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- Restored SET_ENC_RATIO motor command.

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- Seperate +/- limit switch status bits.
- Code around OMS bug that ignores MR+/-1.
- Use OMS UU command to support reference always in motor steps.
This commit is contained in:
Ron Sluiter
2002-07-05 19:37:50 +00:00
parent 71bc4b0e2d
commit 33a8372c7c
1 changed files with 32 additions and 7 deletions
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motorApp/OmsSrc/devOmsCom.c
+32 -7
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.c
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.7 $
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-04-01 22:37:19 $
Last Modified: $Date: 2002-07-05 19:37:50 $
*/
/*
@@ -43,10 +43,12 @@ Last Modified: $Date: 2002-04-01 22:37:19 $
* .04a 02-19-97 tmm fixed for EPICS 3.13
* .05 05-14-01 rls Support for jog velocity and acceleration commands.
* Added "CA" to home and jog commands so JVEL does not
* see done flag from previous operation.
* .06 03-27-02 rls - Eliminated RES. All input positions, velocities and
* accelerations are in motor steps.
* - Eliminated SET_ENC_RATIO.
* see done flag from previous operation.
* .06 03-27-02 rls Eliminated RES. All input positions, velocities and
* accelerations are in motor steps.
* .07 07-05-02 rls Work around for OMS bug that ignores MR+/-1.
* Use OMS UU command to support reference is always in
* motor steps.
*/
#include <vxWorks.h>
@@ -81,6 +83,7 @@ struct motor_table const oms_table[] =
{IMMEDIATE, " VL", 1}, /* SET_VELO */
{IMMEDIATE, " AC", 1}, /* SET_ACCEL */
{IMMEDIATE, " GD", 0}, /* jps: from GO to GD */
{IMMEDIATE, " ER", 2}, /* SET_ENC_RATIO */
{INFO, " ", 0}, /* GET_INFO */
{MOVE_TERM, " ST", 0}, /* STOP_AXIS */
{VELOCITY, " CA JG", 1}, /* JOG */
@@ -266,13 +269,15 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
}
/* Code to hide Oms58 moving off limit switch problem. */
if (((mr->msta & RA_OVERTRAVEL) != 0) && (command == MOVE_ABS || command == MOVE_REL))
if (((mr->msta & RA_PLUS_LS) || (mr->msta & RA_MINUS_LS)) &&
(command == MOVE_ABS || command == MOVE_REL))
{
if (mr->rdif >= 0)
strcat(motor_call->message, " MP");
else
strcat(motor_call->message, " MM");
}
/* put in command */
strcat(motor_call->message, oms_table[command].command);
@@ -306,12 +311,32 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
sprintf(buffer, "%ld", vel);
}
break;
case MOVE_REL:
{
/* Code around OMS bug that ignores MR+/-1. */
long relmove;
relmove = NINT(parms[itera]);
if (relmove == 1 || relmove == -1)
sprintf(buffer, "%ld.5", relmove);
else
sprintf(buffer, "%ld", relmove);
}
break;
default:
sprintf(buffer, "%ld", NINT(parms[itera]));
}
strcat(motor_call->message, buffer);
}
if (command == SET_ENC_RATIO)
{
sprintf(buffer, " UU%f", parms[0]/parms[1]);
strcat(motor_call->message, buffer);
}
}
}
return(rtnind);