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

MRES == RDBD bug fix.

Browse Source
This commit is contained in:
Ron Sluiter
2006-06-30 18:50:27 +00:00
parent aafa7feeba
commit 17168a5260
1 changed files with 10 additions and 23 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/MotorSrc/motorRecord.cc
+10 -23
View File
@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.31 $
Modified By: $Author: peterd $
Last Modified: $Date: 2006-05-18 19:51:06 $
Version: $Revision: 1.32 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2006-06-30 18:50:27 $
*/
/*
@@ -87,9 +87,11 @@ Last Modified: $Date: 2006-05-18 19:51:06 $
* .28 03-08-06 rls - Moved STUP processing to top of do_work() so that things
* like LVIO true and SPMG set to PAUSE do not prevent
* status update.
* .29 06-30-06 rls - Change do_work() test for "don't move if within RDBD",
* from float to integer; avoid equality test errors.
*/
#define VERSION 5.9
#define VERSION 6.0
#include <stdlib.h>
#include <string.h>
@@ -1975,8 +1977,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
bool use_rel, preferred_dir;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
long rdbdpos = NINT(pmr->rdbd / pmr->mres); /* retry deadband steps */
long rpos, npos;
msta_field msta;
msta.All = pmr->msta;
@@ -1999,9 +2001,11 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
if (pmr->rval != pmr->lrvl)
MARK(M_RVAL);
/* Don't move if we're within retry deadband. */
rpos = NINT(rbvpos);
npos = NINT(newpos);
if (npos == rpos)
if (abs(npos - rpos) < rdbdpos)
{
if (pmr->dmov == FALSE && (pmr->mip == MIP_DONE || pmr->mip == MIP_RETRY))
{
@@ -2033,23 +2037,6 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
else
preferred_dir = false;
/*
* Don't move if we're within retry deadband.
*/
if (fabs(pmr->diff) <= pmr->rdbd)
{
if (pmr->mip == MIP_DONE)
{
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
pmr->lrvl = pmr->rval;
pmr->dmov = TRUE;
MARK(M_DMOV);
}
return(OK);
}
if (pmr->mip == MIP_DONE || pmr->mip == MIP_RETRY)
{
double velocity, position, accel;