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Improved logging for motion characterisation of motors.

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Reject NaN and Infinity in run command.
Change error message for both limit switches active.
Check status of BG command in case it failed.

r2482 | dcl | 2008-04-24 12:08:03 +1000 (Thu, 24 Apr 2008) | 5 lines
This commit is contained in:
Douglas Clowes
2008-04-24 12:08:03 +10:00
parent 9cd5f72c1a
commit 355cd532cf
1 changed files with 154 additions and 39 deletions
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193
site_ansto/motor_dmc2280.c
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@@ -157,6 +157,11 @@ struct __MoDriv {
double lastPosition; /**< Position at last position check */
int lastSteps;
int lastCounts;
double origPosition; /**< Position at last position check */
int origSteps;
int origCounts;
double minRatio;
double maxRatio;
int thread0; /**< last read of _XQ0 */
unsigned short int stopCode; /**< last read of _SCx */
unsigned short int inputByte; /**< last read of _TIx */
@@ -208,7 +213,7 @@ struct __MoDriv {
int DMC2280MotionControl = 1; /* defaults to enabled */
#define AIR_POLL_TIMER 1000
#define MOTOR_POLL_FAST 200
#define MOTOR_POLL_FAST 100
#define MOTOR_POLL_SLOW 5000
#define ON_SETTLE_TIMER 200
#define MAX_CREEP_STEPS 100
@@ -218,7 +223,7 @@ int DMC2280MotionControl = 1; /* defaults to enabled */
#define BADADR -1 // NOT SET: Unknown host/port?
#define BADBSY -2
#define BADCMD -3
#define BADPAR -4 // NOT SET: Does SICS already check parameter types?
#define BADPAR -4 // Does SICS already check parameter types?
#define BADUNKNOWN -5
#define BADSTP -6 // NOT SET
#define BADEMERG -7 // NOT SET: ESTOP
@@ -1100,15 +1105,10 @@ static int RunHomeRoutine(pDMC2280Driv self, float newValue) {
* - 0 MOTOR BAD, position is not within hard and soft limits
*/
static int checkPosition(pDMC2280Driv self) {
int iRet = 1;
float fTarget;
float fPrecision;
bool moving_forward = false;
float fLower = self->fLower;
float fUpper = self->fUpper;
MotorGetPar(self->pMot, "softlowerlim", &fLower);
MotorGetPar(self->pMot, "softupperlim", &fUpper);
MotorGetPar(self->pMot, "precision", &fPrecision);
if (self->preseek)
@@ -1121,18 +1121,18 @@ static int checkPosition(pDMC2280Driv self) {
moving_forward = false;
if (moving_forward) {
if ((self->currPosition > self->fUpper + fPrecision)
|| (self->currPosition > fUpper + fPrecision)
|| (self->currPosition > fTarget + fPrecision))
iRet = 0;
if (self->currPosition > self->fUpper + fPrecision)
return 0;
if (self->currPosition > fTarget + fPrecision)
return 0;
}
else {
if ((self->currPosition < self->fLower - fPrecision)
|| (self->currPosition < fLower - fPrecision)
|| (self->currPosition < fTarget - fPrecision))
iRet = 0;
if (self->currPosition < self->fLower - fPrecision)
return 0;
if (self->currPosition < fTarget - fPrecision)
return 0;
}
return iRet;
return 1;
}
/** \brief Check if the axis has moved significantly since
@@ -1151,6 +1151,7 @@ static int checkMotion(pDMC2280Driv self) {
double ratio_obs, ratio_exp, ratio_cmp;
long int usec_TimeDiff;
struct timeval now;
bool bNotYet = false; /* set true if too soon */
assert(self != NULL);
/* we can only test if there is an absolute encoder */
@@ -1159,21 +1160,40 @@ static int checkMotion(pDMC2280Driv self) {
if (self->time_lastPos_set.tv_sec == 0) {
/* first time - initialise the data */
set_lastMotion(self, self->currSteps, self->currCounts);
return 1;
bNotYet = true;
}
/*
* calculate the time since the last check
