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added POSITIVE_HOME NEGATIVE_HOME. (Ric Claus SLAC)

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This commit is contained in:
Marty Kraimer
1996-05-03 14:17:18 +00:00
parent 92b1b34e02
commit 17989d29fe
2 changed files with 19 additions and 4 deletions
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21
src/rec/steppermotorRecord.c
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@@ -96,6 +96,8 @@
* .37 03-29-94 mcn converted to fast links
* .38 09-27-95 lrd fix init to limit in overshoot check and retry
* post monitors for mcw and mccw
* .39 04-09-96 ric Pos/Neg limit algos changed to move max int
* steps. Dev/Drv sup will interpret meaning
*/
#include <vxWorks.h>
@@ -171,6 +173,8 @@ struct smdset {
#define POSITION 1
#define POSITIVE_LIMIT 1
#define NEGATIVE_LIMIT 2
#define POSITIVE_HOME 3
#define NEGATIVE_HOME 4
static void alarm();
static void monitor();
@@ -680,10 +684,19 @@ struct steppermotorRecord *psm;
/* set initial position */
if (psm->mode == POSITION){
if (psm->ialg != 0){
if (psm->ialg == POSITIVE_LIMIT){
status = (*pdset->sm_command)(psm,SM_MOVE,0x0fffff,0);
}else if (psm->ialg == NEGATIVE_LIMIT){
status = (*pdset->sm_command)(psm,SM_MOVE,-0x0fffff,0);
switch (psm->ialg){
case (POSITIVE_LIMIT):
status = (*pdset->sm_command)(psm,SM_FIND_LIMIT,1,0);
break;
case (NEGATIVE_LIMIT):
status = (*pdset->sm_command)(psm,SM_FIND_LIMIT,-1,0);
break;
case (POSITIVE_HOME):
status = (*pdset->sm_command)(psm,SM_FIND_HOME,1,0);
break;
case (NEGATIVE_HOME):
status = (*pdset->sm_command)(psm,SM_FIND_HOME,-1,0);
break;
}
psm->sthm = 1;
/* force a read of the position and status */

2
src/rec/steppermotorRecord.db
View File

@@ -2,6 +2,8 @@ menu(steppermotorIALG) {
choice(steppermotorIALG_No_Initialization,"No Initialization")
choice(steppermotorIALG_Move_to_the_Positive_Limit,"Move to the Positive Limit")
choice(steppermotorIALG_Move_to_the_Negative_Limit,"Move to the Negative Limit")
choice(steppermotorIALG_Move_to_Positive_Home,"Move to Positive Home")
choice(steppermotorIALG_Move_to_Negative_Home,"Move to Negative Home")
}
menu(steppermotorMODE) {
choice(steppermotorMODE_Velocity,"Velocity")