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Updated sinqMotor to 1.3.0

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This commit is contained in:
mathis_s
2025-07-24 11:16:37 +02:00
parent a980740fd5
commit 08c85129f3
2 changed files with 29 additions and 5 deletions
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2
sinqMotor

Submodule sinqMotor updated: 55a9fe6f3e...1910eda0b1

32
src/turboPmacAxis.cpp
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@@ -265,6 +265,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
// Was the axis idle during the previous poll?
int previousStatusDone = 1;
if (axisNo() == 1) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR, "START POLL: at %lli\n",
timeInMilliseconds());
}
// =========================================================================
if (pTurboPmacA_->needInit) {
@@ -378,6 +383,15 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
// Store the axis status
pTurboPmacA_->axisStatus = axStatus;
// if (axStatus == -3 || axStatus == -5) {
if (axisNo() == 1) {
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"POLL: Axis status %i at %lli\n", axStatus,
timeInMilliseconds());
}
//}
// Update the enablement PV
setAxisParamChecked(this, motorEnableRBV,
(axStatus != -3 && axStatus != -5));
@@ -1115,6 +1129,9 @@ asynStatus turboPmacAxis::enable(bool on) {
}
}
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR, "Sending enable %i at %lli\n",
on, timeInMilliseconds());
// Enable / disable the axis if it is not moving
snprintf(command, sizeof(command), "M%2.2d14=%d", axisNo_, on);
asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
@@ -1134,7 +1151,7 @@ asynStatus turboPmacAxis::enable(bool on) {
while (time(NULL) < startTime + timeout_enable_disable) {
// Read the axis status
usleep(100000);
// usleep(100000);
status = pC_->writeRead(axisNo_, command, response, 1);
if (status != asynSuccess) {
return status;
@@ -1145,13 +1162,20 @@ asynStatus turboPmacAxis::enable(bool on) {
__PRETTY_FUNCTION__, __LINE__);
}
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Axis status %i at %lli\n", pTurboPmacA_->axisStatus,
timeInMilliseconds());
if ((pTurboPmacA_->axisStatus != -3) == on) {
bool moving = false;
// Perform a poll to update the parameter library
poll(&moving);
forcedPoll(&moving);
int enabled = 0;
getAxisParamChecked(this, motorEnableRBV, &enabled);
asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
"Finished enable %i at %lli\n", on, timeInMilliseconds());
"Finished enable %i at %lli, value motorEnableRBV = %i\n",
on, timeInMilliseconds(), enabled);
return asynSuccess;
}