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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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133
sinqEPICSApp/src/PhytronDriver.cpp
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@@ -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);
}