lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

- Removed erroneous setting of PP <- TRUE in init_record().

Browse Source 
- Replaced PDIF with CDIR field (see README V4.5 item #2).
- Simplified "tdir" logic in process().
This commit is contained in:
Ron Sluiter
2001-10-02 23:16:52 +00:00
parent 27cb93553a
commit 0423811dcf
1 changed files with 21 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/MotorSrc/motorRecord.c
+21 -23
View File
@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Motor Record Support.
Version: $Revision: 1.13 $
Version: $Revision: 1.14 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2001-08-22 18:37:27 $
Last Modified: $Date: 2001-10-02 23:16:52 $
*/
/*
@@ -108,30 +108,34 @@ Last Modified: $Date: 2001-08-22 18:37:27 $
* the motor's moving.) Set .res field in init_record().
* Set retry deadband according to .mres, .eres, and .bdst.
* .34 05-30-97 tmm v3.3 Relative moves know about motor granularity.
* .35 10-11-99 rls v4.0 Enforce finite state machine on jog request, jogging,
* .35 10-11-99 rls v4.0 Enforce finite state machine on jog request, jogging,
* stopping a jog and backlash after jogging. These
* modifications fix the "runaway jog" problem discovered
* with the MM4000 device support using serial communication
* when the user "hammers" on the jog request.
* .36 02-14-01 rls - Changed logic in do_work() so that the stop command is
* .36 02-14-01 rls - Changed logic in do_work() so that the stop command is
* always sent to the controller when the STOP field is
* activated; but, the MIP field in only set to the "stop"
* state if the current state is not STOP or DONE.
* - Eliminated unused MIP_LOAD_ER.
* - Added Mark Rivers Soft Channel changes as a
* - Eliminated unused MIP_LOAD_ER.
* - Added Mark Rivers Soft Channel changes as a
* conditionial option; DMR_SOFTMOTOR_MODS.
* .37 06-05-01 rls Bug fix for MIP left in MOVE state if valid target
* .37 06-05-01 rls Bug fix for MIP left in MOVE state if valid target
* position is followed by a target position that violates
* the travel limit, while 1st move is in progress.
* Modified do_work() to set DMOV true only if MIP is DONE.
* .38 06-08-01 rls Bug fix for MIP left in STOP state if STOP set TRUE or
* .38 06-08-01 rls Bug fix for MIP left in STOP state if STOP set TRUE or
* SPMG set to STOP in between MIP set to RETRY in
* maybeRetry() and MIP set to MOVE in do_work(). Modified
* do_work() STOP and SPMG processing to set MIP <- DONE and
* DMOV <- TRUE when MIP == RETRY.
* .39 10-02-01 rls - V4.5
* - Removed erroneous setting of PP <- TRUE in init_record().
* - Replaced PDIF with CDIR field (see README V4.5 item #2).
* - Simplified "tdir" logic in process().
*/
#define VERSION 4.4
#define VERSION 4.5
#include <vxWorks.h>
#include <stdlib.h>
@@ -640,7 +644,6 @@ STATIC long init_record(motorRecord * pmr, int pass)
MARK(M_MOVN);
pmr->lspg = pmr->spmg = motorSPMG_Go;
MARK(M_SPMG);
pmr->pp = TRUE;
pmr->diff = pmr->dval - pmr->drbv;
MARK(M_DIFF);
pmr->rdif = NINT(pmr->diff / pmr->mres);
@@ -719,7 +722,7 @@ STATIC long postProcess(motorRecord * pmr)
int dir = dir_positive ? 1 : -1;
#endif
Debug(3, "postProcess: entry\n", 0);
Debug(3, "postProcess: entry\n");
pmr->pp = FALSE;
@@ -1145,6 +1148,7 @@ STATIC long process(motorRecord * pmr)
if (pmr->movn)
{
int sign_rdif = (pmr->rdif >= 0) ? 0 : 1;
mmap_field mmap_bits;
mmap_bits.All = pmr->mmap; /* Initialize for MARKED. */
@@ -1156,16 +1160,10 @@ STATIC long process(motorRecord * pmr)
* don't get midcourse corrections since we don't know their
* destinations.) v3.2: Don't do this check with an encoder or
* readback device.
*/
if (!pmr->ueip &&
!pmr->urip &&
*/
if ((sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
(pmr->pdif != 0) &&
((pmr->rdif & 0x80000000) != (pmr->pdif & 0x80000000)) &&
(pmr->rvel != 0) &&
(MARKED(M_RRBV)) &&
((pmr->mip == MIP_RETRY) || (pmr->mip == MIP_MOVE)))
(pmr->mip == MIP_RETRY || pmr->mip == MIP_MOVE))
{
/* We're going in the wrong direction. Readback problem? */
@@ -1216,8 +1214,7 @@ STATIC long process(motorRecord * pmr)
}
}
}
pmr->pdif = pmr->rdif;
} /* if (process_reason == CALLBACK_DATA) */
} /* END of (process_reason == CALLBACK_DATA). */
/* check for soft-limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == (float) 0.0))
@@ -1498,7 +1495,7 @@ STATIC long do_work(motorRecord * pmr)
const unsigned short monitor_mask = DBE_VALUE;
mmap_field mmap_bits;
Debug(3, "do_work: begin\n", 0);
Debug(3, "do_work: begin\n");
/*** Process Stop/Pause/Go_Pause/Go switch. ***
*
@@ -2131,6 +2128,7 @@ STATIC long do_work(motorRecord * pmr)
}
WRITE_MSG(GO, NULL);
}
pmr->cdir = (pmr->diff >= 0.0) ? 0 : 1;
SEND_MSG();
}
}