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Fixed bugs in EL734

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Phytron motor driver is now working
May be fixed inverted limits on pmac
This commit is contained in:
koennecke
2019-05-23 16:50:10 +02:00
parent b4b093efdf
commit bf2ff63a4b
10 changed files with 183 additions and 63 deletions
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10
iocBoot/iocsinqEPICS/motor.substitutions.phytron
View File

@ -1,12 +1,12 @@
file "$(MOTOR)/db/basic_asyn_motor.db"
file "$(BASE)/sinqEPICSApp/Db/basic_asyn_motor.db"
{
pattern
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, DHLM, DLLM, INIT}
{KM36:phytron:, 1, "m$(N)", "asynMotor", phy, 1, "m1", mm, Pos, 2.0, 0.1, .2, 0, 1, .2, .001, 3, 100, -100, "1"}
{KM36:phytron:, 2, "m$(N)", "asynMotor", phy, 2, "m2", mm, Pos, 2.0, 0.1, .2, 0, 1, .2, .001, 3, 100, -100, "10"}
{P, N, M, DTYP, PORT, ADDR, DESC, EGU, DIR, VELO, VBAS, ACCL, BDST, BVEL, BACC, MRES, PREC, RDBD, DHLM, DLLM, INIT}
{KM36:phytron:, 1, "m$(N)", "asynMotor", phy, 1, "m1", mm, Pos, 2.0, 0.1, .2, 0, 1, .2, .001, 3, 0.2, 100, -100, "1"}
{KM36:phytron:, 2, "m$(N)", "asynMotor", phy, 2, "m2", mm, Pos, 2.0, 0.1, .2, 0, 1, .2, .001, 3, 0.2, 100, -100, "10"}
}
file "$(SINQ)/Db/motorMessage.db"
file "$(BASE)/sinqEPICSApp/Db/motorMessage.db"
{
pattern
{P,N, M,PORT}

25
iocBoot/iocsinqEPICS/phytest.cmd Executable file
View File

@ -0,0 +1,25 @@
#!/usr/local/bin/iocsh
require sinq,koennecke
epicsEnvSet("TOP","/afs/psi.ch/project/sinqdev/sinqepicsapp/iocBoot/iocsinqEPICS")
epicsEnvSet("BASE","/afs/psi.ch/project/sinqdev/sinqepicsapp")
epicsEnvSet("dbPATH","${EPICS_BASE}/dbd:${ASYN}/dbd:${MOTOR}/dbd")
cd ${TOP}
## Register all support components
dbLoadDatabase "../../dbd/sinqEPICS.dbd"
#drvAsynIPPortConfigure("serial1", "129.129.195.58:22222",0,0,0)
drvAsynIPPortConfigure("serial1", "localhost:9090",0,0,0)
PhytronCreateController("phy","serial1","0",1,0);
### Motors
dbLoadRecords("$(BASE)/sinqEPICSApp/Db/asynRecord.db","P=KM36:,R=serial1,PORT=serial1,ADDR=0,OMAX=80,IMAX=80")
dbLoadTemplate "motor.substitutions.phytron"
iocInit

5
iocBoot/iocsinqEPICS/phytrontest.cmd
View File

@ -18,12 +18,9 @@ epicsEnvSet("dbPATH","${EPICS_BASE}/dbd::${ASYN}/dbd:${MOTOR}/dbd:${ANC}/dbd")
cd ${TOP}
## Register all support components
dbLoadDatabase "../../dbd/sinqEPICS.dbd"
#dbLoadDatabase "dbd/sinq.dbd"
dbLoadDatabase "../../sinqEPICSApp/src/sinq.dbd"
sinqEPICS_registerRecordDeviceDriver pdbbase
## Load record instances
#dbLoadRecords("db/xxx.db","user=koenneckeHost")
#---------- load Nanotec motor controller

9
sinqEPICSApp/Db/asynRecord.db Normal file
View File

@ -0,0 +1,9 @@
record(asyn,"$(P)$(R)")
{
field(DTYP,"asynRecordDevice")
field(PORT,"$(PORT)")
field(ADDR,"$(ADDR)")
field(OMAX,"$(OMAX)")
field(IMAX,"$(IMAX)")
}

23
sinqEPICSApp/Db/basic_asyn_motor.db Normal file
View File

@ -0,0 +1,23 @@
record(motor,"$(P)$(M)")
{
field(DESC,"$(DESC)")
field(DTYP,"$(DTYP)")
field(DIR,"$(DIR)")
field(VELO,"$(VELO)")
field(VBAS,"$(VBAS)")
field(ACCL,"$(ACCL)")
field(BDST,"$(BDST)")
field(BVEL,"$(BVEL)")
field(BACC,"$(BACC)")
field(OUT,"@asyn($(PORT),$(ADDR))")
field(MRES,"$(MRES)")
field(PREC,"$(PREC)")
field(EGU,"$(EGU)")
field(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
field(RDBD,"$(RDBD)")
field(RTRY,"0")
}

