linse/sics
0
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

make poll rates configurable by adding motorPollSlow, motorPollFast and airPollTimer parameters

Browse Source 
r3682 | dcl | 2012-07-26 15:48:38 +1000 (Thu, 26 Jul 2012) | 1 line
This commit is contained in:
Douglas Clowes
2012-07-26 15:48:38 +10:00
parent 6f836ae4cf
commit a9fc20abee
1 changed files with 66 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files

77
site_ansto/motor_dmc2280.c
View File

@@ -168,6 +168,9 @@ struct __MoDriv {
double cntsPerX; /**< absolute encoder counts per physical unit */ double cntsPerX; /**< absolute encoder counts per physical unit */
int motOnDelay; /**< msec to wait after switching motor on */ int motOnDelay; /**< msec to wait after switching motor on */
int motOffDelay; /**< msec to wait before switching motor off */ int motOffDelay; /**< msec to wait before switching motor off */
int motorPollFast; /**< msec between polls when busy */
int motorPollSlow; /**< msec between polls when idle */
int airPollTimer; /**< msec between polls when waiting for airpads */
int currFlags; int currFlags;
int currSteps; int currSteps;
int currCounts; int currCounts;
@@ -231,7 +234,7 @@ struct __MoDriv {
int DMC2280MotionControl = 1; /* defaults to enabled */ int DMC2280MotionControl = 1; /* defaults to enabled */
static bool trace_switches = false; static bool trace_switches = false;
#define AIR_POLL_TIMER 1000 #define AIR_POLL_TIMER 250
#define MOTOR_POLL_FAST 100 #define MOTOR_POLL_FAST 100
#define MOTOR_POLL_SLOW 500 #define MOTOR_POLL_SLOW 500
#define DEFAULT_DELAY_MOTOR_ON 200 /* msec to wait after switching motor on */ #define DEFAULT_DELAY_MOTOR_ON 200 /* msec to wait after switching motor on */
@@ -1801,7 +1804,7 @@ static void DMCState_Unknown(pDMC2280Driv self, pEvtEvent event) {
change_state(self, DMCState_Idle); change_state(self, DMCState_Idle);
return; return;
} }
DMC_SetTimer(self, MOTOR_POLL_SLOW); DMC_SetTimer(self, self->motorPollSlow);
return; return;
case eMessageEvent: case eMessageEvent:
do { do {
@@ -1898,9 +1901,9 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
report_motion(self); report_motion(self);
} }
if (trace_switches || self->debug) if (trace_switches || self->debug)
DMC_SetTimer(self, MOTOR_POLL_FAST); DMC_SetTimer(self, self->motorPollFast);
else else
DMC_SetTimer(self, MOTOR_POLL_SLOW); DMC_SetTimer(self, self->motorPollSlow);
self->subState = 0; self->subState = 0;
return; return;
} }
@@ -1929,7 +1932,7 @@ static void DMCState_Idle(pDMC2280Driv self, pEvtEvent event) {
strncpy(self->lastCmd, event->event.msg.cmd->out_buf, CMDLEN); strncpy(self->lastCmd, event->event.msg.cmd->out_buf, CMDLEN);
self->errorCode = MOTCMDTMO; self->errorCode = MOTCMDTMO;
self->driver_status = HWFault; self->driver_status = HWFault;
DMC_SetTimer(self, MOTOR_POLL_SLOW); DMC_SetTimer(self, self->motorPollSlow);
self->subState = 0; self->subState = 0;
return; return;
} }
@@ -2013,7 +2016,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
return; return;
} }
else { else {
DMC_SetTimer(self, AIR_POLL_TIMER); DMC_SetTimer(self, self->airPollTimer);
self->subState = 0; self->subState = 0;
return; return;
} }
@@ -2033,7 +2036,7 @@ static void DMCState_MotorStart(pDMC2280Driv self, pEvtEvent event) {
return; return;
} }
/* TODO handle airpad timeout */ /* TODO handle airpad timeout */
DMC_SetTimer(self, AIR_POLL_TIMER); DMC_SetTimer(self, self->airPollTimer);
self->subState = 0; self->subState = 0;
return; return;
} }
@@ -2257,7 +2260,7 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
return; return;
} }
self->subState = 2; self->subState = 2;
DMC_SetTimer(self, MOTOR_POLL_FAST); DMC_SetTimer(self, self->motorPollFast);
return; return;
} }
else if (self->subState == 3) { /* PA */ else if (self->subState == 3) { /* PA */
@@ -2364,7 +2367,7 @@ static void DMCState_Moving(pDMC2280Driv self, pEvtEvent event) {
} }
} }
self->subState = 2; self->subState = 2;
DMC_SetTimer(self, MOTOR_POLL_FAST); DMC_SetTimer(self, self->motorPollFast);
return; return;
} }
/* Motor has stopped */ /* Motor has stopped */
