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- Fixed reference run for Phytron

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- Added brake handling to phytron
- Added code to set speed for phytron
- Removed scaling on Selene pmac limits
- Removed enabling on Selene pmac axis
This commit is contained in:
koennecke
2020-07-09 14:15:26 +02:00
parent d1d74f4db3
commit c9e7830274
5 changed files with 164 additions and 17 deletions
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56
sinqEPICSApp/src/PhytronDriver.cpp
View File

@ -211,7 +211,7 @@ PhytronAxis::PhytronAxis(PhytronController *pC, int axisNo, int enc)
brakeIO = -1;
}
PhytronAxis::setBrake(int brakeNO)
int PhytronAxis::setBrake(int brakeNO)
{
if(brakeNO < 1 || brakeNO > 8) {
return 0;
@ -248,6 +248,9 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
updateMsgTxtFromDriver("");
/*
deal with brake
*/
if(haveBrake) {
sprintf(command,"%sA%dS", pC_->selector, brakeIO);
status = pC_->transactController(axisNo_,command,reply);
@ -259,6 +262,21 @@ asynStatus PhytronAxis::move(double position, int relative, double minVelocity,
}
}
/*
set speed
*/
sprintf(command, "%s%cP14S%f", pC_->selector, phytronChar, 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;
}
@ -283,6 +301,9 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
updateMsgTxtFromDriver("");
/*
handle the fucking brake
*/
if(haveBrake) {
sprintf(command,"%sA%dS", pC_->selector, brakeIO);
status = pC_->transactController(axisNo_,command,reply);
@ -294,10 +315,23 @@ asynStatus PhytronAxis::home(double minVelocity, double maxVelocity, double acce
}
}
/*
set speed
*/
sprintf(command, "%s%cP14S%f", pC_->selector, phytronChar, 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;
}
homing_direction = forwards;
if(forwards){
sprintf(command, "%s%cO+",pC_->selector,phytronChar);
sprintf(command, "%s%c0+",pC_->selector,phytronChar);
} else {
sprintf(command, "%s%cO-",pC_->selector,phytronChar);
sprintf(command, "%s%c0-",pC_->selector,phytronChar);
}
homing = 1;
next_poll= -1;
@ -448,7 +482,7 @@ asynStatus PhytronAxis::poll(bool *moving)
if(haveBrake) {
sprintf(command,"%sA%dR", pC_->selector, brakeIO);
status = pC_->transactController(axisNo_,command,reply);
comStatus = pC_->transactController(axisNo_,command,reply);
if(strstr(reply,"NACK") != NULL){
errlogSevPrintf(errlogMajor, "Failed to set brake on %d", axisNo_);
updateMsgTxtFromDriver("Failed to set brake");
@ -461,7 +495,11 @@ asynStatus PhytronAxis::poll(bool *moving)
if(!*moving) {
if(homing){
pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
if(homing_direction) {
pC_->getDoubleParam(axisNo_,pC_->motorHighLimit_,&lowlim);
} else {
pC_->getDoubleParam(axisNo_,pC_->motorLowLimit_,&lowlim);
}
setPosition(lowlim);
setIntegerParam(pC_->motorStatusAtHome_, true);
} else {
@ -544,7 +582,7 @@ extern "C" asynStatus PhytronConfBrake(const char *port, /* specify whic
pC = (PhytronController*) findAsynPortDriver(port);
if (!pC) {
printf("%s:%s: Error port %s not found\n",
driverName, functionName, port);
"PhytronDriver", functionName, port);
return asynError;
}
@ -553,8 +591,8 @@ extern "C" asynStatus PhytronConfBrake(const char *port, /* specify whic
status = pAxis->setBrake(brakeNO);
pC->unlock();
if(!status) {
printf("%s:%s: requested brake IO out of range\n",
driverName, functionName, port);
printf("%s:%s:%s requested brake IO out of range\n",
"PhytronDriver", functionName, port);
return asynError;
}
return asynSuccess;
@ -579,7 +617,7 @@ static void PhytronCreateContollerCallFunc(const iocshArgBuf *args)
/* PhytronConfigureBrake */
static const iocshArg phytronBrake0 = {"Controller port name", iocshArgString};
static const iocshArg phytronBrakeArg0 = {"Controller port name", iocshArgString};
static const iocshArg phytronBrakeArg1 = {"Axis number", iocshArgInt};
static const iocshArg phytronBrakeArg2 = {"Brake IO number", iocshArgInt};
static const iocshArg * const phytronBrakeArgs[] = {&phytronBrakeArg0,

1
sinqEPICSApp/src/PhytronDriver.h
View File

@ -38,6 +38,7 @@ private:
* Abbreviated because it is used very frequently */
double position;
int homing;
int homing_direction; /*1 forward, 0 backwards */
time_t next_poll;
int encoder;
int haveBrake;

