Fixed bugs in EL734

Phytron motor driver is now working
May be fixed inverted limits on pmac

iocBoot/iocsinqEPICS/motor.substitutions.phytron

@@ -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}
+{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$(N)", "asynMotor",  phy,  1,    "m1",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,    100,    -100,    "1"}
+{KM36:phytron:, 1, "m$(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$(N)", "asynMotor",  phy,  2,    "m2",     mm,      Pos,    2.0,   0.1,  .2,    0,    1,   .2,   .001,    3,    100,    -100,    "10"}
+{KM36:phytron:, 2, "m$(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}

iocBoot/iocsinqEPICS/phytest.cmd

@@ -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

iocBoot/iocsinqEPICS/phytrontest.cmd

@@ -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 "../../sinqEPICSApp/src/sinq.dbd"
-#dbLoadDatabase "dbd/sinq.dbd"
 sinqEPICS_registerRecordDeviceDriver pdbbase
 
-## Load record instances
-#dbLoadRecords("db/xxx.db","user=koenneckeHost")
 
 
 #---------- load Nanotec motor controller

sinqEPICSApp/Db/asynRecord.db

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

sinqEPICSApp/Db/basic_asyn_motor.db

@@ -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")
+}
+

sinqEPICSApp/Db/basic_motor.db

@@ -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")
+}
+

sinqEPICSApp/src/EL734Driver.cpp

@@ -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];
 
+  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_->motorStatusProblem_, false);
-    setIntegerParam(pC_->motorStatusDone_, true);
+} else {
-    } 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 */

sinqEPICSApp/src/EL734Driver.h

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

sinqEPICSApp/src/PhytronDriver.cpp

@@ -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);
+  new PhytronAxis(this, 1, encX);
-  pAxis = new PhytronAxis(this, 2, encY);
+  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);
-    = new PhytronController(portName, PhytronPortName,selector, encX, encY);
-  pPhytronController = NULL;
   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("");
 
+  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);
@@ -372,8 +373,11 @@ 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_);
@@ -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 */

sinqEPICSApp/src/pmacAxis.cpp

@@ -139,9 +139,19 @@ asynStatus pmacAxis::getAxisInitialStatus(void)
   sprintf(message,"scale_factor = %lf, high = %lf, low = %lf", scale_,high_limit,  low_limit);
   pC_->debugFlow(message);
 
+
+  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);
-  setIntegerParam(pC_->motorStatusHasEncoder_, 1);
+  } 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_);