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131 Commits

Author SHA1 Message Date
Douglas Clowes
4820912bdc Legacy_fsm cut/paste typo 2014-05-06 17:20:43 +10:00
Douglas Clowes
988cb87371 Fix typo 2014-03-21 11:49:27 +11:00
Douglas Clowes
acf9d75941 Change display of values for posit_count, motorhome, and legacy_fsm 
For hdb and writeTree issues
 2014-03-19 16:59:33 +11:00
Douglas Clowes
ef236ecb1b Refinements to motion reporting for motors 2014-03-13 16:00:24 +11:00
Douglas Clowes
0536c16843 Add motion reporting for driver run and ascillate commands 2014-03-13 12:15:58 +11:00
Douglas Clowes
5eec1a9cd5 Impliment motor "oscillate" and "status" commands and prefix "driver run" 2014-03-11 17:17:57 +11:00
Douglas Clowes
0a012cabc3 Fix possible buffer overruns 2014-03-03 17:04:31 +11:00
Ferdi Franceschini
f6ae3c62f7 SICS-719: Acknowledge errors when in protocol 2 or 3 2014-01-31 09:15:06 +11:00
Douglas Clowes
4069e71748 Add motor tracking on/off/clear/stats/save commands 2013-08-07 12:22:12 +10:00
Douglas Clowes
0ffc87e3d7 Allow motor poll rates to be adjusted without an absolute encoder 2013-08-06 11:39:40 +10:00
Douglas Clowes
59e5539d5e Make the old motor FSM into a Legacy_FSM and default to the new FSM 2013-08-02 10:47:48 +10:00
Douglas Clowes
88f788e9cc Add motor creep_factor and creep_substep and remove obsolete code 2013-08-02 09:59:50 +10:00
Douglas Clowes
ea0a9759e1 Add run, halt, error action commands 2013-08-02 09:55:59 +10:00
Douglas Clowes
2a7d0a0699 Add stepCount and moveTime to motor data 2013-08-02 09:55:59 +10:00
Douglas Clowes
627b840c38 Add min and max position on a motor move and output 2013-08-02 09:55:58 +10:00
Douglas Clowes
23f53b8a4c Break down the motor states further to make them even simpler 2013-08-02 09:55:58 +10:00
Douglas Clowes
4d933a6399 Make motor creep "single-step" one tenth steps-per-count 2013-08-02 09:55:58 +10:00
Douglas Clowes
e9a884fa30 Add some motor statistics and regression to calculate steps per unit 2013-08-02 09:55:58 +10:00
Douglas Clowes
1d18fbf646 Rework the motor end-of-motion tests when creeping 2013-08-02 09:55:57 +10:00
Douglas Clowes
1a64c0a4a9 Separate motor states for move, backlash and creep 2013-08-02 09:55:57 +10:00
Douglas Clowes
6c220b4b55 Move the motor status handling out of line to reduce clutter and promote reuse 2013-08-02 09:55:57 +10:00
Douglas Clowes
6e5c0730e3 Improve debug printing 2013-08-02 09:55:56 +10:00
Douglas Clowes
6187cb3d15 Remove some obsolete and inactive code 2013-08-02 09:55:56 +10:00
Douglas Clowes
746f43ccb8 Change some variable names for the sake of consistency 2013-08-02 09:55:56 +10:00
Douglas Clowes
eeb74517a8 Add some braces, add and improve comments to make code clearer, no functional changes 2013-08-02 09:55:56 +10:00
Douglas Clowes
ca779ddc36 revert the one-shot change 2013-08-02 09:55:55 +10:00
Douglas Clowes
7c0dfe437a SICS-632 Allocate a copy of the connection, for motor tracing, and free it at the end. 2013-07-08 15:53:59 +10:00
Douglas Clowes
a44cd3464d Add a disconnected state to the motor state machine, rename Unknown to Init 2013-07-08 15:53:54 +10:00
Douglas Clowes
4bc06cea76 SICS-501 Special one-shot move after changing direction for backlash 2013-07-08 15:53:46 +10:00
Douglas Clowes
b76cee0525 Add sending the motor name in config information to the fake motor 2013-07-01 13:38:22 +10:00
Ferdi Franceschini
357170a735 SICS-616 Removed obsolete setpos command from motor driver. 2013-05-31 09:55:10 +10:00
Douglas Clowes
7e0e068ee2 differentiate forward/reverse limit switches in 'crashed' log message 2013-05-31 09:35:52 +10:00
Ferdi Franceschini
0954c3bceb Fixed compile error, ‘struct __MoDriv’ has no m ember named ‘errMsg’ 2013-05-31 08:06:38 +10:00
Douglas Clowes
4a363d0e95 SICS-614 reallocate errMsg buffer each time it's used 2013-05-28 16:22:44 +10:00
Douglas Clowes
ba128520da Add motor runtime to motor stopped log message 2013-02-15 09:49:39 +11:00
Douglas Clowes
eb1d042440 set driver_status to HWIdle on HALT in motor Idle state 2013-02-06 10:27:00 +11:00
Douglas Clowes
fd064f3df9 revise logging and state trace 
r3790 | dcl | 2012-11-13 13:38:25 +1100 (Tue, 13 Nov 2012) | 1 line
 2012-11-15 17:41:39 +11:00
Douglas Clowes
a9fc20abee make poll rates configurable by adding motorPollSlow, motorPollFast and airPollTimer parameters 
r3682 | dcl | 2012-07-26 15:48:38 +1000 (Thu, 26 Jul 2012) | 1 line
 2012-11-15 17:35:00 +11:00
Douglas Clowes
5118d7b23e Add TCP address:port to displayed parameters for use in simulation 
r3655 | dcl | 2012-07-19 14:57:03 +1000 (Thu, 19 Jul 2012) | 1 line
 2012-11-15 17:33:50 +11:00
Douglas Clowes
f5537d7c9e Provide a way to configure a simulated motor if it identifies itself as being simulated 
r3638 | dcl | 2012-07-11 15:11:41 +1000 (Wed, 11 Jul 2012) | 1 line
 2012-11-15 17:32:44 +11:00
Douglas Clowes
66caf6916b Don't change anything on startup, defer settings until moving and then do each time 
We don't want to change anything on the controller when we start SICS so we don't interfere with whatever else is talking to it. So don't command it during init.

