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Matthew Pearson's fix for record seeing motorAxisDone True on 1st status update after a move.

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Ron Sluiter
2009-06-18 19:30:56 +00:00
parent 2b02a15d89
commit 1918b8c682
1 changed files with 17 additions and 5 deletions
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motorApp/AttocubeSrc/drvANC150Asyn.cc
+17 -5
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@@ -3,9 +3,9 @@ FILENAME... drvANC150Asyn.cc
USAGE... asyn motor driver support for attocube systems AG ANC150
Piezo Step Controller.
Version: $Revision: 1.7 $
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2009-02-18 21:39:00 $
Last Modified: $Date: 2009-06-18 19:30:56 $
*/
@@ -48,6 +48,11 @@ Last Modified: $Date: 2009-02-18 21:39:00 $
* .04 02-18-09 rls Copied Matthew Pearson's (Diamond) fix on XPS for;
* - idle polling interfering with setting position.
* - auto save/restore not working.
* .05 06-11-09 rls - Matthew Pearson's fix for record seeing motorAxisDone True
* on 1st status update after a move; set motorAxisDone False
* in motorAxisDrvSET_t functions that start motion
* (motorAxisHome, motorAxisMove, motorAxisVelocityMove) and
* force a status update with a call to callCallback().
*
*/
@@ -295,7 +300,6 @@ static int motorAxisSetCallback(AXIS_HDL pAxis, motorAxisCallbackFunc callback,
static int motorAxisSetDouble(AXIS_HDL pAxis, motorAxisParam_t function, double value)
{
int ret_status = MOTOR_AXIS_ERROR;
int status;
if (pAxis == NULL)
return(MOTOR_AXIS_ERROR);
@@ -443,8 +447,16 @@ static int motorAxisMove(AXIS_HDL pAxis, double position, int relative,
if (status)
return(MOTOR_AXIS_ERROR);
/* Set direction indicator. */
motorParam->setInteger(pAxis->params, motorAxisDirection, posdir);
if (epicsMutexLock(pAxis->mutexId) == epicsMutexLockOK)
{
/* Set direction indicator. */
motorParam->setInteger(pAxis->params, motorAxisDirection, posdir);
/* Insure that the motor record's next status update sees motorAxisDone = False. */
motorParam->setInteger(pAxis->params, motorAxisDone, 0);
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);
}
/* Send a signal to the poller task which will make it do a poll, and
switch to the moving poll rate. */