21
sinqEPICSApp/Db/basic_motor.db Normal file
View File

@ -0,0 +1,21 @@
grecord(motor,"$(P)$(M)")
{
field(DESC,"$(DESC)")
field(DTYP,"$(DTYP)")
field(DIR,"$(DIR)")
field(VELO,"$(VELO)")
field(VBAS,"$(VBAS)")
field(ACCL,"$(ACCL)")
field(BDST,"$(BDST)")
field(BVEL,"$(BVEL)")
field(BACC,"$(BACC)")
field(OUT,"#C$(C) S$(S) @")
field(MRES,"$(MRES)")
field(PREC,"$(PREC)")
field(EGU,"$(EGU)")
field(DHLM,"$(DHLM)")
field(DLLM,"$(DLLM)")
field(INIT,"$(INIT)")
field(TWV,"1")
}

70
sinqEPICSApp/src/EL734Driver.cpp
View File

@ -272,6 +272,7 @@ asynStatus EL734Axis::move(double position, int relative, double minVelocity, do
}
oredMSR = 0;
homing = 0;
errorReported = 0;
//errlogPrintf("Starting axis %d with destination %f", axisNo_,position/1000);
sprintf(command, "p %d %.3f", axisNo_, position/1000.);
status = pC_->transactController(axisNo_,command,reply);
@ -291,6 +292,7 @@ asynStatus EL734Axis::home(double minVelocity, double maxVelocity, double accele
setIntegerParam(pC_->motorStatusProblem_, false);
updateMsgTxtFromDriver("");
errorReported = 0;
sprintf(command, "R %d", axisNo_);
homing = 1;
@ -310,6 +312,7 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
// functionName, minVelocity, maxVelocity, acceleration);
errorReported = 0;
if (maxVelocity > 0.) {
/* This is a positive move */
sprintf(command, "FF %d", axisNo_);
@ -326,14 +329,16 @@ asynStatus EL734Axis::moveVelocity(double minVelocity, double maxVelocity, doubl
asynStatus EL734Axis::stop(double acceleration )
{
asynStatus status;
asynStatus status = asynSuccess;
//static const char *functionName = "EL734Axis::stop";
char command[COMLEN], reply[COMLEN];
sprintf(command, "S %d", axisNo_);
status = pC_->transactController(axisNo_,command,reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
updateMsgTxtFromDriver("Axis interrupted");
if(errorReported == 0){
sprintf(command, "S %d", axisNo_);
status = pC_->transactController(axisNo_,command,reply);
errlogPrintf("Sent STOP on Axis %d\n", axisNo_);
updateMsgTxtFromDriver("Axis interrupted");
}
return status;
}
@ -372,10 +377,8 @@ asynStatus EL734Axis::setClosedLoop(bool closedLoop)
asynStatus EL734Axis::poll(bool *moving)
{
int msr, count;
asynStatus comStatus;
asynStatus comStatus = asynSuccess;
char command[COMLEN], reply[COMLEN], errTxt[256];
int driverError = 0;
// protect against excessive polling
if(time(NULL) < next_poll){
@ -384,31 +387,33 @@ asynStatus EL734Axis::poll(bool *moving)
}
// Read the current motor position
setIntegerParam(pC_->motorStatusProblem_,false);
sprintf(command,"u %d", axisNo_);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus == asynError){
driverError = 1;
setIntegerParam(pC_->motorStatusProblem_,true);
goto skip;
}
if(comStatus) goto skip;
if(strstr(reply,"*ES") != NULL){
*moving = false;
setIntegerParam(pC_->motorStatusDone_, true);
setIntegerParam(pC_->motorStatusProblem_, true);
