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delta for mrk - see comment entry ( the 2nd .26 )

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This commit is contained in:
Bob Zieman
1992-03-26 14:25:18 +00:00
parent b788480b43
commit 0a8da7347c
1 changed files with 150 additions and 114 deletions
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264
src/rec/recSteppermotor.c
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@@ -61,11 +61,27 @@
* move the conversion to steps in line
* apply deadband to overshoot checking
* .21 06-25-91 mk fix direction indication
* .22 06-25-91 mk/lrd fix encoder position divide by zero
* .23 06-25-91 lrd add DBE_LOG to monitors other than value
* .24 07-02-91 rac avoid gcc warnings
* .25 08-28-91 lrd add open circuit detect on limit switches
* .26 09-16-91 lrd fix IALG not 0 and SCAN not Passive - The motor
* would continually attempt to initialize
* .27 12-09-91 lrd new INVALID severity for errors that invalidate
* the results
* .28 12-17-91 lrd changed the MDEL and ADEL deadbands so
* the range for exceeding the deadband includes
* the value specified. (i.e. 0 is always violated)
* .21 10-15-90 mrk extensible record and device support
* .22 10-24-91 jba bug fix to alarms
* .23 11-11-91 jba Moved set and reset of alarm stat and sevr to macros
* .24 02-28-92 jba Changed get_precision,get_graphic_double,get_control_double
* .25 02-28-92 jba ANSI C changes
* .26 03-18-92 mrk move retry to callback
Make STOP stop even if retry>0
Make motor move whenever VAL field accessed
*/
#include <vxWorks.h>
@@ -78,6 +94,7 @@
#include <dbDefs.h>
#include <dbAccess.h>
#include <dbFldTypes.h>
#include <dbScan.h>
#include <devSup.h>
#include <errMdef.h>
#include <recSup.h>
@@ -90,7 +107,7 @@
#define initialize NULL
static long init_record();
static long process();
#define special NULL
static long special();
static long get_value();
#define cvt_dbaddr NULL
#define get_array_info NULL
@@ -142,7 +159,6 @@ void positional_sm();
void velocity_sm();
void sm_get_position();
static not_init_record=FALSE;
static long init_record(psm)
@@ -166,9 +182,8 @@ static long process(psm)
/* intialize the stepper motor record when the init bit is 0 */
/* the init is set when the readback returns */
not_init_record=TRUE;
if (psm->init == 0){
init_sm(psm);
if (psm->init <= 0){
if(psm->init==0) init_sm(psm);
tsLocalTime(&psm->time);
monitor(psm);
return(0);
@@ -201,6 +216,27 @@ static long get_value(psm,pvdes)
(float *)(pvdes->pvalue) = &psm->val;
return(0);
}
static long special(paddr,after)
struct dbAddr *paddr;
int after;
{
struct steppermotorRecord *psm =
(struct steppermotorRecord *)(paddr->precord);
int special_type = paddr->special;
if(!after) return(0);
switch(special_type) {
case(SPC_MOD):
/* set lval different than val so that motor will move*/
if(psm->lval==psm->val) psm->lval = psm->val+1.0;
return(0);
default:
recGblDbaddrError(S_db_badChoice,paddr,"stepperMotor: special");
return(S_db_badChoice);
}
}
static long get_units(paddr,units)
struct dbAddr *paddr;
@@ -304,15 +340,7 @@ static void monitor(psm)
short stat,sevr,nsta,nsev;
