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- Bug fix for STOP not working after target position changed.

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- Don't send SET_ACCEL command when acceleration = 0.0.
- Avoid STUP errors from devices that do not have "GET_INFO" command (e.g. Soft Channel).
This commit is contained in:
Ron Sluiter
2005-06-23 18:50:50 +00:00
parent c42d2b1d7b
commit 33d0469ef6
1 changed files with 37 additions and 12 deletions
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motorApp/MotorSrc/motorRecord.cc
+37 -12
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.24 $
Version: $Revision: 1.25 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2005-06-07 14:32:29 $
Last Modified: $Date: 2005-06-23 18:50:50 $
*/
/*
@@ -73,6 +73,10 @@ Last Modified: $Date: 2005-06-07 14:32:29 $
* .22 04-04-05 rls - Clear homing and jog request after LS or travel limit error.
* .23 05-31-05 rls - Bug fix for DMOV going true before last readback update
* when LS error occurs.
* .24 06-17-05 rls - Bug fix for STOP not working after target position changed.
* - Don't send SET_ACCEL command when acceleration = 0.0.
* - Avoid STUP errors from devices that do not have "GET_INFO"
* command (e.g. Soft Channel).
*/
#define VERSION 5.7
@@ -722,7 +726,8 @@ static long postProcess(motorRecord * pmr)
if (vel <= vbase)
vel = vbase + 1;
WRITE_MSG(SET_VELOCITY, &vel);
WRITE_MSG(SET_ACCEL, &acc);
if (acc > 0.0) /* Don't SET_ACCEL if vel = vbase. */
WRITE_MSG(SET_ACCEL, &acc);
if (use_rel)
WRITE_MSG(MOVE_REL, &relbpos);
else
@@ -737,7 +742,8 @@ static long postProcess(motorRecord * pmr)
if (bvel <= vbase)
bvel = vbase + 1;
WRITE_MSG(SET_VELOCITY, &bvel);
WRITE_MSG(SET_ACCEL, &bacc);
if (bacc > 0.0) /* Don't SET_ACCEL if bvel = vbase. */
WRITE_MSG(SET_ACCEL, &bacc);
if (use_rel)
{
relpos = (relpos - relbpos) * pmr->frac;
@@ -791,7 +797,8 @@ static long postProcess(motorRecord * pmr)
if (bvel <= vbase)
bvel = vbase + 1;
WRITE_MSG(SET_VELOCITY, &bvel);
WRITE_MSG(SET_ACCEL, &bacc);
if (bacc > 0.0) /* Don't SET_ACCEL if bvel = vbase. */
WRITE_MSG(SET_ACCEL, &bacc);
if (use_rel)
{
relpos = (relpos - relbpos) * pmr->frac;
@@ -1138,7 +1145,9 @@ static long process(dbCommon *arg)
if (pmr->pp)
{
if (pmr->val != pmr->lval)
if ((pmr->val != pmr->lval) &&
!(pmr->mip & MIP_STOP) &&
!(pmr->mip & MIP_JOG_STOP))
{
pmr->mip = MIP_DONE;
/* Bug fix, record locks-up when BDST != 0, DLY != 0 and
@@ -1532,7 +1541,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
*/
if (pmr->spmg == motorSPMG_Stop || stop == true)
{
if (pmr->mip == MIP_DONE || pmr->mip == MIP_STOP || pmr->mip == MIP_RETRY)
if ((pmr->mip == MIP_DONE) || (pmr->mip & MIP_STOP) ||
(pmr->mip & MIP_RETRY))
{
if (pmr->mip == MIP_RETRY)
{
@@ -1911,11 +1921,18 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
if (pmr->stup == motorSTUP_ON)
{
RTN_STATUS status;
pmr->stup = motorSTUP_BUSY;
MARK_AUX(M_STUP);
INIT_MSG();
WRITE_MSG(GET_INFO, NULL);
SEND_MSG();
status = WRITE_MSG(GET_INFO, NULL);
/* Avoid errors from devices that do not have "GET_INFO" (e.g. Soft
Channel). */
if (status == ERROR)
pmr->stup = motorSTUP_OFF;
else
SEND_MSG();
}
/* IF DVAL field has changed, OR, NOT done moving. */
@@ -2102,7 +2119,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->cdir = (pmr->rdif < 0.0) ? 0 : 1;
WRITE_MSG(SET_VEL_BASE, &vbase);
WRITE_MSG(SET_VELOCITY, &velocity);
WRITE_MSG(SET_ACCEL, &accel);
if (accel > 0.0) /* Don't SET_ACCEL = 0.0 */
WRITE_MSG(SET_ACCEL, &accel);
if (use_rel == true)
WRITE_MSG(MOVE_REL, &position);
else
@@ -2114,11 +2132,18 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
}
else if (proc_ind == NOTHING_DONE && pmr->stup == motorSTUP_OFF)
{
RTN_STATUS status;
pmr->stup = motorSTUP_BUSY;
MARK_AUX(M_STUP);
INIT_MSG();
WRITE_MSG(GET_INFO, NULL);
SEND_MSG();
status = WRITE_MSG(GET_INFO, NULL);
/* Avoid errors from devices that do not have "GET_INFO" (e.g. Soft
Channel). */
if (status == ERROR)
pmr->stup = motorSTUP_OFF;
else
SEND_MSG();
}
return(OK);
}