*/
gettimeofday(&now, NULL);
usec_TimeDiff = now.tv_sec - self->time_lastPos_set.tv_sec;
usec_TimeDiff *= 1000000;
usec_TimeDiff += now.tv_usec;
usec_TimeDiff -= self->time_lastPos_set.tv_usec;
/*
* If too soon, say not yet
*/
if (usec_TimeDiff < (long int)(1e6*self->blockage_ckInterval))
return 1;
/* If not stepping, then not blocked */
bNotYet = true;
/*
* calculate the distance since the last check
* If too short, say not yet
*/
#if 0
if (fabs(self->currSteps - self->lastSteps) < fabs(self->blockage_thresh * self->stepsPerX)) {
/* just update the timestamp */
set_lastMotion(self, self->lastSteps, self->lastCounts);
return 1;
bNotYet = true;
}
#else
/* TODO: make relative to lastPosition */
if (fabs(self->currSteps - self->lastSteps) < fabs(self->blockage_thresh * self->stepsPerX)) {
/* just update the timestamp */
set_lastMotion(self, self->lastSteps, self->lastCounts);
bNotYet = true;
}
#endif
/* calculate observed and expected steps per count ratios */
if (self->currCounts == self->lastCounts) /* prevent divide by zero */
ratio_obs = (self->currSteps - self->lastSteps);
@@ -1183,26 +1203,34 @@ static int checkMotion(pDMC2280Driv self) {
}
ratio_exp = (double) self->stepsPerX / (double) self->cntsPerX;
ratio_cmp = ratio_obs / ratio_exp;
if (self->minRatio == 0.0 || self->minRatio > ratio_cmp)
self->minRatio = ratio_cmp;
if (self->maxRatio == 0.0 || self->maxRatio < ratio_cmp)
self->maxRatio = ratio_cmp;
/* wrong signs, less than half, or more than double is trouble */
if (ratio_cmp < 0.0 ||
ratio_cmp > self->blockage_ratio ||
(1.0 / ratio_cmp) > self->blockage_ratio) {
char msg[132];
double cmp = ratio_cmp;
if (fabs(cmp) > 0 && fabs(cmp) < 1)
if (fabs(cmp) > -1.0 && fabs(cmp) < 1.0)
cmp = 1.0 / cmp;
snprintf(msg, sizeof(msg), "Motor %s fail: obs=%f, exp=%f, cmp=%f",
self->name, ratio_obs, ratio_exp, cmp);
SICSLogWrite(msg, eError);
snprintf(msg, sizeof(msg), "steps=%d-%d, counts=%d-%d, exp=%f/%f",
self->currSteps, self->lastSteps,
self->currCounts, self->lastCounts,
self->stepsPerX, self->cntsPerX);
SICSLogWrite(msg, eError);
if (self->blockage_fail)
iRet = 0;
else
set_lastMotion(self, self->currSteps, self->currCounts);
if (self->debug || bNotYet == false) {
snprintf(msg, sizeof(msg), "Motor %s fail: obs=%f, exp=%f, cmp=%f",
self->name, ratio_obs, ratio_exp, cmp);
SICSLogWrite(msg, eError);
snprintf(msg, sizeof(msg), "steps=%d-%d, counts=%d-%d, exp=%f/%f",
self->currSteps, self->lastSteps,
self->currCounts, self->lastCounts,
self->stepsPerX, self->cntsPerX);
SICSLogWrite(msg, eError);
}
if (bNotYet == false) {
if (self->blockage_fail)
iRet = 0;
else
set_lastMotion(self, self->currSteps, self->currCounts);
}
} else {
if (self->debug) {
char msg[132];
@@ -1212,8 +1240,15 @@ static int checkMotion(pDMC2280Driv self) {
snprintf(msg, sizeof(msg), "Motor %s pass: obs=%f, exp=%f, cmp=%f",
self->name, ratio_obs, ratio_exp, cmp);
SICSLogWrite(msg, eError);
snprintf(msg, sizeof(msg), "steps=%d-%d, counts=%d-%d, exp=%f/%f",
self->currSteps, self->lastSteps,
self->currCounts, self->lastCounts,
self->stepsPerX, self->cntsPerX);
SICSLogWrite(msg, eError);
}
if (bNotYet == false) {
set_lastMotion(self, self->currSteps, self->currCounts);
}
set_lastMotion(self, self->currSteps, self->currCounts);
}
return iRet;
}
@@ -2088,6 +2123,12 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
absolute = motCreep(self, target);
cmdPosition(self, absolute);
self->subState = 2;
/* save pre-motion values for logging */
self->origPosition = self->currPosition;
self->origCounts = self->currCounts;