/* get previous stat and sevr and new stat and sevr*/
stat=psm->stat;
sevr=psm->sevr;
nsta=psm->nsta;
nsev=psm->nsev;
/*set current stat and sevr*/
psm->stat = nsta;
psm->sevr = nsev;
psm->nsta = 0;
psm->nsev = 0;
recGblResetSevr(psm,stat,sevr,nsta,nsev);
/* Flags which events to fire on the value field */
monitor_mask = 0;
@@ -360,23 +388,17 @@ static void smcb_callback(psm_data,psm)
struct motor_data *psm_data;
struct steppermotorRecord *psm;
{
short stat,sevr,nsta,nsev;
short stat,sevr,nsta,nsev;
int intAccept=interruptAccept;
short post_events;
double temp;
short card,channel;
short done_move=0;
card = psm->out.value.vmeio.card;
channel = psm->out.value.vmeio.signal;
/*
printf("smcb_callback\n");
printf("%d %d %d %d %d %d %d %d %d\n",
psm_data->cw_limit,
psm_data->ccw_limit,
psm_data->moving,
psm_data->direction,
psm_data->constant_velocity,
psm_data->velocity,
psm_data->encoder_position,
psm_data->motor_position,
psm_data->accel
);
*/
if(not_init_record) {
if(intAccept) {
dbScanLock((struct dbCommon *)psm);
if(psm->pact) {
dbScanUnlock((struct dbCommon *)psm);
@@ -400,28 +422,28 @@ psm_data->accel
if (psm->dir != psm_data->direction){
psm->dir = psm_data->direction;
if (psm->mlis.count)
db_post_events(psm,&psm->dir,DBE_VALUE);
db_post_events(psm,&psm->dir,DBE_VALUE|DBE_LOG);
}
/* constant velocity */
if (psm->cvel != psm_data->constant_velocity){
psm->cvel = psm_data->constant_velocity;
if (psm->mlis.count)
db_post_events(psm,&psm->cvel,DBE_VALUE);
db_post_events(psm,&psm->cvel,DBE_VALUE|DBE_LOG);
}
}else{ /* POSITION*/
/* constant velocity */
if (psm->cvel != psm_data->constant_velocity){
psm->cvel = psm_data->constant_velocity;
if (psm->mlis.count)
db_post_events(psm,&psm->cvel,DBE_VALUE);
db_post_events(psm,&psm->cvel,DBE_VALUE|DBE_LOG);
}
/* direction */
if (psm->dir != psm_data->direction){
psm->dir = psm_data->direction;
if (psm->mlis.count)
db_post_events(psm,&psm->dir,DBE_VALUE);
db_post_events(psm,&psm->dir,DBE_VALUE|DBE_LOG);
}
/* encoder position */
@@ -429,49 +451,45 @@ psm_data->accel
/* use the quardrature encoding technique - if we use an encoder */
/* that does not, then we need to make quadrature encoder a database */
/* field and use the 4 on that condition !!!!! */
if (psm->epos){
if (psm->eres){
psm->epos = (psm_data->encoder_position * psm->dist * psm->mres)
/ (psm->eres * 4);
if (psm->mlis.count)
db_post_events(psm,&psm->epos,DBE_VALUE);
db_post_events(psm,&psm->epos,DBE_VALUE|DBE_LOG);
}
/* motor position */
if (psm->mpos != psm_data->motor_position){
psm->mpos = psm_data->motor_position * psm->dist;
if (psm->mlis.count)
db_post_events(psm,&psm->mpos,DBE_VALUE);
db_post_events(psm,&psm->mpos,DBE_VALUE|DBE_LOG);
}
/* limit switches */
if (psm->mcw != psm_data->cw_limit){
psm->mcw = psm_data->cw_limit;
psm->cw = (psm->mcw)?0:1;
psm->cw = (psm->mcw)?0:1; /* change sense for VMS OPI */
if (psm->mlis.count)
db_post_events(psm,&psm->cw,DBE_VALUE);
db_post_events(psm,&psm->cw,DBE_VALUE|DBE_LOG);
}
if (psm->mccw != psm_data->ccw_limit){
psm->mccw = psm_data->ccw_limit;
psm->ccw = (psm->mccw)?0:1;
psm->ccw = (psm->mccw)?0:1; /* change sense for VMS OPI */
if (psm->mlis.count)