errorReported = 1;
updateMsgTxtFromDriver("Emergency Stop Engaged");
driverError = 1;
comStatus = asynError;
goto skip;
} else if(strstr(reply,"?BSY") != NULL){
*moving = true;
setIntegerParam(pC_->motorStatusDone_, false);
updateMsgTxtFromDriver("");
goto skip;
}
count = sscanf(reply,"%lf", &position);
if(count != 1) {
snprintf(errTxt,sizeof(errTxt),"Bad reply %s when reading position for %d", reply, axisNo_);
setIntegerParam(pC_->motorStatusProblem_, true);
errorReported = 1;
updateMsgTxtFromDriver(errTxt);
comStatus = asynError;
driverError =1;
goto skip;
}
//errlogPrintf("Axis %d, reply %s, position %lf\n", axisNo_, reply, position);
@ -419,7 +424,10 @@ asynStatus EL734Axis::poll(bool *moving)
// Read the moving status of this motor
sprintf(command,"msr %d",axisNo_);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
if(comStatus == asynError){
setIntegerParam(pC_->motorStatusProblem_,true);
goto skip;
}
sscanf(reply,"%x",&msr);
//errlogPrintf("Axis %d, reply %s, msr %d, oredmsr = %d, position = %lf\n",
@ -429,54 +437,58 @@ asynStatus EL734Axis::poll(bool *moving)
if( (msr & 0x1) == 0){
// done: check for trouble
//errlogPrintf("Axis %d finished\n", axisNo_);
*moving = false;
setIntegerParam(pC_->motorStatusDone_, true);
next_poll = time(NULL)+IDLEPOLL;
if(oredMSR & 0x10){
setIntegerParam(pC_->motorStatusLowLimit_, true);
updateMsgTxtFromDriver("Lower Limit Hit");
driverError = 1;
errorReported = 1;
comStatus = asynError;
goto skip;
} else {
setIntegerParam(pC_->motorStatusLowLimit_, false);
}
if(oredMSR & 0x20){
setIntegerParam(pC_->motorStatusHighLimit_, true);
updateMsgTxtFromDriver("Upper Limit Hit");
driverError = 1;
errorReported = 1;
comStatus = asynError;
goto skip;
} else {
setIntegerParam(pC_->motorStatusHighLimit_, false);
}
if(homing){
setIntegerParam(pC_->motorStatusAtHome_, true);
}
setIntegerParam(pC_->motorStatusProblem_, false);
if(oredMSR & 0x1000){
setIntegerParam(pC_->motorStatusProblem_, true);
// errlogPrintf("Detected air cushion error on %d", axisNo_);
errlogSevPrintf(errlogMajor, "Air cushion problem on %d", axisNo_);
updateMsgTxtFromDriver("Air cushion error");
driverError = 1;
errorReported = 1;
comStatus = asynError;
goto skip;
}
if(oredMSR &0x80){
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor, "Positioning fault at %d", axisNo_);
updateMsgTxtFromDriver("Positioning fault");
driverError = 1;
comStatus = asynError;
errorReported = 1;
goto skip;
}
*moving = false;
setIntegerParam(pC_->motorStatusDone_, true);
} else {
setIntegerParam(pC_->motorStatusProblem_, false);
} else {
*moving = true;
next_poll = -1;
setIntegerParam(pC_->motorStatusDone_, false);
updateMsgTxtFromDriver("Creeping");
}
}
skip:
if(driverError == 0){
updateMsgTxtFromDriver("");
}
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
return comStatus;
}
/** Code for iocsh registration */

