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Fix a couple of typos, reimplement thread zero checks and amplifier error checks. (Disable amplifier error checks pending controllers returning good status for all OK motors.)

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r2187 | dcl | 2007-10-22 13:26:54 +1000 (Mon, 22 Oct 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-10-22 13:26:54 +10:00
parent 6c357b6fdc
commit 9c307402cc
1 changed files with 50 additions and 5 deletions
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55
site_ansto/motor_dmc2280.c
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@@ -220,6 +220,7 @@ int DMC2280MotionControl = 1; /* defaults to enabled */
#define MOTCMDTMO -19 /* Motor Command Timeout */
#define STATEERROR -20
#define THREADZERO -21 /* Thread zero not running */
//#define AMPERROR -22 /* Amplifier OK not asserted */
/*--------------------------------------------------------------------*/
#define STATUSMOVING 128 /* Motor is moving */
#define STATUSERRORLIMIT 64 /* Number of errors exceed limit */
@@ -1178,7 +1179,7 @@ static bool has_var_x(pDMC2280Driv self, const char* vars, const char* name) {
return false; /* found partial (ZVVVx=) only */
}
/* State Callbacks */
/* State Machine Events */
static int state_msg_callback(pAsyncTxn pCmd);
static int state_tmr_callback(void* ctx, int mode);
@@ -1193,7 +1194,7 @@ static int cmdStatus(pDMC2280Driv self) {
char cmd[CMDLEN];
if (self->has_airpads == 3)
snprintf(cmd, CMDLEN, "MG {F10.0} _TD%c,_TP%c,_TS%c,_RUN%c,_TI0,_TI1,_XQ0",
snprintf(cmd, CMDLEN, "MG {F10.0} _TD%c,_TP%c,_TS%c,RUN%c,_TI0,_TI1,_XQ0",
self->axisLabel, self->axisLabel, self->axisLabel, self->axisLabel);
else
snprintf(cmd, CMDLEN, "MG {F10.0} _TD%c,_TP%c,_TS%c,_BG%c,_TI0,_TI1,_XQ0",
@@ -1292,7 +1293,7 @@ static int rspStatus(pDMC2280Driv self, const char* text) {
self->thread0 = iXQ0;
self->input0 = iTI0;
self->input1 = iTI1;
if (self->axisLabel >= 'A' && self->axisLabel >= 'D')
if (self->axisLabel >= 'A' && self->axisLabel <= 'D')
self->ampError = !(1 & (iTI0 >> (self->axisLabel - 'A')));
else
self->ampError = !(1 & (iTI1 >> (self->axisLabel - 'E')));
@@ -1664,6 +1665,16 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
self->errorCode = MOTIONCONTROLUNK;
self->driver_status = HWFault;
}
else if (self->threadError) {
self->errorCode = THREADZERO;
self->driver_status = HWFault;
}
#ifdef AMPERROR
else if (self->ampError) {
self->errorCode = AMPERROR;
self->driver_status = HWFault;
}
#endif
else {
int iFlags;
int fwd_limit_active, rvrs_limit_active, errorlimit;
@@ -1754,7 +1765,20 @@ static void DMCState_MotorOn(pDMC2280Driv self, pEvtEvent event) {
iRet = rspStatus(self, pCmd->inp_buf);
if (iRet == 0)
break;
/* TODO AMPERR */
if (self->threadError) {
self->errorCode = THREADZERO;
self->driver_status = HWFault;
change_state(self, DMCState_Error);
return;
}
#ifdef AMPERROR
else if (self->ampError) {
self->errorCode = AMPERROR;
self->driver_status = HWFault;
change_state(self, DMCState_Error);
return;
}
#endif
set_lastMotion(self, self->currSteps, self->currCounts);
/* compute position for PA command */
target = self->fTarget;
@@ -1854,7 +1878,20 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
iRet = rspStatus(self, pCmd->inp_buf);
if (iRet == 0)
break;
/* TODO AMPERR */
if (self->threadError) {
self->errorCode = THREADZERO;
self->driver_status = HWFault;
change_state(self, DMCState_Error);
return;
}
#ifdef AMPERROR
else if (self->ampError) {
self->errorCode = AMPERROR;
self->driver_status = HWFault;
change_state(self, DMCState_Error);
return;
}
#endif
iFlags = self->currFlags;
moving = (iFlags & STATUSMOVING);
if (moving) {
@@ -2427,6 +2464,11 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
case THREADZERO:
strncpy(error, "THREAD ZERO NOT RUNNING ON CONTROLLER", (size_t)errLen);
break;
#ifdef AMPERROR
case AMPERROR:
strncpy(error, "DRIVE AMPLIFIER ERROR", (size_t)errLen);
break;
#endif
default:
/* FIXME What's the default */
snprintf(error, (size_t)errLen, "Unknown Motor Error: %d", self->errorCode);
@@ -2461,6 +2503,9 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
case MOTIONCONTROLUNK:
case MOTCMDTMO:
case THREADZERO:
#ifdef AMPERROR
case AMPERROR:
#endif
return MOTFAIL;
case POSFAULT:
#if HAS_RS232