@@ -2566,7 +2569,7 @@ static void DMCState_MotorHalt(pDMC2280Driv self, pEvtEvent event) {
if (iRet == 0) if (iRet == 0)
break; break;
if (self->moving) { if (self->moving) {
DMC_SetTimer(self, MOTOR_POLL_FAST); DMC_SetTimer(self, self->motorPollFast);
return; return;
} }
if (self->faultPending) { if (self->faultPending) {
@@ -2721,7 +2724,7 @@ static void DMCState_MotorStop(pDMC2280Driv self, pEvtEvent event) {
} }
/* TODO handle airpad timeout */ /* TODO handle airpad timeout */
} }
DMC_SetTimer(self, AIR_POLL_TIMER); DMC_SetTimer(self, self->airPollTimer);
} while (0); } while (0);
return; return;
case eCommandEvent: case eCommandEvent:
@@ -3158,6 +3161,18 @@ static int DMC2280GetPar(void *pData, char *name,
*fValue = self->bias_bits; *fValue = self->bias_bits;
return 1; return 1;
} }
if(strcasecmp(name,"motorPollFast") == 0) {
*fValue = self->motorPollFast;
return 1;
}
if(strcasecmp(name,"motorPollSlow") == 0) {
*fValue = self->motorPollSlow;
return 1;
}
if(strcasecmp(name,"airPollTimer") == 0) {
*fValue = self->airPollTimer;
return 1;
}
if (self->posit_count > 0) { if (self->posit_count > 0) {
if (strncasecmp(name, "posit_", 6) == 0 && isdigit(name[6])) { if (strncasecmp(name, "posit_", 6) == 0 && isdigit(name[6])) {
int index; int index;
@@ -3518,6 +3533,27 @@ static int DMC2280SetPar(void *pData, SConnection *pCon,
self->bias_bits = newValue; self->bias_bits = newValue;
return 1; return 1;
} }
if (self->abs_encoder && strcasecmp("motorPollFast", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
return 0;
self->motorPollFast = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("motorPollSlow", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
return 0;
self->motorPollSlow = newValue;
return 1;
}
if (self->abs_encoder && strcasecmp("airPollTimer", name) == 0) {
/* Debug Managers only */
if (!(self->debug && SCMatchRights(pCon, usMugger)))
return 0;
self->airPollTimer = newValue;
return 1;
}
/* XXX Maybe move this to a configuration parameter.*/ /* XXX Maybe move this to a configuration parameter.*/
/* Set home, managers only. Users should set softposition */ /* Set home, managers only. Users should set softposition */
if(strcasecmp(name, HOME) == 0) { if(strcasecmp(name, HOME) == 0) {
@@ -3612,6 +3648,12 @@ static void DMC2280List(void *pData, char *name, SConnection *pCon){
SCWrite(pCon, buffer, eStatus); SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.motOffDelay = %d\n", name, self->motOffDelay); snprintf(buffer, BUFFLEN, "%s.motOffDelay = %d\n", name, self->motOffDelay);
SCWrite(pCon, buffer, eStatus); SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.motorPollFast = %d\n", name, self->motorPollFast);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.motorPollSlow = %d\n", name, self->motorPollSlow);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.airPollTimer = %d\n", name, self->airPollTimer);
SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Debug = %d\n", name, self->debug); snprintf(buffer, BUFFLEN, "%s.Debug = %d\n", name, self->debug);
SCWrite(pCon, buffer, eStatus); SCWrite(pCon, buffer, eStatus);
snprintf(buffer, BUFFLEN, "%s.Settle = %d\n", name, self->settle); snprintf(buffer, BUFFLEN, "%s.Settle = %d\n", name, self->settle);
@@ -3932,6 +3974,19 @@ MotorDriver *CreateDMC2280(SConnection *pCon, char *motor, char *params) {
else else
sscanf(pPtr,"%d",&(pNew->motOffDelay)); sscanf(pPtr,"%d",&(pNew->motOffDelay));
if ((pPtr=getParam(pCon, interp, params,"motorPollFast",_OPTIONAL)) == NULL)
pNew->motorPollFast=MOTOR_POLL_FAST;
else
sscanf(pPtr,"%d",&(pNew->motOffDelay));
if ((pPtr=getParam(pCon, interp, params,"motorPollSlow",_OPTIONAL)) == NULL)
pNew->motorPollSlow=MOTOR_POLL_SLOW;
else
sscanf(pPtr,"%d",&(pNew->motOffDelay));
if ((pPtr=getParam(pCon, interp, params,"airPollTimer",_OPTIONAL)) == NULL)
pNew->airPollTimer=AIR_POLL_TIMER;
else
sscanf(pPtr,"%d",&(pNew->motOffDelay));
/* SETTLE: this motor need time to settle */ /* SETTLE: this motor need time to settle */
if ((pPtr=getParam(pCon, interp, params,"settle",_OPTIONAL)) == NULL) if ((pPtr=getParam(pCon, interp, params,"settle",_OPTIONAL)) == NULL)
pNew->settle=0; pNew->settle=0;