Only check soft limits on home after timeout

GalilSup/Db/GALIL_controller_kinematics.req

@@ -0,0 +1,21 @@
+# Kinematics
+
+# Forward transforms (Readbacks)
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)09
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)10
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)11
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)12
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)13
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)14
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)15
+file "galil_forward_transform.req" P=$(P), M=MTR$(CCP)16
+
+# Reverse transforms (Setpoints)
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)09
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)10
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)11
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)12
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)13
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)14
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)15
+file "galil_reverse_transforms.req" P=$(P), M=MTR$(CCP)16

GalilSup/Db/galil_Home_Dummy_Move.dmc

@@ -13,18 +13,24 @@ IF (home${AXIS}=1)
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=1) & (home${AXIS}=1))
 		ST${AXIS};ENDIF
 	IF ((hjog${AXIS}=1) & (_BG${AXIS}=0) & (home${AXIS}=1))
-		PR${AXIS}=(_SP${AXIS} * 2);SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=2
+		PR${AXIS}=(_SP${AXIS} * 2);SH${AXIS};hjog${AXIS}=2
 	ENDIF
-	IF ((hjog${AXIS}=2) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
-        hjog${AXIS}=3
+	IF ((hjog${AXIS}=2) & (_BG${AXIS}=0) & (_MO${AXIS}=0) & (home${AXIS}=1))
+        BG${AXIS};hjog${AXIS}=3
+    ENDIF
+	IF ((hjog${AXIS}=3) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
+        hjog${AXIS}=4
 	ENDIF
-	IF ((hjog${AXIS}>=3) & (hjog${AXIS}<10) & (_BG${AXIS}=0) & (home${AXIS}=1))
+	IF ((hjog${AXIS}>=4) & (hjog${AXIS}<11) & (_BG${AXIS}=0) & (home${AXIS}=1))
 		hjog${AXIS}=hjog${AXIS}+1;WT10
 	ENDIF
-	IF ((hjog${AXIS}=10) & (_BG${AXIS}=0) & (home${AXIS}=1))
-		PR${AXIS}=(_SP${AXIS} * -2);SH${AXIS};WT100;BG${AXIS};hjog${AXIS}=11
+	IF ((hjog${AXIS}=11) & (_BG${AXIS}=0) & (home${AXIS}=1))
+		PR${AXIS}=(_SP${AXIS} * -2);SH${AXIS};hjog${AXIS}=12
 	ENDIF
-	IF ((hjog${AXIS}=11) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
+	IF ((hjog${AXIS}=12) & (_BG${AXIS}=0) & (_MO${AXIS}=0) & (home${AXIS}=1))
+        BG${AXIS};hjog${AXIS}=13
+    ENDIF
+	IF ((hjog${AXIS}=13) & (_BG${AXIS}=0) & (home${AXIS}=1) & (_SC${AXIS}=1))
 		hjog${AXIS}=0;home${AXIS}=0;homed${AXIS}=1
 		MG "home${AXIS}", home${AXIS};MG "homed${AXIS}", homed${AXIS}
 	ENDIF

GalilSup/Db/galil_dmc_ctrl.template

@@ -591,15 +591,21 @@ record(ao,"$(P)PWRDET:SP") {
     field(DTYP, "asynFloat64")
     field(OUT, "@asyn($(PORT),0)USER_VAR pwrdet")
 	field(SCAN, "Passive")
+    # set a default non-zero as zero in galil is a problem
+    # and is never a test value
+    field(VAL, "2")
     info(autosaveFields_pass0, "VAL")
+    info(archive, "VAL")
 }
 
 record(ai,"$(P)PWRDET") {
     field(DESC, "Get Power off detect value")
     field(DTYP, "asynFloat64")
     field(INP,  "@asyn($(PORT),0)USER_VAR pwrdet")
 	field(SCAN, "10 second")
+    field(SDIS, "$(P)PWRDET:SP.PACT")
 	field(FLNK, "$(P)PWRDET:ALERT.PROC")
+    info(archive, "VAL")
 }
 
 ## 0 = ok, 1 = problem
@@ -610,7 +616,7 @@ record(calcout,"$(P)PWRDET:ALERT") {
 	field(INPB, "$(P)PWRDET:SP")
 	field(CALC, "A!=B")
 	field(OOPT, "When Zero")
-	field(OUT, "$(P)PWRDET:TIMER.PROC")
+	field(OUT, "$(P)PWRDET:TIMER.PROC PP")
     info(archive, "VAL")
 }
 
@@ -622,12 +628,16 @@ record(bo,"$(P)PWRDET:RESET:SP") {
 }
 
 ## how often we should set a new test value
-## A % 360 means 3600 seconds as we are on 10 second scan link
+## A = 360 means 3600 seconds as we are on 10 second scan link
+## Changing value is only a check in case it got saved into galil
+## firmware so changing this once per ioc run is fine 
+## make sure we don't set a new value too soon
+## after ioc startup in case of a quick restart causing a race condition 
 record(calcout, "$(P)PWRDET:TIMER") {
 	field(DESC, "Set new PWRDET test value")
-	field(CALC, "A % 360; A := A + 1")
+	field(CALC, "A = 360; A := A + 1")
 	field(INPA, "0")
-	field(OOPT, "When Zero")
+	field(OOPT, "When Non-zero")
 	field(DOPT, "Use OCAL")
 	field(OCAL, "CEIL(RNDM*100)+1")
 	field(OUT, "$(P)PWRDET:SP PP")

