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Removed RES field from motor record.

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This commit is contained in:
Ron Sluiter
2002-03-27 21:24:31 +00:00
parent 8f605b7bc1
commit 35048c0679
3 changed files with 67 additions and 78 deletions
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motorApp/MotorSrc/motorRecord.c
+59 -61
View File
@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Motor Record Support.
Version: $Revision: 1.16 $
Version: $Revision: 1.17 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-02-12 17:46:10 $
Last Modified: $Date: 2002-03-27 21:24:26 $
*/
/*
@@ -137,6 +137,7 @@ Last Modified: $Date: 2002-02-12 17:46:10 $
* so that init_record() can call process_motor_info()
* without reading the external readback device (RDBL).
* init_record() was causing LINK alarms.
* .41 03-25-02 rls - Eliminated RES.
*/
#define VERSION 4.5
@@ -615,9 +616,6 @@ STATIC long init_record(motorRecord * pmr, int pass)
MARK(M_ERES);
}
/* v3.2 Set .res according to whether an encoder is in use. */
pmr->res = ((pmr->msta & EA_PRESENT) && pmr->ueip) ? pmr->eres : pmr->mres;
process_motor_info(pmr, ON);
enforceMinRetryDeadband(pmr);
@@ -659,7 +657,7 @@ STATIC long init_record(motorRecord * pmr, int pass)
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == (float) 0.0))
;
else if ((pmr->drbv > pmr->dhlm + pmr->res) || (pmr->drbv < pmr->dllm - pmr->res))
else if ((pmr->drbv > pmr->dhlm + pmr->mres) || (pmr->drbv < pmr->dllm - pmr->mres))
{
pmr->lvio = 1;
MARK(M_LVIO);
@@ -736,8 +734,8 @@ STATIC long postProcess(motorRecord * pmr)
#ifdef DMR_SOFTMOTOR_MODS
/* Mark Rivers - make val and dval agree with rrbv, rather than rbv or
drbv */
pmr->val = (pmr->rrbv * pmr->res) * dir + pmr->off;
pmr->dval = pmr->rrbv * pmr->res;
pmr->val = (pmr->rrbv * pmr->mres) * dir + pmr->off;
pmr->dval = pmr->rrbv * pmr->mres;
#else
pmr->val = pmr->rbv;
pmr->dval = pmr->drbv;
@@ -765,7 +763,7 @@ STATIC long postProcess(motorRecord * pmr)
if (pmr->mip & MIP_STOP)
{
/* Stopped and Hom* button still down. Now do Hom*. */
double vbase = pmr->vbas / fabs(pmr->res);
double vbase = pmr->vbas / fabs(pmr->mres);
double hvel = 1000 * fabs(pmr->mres / pmr->eres);
double hpos = 0;
@@ -807,22 +805,22 @@ STATIC long postProcess(motorRecord * pmr)
else if (pmr->mip & MIP_JOG_STOP)
{
pmr->mip &= ~MIP_JOG_STOP;
if (fabs(pmr->bdst) > fabs(pmr->res))
if (fabs(pmr->bdst) > fabs(pmr->mres))
{
/* First part of jog done. Do backlash correction. */
double bvel = pmr->bvel / fabs(pmr->res);
double bvel = pmr->bvel / fabs(pmr->mres);
double bacc = bvel / pmr->bacc;
double vbase = pmr->vbas / fabs(pmr->res);
double vel = pmr->velo / fabs(pmr->res);
double vbase = pmr->vbas / fabs(pmr->mres);
double vel = pmr->velo / fabs(pmr->mres);
double acc = vel / pmr->accl;
double bpos = (pmr->dval - pmr->bdst) / pmr->res;
double currpos = pmr->dval / pmr->res;
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
double currpos = pmr->dval / pmr->mres;
double newpos;
/* Use if encoder or ReadbackLink is in use. */
int use_rel = ((pmr->msta & EA_PRESENT) && pmr->ueip) || pmr->urip;
double relpos = pmr->diff / pmr->res;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->res;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
