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Merge branch 'status' into dev

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This commit is contained in:
Daniel Sissom
2024-06-25 15:21:46 -05:00
parent 200b68857d e9ca810318
commit c8dbd0916d
1 changed files with 32 additions and 2 deletions
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34
dsmApp/src/MD90Driver.cpp
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@@ -342,7 +342,9 @@ asynStatus MD90Axis::poll(bool *moving)
int driveOn; int driveOn;
int homed; int homed;
double position; double position;
double velocity;
asynStatus comStatus; asynStatus comStatus;
static const char *functionName = "MD90Axis::poll";
// TODO: Will need to add some more error handling for the motor return codes. // TODO: Will need to add some more error handling for the motor return codes.
@@ -377,41 +379,51 @@ asynStatus MD90Axis::poll(bool *moving)
*moving = done ? false:true; *moving = done ? false:true;
switch(replyValue) { switch(replyValue) {
case 0: // Idle case 0: // Idle
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Idle\n", functionName);
break; break;
case 1: // Open loop move complete case 1: // Open loop move complete
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Open loop move complete\n", functionName);
break; break;
case 2: // Move in progress case 2: // Move in progress
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Move in progress\n", functionName);
break; break;
case 3: // Move stopped case 3: // Move stopped
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Move stopped\n", functionName);
break; break;
case 4: // Homing error case 4: // Homing error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Homing error\n", functionName);
break; break;
case 5: // Stance error case 5: // Stance error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Stance error (Error resetting pose during closed loop move)\n", functionName);
break; break;
case 6: // Stance complete case 6: // Stance complete
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Stance complete (Finished resetting pose, starting extension move)\n", functionName);
break; break;
case 7: // Open loop move error case 7: // Open loop move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Open loop move error\n", functionName);
break; break;
case 8: // Closed loop move error case 8: // Closed loop move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Closed loop move error\n", functionName);
break; break;
case 9: // Closed loop move complete case 9: // Closed loop move complete
asynPrint(pasynUser_, ASYN_TRACE_FLOW, "%s: Closed loop move complete\n", functionName);
break; break;
case 10: // End of travel error case 10: // End of travel error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
/* asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: End of travel error\n", functionName);
if (position > 0) { if (position > 0) {
setIntegerParam(pC_->motorStatusHighLimit_, 1); setIntegerParam(pC_->motorStatusHighLimit_, 1);
} else { } else {
setIntegerParam(pC_->motorStatusLowLimit_, 1); setIntegerParam(pC_->motorStatusLowLimit_, 1);
} }
*/
break; break;
case 11: // Ramp move error case 11: // Ramp move error
setIntegerParam(pC_->motorStatusProblem_, 1); setIntegerParam(pC_->motorStatusProblem_, 1);
asynPrint(pasynUser_, ASYN_TRACE_ERROR, "%s: Ramp move error\n", functionName);
break; break;
default: default:
break; break;
@@ -424,9 +436,19 @@ asynStatus MD90Axis::poll(bool *moving)
// The response string is of the form "0: Current position in encoder counts: 1000" // The response string is of the form "0: Current position in encoder counts: 1000"
sscanf(pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position); sscanf(pC_->inString_, "%d: %[^:]: %lf", &replyStatus, replyString, &position);
setDoubleParam(pC_->motorPosition_, position); setDoubleParam(pC_->motorPosition_, position);
setDoubleParam(pC_->motorEncoderPosition_, position);
setIntegerParam(pC_->motorStatusAtHome_, (position == 0) ? 1:0); // home limit switch setIntegerParam(pC_->motorStatusAtHome_, (position == 0) ? 1:0); // home limit switch
setIntegerParam(pC_->motorStatusHome_, (position == 0) ? 1:0); // at home position setIntegerParam(pC_->motorStatusHome_, (position == 0) ? 1:0); // at home position
// Read the current motor step frequency to calculate approx. set velocity in (encoder step lengths / s)
sprintf(pC_->outString_, "GSF");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "0: Current step frequency: 100"
sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
velocity = replyValue * 500.0;
setDoubleParam(pC_->motorVelocity_, velocity);
// Read the current motor integral gain (range 1-1000) // Read the current motor integral gain (range 1-1000)
sprintf(pC_->outString_, "GGN"); sprintf(pC_->outString_, "GGN");
comStatus = pC_->writeReadController(); comStatus = pC_->writeReadController();
@@ -435,6 +457,14 @@ asynStatus MD90Axis::poll(bool *moving)
sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue); sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setDoubleParam(pC_->motorIGain_, replyValue); setDoubleParam(pC_->motorIGain_, replyValue);
// Read the current motor persistent move state (using EPICS motorClosedLoop to report this)
sprintf(pC_->outString_, "GPM");
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "0: Current persistent move state: 1"
sscanf(pC_->inString_, "%d: %[^:]: %d", &replyStatus, replyString, &replyValue);
setIntegerParam(pC_->motorClosedLoop_, (replyValue == 0) ? 0:1);
// set some default params // set some default params
setIntegerParam(pC_->motorStatusHasEncoder_, 1); setIntegerParam(pC_->motorStatusHasEncoder_, 1);
setIntegerParam(pC_->motorStatusGainSupport_, 1); setIntegerParam(pC_->motorStatusGainSupport_, 1);