Added homing max distance, homing offset positive, and homing offset …

…negative.
epics-motor · Jun 6, 2023 · ab6d9ab · ab6d9ab
1 parent a1419b6
commit ab6d9ab
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Showing 4 changed files with 57 additions and 10 deletions.
diff --git a/acsMotionApp/Db/SPiiPlusHoming.db b/acsMotionApp/Db/SPiiPlusHoming.db
@@ -23,3 +23,27 @@ record(mbbo, "$(P)$(M):homingMethod")
     field(VAL,  "$(VAL=0)")
     field(PINI, "YES")
 }
+
+record(ao,"$(P)$(M):homingMaxDist") {
+    field(DESC, "Homing Max Distance")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(PORT),$(ADDR))SPIIPLUS_HOMING_MAX_DIST")
+    field(VAL,  "$(MAX_DIST=0)")
+    field(PREC, "$(PREC=4)")
+}
+
+record(ao,"$(P)$(M):homingOffsetPos") {
+    field(DESC, "Homing Offset Pos")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(PORT),$(ADDR))SPIIPLUS_HOMING_OFFSET_POS")
+    field(VAL,  "$(OFFSET_POS=0)")
+    field(PREC, "$(PREC=4)")
+}
+
+record(ao,"$(P)$(M):homingOffsetNeg") {
+    field(DESC, "Homing Offset Neg")
+    field(DTYP, "asynFloat64")
+    field(OUT,  "@asyn($(PORT),$(ADDR))SPIIPLUS_HOMING_OFFSET_NEG")
+    field(VAL,  "$(OFFSET_NEG=0)")
+    field(PREC, "$(PREC=4)")
+}
diff --git a/acsMotionApp/src/SPiiPlusDriver.cpp b/acsMotionApp/src/SPiiPlusDriver.cpp
@@ -94,6 +94,10 @@ SPiiPlusController::SPiiPlusController(const char* ACSPortName, const char* asyn
 	//
 	createParam(SPiiPlusFWVersionString,                  asynParamOctet,     &SPiiPlusFWVersion_);
 	//
+	createParam(SPiiPlusHomingMaxDistString,              asynParamFloat64,   &SPiiPlusHomingMaxDist_);
+	createParam(SPiiPlusHomingOffsetPosString,            asynParamFloat64,   &SPiiPlusHomingOffsetPos_);
+	createParam(SPiiPlusHomingOffsetNegString,            asynParamFloat64,   &SPiiPlusHomingOffsetNeg_);
+	//
 	createParam(SPiiPlusTestString,                       asynParamInt32, &SPiiPlusTest_);
 
 	// Initialize this variable to avoid freeing random memory
@@ -975,9 +979,20 @@ asynStatus SPiiPlusAxis::home(double minVelocity, double maxVelocity, double acc
 	std::stringstream cmd;
 	epicsInt32 mbboHomingMethod;
 	epicsInt32 homingMethod;
+	epicsFloat64 homingMaxDistance;
+	epicsFloat64 homingOffset;
 	static const char *functionName = "home";
 
 	controller->getIntegerParam(axisNo_, controller->SPiiPlusHomingMethod_, &mbboHomingMethod);
+	controller->getDoubleParam(axisNo_, controller->SPiiPlusHomingMaxDist_, &homingMaxDistance);
+	if (forwards == 0)
+	{
+		controller->getDoubleParam(axisNo_, controller->SPiiPlusHomingOffsetNeg_, &homingOffset);
+	}
+	else
+	{
+		controller->getDoubleParam(axisNo_, controller->SPiiPlusHomingOffsetPos_, &homingOffset);
+	}
 
 	switch(mbboHomingMethod)
 	{
@@ -1046,7 +1061,7 @@ asynStatus SPiiPlusAxis::home(double minVelocity, double maxVelocity, double acc
 	else
 	{
 		// HOME Axis, [opt]HomingMethod,[opt]HomingVel,[opt]MaxDistance,[opt]HomingOffset,[opt]HomingCurrLimit,[opt]HardStopThreshold
-		cmd << "HOME " << axisNo_ << "," << homingMethod << "," << (maxVelocity * resolution_);
+		cmd << "HOME " << axisNo_ << "," << homingMethod << "," << (maxVelocity * resolution_) << "," << homingMaxDistance << "," << homingOffset;
 		//asynPrint(pC_->pasynUserSelf, ASYN_TRACE_ERROR, "%s:%s: home command = %s\n", driverName, functionName, cmd.str().c_str());
 		status = controller->pComm_->writeReadAck(cmd);
 	}

diff --git a/acsMotionApp/src/SPiiPlusDriver.h b/acsMotionApp/src/SPiiPlusDriver.h
@@ -136,6 +136,10 @@
 //
 #define SPiiPlusFWVersionString                "SPIIPLUS_FW_VERSION"
 //
+#define SPiiPlusHomingMaxDistString            "SPIIPLUS_HOMING_MAX_DIST"
+#define SPiiPlusHomingOffsetPosString          "SPIIPLUS_HOMING_OFFSET_POS"
+#define SPiiPlusHomingOffsetNegString          "SPIIPLUS_HOMING_OFFSET_NEG"
+//
 #define SPiiPlusTestString                      "SPIIPLUS_TEST"
 
 struct SPiiPlusDrvUser_t {
@@ -275,6 +279,10 @@ class epicsShareClass SPiiPlusController : public asynMotorController
 	//
 	int SPiiPlusFWVersion_;
 	//
+	int SPiiPlusHomingMaxDist_;
+	int SPiiPlusHomingOffsetPos_;
+	int SPiiPlusHomingOffsetNeg_;
+	//
 	int SPiiPlusTest_;
 	#define LAST_SPIIPLUS_PARAM SPiiPlusTest_
 

diff --git a/iocs/acsMotionIOC/iocBoot/iocAcsMotion/AcsMotion.substitutions b/iocs/acsMotionIOC/iocBoot/iocAcsMotion/AcsMotion.substitutions
@@ -62,15 +62,15 @@ pattern
 file "$(TOP)/db/SPiiPlusHoming.db"
 {
 pattern
-{M,   PORT, ADDR, TIMEOUT,    VAL}
-{m1,  ACS1,    0,     2.0,    0}
-{m2,  ACS1,    1,     2.0,    0}
-{m3,  ACS1,    2,     2.0,    0}
-{m4,  ACS1,    3,     2.0,    0}
-{m5,  ACS1,    4,     2.0,    0}
-{m6,  ACS1,    5,     2.0,    0}
-{m7,  ACS1,    6,     2.0,    0}
-{m8,  ACS1,    7,     2.0,    0}
+{M,   PORT, ADDR, TIMEOUT,    VAL,   MAX_DIST, OFFSET_POS, OFFSET_NEG}
+{m1,  ACS1,    0,     2.0,    0,     0.0,      0.0,        0.0}
+{m2,  ACS1,    1,     2.0,    0,     0.0,      0.0,        0.0}
+{m3,  ACS1,    2,     2.0,    0,     0.0,      0.0,        0.0}
+{m4,  ACS1,    3,     2.0,    0,     0.0,      0.0,        0.0}
+{m5,  ACS1,    4,     2.0,    0,     0.0,      0.0,        0.0}
+{m6,  ACS1,    5,     2.0,    0,     0.0,      0.0,        0.0}
+{m7,  ACS1,    6,     2.0,    0,     0.0,      0.0,        0.0}
+{m8,  ACS1,    7,     2.0,    0,     0.0,      0.0,        0.0}
 }
 
 file "$(TOP)/db/SPiiPlusJogging.db"