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Some cleanup, force reload encoder before enable

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This commit is contained in:
brambilla_m
2022-04-06 11:45:06 +02:00
parent f5da0d54bd
commit 8e2c1af10e
2 changed files with 58 additions and 59 deletions
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107
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -940,11 +940,6 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
st = setDoubleParam(pC_->motorEncoderPosition_, position * MULT);
cmdStatus = cmdStatus > st ? cmdStatus : st;
if(axisNo_ == 2) {
printf("position(%d): %lf\n", axisNo_, position);
printf("ack(%d): %d\n", axisNo_, acknowledge);
}
/* Use previous position and current position to calculate direction.*/
if ((position - previous_position_) > 0) {
direction = 1;
@ -961,65 +956,65 @@ asynStatus pmacV3Axis::getAxisStatus(bool *moving) {
previous_direction_ = direction;
/* are we done? */
if ((axStat == 0 || axStat == 14 || axStat < 0) && starting == 0) {
if ((axStat == 0 || axStat < 0) && starting == 0) {
done = 1;
} else {
starting = 0;
done = 0;
}
if (starting && time(NULL) > startTime + 10) {
/*
did not start in 10 seconds: messed up: cause an alarm
*/
done = 1;
*moving = false;
st = setIntegerParam(pC_->motorStatusMoving_, false);
cmdStatus = cmdStatus > st ? cmdStatus : st;
st = setIntegerParam(pC_->motorStatusDone_, true);
cmdStatus = cmdStatus > st ? cmdStatus : st;
st = setIntegerParam(pC_->motorStatusProblem_, true);
cmdStatus = cmdStatus > st ? cmdStatus : st;
errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
updateMsgTxtFromDriver("Axis did not start within 10 seconds");
starting = 0;
return st;
}
// if (starting && time(NULL) > startTime + 10) {
// /*
// did not start in 10 seconds: messed up: cause an alarm
// */
// done = 1;
// *moving = false;
// st = setIntegerParam(pC_->motorStatusMoving_, false);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusDone_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusProblem_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// errlogPrintf("Axis %d did not start within 10 seconds!! BROKEN\n", axisNo_);
// updateMsgTxtFromDriver("Axis did not start within 10 seconds");
// starting = 0;
// return st;
// }
/*
code to test against too long status 5 or 6
*/
if (axStat == 5 || axStat == 6) {
if (status6Time == 0) {
status6Time = time(NULL);
statusPos = position;
} else {
if (time(NULL) > status6Time + 60) {
/* trigger error only when not moving */
if (abs(position - statusPos) < .1) {
done = 1;
*moving = false;
st = setIntegerParam(pC_->motorStatusMoving_, false);
cmdStatus = cmdStatus > st ? cmdStatus : st;
st = setIntegerParam(pC_->motorStatusDone_, true);
cmdStatus = cmdStatus > st ? cmdStatus : st;
st = setIntegerParam(pC_->motorStatusProblem_, true);
cmdStatus = cmdStatus > st ? cmdStatus : st;
// /*
// code to test against too long status 5 or 6
// */
// if (axStat == 5 || axStat == 6) {
// if (status6Time == 0) {
// status6Time = time(NULL);
// statusPos = position;
// } else {
// if (time(NULL) > status6Time + 60) {
// /* trigger error only when not moving */
// if (abs(position - statusPos) < .1) {
// done = 1;
// *moving = false;
// st = setIntegerParam(pC_->motorStatusMoving_, false);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusDone_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
// st = setIntegerParam(pC_->motorStatusProblem_, true);
// cmdStatus = cmdStatus > st ? cmdStatus : st;
errlogPrintf(
"Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
axisNo_);
updateMsgTxtFromDriver(
"Axis stayed in 5,6 for more then 60 seconds: BROKEN");
status6Time = 0;
return cmdStatus;
} else {
status6Time = time(NULL);
statusPos = position;
}
}
}
}
// errlogPrintf(
// "Axis %d stayed in 5,6 for more then 60 seconds BROKEN\n",
// axisNo_);
// updateMsgTxtFromDriver(
// "Axis stayed in 5,6 for more then 60 seconds: BROKEN");
// status6Time = 0;
// return cmdStatus;
// } else {
// status6Time = time(NULL);
// statusPos = position;
// }
// }
// }
// }
if (!done) {
*moving = true;

10
sinqEPICSApp/src/pmacController.cpp
View File

@ -816,7 +816,7 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
int function = pasynUser->reason;
asynStatus status = asynError;
asynStatus status = asynSuccess;
pmacV3Axis *pAxis = NULL;
char command[64] = {0};
char response[64] = {0};
@ -831,9 +831,13 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
/* Set the parameter and readback in the parameter library. This may be
* overwritten when we read back the status at the end, but that's OK */
status = pAxis->setIntegerParam(function, value);
pAxis->setIntegerParam(function, value);
if (function == enableAxis_) {
if(value == 1) {
sprintf(command, "M%2.2d=15\n", pAxis->axisNo_);
lowLevelWriteRead(pAxis->axisNo_, command, response);
}
sprintf(command, "M%2.2d14=%d\n", pAxis->axisNo_, value);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Enable axis on controller %s, axis %d enable=%d\n",
@ -845,7 +849,7 @@ asynStatus pmacV3Controller::writeInt32(asynUser *pasynUser, epicsInt32 value) {
// Execute the command.
if (command[0] != 0 && status == asynSuccess) {
status = lowLevelWriteRead(pAxis->axisNo_, command, response);
lowLevelWriteRead(pAxis->axisNo_, command, response);
}
return pmacController::writeInt32(pasynUser, value);