db_post_events(psm,&psm->ccw,DBE_VALUE);
db_post_events(psm,&psm->ccw,DBE_VALUE|DBE_LOG);
}
/* alarm conditions for limit switches */
if ((psm->ccw == 0) || (psm->cw == 0)){ /* limit violation */
recGblSetSevr(psm,HW_LIMIT_ALARM,psm->hlsv);
}
/* get previous stat and sevr and new stat and sevr*/
recGblResetSevr(psm,stat,sevr,nsta,nsev);
/* anyone waiting for an event on this record */
if (psm->mlis.count!=0 && (stat!=nsta || sevr!=nsev) ){
db_post_events(psm,&psm->val,DBE_VALUE|DBE_ALARM);
db_post_events(psm,&psm->stat,DBE_VALUE);
db_post_events(psm,&psm->sevr,DBE_VALUE);
}
post_events = FALSE;
if (psm->mccw && psm->mcw){ /* limits disconnected */
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
post_events = TRUE;
}else if ((psm->ccw == 0) || (psm->cw == 0)){ /* limit violation */
recGblSetSevr(psm,HW_LIMIT_ALARM,psm->hlsv);
post_events = TRUE;
}
/* get the read back value */
sm_get_position(psm,psm_data->moving);
@@ -484,6 +502,14 @@ psm_data->accel
db_post_events(psm,&psm->movn,DBE_VALUE|DBE_LOG);
}
/* anyone waiting for an event on this record */
if (psm->mlis.count!=0 && post_events) {
db_post_events(psm,&psm->val,DBE_VALUE|DBE_ALARM|DBE_LOG);
db_post_events(psm,&psm->rbv,DBE_VALUE|DBE_ALARM|DBE_LOG);
db_post_events(psm,&psm->stat,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->sevr,DBE_VALUE|DBE_LOG);
}
/* stop motor on overshoot */
if (psm->movn){
if (psm->posm){ /* moving in the positive direction */
@@ -500,8 +526,62 @@ psm_data->accel
SM_MOTION,0);
}
}
if(!psm->movn) {
/* difference between desired position and readback pos */
if ( (psm->rbv < (psm->val - psm->rdbd))
|| (psm->rbv > (psm->val + psm->rdbd)) ){
/* determine direction */
if (psm->rcnt == 0)
psm->posm = (psm->rbv < psm->val);
/* one attempt was made - record the error */
if (psm->rcnt == 1){
psm->miss = (psm->val - psm->rbv);
if (psm->mlis.count)
db_post_events(psm,&psm->miss,DBE_VALUE|DBE_LOG);
}
/* should we retry */
if (psm->rcnt <= psm->rtry){
/* convert */
temp = psm->val / psm->dist;
psm->rval = temp;
/* move motor */
if (sm_driver(psm->dtyp,card,channel,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
} else {
psm->movn = 1;
psm->rcnt++;
if (psm->mlis.count){
db_post_events(psm,&psm->movn,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->rcnt,DBE_VALUE|DBE_LOG);
}
done_move = 0;
}
/* no more retries - put the record in alarm */
}else{
done_move = 1;
}
}else{
/* error doesn't exceed deadband - done moving */
done_move = 1;
}
}
/* there was a move in progress and now it is complete */
if (done_move && (psm->dmov == 0)){
psm->dmov = 1;
if (psm->mlis.count)
db_post_events(psm,&psm->dmov,DBE_VALUE|DBE_LOG);
/* check for deviation from desired value */
alarm(psm);
monitor(psm);
}
}
if(not_init_record) {
if(intAccept) {
psm->pact = FALSE;
dbScanUnlock((struct dbCommon *)psm);
}
@@ -573,6 +653,7 @@ struct steppermotorRecord *psm;
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
return;
}
psm->init = -1;
}else if (psm->mode == VELOCITY){
/* get the velocity */
/* get_velocity(motor,smcb_velocity_req);*/
@@ -591,9 +672,8 @@ struct steppermotorRecord *psm;
static void positional_sm(psm)
