Index: /trunk/MagicSoft/Cosy/Changelog =================================================================== --- /trunk/MagicSoft/Cosy/Changelog (revision 8862) +++ /trunk/MagicSoft/Cosy/Changelog (revision 8863) @@ -1,5 +1,22 @@ -*-*- END -*-*- - 2008/02/13 Thomas Bretz (La Palma) + 2008/02/15 Thomas Bretz (La Palma) + + * candrv/network.cc, candrv/nodedrv.h: + - changed arguments and contents of HandleSDOError + + * devdrv/macs.[h,cc]: + - added status/error handling for DKC status + + * devdrv/shaftencoder.cc: + - changed some output + - handle all four bytes in case of the position + + * gui/MGCosy.cc: + - increased width of shaftencoder labels + + + + 2008/02/15 Thomas Bretz (La Palma) * cosy.cc: Index: /trunk/MagicSoft/Cosy/candrv/network.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8862) +++ /trunk/MagicSoft/Cosy/candrv/network.cc (revision 8863) @@ -111,5 +111,5 @@ case kSDO_TX_ERROR: // error message (instead of 0x60) - fNodes[node]->HandleSDOError(data); + fNodes[node]->HandleSDOError(idx, subidx); return; } Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.cc =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 8862) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.cc (revision 8863) @@ -167,8 +167,8 @@ // Print an error message with the corresponding data from this device. // -void NodeDrv::HandleSDOError(LWORD_t data) -{ - gLog << warn << "WARNING - Nodedrv::HandleSDOError: Entry not found in dictionary (data=0x"; - gLog << hex << setfill('0') << setw(4) << data << ")"; +void NodeDrv::HandleSDOError(WORD_t idx, BYTE_t subidx) +{ + gLog << warn << "WARNING - Nodedrv::HandleSDOError: Node #" << dec << (int)fId << ": Entry not found in dictionary (idx=0x"; + gLog << hex << setfill('0') << setw(4) << idx << "/" << (int)subidx << dec << ")"; gLog << endl; } Index: /trunk/MagicSoft/Cosy/candrv/nodedrv.h =================================================================== --- /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8862) +++ /trunk/MagicSoft/Cosy/candrv/nodedrv.h (revision 8863) @@ -67,5 +67,5 @@ virtual void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv); virtual void HandleSDOOK(WORD_t idx, BYTE_t subidx, LWORD_t data, const timeval_t &tv); - virtual void HandleSDOError(LWORD_t data); + virtual void HandleSDOError(WORD_t idx, BYTE_t subidx); virtual void HandlePDO1(const BYTE_t *data, const timeval_t &tv) {} Index: /trunk/MagicSoft/Cosy/devdrv/macs.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8862) +++ /trunk/MagicSoft/Cosy/devdrv/macs.cc (revision 8863) @@ -4,5 +4,8 @@ #include "network.h" + #include "MLogManip.h" + +#include "MString.h" ClassImp(Macs); @@ -42,4 +45,96 @@ } +TString Macs::EvalStatusDKC(UInt_t stat) const +{ + switch (stat) + { + case 0: return "offline"; + case 0xa000: + case 0xa001: + case 0xa002: + case 0xa003: return MString::Format("Communication phase %d", stat&0xf); + case 0xa010: return "Drive HALT"; + case 0xa012: return "Control and power section ready for operation"; + case 0xa013: return "Ready for power on"; + case 0xa100: return "Drive in Torque mode"; + case 0xa101: return "Drive in Velocity mode"; + case 0xa102: return "Position control mode with encoder 1"; + case 0xa103: return "Position control mode with encoder 2"; + case 0xa104: return "Lagless position control mode with encoder 1"; + case 0xa105: return "Lagless position control mode with encoder 2"; + case 0xa106: return "Drive controlled interpolated positioning with encoder 1"; + case 0xa107: return "Drive controlled interpolated positioning with encoder 2"; + case 0xa108: return "Drive controlled interpolated absolute positioning lagless with encoder 1"; + case 0xa109: return "Drive controlled interpolated absolute positioning