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Support daisy-chained controllers #13

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Support daisy-chained controllers #13

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34 changes: 25 additions & 9 deletions newFocusApp/src/874xMotorDriver.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -228,15 +228,24 @@ nf874xAxis::nf874xAxis(nf874xController *pC, int axisNo)
: asynMotorAxis(pC, axisNo),
pC_(pC)
{
sprintf(axisName_, "%d", axisNo);
// For daisy-chained controllers, assuming k axes per controller, and controllers number (1, 2, ...)
// 8742 has 4 axes per controller; 8743 with closed-loop support only has 2.
// Note that axis 1>3 addresses the same motor as bare 3, but response strings will be prefixed with 1>.
int axesPerController = pC_->hasClosedLoopSupport_ ? 2 : 4;
if (axisNo > axesPerController) {
sprintf(axisName_, "%d>%d", (axisNo - 1)/axesPerController + 1, (axisNo - 1)%axesPerController + 1);
} else {
sprintf(axisName_, "%d", axisNo);
}

if(pC->hasClosedLoopSupport_) {
// Retrieve limit switch statuses
// If both positive and negative limits are triggered (feedback not present),
// disable travel limit checking (e.g. 8410 rotary picomotor)
sprintf(pC_->outString_, "PH?");
pC_->writeReadController();
int motorType_ = atoi(pC_->inString_);
int offset = strlen(axisName_) - 1;
int motorType_ = atoi(pC_->inString_ + offset);
limitChecking_ = (motorType_ & (0x3 << 3 * (axisNo - 1))) != (0x3 << 3 * (axisNo - 1));

setIntegerParam(pC->motorStatusGainSupport_, 1); // Closed-loop positioning supported
Expand Down Expand Up @@ -453,11 +462,17 @@ asynStatus nf874xAxis::poll(bool *moving)
int done;
asynStatus comStatus;

// Returned poll values will include the controller id in the response if it was
// supplied as part of the axis name. Skip past the '>' before interpreting the result.
// Because both 8742 and 8743 have fewer than 10 axes, the position of the '>' if any
// will be one less than the length of the axis name.
int offset = strlen(axisName_) - 1;

// Read the current encoder position
sprintf(pC_->outString_, "%s TP?", axisName_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
encoderPosition_ = atof(pC_->inString_);
encoderPosition_ = atof(pC_->inString_ + offset);
setDoubleParam(pC_->motorEncoderPosition_,encoderPosition_);

// Read the current theoretical position
Expand All @@ -470,7 +485,8 @@ asynStatus nf874xAxis::poll(bool *moving)
sprintf(pC_->outString_, "%s MD?", axisName_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
done = atoi(pC_->inString_);

done = atoi(pC_->inString_ + offset);
setIntegerParam(pC_->motorStatusDone_, done);
*moving = done ? false : true;
setIntegerParam(pC_->motorStatusMoving_, *moving);
Expand All @@ -481,25 +497,25 @@ asynStatus nf874xAxis::poll(bool *moving)
else
setIntegerParam(pC_->motorStatusHome_, 0);

// Read closed-loop and limit switch statuses if supported
// Read closed-loop and limit switch statuses (8743 controllers only).
if(pC_->hasClosedLoopSupport_) {
int clen;
sprintf(pC_->outString_, "%s MM?", axisName_);
comStatus = pC_->writeReadController();
if (comStatus) goto skip;
clen = atoi(pC_->inString_);
clen = atoi(pC_->inString_ + offset);
setIntegerParam(pC_->motorStatusPowerOn_, clen);

sprintf(pC_->outString_, "%s SR?", axisName_);
comStatus = pC_->writeReadController();
if(comStatus) goto skip;
highLimit_ = atof(pC_->inString_);
highLimit_ = atof(pC_->inString_ + offset);
setDoubleParam(pC_->motorHighLimit_, highLimit_);

sprintf(pC_->outString_, "%s SL?", axisName_);
comStatus = pC_->writeReadController();
if(comStatus) goto skip;
lowLimit_ = atof(pC_->inString_);
lowLimit_ = atof(pC_->inString_ + offset);
setDoubleParam(pC_->motorLowLimit_, lowLimit_);

// Hard limit switch status checking
Expand All @@ -512,7 +528,7 @@ asynStatus nf874xAxis::poll(bool *moving)
sprintf(pC_->outString_, "PH?");
comStatus = pC_->writeReadController();
if(comStatus) goto skip;
lmst = atoi(pC_->inString_);
lmst = atoi(pC_->inString_ + offset);
bool bit_;
for(int i = 0; i < 3; i++) {
bit_ = lmst & ( 0x1 << (i + 3 * (axisNo_ - 1)));
Expand Down