epics/pcas
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Fixed several problems

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This commit is contained in:
Marty Kraimer
1992-06-03 07:47:23 +00:00
parent 08da2743e9
commit f7149d3a71
1 changed files with 30 additions and 24 deletions
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54
src/rec/recSteppermotor.c
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@@ -307,6 +307,13 @@ static long get_graphic_double(paddr,pgd)
struct steppermotorRecord *psm=(struct steppermotorRecord *)paddr->precord;
if(paddr->pfield==(void *)&psm->val
|| paddr->pfield==(void *)&psm->mpos
|| paddr->pfield==(void *)&psm->rbv
|| paddr->pfield==(void *)&psm->epos
|| paddr->pfield==(void *)&psm->hihi
|| paddr->pfield==(void *)&psm->high
|| paddr->pfield==(void *)&psm->low
|| paddr->pfield==(void *)&psm->lolo
|| paddr->pfield==(void *)&psm->lval){
pgd->upper_disp_limit = psm->hopr;
pgd->lower_disp_limit = psm->lopr;
@@ -321,6 +328,13 @@ static long get_control_double(paddr,pcd)
struct steppermotorRecord *psm=(struct steppermotorRecord *)paddr->precord;
if(paddr->pfield==(void *)&psm->val
|| paddr->pfield==(void *)&psm->mpos
|| paddr->pfield==(void *)&psm->rbv
|| paddr->pfield==(void *)&psm->epos
|| paddr->pfield==(void *)&psm->hihi
|| paddr->pfield==(void *)&psm->high
|| paddr->pfield==(void *)&psm->low
|| paddr->pfield==(void *)&psm->lolo
|| paddr->pfield==(void *)&psm->lval){
pcd->upper_ctrl_limit = psm->drvh;
pcd->lower_ctrl_limit = psm->drvl;
@@ -527,17 +541,16 @@ struct steppermotorRecord *psm;
post_events = TRUE;
}
/* get the read back value */
sm_get_position(psm,psm_data->moving);
/* needs to follow get position to prevent moves with old readback */
/* moving */
if (psm->movn != psm_data->moving){
psm->movn = psm_data->moving;
if (psm->mlis.count)
db_post_events(psm,&psm->movn,DBE_VALUE|DBE_LOG);
}
/* get the read back value */
sm_get_position(psm);
/* needs to follow get position to prevent moves with old readback */
/* anyone waiting for an event on this record */
if (psm->mlis.count!=0 && post_events) {
@@ -561,8 +574,7 @@ struct steppermotorRecord *psm;
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);
psm->posm = (psm->rbv < psm->val);
/* one attempt was made - record the error */
if (psm->rcnt == 1){
@@ -572,7 +584,7 @@ struct steppermotorRecord *psm;
}
/* should we retry */
if (psm->rcnt <= psm->rtry){
if (psm->rcnt < psm->rtry){
/* convert */
temp = psm->val / psm->dist;
psm->rval = temp;
@@ -582,10 +594,8 @@ struct steppermotorRecord *psm;
if ((*pdset->sm_command)(psm,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;
@@ -628,12 +638,6 @@ struct steppermotorRecord *psm;
int acceleration,velocity;
short status=0;
/* check supported hardware */
if (psm->out.type != VME_IO){
psm->init = 1;
return;
}
/* acceleration is in terms of seconds to reach velocity */
acceleration = (1/psm->accl) * psm->velo * psm->mres;
@@ -699,9 +703,6 @@ struct steppermotorRecord *psm;
struct smdset *pdset = (struct smdset *)(psm->dset);
int acceleration,velocity;
/* only VME stepper motor cards supported */
if (psm->out.type != VME_IO) return;
/* emergency stop */
if (psm->stop){
@@ -774,18 +775,24 @@ struct steppermotorRecord *psm;
/* Change of desired position */
if (psm->lval != psm->val){
double temp;
sm_get_position(psm);
psm->rcnt = 0;
psm->lval = psm->val;
psm->dmov = 0; /* start moving to desired location */
psm->posm = (psm->rbv < psm->val);
temp = psm->val/psm->dist;
psm->rval = temp;
if (psm->mlis.count){
db_post_events(psm,&psm->rcnt,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->lval,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->dmov,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->posm,DBE_VALUE|DBE_LOG);
db_post_events(psm,&psm->rval,DBE_VALUE|DBE_LOG);
}
/* move motor */
psm->movn = 1;
if ((*pdset->sm_command)(psm,SM_MOVE,psm->rval-psm->rrbv,0) < 0){
psm->movn=0;
recGblSetSevr(psm,WRITE_ALARM,VALID_ALARM);
}
}
@@ -882,9 +889,8 @@ struct steppermotorRecord *psm;
*
* get the stepper motor readback position
*/
static void sm_get_position(psm,moving)
static void sm_get_position(psm)
struct steppermotorRecord *psm;
short moving;
{
struct smdset *pdset = (struct smdset *)(psm->dset);
short reset;
@@ -915,7 +921,7 @@ short moving;
}
/* readback position at initialization */
if ((psm->init <= 0) && (moving == 0)){
if ((psm->init <= 0) && (psm->movn == 0)){
if (psm->sthm){
(*pdset->sm_command)(psm,SM_SET_HOME,0,0);
psm->sthm = 0;
@@ -940,7 +946,7 @@ short moving;
/* post events */
if (psm->mlis.count != 0){
delta = new_pos - psm->rbv;
if ((delta > psm->mdel) || (delta < -psm->mdel)){
if (!psm->movn ||((delta > psm->mdel) || (delta < -psm->mdel))){
psm->rbv = new_pos;
db_post_events(psm,&psm->rbv,DBE_VALUE|DBE_ALARM);
db_post_events(psm,&psm->rrbv,DBE_VALUE|DBE_ALARM);