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Added sleep after write commands

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See comment in writeRead for explanation.
This commit is contained in:
mathis_s
2025-07-24 08:51:38 +02:00
parent ed36207a4c
commit 3f7998eb9a
1 changed files with 16 additions and 1 deletions
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17
src/turboPmacController.cpp
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@@ -207,7 +207,6 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
// Definition of local variables. // Definition of local variables.
asynStatus status = asynSuccess; asynStatus status = asynSuccess;
asynStatus timeoutStatus = asynSuccess; asynStatus timeoutStatus = asynSuccess;
// char fullCommand[MAXBUF_] = {0};
char drvMessageText[MAXBUF_] = {0}; char drvMessageText[MAXBUF_] = {0};
char modResponse[MAXBUF_] = {0}; char modResponse[MAXBUF_] = {0};
int motorStatusProblem = 0; int motorStatusProblem = 0;
@@ -255,6 +254,22 @@ asynStatus turboPmacController::writeRead(int axisNo, const char *command,
pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_, pasynOctetSyncIOipPort(), command, commandLength, response, MAXBUF_,
pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason); pTurboPmacC_->comTimeout, &nbytesOut, &nbytesIn, &eomReason);
/*
If sth. is written to the controller, it needs some time to process the
command. However, the controller returns the acknowledgment via
pasynOctetSyncIO->writeRead immediately, signalling to the driver that it is
ready to receive the next command. In practice, this can result in commands
getting discarded on the driver side or in bringing the driver in undefined
states (e.g. stuck in status 1).
To prevent this, we wait for 20 ms after a write command to give the
controller enough time to process everything. A write command can be
identified by looking for the equal sign.
*/
if (strchr(command, '=')) {
usleep(20000);
}
msgPrintControlKey comKey = msgPrintControlKey comKey =
msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__); msgPrintControlKey(portName, axisNo, __PRETTY_FUNCTION__, __LINE__);