pmr->dmov = FALSE;
MARK(M_DMOV);
@@ -1228,8 +1226,8 @@ STATIC long process(motorRecord * pmr)
pmr->lvio = (pmr->homf && (pmr->drbv > pmr->dhlm - pmr->velo)) ||
(pmr->homr && (pmr->drbv < pmr->dllm + pmr->velo));
else
pmr->lvio = (pmr->drbv > pmr->dhlm + fabs(pmr->res)) ||
(pmr->drbv < pmr->dllm - fabs(pmr->res));
pmr->lvio = (pmr->drbv > pmr->dhlm + fabs(pmr->mres)) ||
(pmr->drbv < pmr->dllm - fabs(pmr->mres));
}
if (pmr->lvio != old_lvio)
@@ -1644,14 +1642,11 @@ STATIC long do_work(motorRecord * pmr)
(fabs(m / pmr->eres) > 1.e6 || fabs(m / pmr->mres) > 1.e6); m /= 10);
ep_mp[0] = fabs(m / pmr->eres);
ep_mp[1] = fabs(m / pmr->mres);
/* Select encoder resolution for use in later calculations. */
pmr->res = pmr->eres;
}
else
{
ep_mp[0] = 1.;
ep_mp[1] = 1.;
pmr->res = pmr->mres;
}
/* Make sure retry deadband is achievable */
@@ -1737,7 +1732,7 @@ STATIC long do_work(motorRecord * pmr)
MARK(M_ERES);
}
vbase = pmr->vbas / fabs(pmr->res);
vbase = pmr->vbas / fabs(pmr->mres);
hvel = 1000 * fabs(pmr->mres / pmr->eres);
hpos = 0;
@@ -1789,8 +1784,8 @@ STATIC long do_work(motorRecord * pmr)
}
else
{
double jogv = (pmr->jvel * dir) / pmr->res;
double jacc = pmr->jar / fabs(pmr->res);
double jogv = (pmr->jvel * dir) / pmr->mres;
double jacc = pmr->jar / fabs(pmr->mres);
pmr->dmov = FALSE;
MARK(M_DMOV);
@@ -1848,7 +1843,7 @@ STATIC long do_work(motorRecord * pmr)
}
/* New raw value. Propagate to .dval and act later. */
if (pmr->rval != pmr->lrvl)
pmr->dval = pmr->rval * pmr->res; /* Later, we'll act on this. */
pmr->dval = pmr->rval * pmr->mres; /* Later, we'll act on this. */
}
/*** Collect .dval (Dial value) changes from all sources. ***
@@ -1938,23 +1933,23 @@ STATIC long do_work(motorRecord * pmr)
else
{
/** Calc new raw position, and do a (backlash-corrected?) move. **/
double rbvpos = pmr->drbv / pmr->res; /* where motor is */
double currpos = pmr->ldvl / pmr->res; /* where we are */
double newpos = pmr->dval / pmr->res; /* where to go */
double vbase = pmr->vbas / fabs(pmr->res); /* base speed */
double vel = pmr->velo / fabs(pmr->res); /* normal speed */
double rbvpos = pmr->drbv / pmr->mres; /* where motor is */
double currpos = pmr->ldvl / pmr->mres; /* where we are */
double newpos = pmr->dval / pmr->mres; /* where to go */
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = vel / pmr->accl; /* normal accel. */
/*
* 'bpos' is one backlash distance away from 'newpos'.
*/
double bpos = (pmr->dval - pmr->bdst) / pmr->res;
double bvel = pmr->bvel / fabs(pmr->res); /* backlash speed */
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
double bvel = pmr->bvel / fabs(pmr->mres); /* backlash speed */
double bacc = bvel / pmr->bacc; /* backlash accel. */
double slop = 0.95 * pmr->rdbd;
BOOLEAN use_rel;
double dMdR = pmr->mres / pmr->res;
double relpos = pmr->diff / pmr->res;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->res;
double dMdR = pmr->mres / pmr->mres;
double relpos = pmr->diff / pmr->mres;
double relbpos = ((pmr->dval - pmr->bdst) - pmr->drbv) / pmr->mres;
long rpos, npos;
/*
* Relative-move target positions with motor-resolution
@@ -1995,7 +1990,7 @@ STATIC long do_work(motorRecord * pmr)
* must make .val agree.)
