Updated to sinqMotor 1.5 to get deadband feature

src/turboPmacAxis.cpp

@@ -27,18 +27,6 @@ struct turboPmacAxisImpl {
     // The axis status is used when enabling / disabling the motor
     int axisStatus;
     bool needInit;
-
-    /*
-    Deadband is defined in enconder units / 16 (a value of 16 is 1 actual
-    encoder count, see Turbo PMAC Manula, p.160)
-    */
-    double deadband;
-
-    /*
-    Scaling factor Ixx08, see Turbo PMAC User Manual, p. 268f:
-    [Ixx08] = counts / engineering units (eu)
-    */
-    double eu_to_counts;
 };
 
 /*
@@ -88,8 +76,6 @@ turboPmacAxis::turboPmacAxis(turboPmacController *pC, int axisNo,
         .timeAtHandshake = 0,
         .axisStatus = 0,
         .needInit = false,
-        .deadband = 0.0,
-        .eu_to_counts = 0.0,
     });
 
     // Provide initial values for some parameter library entries
@@ -147,8 +133,16 @@ asynStatus turboPmacAxis::init() {
     double motorVelocity = 0.0;
     double motorVmax = 0.0;
     double motorAccel = 0.0;
-    int acoDelay = 0.0; // Offset time for the movement watchdog caused by
+
-                        // the air cushions in milliseconds.
+    // Conversion factor between engineering units (EU) and encoder counts
+    double eu_to_counts = 0.0;
+
+    // Deadband in counts. Can be a fraction of a count, hence double.
+    double deadband_counts = 0.0;
+
+    // Offset time for the movement watchdog caused by the air cushions in
+    // milliseconds.
+    int acoDelay = 0.0;
     int axStatus = 0;
 
     // The parameter library takes some time to be initialized. Therefore we
@@ -199,10 +193,9 @@ asynStatus turboPmacAxis::init() {
             pC_->portName, axisNo(), __PRETTY_FUNCTION__, __LINE__);
         pTurboPmacA_->needInit = true;
     }
-    nvals =
+    nvals = sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus,
-        sscanf(response, "%d %lf %lf %lf %lf %d %lf %lf", &axStatus, &motorPos,
+                   &motorPos, &motorVmax, &motorVelocity, &motorAccel,
-               &motorVmax, &motorVelocity, &motorAccel, &acoDelay,
+                   &acoDelay, &eu_to_counts, &deadband_counts);
-               &pTurboPmacA_->eu_to_counts, &pTurboPmacA_->deadband);
 
     // The acoDelay is given in milliseconds -> Convert to seconds, rounded up
     setOffsetMovTimeout(std::ceil(acoDelay / 1000.0));
@@ -236,6 +229,26 @@ asynStatus turboPmacAxis::init() {
         return status;
     }
 
+    /*
+    Check if the new target position is within the range current position +/-
+    deadband. If that is the case, no movement command should be sent. This
+    functionality is implemented within the motor record itself, we just need to
+    populate the field SPDP (see record PushSPDB2Field in db/turboPmac.db)
+
+    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
+    160.). This value then needs to be converted into counts (by dividing it by
+    16). After words, the deadband in counts then need to be converted into
+    engineering units. For this, the scaling factor Ixx08 needs to be applied
+    (see Turbo PMAC User Manual, p. 268f):
+    [Ixx08] = counts / engineering units (eu)
+    deadband_eu = deadband_counts / Ixx08 = Ixx65 / (16 * Ixx08)
+
+    The values of Ixx08 and Ixx65 are read out during initialization and are
+    assumed to not change during operation.
+    */
+    setAxisParamChecked(this, motorPositionDeadband,
+                        deadband_counts / (16.0 * eu_to_counts));
+
     // Update the parameter library immediately
     status = callParamCallbacks();
     if (status != asynSuccess) {
@@ -797,45 +810,11 @@ asynStatus turboPmacAxis::doMove(double position, int relative,
     motorTargetPosition = position * motorRecResolution;
     motorVelocity = maxVelocity * motorRecResolution;
 
-    /*
+    asynPrint(pC_->pasynUser(), ASYN_TRACE_FLOW,
-    Check if the new target position is within the range current position +/-
-    deadband. If that is the case, no movement command should be sent.
-
-    First, the deadband is read out (Ixx65, see Turbo PMAC User Manual, p.
-    160.). This value then needs to be converted into counts (by dividing it by
-    16). After words, the deadband in counts then need to be converted into
-    engineering units. For this, the scaling factor Ixx08 needs to be applied
-    (see Turbo PMAC User Manual, p. 268f):
-    [Ixx08] = counts / engineering units (eu)
-    deadband_eu = deadband_counts / Ixx08 = Ixx65 / (16 * Ixx08)
-
-    The values of Ixx08 and Ixx65 are read out during initialization and are
-    assumed to not change during operation.
-    */
-    double motorCurrentPosition = 0.0;
-    motorPosition(&motorCurrentPosition);
-    double deadband_eu = pTurboPmacA_->deadband / (pTurboPmacA_->eu_to_counts);
-    double deadband_lower = motorCurrentPosition - deadband_eu;
-    double deadband_upper = motorCurrentPosition + deadband_eu;
-
-    if (motorTargetPosition > deadband_lower &&
-        motorTargetPosition < deadband_upper) {
-
-        asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
-                  "Controller \"%s\", axis %d  => %s, line %d\nNew target "
-                  "position %lf within deadband around current position %lf "
-                  "(deadband %lf to %lf). No move command sent.\n",
-                  pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-                  motorTargetPosition, motorCurrentPosition, deadband_lower,
-                  deadband_upper);
-        return asynSuccess;
-    }
-
-    asynPrint(pC_->pasynUser(), ASYN_TRACE_ERROR,
               "Controller \"%s\", axis %d  => %s, line %d\nStart of axis to "
               "position %lf.\n",
               pC_->portName, axisNo_, __PRETTY_FUNCTION__, __LINE__,
-              motorCurrentPosition);
+              motorTargetPosition);
 
     // Check if the speed is allowed to be changed
     getAxisParamChecked(this, motorCanSetSpeed, &motorCanSetSpeed);

src/turboPmacController.cpp

@@ -47,7 +47,7 @@ struct turboPmacControllerImpl {
     int flushHardware;
     int limFromHardware;
 };
-#define NUM_turboPmac_DRIVER_PARAMS 3
+#define NUM_turboPmac_DRIVER_PARAMS 5
 
 turboPmacController::turboPmacController(const char *portName,
                                          const char *ipPortConfigName,