lin-epics-modules/motorBase
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- Combined calls to mx_motor_get_status() and mx_motor_get_position() with one call to mx_motor_get_extended_status().

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- Set limit switch state ane error status.
This commit is contained in:
Ron Sluiter
2003-03-06 18:54:56 +00:00
parent 1167a6bb77
commit 15a0f0b3eb
1 changed files with 28 additions and 7 deletions
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motorApp/MXmotorSrc/drvMXmotor.cc
+28 -7
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@@ -2,9 +2,9 @@
FILENAME... drvMXmotor.cc
USAGE... Motor record driver level support for MX device driver.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-03-04 15:27:29 $
Last Modified: $Date: 2003-03-06 18:54:56 $
*/
/*
@@ -251,7 +251,8 @@ static int set_status(int card, int signal)
motor_info = &(brdptr->motor_info[signal]);
cntrl = (struct MXcontroller *) brdptr->DevicePrivate;
mx_status = mx_motor_get_status(cntrl->MXmotor_record, &status);
mx_status = mx_motor_get_extended_status(cntrl->MXmotor_record, &motorData,
&status);
if (mx_status.code != MXE_SUCCESS)
return(rtn_state = ERROR);
@@ -260,10 +261,6 @@ static int set_status(int card, int signal)
else
motor_info->status |= RA_DONE;
mx_status = mx_motor_get_position(cntrl->MXmotor_record, &motorData);
if (mx_status.code != MXE_SUCCESS)
return(rtn_state = ERROR);
if (motorData == motor_info->position)
motor_info->no_motion_count++;
else
@@ -281,6 +278,30 @@ static int set_status(int card, int signal)
plusdir = (motor_info->status & RA_DIRECTION) ? true : false;
/* Set limit switch error indicators. */
if (status & MXSF_MTR_POSITIVE_LIMIT_HIT)
{
motor_info->status |= RA_PLUS_LS;
if (plusdir == true)
ls_active = true;
}
else
motor_info->status &= ~RA_PLUS_LS;
if (status & MXSF_MTR_NEGATIVE_LIMIT_HIT)
{
motor_info->status |= RA_MINUS_LS;
if (plusdir == false)
ls_active = true;
}
else
motor_info->status &= ~RA_MINUS_LS;
if (status & MXSF_MTR_ERROR)
motor_info->status |= RA_PROBLEM;
else
motor_info->status &= ~RA_PROBLEM;
rtn_state = (!motor_info->no_motion_count || ls_active == true ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;