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Updated EuromoveDriver to work with Prologix GPIB-Ethernet

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Improved threshold handling on EL737
Minor changes
This commit is contained in:
koennecke
2021-06-17 09:30:28 +02:00
parent 6de4a878ef
commit efbd0e19cf
7 changed files with 102 additions and 49 deletions
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59
sinqEPICSApp/src/EuroMoveDriver.cpp
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@@ -5,6 +5,9 @@ USAGE... Motor driver support for the EuroMove motor controller from LLB.
This is a driver for the EuroMove motor controller from LLB. This device talks to us either via
GPIB or USB. The controller is fairly simple. It can control quite a number of motors.
Reworked in 06/2021 to work with the Prologix GPIV-Ethernte converter
mark.koennecke@psi.ch
*/
@@ -32,11 +35,14 @@ GPIB or USB. The controller is fairly simple. It can control quite a number of m
* \param[in] EuroMovePortName The name of the drvAsynSerialPort that was created previously to connect to the EuroMove controller
* \param[in] numAxes The number of axes that this controller supports
*/
EuroMoveController::EuroMoveController(const char *portName, const char *EuroMovePortName, int numAxis)
EuroMoveController::EuroMoveController(const char *portName, const char *EuroMovePortName, int gpibAddr, int numAxis)
: SINQController(portName, EuroMovePortName,numAxis+1)
{
asynStatus status;
static const char *functionName = "EuroMoveController::EuroMoveController";
size_t out, in;
int reason;
char command[80], reply[80];
/* Connect to EuroMove controller */
status = pasynOctetSyncIO->connect(EuroMovePortName, 0, &pasynUserController_, NULL);
@@ -45,9 +51,27 @@ EuroMoveController::EuroMoveController(const char *portName, const char *EuroMov
"%s: cannot connect to EuroMove controller\n",
functionName);
}
const char *terminator = "\r";
const char *terminator = "\r\n";
pasynOctetSyncIO->setOutputEos(pasynUserController_,terminator,strlen(terminator));
pasynOctetSyncIO->setInputEos(pasynUserController_,terminator,strlen(terminator));
const char *repTerminator = "\r";
pasynOctetSyncIO->setInputEos(pasynUserController_,repTerminator,strlen(repTerminator));
/* Save gpib address and prepare addr string */
this->gpibAddr = gpibAddr;
snprintf(addrCommand,strlen(addrCommand), "++addr %d", gpibAddr);
/*
Configure the Prologix interface to our liking
The thing sends no response on configuration commands
*/
strcpy(command,"++mode 1"); /* Make it a controller */
status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out);
strcpy(command,"++auto 1"); /* ask for response automatically */
status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out);
strcpy(command,"++eos 1"); /* CR */
status = pasynOctetSyncIO->write(pasynUserController_, command, strlen(command), 2, &out);
for(int i = 0; i < numAxis; i++){
new EuroMoveAxis(this, i+1);
@@ -59,12 +83,13 @@ EuroMoveController::EuroMoveController(const char *portName, const char *EuroMov
/** Creates a new EuroMoveController object.
* Configuration command, called directly or from iocsh
* \param[in] portName The name of the asyn port that will be created for this driver
* \param[in] EuroMovePortName The name of the drvAsynIPPPort that was created previously to connect to the EuroMove controller
* \param[in] EuroMovePortName The name of the drvAsynIPPPort that was created previously to connect to the EuroMove controller
* \param[in] gpibAddr The address of the controller on the GPIB bus
* \param[in] numAxes The number of axes that this controller supports
*/
extern "C" int EuroMoveCreateController(const char *portName, const char *EuroMovePortName, const int numAxis)
extern "C" int EuroMoveCreateController(const char *portName, const char *EuroMovePortName, const int gpibAddr, const int numAxis)
{
new EuroMoveController(portName, EuroMovePortName, numAxis);
new EuroMoveController(portName, EuroMovePortName, gpibAddr, numAxis);
return(asynSuccess);
}
@@ -119,7 +144,17 @@ asynStatus EuroMoveController::transactController(int axisNo,char command[COMLEN
pasynOctetSyncIO->flush(pasynUserController_);
/* set address first */
status = pasynOctetSyncIO->write(pasynUserController_, this->addrCommand, strlen(this->addrCommand), 2, &out);
if(status != asynSuccess){
if(axis!= NULL){
axis->updateMsgTxtFromDriver("Lost connection to motor controller");
errlogPrintf("Lost connection to motor controller\n");
}
return status;
}
/* now the actual command */
status = pasynOctetSyncIO->writeRead(pasynUserController_, command, strlen(command),
reply,sizeof(reply), 10.,&out,&in,&reason);
if(status != asynSuccess){
@@ -606,15 +641,17 @@ static void EuroMoveConfigCallFunc(const iocshArgBuf *args)
/** Code for iocsh registration */
static const iocshArg EuroMoveCreateControllerArg0 = {"Port name", iocshArgString};
static const iocshArg EuroMoveCreateControllerArg1 = {"EuroMove port name", iocshArgString};
static const iocshArg EuroMoveCreateControllerArg2 = {"Number of axis", iocshArgInt};
static const iocshArg EuroMoveCreateControllerArg2 = {"GPIB Address", iocshArgInt};
static const iocshArg EuroMoveCreateControllerArg3 = {"Number of axis", iocshArgInt};
static const iocshArg * const EuroMoveCreateControllerArgs[] = {&EuroMoveCreateControllerArg0,
&EuroMoveCreateControllerArg1,
&EuroMoveCreateControllerArg2
&EuroMoveCreateControllerArg2,
&EuroMoveCreateControllerArg3
};
static const iocshFuncDef EuroMoveCreateControllerDef = {"EuroMoveCreateController", 3, EuroMoveCreateControllerArgs};
static const iocshFuncDef EuroMoveCreateControllerDef = {"EuroMoveCreateController", 4, EuroMoveCreateControllerArgs};
static void EuroMoveCreateControllerCallFunc(const iocshArgBuf *args)
{
EuroMoveCreateController(args[0].sval, args[1].sval, args[2].ival);
EuroMoveCreateController(args[0].sval, args[1].sval, args[2].ival, args[3].ival);
}
static void EuroMoveRegister(void)