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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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63
sinqEPICSApp/src/PhytronDriver.cpp
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@@ -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 */