struct steppermotorRecord *psm;
{
short card,channel,done_move;
short card,channel;
int acceleration,velocity;
double temp;
/* only VME stepper motor cards supported */
if (psm->out.type != VME_IO) return;
@@ -606,7 +686,8 @@ struct steppermotorRecord *psm;
if (psm->stop){
sm_driver(psm->dtyp,card,channel,SM_MOTION,0,0);
psm->stop = 0;
if (psm->mlis.count) db_post_events(psm,&psm->stop,DBE_VALUE);
psm->rcnt=psm->rtry+1;
if (psm->mlis.count) db_post_events(psm,&psm->stop,DBE_VALUE|DBE_LOG);
return;
}
@@ -633,9 +714,9 @@ struct steppermotorRecord *psm;
psm->ival = 0; /* resets initial offset */
sm_driver(psm->dtyp,card,channel,SM_SET_HOME,0,0);
if(psm->mlis.count) {
db_post_events(psm,&psm->rbv,DBE_VALUE);
db_post_events(psm,&psm->val,DBE_VALUE);
db_post_events(psm,&psm->sthm,DBE_VALUE);
db_post_events(psm,&psm->rbv,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->val,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->sthm,DBE_VALUE|DBE_LOG);
}
return;
}
@@ -672,59 +753,14 @@ struct steppermotorRecord *psm;
db_post_events(psm,&psm->lval,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->dmov,DBE_VALUE|DBE_LOG);
}
}
/* difference between desired position and readback pos */
if ( (psm->rbv < (psm->val - psm->rdbd))
|| (psm->rbv > (psm->val + psm->rdbd)) ){
/* determine direction */
if (psm->rcnt == 0)
psm->posm = (psm->rbv < psm->val);
/* one attempt was made - record the error */
if (psm->rcnt == 1){
psm->miss = (psm->val - psm->rbv);
if (psm->mlis.count)
db_post_events(psm,&psm->miss,DBE_VALUE|DBE_LOG);
/* move motor */
psm->movn = 1;
if (sm_driver(psm->dtyp,card,channel,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
psm->movn=0;
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
}
/* should we retry */
if (psm->rcnt <= psm->rtry){
/* convert */
temp = psm->val / psm->dist;
psm->rval = temp;
/* move motor */
if (sm_driver(psm->dtyp,card,channel,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
return;
}
psm->movn = 1;
psm->rcnt++;
if (psm->mlis.count){
db_post_events(psm,&psm->movn,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->rcnt,DBE_VALUE|DBE_LOG);
}
done_move = 0;
/* no more retries - put the record in alarm */
}else{
done_move = 1;
}
}else{
/* error doesn't exceed deadband - done moving */
done_move = 1;
}
/* there was a move in progress and now it is complete */
if (done_move && (psm->dmov == 0)){
psm->dmov = 1;
if (psm->mlis.count)
db_post_events(psm,&psm->dmov,DBE_VALUE|DBE_LOG);
/* check for deviation from desired value */
alarm(psm);
}
return;
}
@@ -847,7 +883,7 @@ short moving;
}
/* readback position at initialization */
if ((psm->init == 0) && (moving == 0)){
if ((psm->init <= 0) && (moving == 0)){
if (psm->sthm){
sm_driver(psm->dtyp,
psm->out.value.vmeio.card,
@@ -860,8 +896,8 @@ short moving;
psm->rval = psm->rrbv = psm->rbv / psm->dist;
psm->init = 1;
if (psm->mlis.count != 0){
db_post_events(psm,&psm->val,DBE_VALUE|DBE_ALARM);
db_post_events(psm,&psm->rbv,DBE_VALUE|DBE_ALARM);
db_post_events(psm,&psm->val,DBE_VALUE|DBE_ALARM|DBE_LOG);
db_post_events(psm,&psm->rbv,DBE_VALUE|DBE_ALARM|DBE_LOG);
}
/* readback normally */
}else{