lin-epics-modules/turboPmac
0
1
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Updated sinqMotor to 1.3.0

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files

2
sinqMotor

Submodule sinqMotor updated: 55a9fe6f3e...1910eda0b1

32
src/turboPmacAxis.cpp
View File

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