgString};
static const iocshArg PhytronDoseCreateControllerArg2 = {"Phytron Selector", iocshArgString};
static const iocshArg PhytronDoseCreateControllerArg3 = {"EncoderX", iocshArgInt};
static const iocshArg PhytronDoseCreateControllerArg4 = {"EncoderY", iocshArgInt};
static const iocshArg * const PhytronDoseCreateControllerArgs[] = {&PhytronDoseCreateControllerArg0,
&PhytronDoseCreateControllerArg1,
&PhytronDoseCreateControllerArg2,
&PhytronDoseCreateControllerArg3,
&PhytronDoseCreateControllerArg4};
static const iocshFuncDef PhytronDoseCreateControllerDef = {"PhytronDoseCreateController", 5, PhytronDoseCreateControllerArgs};
static void PhytronDoseCreateContollerCallFunc(const iocshArgBuf *args)
{
PhytronDoseCreateController(args[0].sval, args[1].sval, args[2].sval, args[3].ival,args[4].ival);
}
/* PhytronConfigureBrake */
static const iocshArg phytronBrakeArg0 = {"Controller port name", iocshArgString};
@ -634,6 +762,7 @@ static void phytronBrakeCallFunc(const iocshArgBuf *args)
static void PhytronRegister(void)
{
iocshRegister(&PhytronCreateControllerDef, PhytronCreateContollerCallFunc);
iocshRegister(&PhytronDoseCreateControllerDef, PhytronDoseCreateContollerCallFunc);
iocshRegister(&phytronBrakeDef, phytronBrakeCallFunc);
}

46
sinqEPICSApp/src/PhytronDriver.h
View File

@ -10,6 +10,11 @@ Updated to go through SINQAxis for -MsgTxt support
Added a selector to support multiple phytrons on a connection
Mark Koennecke, January 2019
Added PhytronDoseAxis. The speed of this axis is controlled by the
neutron dose rate fed in as analog signal
Mark Koennecke, April 2023
*/
#include "SINQController.h"
@ -17,6 +22,10 @@ Mark Koennecke, January 2019
#define COMLEN 80
class PhytronController;
class PhytronDoseController;
class PhytronAxis : public SINQAxis
{
public:
@ -32,7 +41,7 @@ public:
asynStatus setClosedLoop(bool closedLoop);
int setBrake(int brakeIO);
private:
protected:
char phytronChar;
PhytronController *pC_; /**< Pointer to the asynMotorController to which this axis belongs.
* Abbreviated because it is used very frequently */
@ -47,6 +56,21 @@ private:
friend class PhytronController;
};
class PhytronDoseAxis : public PhytronAxis
{
// A special version of PhytronAxis where the speed is controlled by the neutron flux.
public:
PhytronDoseAxis(class PhytronController *pC, int axis, int enc);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
friend class PhytronDoseController;
protected:
char doseChar;
PhytronDoseController *pC_;
};
class PhytronController : public SINQController {
public:
PhytronController(const char *portName, const char *PhytronPortName, const char *selector,
@ -57,7 +81,8 @@ public:
PhytronAxis* getAxis(int axisNo);
friend class PhytronAxis;
private:
protected:
asynUser *pasynUserController_;
asynStatus transactController(int axisNo, char command[COMLEN], char reply[COMLEN]);
@ -65,3 +90,20 @@ friend class PhytronAxis;
const char *selector;
};
class PhytronDoseController : public PhytronController {
public:
PhytronDoseController(const char *portName, const char *PhytronPortName, const char *selector,
int encX, int encY);
PhytronDoseAxis* getAxis(asynUser *pasynUser);
PhytronDoseAxis* getAxis(int axisNo);
friend class PhytronDoseAxis;
protected:
asynUser *pasynUserController_;
const char *selector;
};

