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

Added functions to get/set motorPosition.

Browse Source 
Changed to functions motorPosition and setMotorPosition in order to
retrieve / set motor positions from / to the paramLib.
This commit is contained in:
mathis_s
2025-03-28 14:57:20 +01:00
parent 83a74ce8d0
commit a990da4245
6 changed files with 36 additions and 52 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
Makefile
View File

@ -14,7 +14,7 @@ REQUIRED+=sinqMotor
motorBase_VERSION=7.2.2
# Specify the version of sinqMotor we want to build against
sinqMotor_VERSION=0.9.0
sinqMotor_VERSION=0.10.0
# These headers allow to depend on this library for derived drivers.
HEADERS += src/turboPmacAxis.h

10
README.md
View File

@ -1,5 +1,7 @@
# turboPmac
## <span style="color:red">Please read the documentation of sinqMotor first: https://git.psi.ch/sinq-epics-modules/sinqmotor</span>
## Overview
This is a driver for the Turbo PMAC motion controller with the SINQ communication protocol. It is based on the sinqMotor shared library (https://git.psi.ch/sinq-epics-modules/sinqmotor). The header files contain detailed documentation for all public functions. The headers themselves are exported when building the library to allow other drivers to depend on this one.
@ -21,11 +23,11 @@ turboPmac exports the following IOC shell functions:
- `turboPmacController`: Create a new controller object.
- `turboPmacAxis`: Create a new axis object.
The full mcu.cmd file looks like this:
The full turboPmacX.cmd file looks like this:
```
# Define the name of the controller and the corresponding port
epicsEnvSet("NAME","mcu")
epicsEnvSet("NAME","turboPmacX")
epicsEnvSet("ASYN_PORT","p$(NAME)")
# Create the TCP/IP socket used to talk with the controller. The socket can be adressed from within the IOC shell via the port name
@ -47,8 +49,8 @@ turboPmacAxis("$(NAME)",5);
# Set the number of subsequent timeouts
setMaxSubsequentTimeouts("$(NAME)", 20);
# Configure the timeout frequency watchdog:
setThresholdComTimeout("$(NAME)", 100, 1);
# Configure the timeout frequency watchdog: A maximum of 10 timeouts are allowed in 300 seconds before an alarm message is sent.
setThresholdComTimeout("$(NAME)", 300, 10);
# Parametrize the EPICS record database with the substitution file named after the MCU.
epicsEnvSet("SINQDBPATH","$(sinqMotor_DB)/sinqMotor.db")

60
src/turboPmacAxis.cpp
View File

@ -122,7 +122,7 @@ asynStatus turboPmacAxis::init() {
char command[pC_->MAXBUF_], response[pC_->MAXBUF_];
int nvals = 0;
double motorRecResolution = 0.0;
double motorPosition = 0.0;
double motorPos = 0.0;
double motorVelocity = 0.0;
double motorVmax = 0.0;
double motorAccel = 0.0;
@ -166,7 +166,7 @@ asynStatus turboPmacAxis::init() {
if (status != asynSuccess) {
return status;
}
nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPosition,
nvals = sscanf(response, "%d %lf %lf %lf %lf %d", &axStatus, &motorPos,
&motorVmax, &motorVelocity, &motorAccel, &acoDelay);
// The acoDelay is given in milliseconds -> Convert to seconds, rounded up
@ -178,18 +178,14 @@ asynStatus turboPmacAxis::init() {
motorAccel = motorAccel * 1000;
if (nvals != 6) {
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
// Transform from motor to parameter library coordinates
motorPosition = motorPosition / motorRecResolution;
// Store these values in the parameter library
status = pC_->setDoubleParam(axisNo_, pC_->motorPosition(), motorPosition);
status = setMotorPosition(motorPos);
if (status != asynSuccess) {
return pC_->paramLibAccessFailed(status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return status;
}
// Initial motor status is idle
@ -297,8 +293,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
nvals = sscanf(response, "%d %d", &handshakePerformed, &error);
if (nvals != 2) {
return pC_->errMsgCouldNotParseResponse(
command, response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
if (error != 0) {
@ -333,7 +329,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
}
}
// Motor resolution from parameter library
pl_status = pC_->getDoubleParam(axisNo_, pC_->motorRecResolution(),
&motorRecResolution);
if (pl_status != asynSuccess) {
@ -343,14 +338,11 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
}
// Read the previous motor position
pl_status =
pC_->getDoubleParam(axisNo_, pC_->motorPosition(), &previousPosition);
pl_status = motorPosition(&previousPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return pl_status;
}