lagless with encoder 2"; + case 0xa146: return "Drive controlled interpolated relative positioning with encoder 1"; + case 0xa147: return "Drive controlled interpolated relative positioning with encoder 2"; + case 0xa148: return "Drive controlled interpolated relative positioning lagless with encoder 1"; + case 0xa149: return "Drive controlled interpolated relative positioning lagless with encoder 2"; + case 0xa208: return "Jog mode positive"; + case 0xa218: return "Jog mode negative"; + case 0xa400: return "Automatic drive check and adjustment"; + case 0xa401: return "Drive decelerating to standstill"; + case 0xa800: return "Unknown operation mode"; + case 0xc217: return "Motor encoder reading error"; + case 0xc218: return "Shaft encoder reading error"; + case 0xc220: return "Motor encoder initialization error"; + case 0xc221: return "Shaft encoder initialization error"; + case 0xc400: return "Switching to parameter mode"; + case 0xc500: return "Error reset"; + case 0xe225: return "Motor overload"; + case 0xe250: return "Drive overtemp warning"; + case 0xe251: return "Motor overtemp warning"; + case 0xe252: return "Bleeder overtemp warning"; + case 0xe834: return "Emergency-Stop"; + case 0xe843: return "Positive end-switch activated"; + case 0xe844: return "Negative end-switch activated"; + case 0xf218: return "Amplifier overtemp shutdown"; + case 0xf219: return "Motor overtemp shutdown"; + case 0xf220: return "Bleeder overload shutdown"; + case 0xf221: return "Motor temperature surveillance defective"; + case 0xf224: return "Maximum breaking time exceeded"; + case 0xf228: return "Excessive control deviation"; + case 0xf269: return "Error during release of the motor holding brake"; + case 0xf276: return "Absolute encoder out of allowed window"; + case 0xf409: return "Bus error on Profibus interface"; + case 0xf434: return "Emergency-Stop"; + case 0xf629: return "Positive sw end-switch"; + case 0xf630: return "Negative sw end-switch"; + case 0xf634: return "Emergency-Stop"; + case 0xf643: return "Positive hw end-switch"; + case 0xf644: return "Negative hw end-switch"; + case 0xf870: return "24V DC error."; + case 0xf878: return "Velocity loop error"; + } + return "unknown"; +} + +Bool_t Macs::EvalStatus(LWORD_t val) const +{ + const Int_t errnum = val&0xffff; + const Int_t errinf = val>>16; + + if (errnum!=0xff) + return errnum==0; + + const Int_t type = errinf&0xf000; + + gLog << all << "DKC reports: "; + + switch (type) + { + case 0xf000: gLog << "ERROR"; break; + case 0xe000: gLog << "WARNING"; break; + case 0xa000: gLog << "Status"; break; + default: gLog << "Unknown"; break; + } + + gLog << " (" << MString::Format("%X", errinf) << "): " << EvalStatusDKC(errinf); + + gLog << (type==0xf000 || type==0xe000 ? "!" : ".") << endl; + + return type==0xa000; +} + void Macs::HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv) { @@ -52,6 +147,6 @@ if (subidx!=2) return; - gLog << inf2 << "- " << GetNodeName() << ": Error[0]=" << dec << val << endl; - SetError(val); + gLog << inf2 << "- " << GetNodeName() << ": Error[0]=" << hex << val << dec << endl; + SetError(EvalStatus(val) ? 0 : val); return; @@ -122,10 +217,10 @@ case 0x6002: - gLog << inf2 << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " ticks/min" << endl; + gLog << inf2 << "- " << GetNodeName() << ": Velocity resolution = " << dec << val << " (100%)" << endl; fVelRes = val; return; case 0x6501: - gLog << inf2 << "- " << GetNodeName() << ": Encoder resolution = " << dec << val << " ticks/min" << endl; + gLog << inf2 << "- " << GetNodeName() << ": Encoder resolution = " << dec << val << " ticks" << endl; fRes = val; return; @@ -362,5 +457,5 @@ if (fSoftVersion<0x00000045) // 00.69 { - gLog << err << GetNodeName() << " - Software Version too old!" << endl; + gLog << err << GetNodeName() << " - Software Version " << 0.01*fSoftVersion << " too old!" << endl; SetZombie(); return; @@ -471,4 +566,5 @@ SendSDO(0x2002, vel); // velocity WaitForSdo(0x2002, 0); + cout << "SET VEL: " << vel << endl; } @@ -477,4 +573,5 @@ SendSDO(0x2003, 0, acc); // acceleration WaitForSdo(0x2003, 0); + cout << "SET ACC: " << acc << endl; } @@ -483,4 +580,5 @@ SendSDO(0x2003, 1, dec); // acceleration WaitForSdo(0x2003, 1); + cout << "SET DEC: " << dec << endl; } @@ -503,4 +601,5 @@ { SendSDO(0x6004, 1, (LWORD_t)pos); + cout << "REL POS: " << (LWORD_t)pos << endl; } @@ -508,4 +607,5 @@ { SendSDO(0x6004, 0, (LWORD_t)pos); + cout << "ABS POS: " << (LWORD_t)pos << endl; } @@ -585,5 +685,13 @@ LWORDS_t errinf = (data[4]<<24) | (data[5]<<16) | (data[6]<<8) | data[7]; - // + // Check if the DKC changed its status message + if (errnum==0xff && (errinf&0xf000)<=0xe000) + { + EvalStatus(errnum, errinf); + SetError(0); + return; + } + + // Check if MACS report error occursion. // errnum==0 gives a sudden information that something happened. Now the // microcontroller is running inside its interrupt procedure which @@ -606,5 +714,5 @@ if (GetError()>0) { - gLog << warn << GetNodeName() << ": WARNING! Error #" << GetError() << " unhandled (not cleared) by software." << endl; + gLog << warn << GetNodeName() << ": WARNING! Previous error #" << GetError() << " unhandled (not cleared) by software." << endl; // @@ -724,6 +832,10 @@ return; + case 0xff: + EvalStatus(errnum, errinf); + return; + default: - gLog << "Error Nr. " << errnum << ", " << errinf << endl; + gLog << "Error Nr. " << dec << errnum << ", " << errinf << endl; } } @@ -800,4 +912,9 @@ DelError(); return; + + case 0xff: + gLog << err << "DKC error! Go and check what is going on!" << endl; + DelError(); + return; /* case 101: @@ -870,3 +987,2 @@ gLog << inf2 << "- " << GetNodeName() << ": Hostguarding stopped." << endl; } - Index: /trunk/MagicSoft/Cosy/devdrv/macs.h =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8862) +++ /trunk/MagicSoft/Cosy/devdrv/macs.h (revision 8863) @@ -37,4 +37,11 @@ void Init(); void StopDevice(); + + TString EvalStatusDKC(UInt_t stat) const; + Bool_t EvalStatus(LWORD_t val) const; + Bool_t EvalStatus(UInt_t errnum, UInt_t errinf) const + { + return EvalStatus(errnum|(errinf<<16)); + } void HandleSDO(WORD_t idx, BYTE_t subidx, LWORD_t val, const timeval_t &tv); Index: /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc =================================================================== --- /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8862) +++ /trunk/MagicSoft/Cosy/devdrv/shaftencoder.cc (revision 8863) @@ -92,5 +92,5 @@ case 0x6004: - gLog << inf2 << "- Position: " << dec << val << endl; + gLog << inf2 << "- Reported position: " << dec << (Int_t)val << endl; fPos = val; fTurn = 0; @@ -237,5 +237,5 @@ // Decode information, we have a 14bit only // - LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16); // | (data[3]<<24); + LWORDS_t pos = data[0] | (data[1]<<8) | (data[2]<<16) | (data[3]<<24); BYTE_t flag = data[4]; Index: /trunk/MagicSoft/Cosy/gui/MGCosy.cc =================================================================== --- /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 8862) +++ /trunk/MagicSoft/Cosy/gui/MGCosy.cc (revision 8863) @@ -165,7 +165,7 @@ fList->Add(fWeather); - fLabel1 = new TGLabel(f, "00000"); // Max: 16384 - fLabel2 = new TGLabel(f, "00000"); - fLabel3 = new TGLabel(f, "00000"); + fLabel1 = new TGLabel(f, "00000000"); // Max: 16384 + fLabel2 = new TGLabel(f, "00000000"); + fLabel3 = new TGLabel(f, "00000000"); fLabel1->SetTextJustify(kTextRight); fLabel2->SetTextJustify(kTextRight);