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Add support for DL Stage #1

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merged 4 commits into from
Jul 16, 2024
Merged

Add support for DL Stage #1

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989dc77
Add support for DL Stage
eddybl Jul 16, 2024
5511e3c
Fix formatting issues.
eddybl Jul 16, 2024
656e267
Revert comment change
eddybl Jul 16, 2024
867ca40
Fix wrong indentation
eddybl Jul 16, 2024
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70 changes: 55 additions & 15 deletions newportApp/src/AG_CONEX.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -177,6 +177,12 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
{
static const char *functionName = "AG_CONEXAxis::AG_CONEXAxis";

// avoid constructor warnings
KD_=0.;
KI_=0.;
LF_=0.;
KP_=0.;

// Figure out what model this is
if (strstr(pC->controllerVersion_, "CONEX-AGP")) {
conexModel_ = ModelConexAGP;
Expand All @@ -195,7 +201,10 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
}
else if (strstr(pC->controllerVersion_, "FC series")) {
conexModel_ = ModelFCL200;
}
}
else if (strstr(pC->controllerVersion_, "DL")) {
conexModel_ = ModelDL;
}
else {
asynPrint(pC->pasynUserSelf, ASYN_TRACE_ERROR,
"%s: unknown model, firmware string=%s\n",
Expand Down Expand Up @@ -240,6 +249,13 @@ AG_CONEXAxis::AG_CONEXAxis(AG_CONEXController *pC)
stepSize_ = encoderIncrement_ / interpolationFactor_;
} else if (conexModel_ == ModelFCL200) {
stepSize_ = 1; // Positions in mm on this stage
} else if (conexModel_ == ModelDL) {
// Model DL operates in mm and doubles, no conversion required
// but MotorRecord expects this value to be integer, to prevent
// decimals to be stripped off by MotorRecord, we multiply by 1e4
// and then set resolution to 1e-4
fullStepSize_ = microStepsPerFullStep_ =1.;
stepSize_ = 0.0001;
} else {
stepSize_ = fullStepSize_ / microStepsPerFullStep_ / 1000.;
}
Expand Down Expand Up @@ -268,7 +284,7 @@ void AG_CONEXAxis::report(FILE *fp, int level)
{
if (level > 0) {
// Read KOP, KI, LF (CC and AGP only)
if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC) || (conexModel_ == ModelDL)) {
sprintf(pC_->outString_, "%dKP?", pC_->controllerID_);
pC_->writeReadController();
KP_ = atof(&pC_->inString_[3]);
Expand All @@ -279,7 +295,7 @@ void AG_CONEXAxis::report(FILE *fp, int level)
sprintf(pC_->outString_, "%dLF?", pC_->controllerID_);
pC_->writeReadController();
LF_ = atof(&pC_->inString_[3]);
} else if (conexModel_ == ModelConexCC) {
} else if (conexModel_ == ModelConexCC || (conexModel_ == ModelDL)) {
sprintf(pC_->outString_, "%dKD?", pC_->controllerID_);
pC_->writeReadController();
KD_ = atof(&pC_->inString_[3]);
Expand Down Expand Up @@ -308,8 +324,8 @@ asynStatus AG_CONEXAxis::move(double position, int relative, double minVelocity,
asynStatus status;
// static const char *functionName = "AG_CONEXAxis::move";

// The CONEX-CC, CONEX-PP and FCL200 support velocity and acceleration, the CONEX-AGP does not
if ((conexModel_ == ModelConexCC) || (conexModel_ == ModelConexPP) || (conexModel_ == ModelFCL200)) {
// The CONEX-CC, CONEX-PP, FCL200 and DL support velocity and acceleration, the CONEX-AGP does not
if ((conexModel_ == ModelConexCC) || (conexModel_ == ModelConexPP) || (conexModel_ == ModelFCL200) || (conexModel_ == ModelDL)) {
sprintf(pC_->outString_, "%dAC%f", pC_->controllerID_, acceleration*stepSize_);
status = pC_->writeCONEX();
sprintf(pC_->outString_, "%dVA%f", pC_->controllerID_, maxVelocity*stepSize_);
Expand Down Expand Up @@ -340,6 +356,13 @@ asynStatus AG_CONEXAxis::home(double minVelocity, double maxVelocity, double acc
// This is time-consuming and can only be done a limited number of times so we don't do it here.
// Same with FCL200