8
sinqEPICSApp/src/devScalerEL737.c
View File

@ -389,7 +389,7 @@ static asynStatus el737_transactCommand(EL737priv *priv,char command[COMLEN],cha
if(errno == EAGAIN){
errlogPrintf("Lost response to %s with EAGAIN\n", command);
} else {
strncpy(message,"Lost communication",sizeof(message));
snprintf(message,sizeof(message), "Lost communication with errno %d", errno);
}
}
if(priv->dbInit){
@ -455,9 +455,7 @@ static void runEvents(EL737priv *priv)
if(priv->sendThreshold == 1) {
// fallback when we do not have the DB fields or threshCounter is invalid
if(priv->presets[THRESHMON] <= 0) {
errlogPrintf("Invalid threshold preset monitor %ld, no threshold sent\n", priv->presets[THRESHMON]);
} else {
if(priv->presets[THRESHMON] > 0) {
sprintf(command,"DL %d %d", (int)priv->presets[THRESHMON],
(int)priv->presets[THRESHVAL]);
errlogPrintf("Sending threshold from presets, command %s\n", command);
@ -465,7 +463,7 @@ static void runEvents(EL737priv *priv)
sprintf(command,"DR %d", (int)priv->presets[THRESHMON]);
status = el737_transactCommand(priv, command,reply);
if(status == asynSuccess) {
priv->sendThreshold = 0;
priv->sendThreshold = 0;
}
}
}

10
sinqEPICSApp/src/pmacController.cpp
View File

@ -842,15 +842,9 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n",
functionName, portName, pAxis->axisNo_, value);
if(value){
pAxis->updateMsgTxtFromDriver("");
}
}
// Execute the command.
if (command[0] != 0 && status == asynSuccess) {
pAxis->updateMsgTxtFromDriver("");
lowLevelWriteRead(pAxis->axisNo_, command, response);
}
}
return pmacController::writeInt32(pasynUser, value);
}

16
testmmac/testmmacs.cmd
View File

@ -1,19 +1,33 @@
#!/usr/local/bin/iocsh
require sinq,koennecke
require autosave,koennecke
epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/testmmac")
set_requestfile_path("$(TOP)", "")
set_savefile_path("$(TOP)/autosave")
save_restoreSet_Debug(0)
#--------------------------------- restore autosave
set_pass0_restoreFile("$(TOP)/autosave/test.sav","")
set_pass1_restoreFile("$(TOP)/autosave/test.sav","")
#drvAsynMMACSPortConfigure("macs1", "localhost:8080",0,0,0)
#asynInterposeEosConfig("macs1", 0, 0, 0)
#dbLoadRecords("$(TOP)/db/asynRecord.db","P=KM36:,R=macs1,PORT=macs1,ADDR=0,OMAX=80,IMAX=80")
#asynSetTraceMask("macs1", 0, 255)
drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
#asynSetTraceMask("macs1", 0, 255)
#drvAsynIPPortConfigure("macs1", "localhost:8080",0,0,0)
drvAsynIPPortConfigure("macs1", "Marcel1--MACS:1917")
MasterMACSCreateController("mota","macs1",7)
MasterMACSCreateAxis("mota",5)
MasterMACSCreateAxis("mota",6)
dbLoadTemplate "mmacs2.sub"
iocInit()
create_monitor_set("test.req", 10, "")

1
utils/syncMasterMAC.py
View File

@ -59,6 +59,7 @@ def scan_substitution_file(filename):
# import pdb; pdb.set_trace()
with open(filename, 'r') as fin:
rawline = fin.readline()
import pdb; pdb.set_trace()
while rawline:
line = rawline.replace(' ','')
line = line.strip('{}')

4
utils/syncPmacSub.py
View File

@ -63,8 +63,8 @@ def fix_line(par_list, index_list):
highidx = index_list.index('DHLM')
par_list[highidx] = highlim.strip()
speed = transact('Q%d03' % motNo)
speedidx = index_list['VELO']
par_list[speedidx] = speed.trim()
speedidx = index_list.index('VELO')
par_list[speedidx] = speed.strip()
return par_list
def scan_substitution_file(filename):