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Removed postProcess flag (pp) from LOAD_POS. Fixes bug where target positions were not updating.

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Removed redundant postings of RMP and REP by moving them to device support's motor_update_values() and update_values().
 Fix for LOAD_POS not posting RVAL.
 Reversed order of issuing SET_VEL_BASE and SET_VELOCITY commands. Fixes MAXv command errors.
This commit is contained in:
Ron Sluiter
2014-09-11 15:37:22 +00:00
parent 95819d8a2a
commit 0054f45b32
1 changed files with 15 additions and 23 deletions
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motorApp/MotorSrc/motorRecord.cc
+15 -23
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@@ -176,7 +176,14 @@ HeadURL: $URL$
* .69 05-19-14 rls - Set "stop" field true if driver returns RA_PROBLEM true. (Motor record
* stops motion when controller signals error but does not stop motion; e.g.,
* maximum velocity exceeded.)
*/
* .70 07-30-14 rls - Removed postProcess flag (pp) from LOAD_POS. Fixes bug where target positions
* were not updating.
* - Removed redundant postings of RMP and REP by moving them to device support's
* motor_update_values() and update_values().
* - Fix for LOAD_POS not posting RVAL.
* - Reversed order of issuing SET_VEL_BASE and SET_VELOCITY commands. Fixes MAXv
* command errors.
*/
#define VERSION 6.9
@@ -348,8 +355,6 @@ typedef union
unsigned int M_HLS :1;
unsigned int M_LLS :1;
unsigned int M_RRBV :1;
unsigned int M_RMP :1;
unsigned int M_REP :1;
unsigned int M_MSTA :1;
unsigned int M_ATHM :1;
unsigned int M_TDIR :1;
@@ -790,8 +795,8 @@ static long postProcess(motorRecord * pmr)
pmr->rcnt = 0;
MARK(M_RCNT);
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_VELOCITY, &hvel);
WRITE_MSG(SET_VEL_BASE, &vbase);
if (acc > 0.0) /* Don't SET_ACCEL to zero. */
WRITE_MSG(SET_ACCEL, &acc);
@@ -854,10 +859,10 @@ static long postProcess(motorRecord * pmr)
{
double acc = (vel - vbase) / pmr->accl;
WRITE_MSG(SET_VEL_BASE, &vbase);
if (vel <= vbase)
vel = vbase + 1;
WRITE_MSG(SET_VELOCITY, &vel);
WRITE_MSG(SET_VEL_BASE, &vbase);
if (acc > 0.0) /* Don't SET_ACCEL if vel = vbase. */
WRITE_MSG(SET_ACCEL, &acc);
if (use_rel == true)
@@ -1928,8 +1933,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
hpos = 0;
INIT_MSG();
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_VELOCITY, &hvel);
WRITE_MSG(SET_VEL_BASE, &vbase);
if (acc > 0.0) /* Don't SET_ACCEL to zero. */
WRITE_MSG(SET_ACCEL, &acc);
@@ -2362,8 +2367,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
}
pmr->cdir = (pmr->rdif < 0.0) ? 0 : 1;
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_VELOCITY, &velocity);
WRITE_MSG(SET_VEL_BASE, &vbase);
if (accel > 0.0) /* Don't SET_ACCEL = 0.0 */
WRITE_MSG(SET_ACCEL, &accel);
if (use_rel == true)
@@ -3383,18 +3388,6 @@ static void monitor(motorRecord * pmr)
UNMARK(M_DRBV);
}
if ((local_mask = monitor_mask | (MARKED(M_RMP) ? DBE_VAL_LOG : 0)))
{
db_post_events(pmr, &pmr->rmp, local_mask);
UNMARK(M_RMP);
}
if ((local_mask = monitor_mask | (MARKED(M_REP) ? DBE_VAL_LOG : 0)))
{
db_post_events(pmr, &pmr->rep, local_mask);
UNMARK(M_REP);
}
if ((local_mask = monitor_mask | (MARKED(M_DIFF) ? DBE_VAL_LOG : 0)))
{
db_post_events(pmr, &pmr->diff, local_mask);
@@ -3553,8 +3546,6 @@ static void
pmr->drbv = pmr->rrbv * pmr->mres;
}
MARK(M_RMP);
MARK(M_REP);
if (pmr->rrbv != old_rrbv)
MARK(M_RRBV);
if (pmr->drbv != old_drbv)
@@ -3652,7 +3643,9 @@ static void load_pos(motorRecord * pmr)
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
pmr->lrvl = pmr->rval = (long) newpos;
if (pmr->rval != (epicsInt32) NINT(newpos))
MARK(M_RVAL);
pmr->lrvl = pmr->rval = (epicsInt32) NINT(newpos);
if (pmr->foff)
{
@@ -3676,7 +3669,6 @@ static void load_pos(motorRecord * pmr)
}
pmr->mip = MIP_LOAD_P;
MARK(M_MIP);
pmr->pp = TRUE;
if (pmr->dmov == TRUE)
{
pmr->dmov = FALSE;