lin-epics-modules/motorBase
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RES field removed. All pos/vel/acc input are now in motor steps.

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This commit is contained in:
Ron Sluiter
2002-03-27 21:33:09 +00:00
parent 35048c0679
commit 49159e153e
1 changed files with 49 additions and 21 deletions
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motorApp/OmsSrc/devOmsCom.c
+49 -21
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.c
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-02-25 17:49:05 $
Last Modified: $Date: 2002-03-27 21:33:09 $
*/
/*
@@ -44,6 +44,8 @@ Last Modified: $Date: 2002-02-25 17:49:05 $
* .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.
*/
#include <vxWorks.h>
@@ -72,9 +74,9 @@ struct motor_table const oms_table[] =
{MOTION, " MA", 1}, /* MOVE_ABS */
{MOTION, " MR", 1}, /* MOVE_REL */
{MOTION, " CA HM", 1}, /* HOME_FOR */
{MOTION, " CA HR", 1}, /* HOME_REV */
{MOTION, " CA HR", 1}, /* HOME_REV */
{IMMEDIATE, " LP", 1}, /* LOAD_POS */
{IMMEDIATE, " VB", 1}, /* SET_VELO_BASE */
{IMMEDIATE, " VB", 1}, /* SET_VEL_BASE */
{IMMEDIATE, " VL", 1}, /* SET_VELO */
{IMMEDIATE, " AC", 1}, /* SET_ACCEL */
{IMMEDIATE, " GD", 0}, /* jps: from GO to GD */
@@ -170,10 +172,18 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
char buffer[40];
unsigned char cmnd_type;
long rtnind;
double absres, steptoencoder;
rtnind = OK;
motor_call = &trans->motor_call;
if ((mr->msta & EA_PRESENT) && mr->ueip == YES)
absres = mr->eres;
else
absres = mr->mres;
absres = fabs(absres);
steptoencoder = fabs(mr->mres) / absres; /* This is equal to either 1.0 or MRES/ERES. */
cmnd_type = oms_table[command].type;
if (cmnd_type > motor_call->type)
motor_call->type = cmnd_type;
@@ -243,7 +253,9 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
}
else if (command == STOP_AXIS)
{
double acc = (mr->velo / fabs(mr->res)) / mr->accl;
double acc;
acc = mr->velo / absres / mr->accl;
/* Put in acceleration. */
strcat(motor_call->message, oms_table[SET_ACCEL].command);
@@ -282,24 +294,40 @@ long oms_build_trans(motor_cmnd command, double *parms, struct motorRecord *mr)
first_one = NO;
else
strcat(motor_call->message, ",");
if (command == SET_PGAIN || command == SET_IGAIN ||
command == SET_DGAIN)
{
*parms *= 1999.9;
sprintf(buffer, "%.1f", parms[itera]);
}
else if (command == SET_VELOCITY) /* OMS errors if VB = VL. */
{
long vbase = NINT(mr->vbas / fabs(mr->res));
long vel = NINT(parms[itera]);
if (vel <= vbase)
vel = vbase + 1;
sprintf(buffer, "%ld", vel);
switch (command)
{
case SET_PGAIN:
case SET_IGAIN:
case SET_DGAIN:
*parms *= 1999.9;
sprintf(buffer, "%.1f", parms[itera]);
break;
case SET_VELOCITY: /* OMS errors if VB = VL. */
{
long vbase, vel;
vbase = NINT(mr->vbas / absres);
vel = NINT(parms[itera] * steptoencoder);
if (vel <= vbase)
vel = vbase + 1;
sprintf(buffer, "%ld", vel);
}
break;
case MOVE_ABS:
case MOVE_REL:
case SET_VEL_BASE:
case SET_ACCEL:
case JOG:
sprintf(buffer, "%ld", NINT(parms[itera] * steptoencoder));
break;
default:
sprintf(buffer, "%ld", NINT(parms[itera]));
}
else
sprintf(buffer, "%ld", NINT(parms[itera]));
strcat(motor_call->message, buffer);
}
}