// Read the previous motor position
pl_status = pC_->getIntegerParam(axisNo_, pC_->motorStatusDone(),
&previousStatusDone);
if (pl_status != asynSuccess) {
@ -358,10 +350,6 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
__PRETTY_FUNCTION__, __LINE__);
}
// Transform from EPICS to motor coordinates (see comment in
// turboPmacAxis::atFirstPoll)
previousPosition = previousPosition * motorRecResolution;
// Query the axis status
snprintf(command, sizeof(command),
"P%2.2d00 Q%2.2d10 P%2.2d01 Q%2.2d13 Q%2.2d14", axisNo_, axisNo_,
@ -374,8 +362,8 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
nvals = sscanf(response, "%d %lf %d %lf %lf", &axStatus, &currentPosition,
&error, &highLimit, &lowLimit);
if (nvals != 5) {
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
/*
@ -876,16 +864,10 @@ asynStatus turboPmacAxis::doPoll(bool *moving) {
__PRETTY_FUNCTION__, __LINE__);
}
// Transform from motor to EPICS coordinates (see comment in
// turboPmacAxis::init())
currentPosition = currentPosition / motorRecResolution;
pl_status = setDoubleParam(pC_->motorPosition(), currentPosition);
pl_status = setMotorPosition(currentPosition);
if (pl_status != asynSuccess) {
return pC_->paramLibAccessFailed(pl_status, "motorPosition_", axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return pl_status;
}
return poll_status;
}
@ -1042,7 +1024,7 @@ asynStatus turboPmacAxis::stop(double acceleration) {
return rw_status;
}
asynStatus turboPmacAxis::reset() {
asynStatus turboPmacAxis::doReset() {
// Status of read-write-operations of ASCII commands to the controller
asynStatus rw_status = asynSuccess;
@ -1160,16 +1142,16 @@ asynStatus turboPmacAxis::readEncoderType() {
int reponse_length = strlen(response);
if (reponse_length < 3) {
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
// We are only interested in the last two digits and the last value in
// the string before the terminator is \r
nvals = sscanf(response + (reponse_length - 3), "%2X", &encoder_id);
if (nvals != 1) {
return pC_->errMsgCouldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
snprintf(command, sizeof(command), "P46");
@ -1380,8 +1362,8 @@ asynStatus turboPmacAxis::enable(bool on) {
}
nvals = sscanf(response, "%d", &axisStatus_);
if (nvals != 1) {
return pC_->errMsgCouldNotParseResponse(
command, response, axisNo_, __PRETTY_FUNCTION__, __LINE__);
return pC_->couldNotParseResponse(command, response, axisNo_,
__PRETTY_FUNCTION__, __LINE__);
}
if ((axisStatus_ != -3) == on) {

4
src/turboPmacAxis.h
View File

@ -82,12 +82,12 @@ class turboPmacAxis : public sinqAxis {
asynStatus init();
/**
* @brief Reset the axis error
* @brief Implementation of the `doReset` function from sinqAxis.
*
* @param on
* @return asynStatus
*/
asynStatus reset();
asynStatus doReset();
/**
* @brief Enable / disable the axis.

4
src/turboPmacController.cpp
View File

@ -495,12 +495,12 @@ asynStatus turboPmacController::readInt32(asynUser *pasynUser,
}
}
asynStatus turboPmacController::errMsgCouldNotParseResponse(
asynStatus turboPmacController::couldNotParseResponse(
const char *command, const char *response, int axisNo,
const char *functionName, int lineNumber) {
char modifiedResponse[MAXBUF_] = {0};
adjustResponseForPrint(modifiedResponse, response, MAXBUF_);
return sinqController::errMsgCouldNotParseResponse(
return sinqController::couldNotParseResponse(
command, modifiedResponse, axisNo, functionName, lineNumber);
}

8
src/turboPmacController.h
View File

@ -93,13 +93,13 @@ class turboPmacController : public sinqController {
int numExpectedResponses);
/**
* @brief Specialized version of sinqController::errMsgCouldNotParseResponse
* @brief Specialized version of sinqController::couldNotParseResponse
* for turboPmac
*
* This is an overloaded version of
* sinqController::errMsgCouldNotParseResponse which calls
* sinqController::couldNotParseResponse which calls
* adjustResponseForLogging on response before handing it over to
* sinqController::errMsgCouldNotParseResponse.
* sinqController::couldNotParseResponse.
*
* @param command Command which led to the unparseable message
* @param response Response which wasn't parseable
@ -110,7 +110,7 @@ class turboPmacController : public sinqController {
called. It is recommended to use a macro, e.g. __LINE__.
* @return asynStatus Returns asynError.
*/
asynStatus errMsgCouldNotParseResponse(const char *command,
asynStatus couldNotParseResponse(const char *command,
const char *response, int axisNo_,
const char *functionName,
int lineNumber);