111
sinqEPICSApp/src/pmacAxis.cpp
View File

@ -567,6 +567,112 @@ asynStatus pmacHRPTAxis::getAxisStatus(bool *moving)
}
/*================================= SeleneAxis code ======================================================*/
SeleneAxis::SeleneAxis(SeleneController *pC, int axisNo, double limitTarget)
: pmacAxis(pC, axisNo)
{
static const char *functionName = "pmacAxis::pmacAxis";
pC_->debugFlow(functionName);
//Initialize non-static data members
setpointPosition_ = 0.0;
encoderPosition_ = 0.0;
currentVelocity_ = 0.0;
velocity_ = 0.0;
accel_ = 0.0;
highLimit_ = 0.0;
lowLimit_ = 0.0;
scale_ = 1;
previous_position_ = 0.0;
previous_direction_ = 0;
axisErrorCount = 0;
startTime = 0;
status6Time = 0;
starting = 0;
homing = 0;
/* Set an EPICS exit handler that will shut down polling before asyn kills the IP sockets */
epicsAtExit(shutdownCallback, pC_);
//Do an initial poll to get some values from the PMAC
if (getSeleneAxisInitialStatus() != asynSuccess) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: getAxisInitialStatus failed to return asynSuccess. Controller: %s, Axis: %d.\n", functionName, pC_->portName, axisNo_);
}
this->limitTarget = limitTarget;
callParamCallbacks();
/* Wake up the poller task which will make it do a poll,
* updating values for this axis to use the new resolution (stepSize_) */
pC_->wakeupPoller();
}
/*-------------------------------------------------------------------------------------------*/
asynStatus SeleneAxis::getSeleneAxisInitialStatus(void)
{
char command[pC_->PMAC_MAXBUF_];
char response[pC_->PMAC_MAXBUF_];
int cmdStatus = 0;
double low_limit = 0.0;
double high_limit = 0.0;
int nvals = 0;
int limVal;
static const char *functionName = "pmacAxis::getAxisInitialStatus";
sprintf(command, "Q%2.2d00", axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);
nvals = sscanf(response, "%lf", &scale_);
if (cmdStatus || nvals != 1) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read scale_factor on axis %d.\n", functionName, axisNo_);
return asynError;
}
sprintf(command, "I%d13", axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);
nvals = sscanf(response, "%d", &limVal);
if (cmdStatus || nvals != 1) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read high limit on axis %d.\n", functionName, axisNo_);
return asynError;
}
high_limit = ((double)limVal)*scale_;
sprintf(command, "I%d14", axisNo_);
cmdStatus = pC_->lowLevelWriteRead(axisNo_,command, response);
nvals = sscanf(response, "%d", &limVal);
if (cmdStatus || nvals != 1) {
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s: Error: failed to read low limit on axis %d.\n", functionName, axisNo_);
return asynError;
}
low_limit = ((double)limVal)*scale_;
char message[132];
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);
} else {
setDoubleParam(pC_->motorLowLimit_, high_limit);
setDoubleParam(pC_->motorHighLimit_, low_limit);
}
callParamCallbacks();
return asynSuccess;
}
/*----------------------------------------------------------------------------------------------------------*/
asynStatus SeleneAxis::home(double min_velocity, double max_velocity, double acceleration, int forwards)
{
asynStatus status = asynError;
@ -634,7 +740,10 @@ asynStatus SeleneAxis::setPosition(double position)
status = pC_->lowLevelWriteRead(axisNo_,command, response);
errlogPrintf("Sending set position : %s\n", command);
asynPrint(pC_->pasynUserSelf, ASYN_TRACE_FLOW,
"Setting Position on %d to value %f, command: %s",
axisNo_, position/MULT, command);
return status;
}
/*======================================= Selene Lift Axis Code ===========================================*/

9
sinqEPICSApp/src/pmacAxis.h
View File

@ -64,7 +64,7 @@ class pmacAxis : public SINQAxis
friend class pmacController;
};
/*----------------------------------------------------------------------------------------------*/
class pmacHRPTAxis : public pmacAxis
{
public:
@ -80,14 +80,12 @@ class pmacHRPTAxis : public pmacAxis
};
/*--------------------------------------------------------------------------------------------*/
class SeleneAxis : public pmacAxis
{
public:
SeleneAxis(SeleneController *pController, int axisNo, double limitTarget) : pmacAxis((pmacController *)pController,axisNo)
{
this->limitTarget = limitTarget;
};
SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
asynStatus move(double position, int relative, double min_velocity, double max_velocity, double acceleration);
asynStatus setPosition(double position);
asynStatus home(double min_velocity, double max_velocity, double acceleration, int forwards);
@ -98,6 +96,7 @@ class SeleneAxis : public pmacAxis
private:
double limitTarget;
asynStatus getSeleneAxisInitialStatus(void);
};

4
sinqEPICSApp/src/pmacController.cpp
View File

@ -713,13 +713,13 @@ asynStatus SeleneController::writeFloat64(asynUser *pasynUser, epicsFloat64 valu
// TODO: somethign is really shitty here: lowLimit and highLimit cannot be on the command
if (function == motorLowLimit_) {
sprintf(command, "Q%d54=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
sprintf(command, "Q%d54=%f", pAxis->axisNo_, (float)value/(float)MULT);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Setting low limit on controller %s, axis %d to %f\n",
functionName, portName, pAxis->axisNo_, value);
errlogPrintf("Setting low limit of axis %d to %f, command = %s\n", pAxis->axisNo_, value, command);
} else if (function == motorHighLimit_) {
sprintf(command, "Q%d53=%d", pAxis->axisNo_, (int)(value/pAxis->scale_/MULT));
sprintf(command, "Q%d53=%f", pAxis->axisNo_, (float)value/(float)MULT);
asynPrint(this->pasynUserSelf, ASYN_TRACE_FLOW,
"%s: Setting high limit on controller %s, axis %d to %f\n",
functionName, portName, pAxis->axisNo_, value);