self->origSteps = self->currSteps;
self->minRatio = 0.0;
self->maxRatio = 0.0;
return;
}
else if (self->subState == 2) { /* PA */
@@ -2152,7 +2193,14 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
do {
pAsyncTxn pCmd = event->event.msg.cmd;
if (self->subState == 1) { /* BG */
/* TODO: Check if BG worked (reply != '?') */
/* Check if BG worked (reply != '?') */
if (pCmd->inp_buf[0] == '?') {
/* TODO: what happens when BGx fails? */
self->errorCode = BADCMD;
self->driver_status = HWFault;
change_state(self, DMCState_MotorHalt);
return;
}
self->subState = 2;
DMC_SetTimer(self, MOTOR_POLL_FAST);
return;
@@ -2385,6 +2433,25 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
DMC_SetTimer(self, self->settle);
return;
}
/* We get here when the motor stops normally
*/
if (true /*self->debug*/) {
double units = self->currPosition - self->origPosition;
long int steps = self->currSteps - self->origSteps;
long int counts = self->currCounts - self->origCounts;
char line[CMDLEN];
snprintf(line, CMDLEN, "Motor=%s stopped: units=%.6f,"
" steps=%ld, counts=%ld, stepsPerX=%.6f,"
" minRatio=%.6f, maxRatio=%.6f",
self->name,
units,
steps,
counts,
(double) steps / units,
self->minRatio,
self->maxRatio);
SICSLogWrite(line, eStatus);
}
change_state(self, DMCState_OffTimer);
return;
}
@@ -2703,10 +2770,26 @@ static int DMC2280Run(void *pData,float fValue){
self->time_lastPos_set.tv_sec = 0;
} while (0);
self->fTarget = fValue;
/* Reject Infinity and Not a Number (NaN) */
switch (fpclassify(fValue)) {
case FP_ZERO:
case FP_NORMAL:
break;
default:
self->errorCode = BADPAR;
return HWFault;
}
state_cmd_execute(self, CMD_RUN);
return 1;
/* Only do it if it is within our hard limits */
if (fValue >= self->fLower && fValue <= self->fUpper) {
self->fTarget = fValue;
state_cmd_execute(self, CMD_RUN);
return 1;
}
/* If we didn't do it then it must have been bad */
self->errorCode = BADPAR;
return HWFault;
}
/** \brief Returns the motor status while it's moving,
@@ -2796,7 +2879,7 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
strncpy(error, "Axis error exceeds error limit", (size_t)errLen);
break;
case IMPOSSIBLE_LIM_SW:
strncpy(error, "Both limit switches seem active, maybe the polarity is set 'active low'. You should configure the controller with CN 1,-1,-1,0", (size_t)errLen);
strncpy(error, "Both limit switches seem active, are they plugged in?", (size_t)errLen);
break;
case BLOCKED:
strncpy(error, "STOPPING MOTOR, MOTION SEEMS TO BE BLOCKED", (size_t)errLen);
@@ -4048,6 +4131,38 @@ int DMC2280Action(SConnection *pCon, SicsInterp *pSics, void *pData,
}
return 1;
}
else if (self->debug && strcasecmp("hardlowerlim", argv[1]) == 0) {
/* Managers only */
if (!SCMatchRights(pCon, usMugger))
return 0;
float fValue = strtod(argv[2], NULL);
self->fLower = fValue;
return 1;
}
else if (self->debug && strcasecmp("hardupperlim", argv[1]) == 0) {
/* Managers only */
if (!SCMatchRights(pCon, usMugger))
return 0;
float fValue = strtod(argv[2], NULL);
self->fUpper = fValue;
return 1;
}
else if (self->debug && strcasecmp("stepsPerX", argv[1]) == 0) {
/* Managers only */
if (!SCMatchRights(pCon, usMugger))
return 0;
float fValue = strtod(argv[2], NULL);
self->stepsPerX = fValue;
return 1;
}
else if (self->debug && strcasecmp("cntsPerX", argv[1]) == 0) {
/* Managers only */
if (!SCMatchRights(pCon, usMugger))
return 0;
float fValue = strtod(argv[2], NULL);
self->cntsPerX = fValue;
return 1;
}
if (self->posit_count > 0) {
if(strcasecmp("posit2count", argv[1]) == 0) {
char line[132];