GalilSup/Db/galil_motor_extras.template

@@ -271,7 +271,7 @@ record(bo,"$(P)$(M)_USWITCH_CMD")
 {
 	field(DESC,"use switch")
 	field(DTYP,"asynInt32")
-	field(VAL, "1")
+	field(VAL, "0")
 	field(PINI,"YES")
 	field(ZNAM,"No")
 	field(ZSV, "NO_ALARM")

GalilSup/src/GalilAxis.cpp

@@ -64,7 +64,7 @@ GalilAxis::GalilAxis(class GalilController *pC, //Pointer to controller instance
 		     int switch_type)		//motor enable/disable switch type
   : asynMotorAxis(pC, (toupper(axisname[0]) - AASCII)),
     pC_(pC), last_encoder_position_(0), smoothed_encoder_position_(0), encoder_smooth_factor_(0.0), motor_dly_(0.0),
-    first_poll_(true),encDirOk_(true), pollRequest_(10, sizeof(int))
+    first_poll_(true),encDirOk_(true), last_done_(1), pollRequest_(10, sizeof(int))
 {
   string limit_code;				//Code generated for limits interrupt on this axis
   string digital_code;				//Code generated for digital interrupt related to this axis
@@ -2046,6 +2046,8 @@ void GalilAxis::checkEncoder(void)
             double sc_code = getGalilAxisVal("_SC");
             // get axis moving state
             double bg_code = getGalilAxisVal("_BG");
+            // in case we are homing record hjog
+            int hjog_code = getGalilAxisVal("hjog");
             //Pass stall status to higher layers
             setIntegerParam(pC_->motorStatusSlip_, 1);
             //Set the stop reason so limit deceleration is applied during stop
@@ -2058,7 +2060,7 @@ void GalilAxis::checkEncoder(void)
             sprintf(message, "Encoder stall stop motor %c", axisName_);
             //Set controller error mesg monitor
             pC_->setCtrlError(message);
-            std::cerr << "STALL: pestall_time=" << pestall_time << " (>" << estall_time << ") encoderMove_=" << encoderMove_ << " encDirOk_=" << encDirOk_ << " _SC" << axisName_ << "=" << sc_code << " [" << lookupStopCode((int)sc_code) << "] _BG" << axisName_ << "=" << bg_code << std::endl;
+            std::cerr << "STALL: pestall_time=" << pestall_time << " (>" << estall_time << ") encoderMove_=" << encoderMove_ << " encDirOk_=" << encDirOk_ << " _SC" << axisName_ << "=" << sc_code << " [" << lookupStopCode((int)sc_code) << "] _BG" << axisName_ << "=" << bg_code << " hjog" << axisName_ << "=" << hjog_code << std::endl;
             }
          }
       }
@@ -2180,7 +2182,7 @@ void GalilAxis::checkHoming(void)
 
    // ISIS: need to confirm limits high/low limit behaviour
    bool home_timeout = homing_ && (stoppedTime_ >= homing_timeout) && !cancelHomeSent_;
-   bool home_soft_limits_hit = (((readback > highLimit_ && softlimits) || (readback < lowLimit_ && softlimits)) && homing_ && !cancelHomeSent_ && done_);
+   bool home_soft_limits_hit = (((readback > highLimit_ && softlimits) || (readback < lowLimit_ && softlimits)) && home_timeout && done_);
    if (home_timeout || home_soft_limits_hit)
       {
       sprintf(pC_->cmd_, "MG homed%c\n", axisName_);
@@ -2189,7 +2191,7 @@ void GalilAxis::checkHoming(void)
 
       if (homed == 1)
       {
-            std::cerr << "Looks like homing completed OK but unsolicited message from controller got lost" << std::endl;
+            std::cerr << "Looks like homing completed OK but unsolicited message from controller got lost for axis " << axisName_ << std::endl;
             // execute logic as per GalilController::processUnsolicitedMesgs
             this->homedExecuted_ = false;
             this->pollRequest_.send((void*)&MOTOR_HOMED, sizeof(int));
@@ -2976,7 +2978,10 @@ asynStatus GalilAxis::poller(bool& moving)
 
    //Extract axis motion data from controller datarecord, and load into GalilAxis instance
    status |= getStatus();
-   if (status) goto skip;
+   if (status) {
+       done_ = last_done_;
+       goto skip;
+   }
 
    //Set poll variables in GalilAxis based on data record info
    setStatus(&moving);
@@ -3046,7 +3051,6 @@ asynStatus GalilAxis::poller(bool& moving)
        smoothed_encoder_position_ = (1.0 - encoder_smooth_factor_) * encoder_position_ +
                                encoder_smooth_factor_ * smoothed_encoder_position_;
    }
-skip:
    //Save encoder position, and done for next poll cycle
    last_encoder_position_ = encoder_position_;
    last_done_ = done_;
@@ -3056,7 +3060,7 @@ asynStatus GalilAxis::poller(bool& moving)
    //By this driver during homing
    revlast_ = rev_;
    fwdlast_ = fwd_;
-
+skip:
    //Set status
    if (encoder_smooth_factor_ != 0.0)
    {

GalilSup/src/GalilConnector.cpp

@@ -81,6 +81,8 @@ void GalilConnector::run(void)
          //Check GalilController for response
          //Test synchronous communication
          //Query controller for synchronous connection handle
+         strcpy(pC_->cmd_, "EO 0"); // first we also turn off echo mode as it really breaks things
+         pC_->sync_writeReadController();
          strcpy(pC_->cmd_, "WH");
          sync_status = pC_->sync_writeReadController(true);
          //Store the handle controller used for sync