- Fixed reference run for Phytron

- Added brake handling to phytron
- Added code to set speed for phytron
- Removed scaling on Selene pmac limits
- Removed enabling on Selene pmac axis

sinqEPICSApp/src/PhytronDriver.cpp

@@ -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",
+     printf("%s:%s:%s requested brake IO out of range\n",
-           driverName, functionName, port);
+           "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,

sinqEPICSApp/src/PhytronDriver.h

@@ -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;

sinqEPICSApp/src/pmacAxis.cpp

@@ -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 ===========================================*/

sinqEPICSApp/src/pmacAxis.h

@@ -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) 
+  SeleneAxis(SeleneController *pController, int axisNo, double limitTarget);
-    {
-      this->limitTarget = 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);
 
 };
 

sinqEPICSApp/src/pmacController.cpp

@@ -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);