4
sinqEPICSApp/src/EL734Driver.h
View File

@ -34,9 +34,7 @@ private:
double position;
int homing;
time_t next_poll;
int ErrTxtIdx;
void forwardErrorTxt(EL734Axis *axis);
int errorReported;
friend class EL734Controller;
};

63
sinqEPICSApp/src/PhytronDriver.cpp
View File

@ -60,7 +60,6 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
: SINQController(portName, PhytronPortName,2)
{
asynStatus status;
PhytronAxis *pAxis;
static const char *functionName = "PhytronController::PhytronController";
char etx[2];
@ -78,8 +77,8 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
pasynOctetSyncIO->setOutputEos(pasynUserController_,etx,strlen(etx));
pasynOctetSyncIO->setInputEos(pasynUserController_,etx,strlen(etx));
pAxis = new PhytronAxis(this, 1, encX);
pAxis = new PhytronAxis(this, 2, encY);
new PhytronAxis(this, 1, encX);
new PhytronAxis(this, 2, encY);
startPoller(1000./1000., IDLEPOLL, 2);
}
@ -94,9 +93,7 @@ PhytronController::PhytronController(const char *portName, const char *PhytronPo
extern "C" int PhytronCreateController(const char *portName, const char *PhytronPortName, const char *selector,
int encX, int encY)
{
PhytronController *pPhytronController
= new PhytronController(portName, PhytronPortName,selector, encX, encY);
pPhytronController = NULL;
new PhytronController(portName, PhytronPortName,selector, encX, encY);
return(asynSuccess);
}
@ -210,7 +207,6 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
} else {
phytronChar = 'Y';
}
}
@ -265,7 +261,11 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
updateMsgTxtFromDriver("");
sprintf(command, "%s%cO-",pC_->selector,phytronChar);
if(forwards){
sprintf(command, "%s%cO+",pC_->selector,phytronChar);
} else {
sprintf(command, "%s%cO-",pC_->selector,phytronChar);
}
homing = 1;
next_poll= -1;
status = pC_->transactController(axisNo_,command,reply);
@ -353,7 +353,7 @@ asynStatus PhytronAxis::setClosedLoop(bool closedLoop)
* \param[out] moving A flag that is set indicating that the axis is moving (true) or done (false). */
asynStatus PhytronAxis::poll(bool *moving)
{
asynStatus comStatus;
asynStatus comStatus = asynSuccess;
char command[COMLEN], reply[COMLEN];
double lowlim;
@ -364,6 +364,7 @@ asynStatus PhytronAxis::poll(bool *moving)
return asynSuccess;
}
setIntegerParam(pC_->motorStatusProblem_, false);
// Read the current motor position
if(encoder) {
sprintf(command,"%s%cP22R",pC_->selector,phytronChar);
@ -372,13 +373,16 @@ asynStatus PhytronAxis::poll(bool *moving)
}
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
if(comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("No connection to phytron controller");
goto skip;
}
if(strstr(reply,"NACK") != NULL){
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor, "Bad reply for position on %d", axisNo_);
updateMsgTxtFromDriver("Bad reply reading position");
goto skip;
goto skip;
}
/*
read over the ACK
@ -392,7 +396,11 @@ asynStatus PhytronAxis::poll(bool *moving)
// Read the moving status of this motor
sprintf(command,"%s%c=H",pC_->selector,phytronChar);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
if(comStatus == asynError){
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("No connection to phytron controller");
goto skip;
}
/* errlogPrintf("Axis %d, status reply %s, position %lf\n", axisNo_, reply, position); */
if(strstr(reply,"ACKN") != NULL){
*moving = true;
@ -416,10 +424,16 @@ asynStatus PhytronAxis::poll(bool *moving)
*/
sprintf(command,"%s%c=I+",pC_->selector,phytronChar);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
if(comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("No connection to phytron controller");
goto skip;
}
if(strstr(reply,"ACKE") != NULL){
setIntegerParam(pC_->motorStatusHighLimit_, true);
updateMsgTxtFromDriver("High Limit Hit");
updateMsgTxtFromDriver("Hit High Limit");
comStatus = asynError;
goto skip;
} else {
setIntegerParam(pC_->motorStatusHighLimit_, false);
}
@ -429,10 +443,16 @@ asynStatus PhytronAxis::poll(bool *moving)
*/
sprintf(command,"%s%c=I-",pC_->selector,phytronChar);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
if(comStatus == asynError){
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("No connection to phytron controller");
goto skip;
}
if(strstr(reply,"ACKE") != NULL){
setIntegerParam(pC_->motorStatusLowLimit_, true);
updateMsgTxtFromDriver("Low Limit Hit");
comStatus = asynError;
goto skip;
} else {
setIntegerParam(pC_->motorStatusLowLimit_, false);
}
@ -442,11 +462,17 @@ asynStatus PhytronAxis::poll(bool *moving)
*/
sprintf(command,"%s%c=E",pC_->selector,phytronChar);
comStatus = pC_->transactController(axisNo_,command,reply);
if(comStatus) goto skip;
if(comStatus == asynError) {
setIntegerParam(pC_->motorStatusProblem_, true);
updateMsgTxtFromDriver("No connection to phytron controller");
goto skip;
}
if(strstr(reply,"ACKE") != NULL){
setIntegerParam(pC_->motorStatusProblem_, true);
errlogSevPrintf(errlogMajor, "Electronics on %d", axisNo_);
updateMsgTxtFromDriver("Electronics error");
comStatus = asynError;
goto skip;
} else {
setIntegerParam(pC_->motorStatusProblem_, false);
}
@ -455,9 +481,8 @@ asynStatus PhytronAxis::poll(bool *moving)
skip:
setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
callParamCallbacks();
return comStatus ? asynError : asynSuccess;
return comStatus;
}
/** Code for iocsh registration */

16
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -139,10 +139,20 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
sprintf(message,"scale_factor = %lf, high = %lf, low = %lf", scale_,high_limit, low_limit);
pC_->debugFlow(message);
setDoubleParam(pC_->motorLowLimit_, low_limit);
setDoubleParam(pC_->motorHighLimit_, high_limit);
setIntegerParam(pC_->motorStatusHasEncoder_, 1);
/*
In some configurations at SINQ, the high and low limits are interchanged in the motor controller.
This messy bit of code takes care of this messy electronics configuration.
*/
if(high_limit > low_limit){
setDoubleParam(pC_->motorLowLimit_, low_limit);
setDoubleParam(pC_->motorHighLimit_, high_limit);
} else {
setDoubleParam(pC_->motorLowLimit_, high_limit);
setDoubleParam(pC_->motorHighLimit_, low_limit);
}
// Enable the axis. After startup, the axis are disabled on the controller...
sprintf(command, "M%2.2d14=1", axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);