*/
pmr->val = pmr->dval * dir + pmr->off;
pmr->rval = NINT(pmr->dval / pmr->res);
pmr->rval = NINT(pmr->dval / pmr->mres);
MARK(M_DVAL);
MARK(M_VAL);
MARK(M_RVAL);
@@ -2041,7 +2036,7 @@ STATIC long do_work(motorRecord * pmr)
INIT_MSG();
/* Is backlash correction disabled? */
if (fabs(pmr->bdst) < fabs(pmr->res))
if (fabs(pmr->bdst) < fabs(pmr->mres))
{
/* Yes, just move to newpos at (vel,acc) */
WRITE_MSG(SET_VEL_BASE, &vbase);
@@ -2358,7 +2353,7 @@ STATIC long special(struct dbAddr * paddr, int after)
MARK(M_DLLM);
}
tmp_raw = tmp_limit / pmr->res;
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(command, &tmp_raw, pmr);
@@ -2399,7 +2394,7 @@ STATIC long special(struct dbAddr * paddr, int after)
MARK(M_DHLM);
}
tmp_raw = tmp_limit / pmr->res;
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(command, &tmp_raw, pmr);
@@ -2641,8 +2636,8 @@ pidcof:
if ((pmr->mip & MIP_JOGF) || (pmr->mip & MIP_JOGR))
{
int dir = (pmr->dir == motorDIR_Pos) ? 1 : -1;
double jogv = (pmr->jvel * dir) / pmr->res;
double jacc = pmr->jar / fabs(pmr->res);
double jogv = (pmr->jvel * dir) / pmr->mres;
double jacc = pmr->jar / fabs(pmr->mres);
if (pmr->jogr)
jogv = -jogv;
@@ -2776,15 +2771,15 @@ STATIC long get_graphic_double(struct dbAddr * paddr, struct dbr_grDouble * pgd)
case motorRecordRVAL:
case motorRecordRRBV:
if (pmr->res >= 0)
if (pmr->mres >= 0)
{
pgd->upper_disp_limit = pmr->dhlm / pmr->res;
pgd->lower_disp_limit = pmr->dllm / pmr->res;
pgd->upper_disp_limit = pmr->dhlm / pmr->mres;
pgd->lower_disp_limit = pmr->dllm / pmr->mres;
}
else
{
pgd->upper_disp_limit = pmr->dllm / pmr->res;
pgd->lower_disp_limit = pmr->dhlm / pmr->res;
pgd->upper_disp_limit = pmr->dllm / pmr->mres;
pgd->lower_disp_limit = pmr->dhlm / pmr->mres;
}
break;
@@ -2822,15 +2817,15 @@ STATIC long
case motorRecordRVAL:
case motorRecordRRBV:
if (pmr->res >= 0)
if (pmr->mres >= 0)
{
pcd->upper_ctrl_limit = pmr->dhlm / pmr->res;
pcd->lower_ctrl_limit = pmr->dllm / pmr->res;
pcd->upper_ctrl_limit = pmr->dhlm / pmr->mres;
pcd->lower_ctrl_limit = pmr->dllm / pmr->mres;
}
else
{
pcd->upper_ctrl_limit = pmr->dllm / pmr->res;
pcd->lower_ctrl_limit = pmr->dhlm / pmr->res;
pcd->upper_ctrl_limit = pmr->dllm / pmr->mres;
pcd->lower_ctrl_limit = pmr->dhlm / pmr->mres;
}
break;
@@ -3049,7 +3044,7 @@ STATIC void post_MARKed_fields(motorRecord * pmr, unsigned short mask)
if (MARKED(M_HLS))
{
db_post_events(pmr, &pmr->hls, mask);
if ((pmr->dir == motorDIR_Pos) == (pmr->res >= 0))
if ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0))
db_post_events(pmr, &pmr->rhls, mask);
else
db_post_events(pmr, &pmr->rlls, mask);
@@ -3057,7 +3052,7 @@ STATIC void post_MARKed_fields(motorRecord * pmr, unsigned short mask)
if (MARKED(M_LLS))
{
db_post_events(pmr, &pmr->lls, mask);
if ((pmr->dir == motorDIR_Pos) == (pmr->res >= 0))
if ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0))
db_post_events(pmr, &pmr->rlls, mask);
else
db_post_events(pmr, &pmr->rhls, mask);
@@ -3132,11 +3127,14 @@ STATIC void
{
/* An encoder is present and the user wants us to use it. */
pmr->rrbv = pmr->rep;
pmr->drbv = pmr->rrbv * pmr->eres;
}
else
{
pmr->rrbv = pmr->rmp;
pmr->drbv = pmr->rrbv * pmr->mres;
}
pmr->drbv = pmr->rrbv * pmr->res;
MARK(M_RMP);
MARK(M_REP);
if (pmr->rrbv != old_rrbv)
@@ -3162,8 +3160,8 @@ STATIC void
/* Get states of high, low limit switches. */
pmr->rhls = (status & RA_OVERTRAVEL) && pmr->tdir;
pmr->rlls = (status & RA_OVERTRAVEL) && !pmr->tdir;
pmr->hls = ((pmr->dir == motorDIR_Pos) == (pmr->res >= 0)) ? pmr->rhls : pmr->rlls;
pmr->lls = ((pmr->dir == motorDIR_Pos) == (pmr->res >= 0)) ? pmr->rlls : pmr->rhls;
pmr->hls = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->rhls : pmr->rlls;
pmr->lls = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->rlls : pmr->rhls;
if (pmr->hls != old_hls)