// The DL needs initialization sequence after reset
if (conexModel_ == ModelDL) {
sprintf(pC_->outString_, "%dIE", pC_->controllerID_);
status = pC_->writeCONEX();
epicsThreadSleep(5.0);
}

// The CONEX-PP supports home velocity and home type. We force negative limit switch home type.
if (conexModel_ == ModelConexPP) {
sprintf(pC_->outString_, "%dOH%f", pC_->controllerID_, maxVelocity);
Expand Down Expand Up @@ -415,7 +438,7 @@ asynStatus AG_CONEXAxis::setPGain(double pGain)
bool closedLoop;
//static const char *functionName = "AG_CONEXAxis::setPGain";

if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC) || (conexModel_ == ModelDL)) {
getClosedLoop(&closedLoop);
setClosedLoop(false);
// The pGain value from the motor record is between 0 and 1.
Expand All @@ -432,7 +455,7 @@ asynStatus AG_CONEXAxis::setIGain(double iGain)
bool closedLoop;
//static const char *functionName = "AG_CONEXAxis::setIGain";

if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC) || (conexModel_ == ModelDL)) {
getClosedLoop(&closedLoop);
setClosedLoop(false);
// The iGain value from the motor record is between 0 and 1.
Expand All @@ -447,12 +470,12 @@ asynStatus AG_CONEXAxis::setDGain(double dGain)
{
asynStatus status = asynSuccess;
bool closedLoop;
//static const char *functionName = "AG_CONEXAxis::setPGain";
//static const char *functionName = "AG_CONEXAxis::setDGain";
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if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC)) {
if ((conexModel_ == ModelConexAGP) || (conexModel_ == ModelConexCC) || (conexModel_ == ModelDL)) {
getClosedLoop(&closedLoop);
setClosedLoop(false);
if (conexModel_ == ModelConexCC) {
if ((conexModel_ == ModelConexCC) || (conexModel_ == ModelDL)) {
// The dGain value from the motor record is between 0 and 1.
sprintf(pC_->outString_, "%dKI%f", pC_->controllerID_, dGain*KDMax_);
} else if (conexModel_ == ModelConexAGP) {
Expand Down Expand Up @@ -496,12 +519,29 @@ asynStatus AG_CONEXAxis::poll(bool *moving)
sprintf(pC_->outString_, "%dTS", pC_->controllerID_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
// The response string is of the form "1TSabcdef"
count = sscanf(pC_->inString_, "%*dTS%*4c%x", &status);
if (count != 1) goto skip;

if (conexModel_ == ModelDL) {
// The TS command returns 8 characters (1TSabcdefgh).
// The first character (a) represents the status bits in Hexadecimal.
// The next 5 characters (bcdef) represent the error bits in Hexadecimal.
// The last two characters (gh) represent the Controller state in Hexadecimal.
// we read last two hex characters, the state
count = sscanf(pC_->inString_, "%*dTS%*6c%x", &status);
if (count != 1) goto skip;
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}
else {
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// The response string is of the form "1TSabcdef"
count = sscanf(pC_->inString_, "%*dTS%*4c%x", &status);
if (count != 1) goto skip;
}

state = status & 0xff;
if ((state == 0x1e) || (state == 0x28)) done = 0;
if (conexModel_ == ModelDL) {
if (status == 0x3c) done=0;
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}
else {
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state = status & 0xff;
if ((state == 0x1e) || (state == 0x28)) done = 0;
}
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false:true;

Expand Down
1 change: 1 addition & 0 deletions newportApp/src/AG_CONEX.h
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Original file line number Diff line number Diff line change
Expand Up @@ -14,6 +14,7 @@ typedef enum {
ModelConexAGP,
ModelConexCC,
ModelConexPP,
ModelDL,
ModelFCL200
} ConexModel_t;

Expand Down