We also want to send Speed, Accel and Decel on each move so we defer those until then.
r3622 | dcl | 2012-06-28 15:39:47 +1000 (Thu, 28 Jun 2012) | 5 lines
 2012-11-15 17:31:44 +11:00
Douglas Clowes
2c4f45b573 Try to defer HWIdle notification until the motor is really idle 
r3620 | dcl | 2012-06-27 15:11:04 +1000 (Wed, 27 Jun 2012) | 1 line
 2012-11-15 17:31:39 +11:00
Douglas Clowes
eeac77f9ce Refactor the timer clearing; force timer clear on set; improve the tracing of timer operations. 
r3616 | dcl | 2012-06-26 14:36:32 +1000 (Tue, 26 Jun 2012) | 1 line
 2012-11-15 17:31:30 +11:00
Douglas Clowes
b10b1608b2 Creep last encoder count by steps-per-count/10 instead of one, for motors with large steps-per-count 
r3544 | dcl | 2012-05-17 11:02:53 +1000 (Thu, 17 May 2012) | 1 line
 2012-11-15 17:28:06 +11:00
Douglas Clowes
f22a6da843 Make the delay after turning the motor ON configurable to allow for motors with slow switch on (e.g. airpads) and default it to the old hard-coded value (200mSec). 
r3331 | dcl | 2012-01-05 12:28:20 +1100 (Thu, 05 Jan 2012) | 1 line
 2012-11-15 17:22:06 +11:00
Ferdi Franceschini
b58a6fdaf1 Tweak the resolver wrap around bias code to let us simply set a mask to 
bias off the high bits on multiturn encoders because these bits can
increment if you unplug a resolver.

r3307 | ffr | 2011-12-02 12:49:54 +1100 (Fri, 02 Dec 2011) | 4 lines
 2012-11-15 17:20:19 +11:00
Ferdi Franceschini
4707f319b9 Remove obsolete code 
r3306 | ffr | 2011-12-02 12:47:19 +1100 (Fri, 02 Dec 2011) | 2 lines
 2012-11-15 17:20:14 +11:00
Ferdi Franceschini
d778dd2bfe sicshipacaba.c 
SICS-418 Make sure hnotify sends messages as hdbevents when using the
JSON protocl

site_ansto/instrument/config/hmm/hmm_object.tcl
Initialise the hmm object to make sure the read type is set.

nxscripts_common_1.tcl
Set the read type when saving the hmm data.

server_config.tcl
Fix the autosave command so that you can enable/disable autosave while
the histogram memory is running.

protocol.c
Reduce noise in log files when using the JSON protocol.  Don't log
messages generated during macro execution (ie within a TCL proc).

motor.c:MotorStatus
Abort the current operation, the scan command and batch files when a
motor object returns a hardware fault status value.

motor_dmc2280.c
set driver status to HWFault when the driver is in the error state.

r3251 | ffr | 2011-09-23 08:49:00 +1000 (Fri, 23 Sep 2011) | 25 lines
 2012-11-15 17:16:12 +11:00
Ferdi Franceschini
8514dace59 motor_dmc2280.c 
When a motor stops and power saving is enabled (ie motor left on) the driver should check for faults and then transition to the idle state.
r3134 | ffr | 2011-05-19 08:37:16 +1000 (Thu, 19 May 2011) | 2 lines
 2012-11-15 17:12:44 +11:00
Ferdi Franceschini
3abd3effa2 Set detector y lower limit for Quokka 
Improve precision of motor position calculation.

r2844 | ffr | 2009-12-11 12:39:12 +1100 (Fri, 11 Dec 2009) | 3 lines
 2012-11-15 16:58:22 +11:00