MARK(M_HLS);
if (pmr->lls != old_lls)
@@ -3206,7 +3204,7 @@ STATIC void
}
pmr->diff = pmr->dval - pmr->drbv;
MARK(M_DIFF);
pmr->rdif = NINT(pmr->diff / pmr->res);
pmr->rdif = NINT(pmr->diff / pmr->mres);
MARK(M_RDIF);
}
@@ -3214,7 +3212,7 @@ STATIC void
STATIC void load_pos(motorRecord * pmr)
{
struct motor_dset *pdset = (struct motor_dset *) (pmr->dset);
double newpos = pmr->dval / pmr->res;
double newpos = pmr->dval / pmr->mres;
pmr->ldvl = pmr->dval;
pmr->lval = pmr->val;
@@ -3439,7 +3437,7 @@ STATIC void set_dial_highlimit(motorRecord *pmr, struct motor_dset *pdset)
double offset, tmp_raw;
long rtnval;
tmp_raw = pmr->dhlm / pmr->res;
tmp_raw = pmr->dhlm / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(SET_HIGH_LIMIT, &tmp_raw, pmr);
offset = pmr->off;
@@ -3473,7 +3471,7 @@ STATIC void set_dial_lowlimit(motorRecord *pmr, struct motor_dset *pdset)
double offset, tmp_raw;
long rtnval;
tmp_raw = pmr->dllm / pmr->res;
tmp_raw = pmr->dllm / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(SET_LOW_LIMIT, &tmp_raw, pmr);
motorApp/MotorSrc/motorRecord.dbd
+3 -7
View File
@@ -1,8 +1,8 @@
# FILENAME... motorRecord.dbd
# Version: $Revision: 1.5 $
# Version: $Revision: 1.6 $
# Modified By: $Author: sluiter $
# Last Modified: $Date: 2001-10-02 23:12:16 $
# Last Modified: $Date: 2002-03-27 21:24:29 $
# Experimental Physics and Industrial Control System (EPICS)
@@ -27,6 +27,7 @@
#Modification Log:
#-----------------
# 00 03-25-02 rls - Eliminated RES.
menu(motorDIR) {
@@ -265,11 +266,6 @@ recordtype(motor) {
promptgroup(GUI_COMMON)
interest(1)
}
field(RES,DBF_DOUBLE) {
prompt("Step Size (EGU)")
special(SPC_NOMOD)
interest(1)
}
field(UEIP,DBF_MENU) {
prompt("Use Encoder If Present")
promptgroup(GUI_COMMON)
motorApp/MotorSrc/motordevCom.c
+5 -10
View File
@@ -3,9 +3,9 @@ FILENAME: motordevCom.c
USAGE... This file contains device functions that are common to all motor
record device support modules.
Version: $Revision: 1.4 $
Version: $Revision: 1.5 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-02-25 16:57:15 $
Last Modified: $Date: 2002-03-27 21:24:31 $
*/
/*
@@ -129,7 +129,6 @@ LOGIC...
Error check "card" index, "signal" index and motor "in_use" indicator.
IF error detected.
Set the MSTA PROBLEM bit ON.
Set RES <- MRES.
Set RMP <- REP <- 0.
ERROR RETURN.
ENDIF
@@ -146,10 +145,9 @@ LOGIC...
...
ELSE
Set local encoder ratio to unity.
Set RES <- MRES.
ENDIF
Set Initialize position indicator based on (DVEL != 0, AND, RES != 0,
Set Initialize position indicator based on (DVEL != 0, AND, MRES != 0,
AND, the above "get_axis_info()" position == 0) [NOTE: non-zero controller
position takes precedence over autorestore position].
Set Command Primitive Initialization string indicator based on (non-NULL "init"
@@ -245,7 +243,6 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
{
/* Initialize readback fields for simulation */
mr->msta = RA_PROBLEM;
mr->res = mr->mres;
mr->rmp = 0; /* raw motor pulse count */
mr->rep = 0; /* raw encoder pulse count */
return(rtnStat);
@@ -277,16 +274,14 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
ep_mp[0] = m / mr->eres; /* encoder pulses per ... */
ep_mp[1] = m / mr->mres; /* motor pulses */
}
mr->res = mr->eres;
}
else
{
ep_mp[0] = 1.;
ep_mp[1] = 1.;
mr->res = mr->mres;
}
initPos = (mr->dval != 0 && mr->res != 0 && axis_query.position == 0) ? ON : OFF;
initPos = (mr->dval != 0 && mr->mres != 0 && axis_query.position == 0) ? ON : OFF;
/* Test for command primitive initialization string. */
initString = (mr->init != NULL && strlen(mr->init)) ? ON : OFF;
@@ -308,7 +303,7 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
if (initPos == ON)
{
double setPos = mr->dval / mr->res;
double setPos = mr->dval / mr->mres;
(*pdset->start_trans)(mr);
(*pdset->build_trans)(LOAD_POS, &setPos, mr);