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Changes from Bob Dalesio:

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lrd     fix init to limit in overshoot check and retry post monitors
	   for mcw and mccw reprocess records if the setpoint changed
	   while they were moving
This commit is contained in:
Jeff Hill
1995-10-12 01:38:41 +00:00
parent ad3e5a3272
commit 5a16ba053b
1 changed files with 18 additions and 8 deletions
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26
src/rec/recSteppermotor.c
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@@ -94,6 +94,9 @@
* Stops
* .36 09-15-93 mrk call monitor when starting
* .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
* reprocess records if the setpoint changed while they were moving
*/
#include <vxWorks.h>
@@ -295,7 +298,7 @@ static long get_units(paddr,units)
{
struct steppermotorRecord *psm=(struct steppermotorRecord *)paddr->precord;
strncpy(units,psm->egu,DB_UNITS_SIZE);
strncpy(units,psm->egu,sizeof(psm->egu));
return(0);
}
@@ -524,14 +527,18 @@ struct steppermotorRecord *psm;
if (psm->mcw != psm_data->cw_limit){
psm->mcw = psm_data->cw_limit;
psm->cw = (psm->mcw)?0:1; /* change sense for VMS OPI */
if (psm->mlis.count)
if (psm->mlis.count){
db_post_events(psm,&psm->cw,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->mcw,DBE_VALUE|DBE_LOG);
}
}
if (psm->mccw != psm_data->ccw_limit){
psm->mccw = psm_data->ccw_limit;
psm->ccw = (psm->mccw)?0:1; /* change sense for VMS OPI */
if (psm->mlis.count)
if (psm->mlis.count){
db_post_events(psm,&psm->ccw,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->mccw,DBE_VALUE|DBE_LOG);
}
}
/* alarm conditions for limit switches */
@@ -565,7 +572,7 @@ struct steppermotorRecord *psm;
db_post_events(psm,&psm->sevr,DBE_VALUE|DBE_LOG);
}
/* stop motor on overshoot */
if (psm->movn){
if ((psm->movn) && (psm->init == 1)){
if (psm->posm){ /* moving in the positive direction */
if (psm->rbv > (psm->val + psm->rdbd))
(*pdset->sm_command)(psm,SM_MOTION,0,0);
@@ -574,7 +581,7 @@ struct steppermotorRecord *psm;
(*pdset->sm_command)(psm,SM_MOTION,0,0);
}
}
if(!psm->movn) {
if((!psm->movn) && (psm->init == 1)) {
/* difference between desired position and readback pos */
if ( (psm->rbv < (psm->val - psm->rdbd))
|| (psm->rbv > (psm->val + psm->rdbd)) ){
@@ -589,7 +596,9 @@ struct steppermotorRecord *psm;
}
/* should we retry */
if (psm->rcnt < psm->rtry){
if ((psm->rcnt < psm->rtry) || (psm->lval != psm->val)){
psm->lval = psm->val;
/* convert */
temp = psm->val / psm->dist;
psm->rval = temp;
@@ -680,9 +689,9 @@ struct steppermotorRecord *psm;
if (psm->mode == POSITION){
if (psm->ialg != 0){
if (psm->ialg == POSITIVE_LIMIT){
status = (*pdset->sm_command)(psm,SM_MOVE,0x0fffffff,0);
status = (*pdset->sm_command)(psm,SM_MOVE,0x0fffff,0);
}else if (psm->ialg == NEGATIVE_LIMIT){
status = (*pdset->sm_command)(psm,SM_MOVE,-0x0fffffff,0);
status = (*pdset->sm_command)(psm,SM_MOVE,-0x0fffff,0);
}
psm->sthm = 1;
/* force a read of the position and status */
@@ -947,3 +956,4 @@ struct steppermotorRecord *psm;
}
}