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- Eliminated SET_ENC_RATIO command.

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- Check for valid JVEL when VMAX or VBAS are changed.
This commit is contained in:
Ron Sluiter
2002-04-01 22:47:03 +00:00
parent 6fcab82a19
commit 494aa3de72
1 changed files with 6 additions and 47 deletions
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motorApp/MotorSrc/motorRecord.c
+6 -47
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Motor Record Support.
Version: $Revision: 1.17 $
Version: $Revision: 1.18 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-03-27 21:24:26 $
Last Modified: $Date: 2002-04-01 22:47:03 $
*/
/*
@@ -138,6 +138,8 @@ Last Modified: $Date: 2002-03-27 21:24:26 $
* without reading the external readback device (RDBL).
* init_record() was causing LINK alarms.
* .41 03-25-02 rls - Eliminated RES.
* - Eliminated "Set Encoder Ratio" motor command.
* - Range check JVEL when VMAX or VBAS change.
*/
#define VERSION 4.5
@@ -1609,55 +1611,10 @@ STATIC long do_work(motorRecord * pmr)
mmap_bits.All = pmr->mmap; /* Initialize for MARKED. */
if (MARKED(M_MRES) || MARKED(M_ERES) || MARKED(M_UEIP))
{
/* encoder pulses, motor pulses */
double ep_mp[2];
long m;
/* Set the encoder ratio. Note this is blatantly device dependent. */
if ((pmr->msta & EA_PRESENT) && pmr->ueip)
{
/* defend against divide by zero */
if (fabs(pmr->mres) < 1.e-9)
{
pmr->mres = 1.;
MARK(M_MRES);
}
if (pmr->eres == 0.0)
{
pmr->eres = pmr->mres;
MARK(M_ERES);
}
/*
* OMS hardware can't handle negative motor or encoder resolution
* in the SET_ENCODER_RATIO command. For now, we simply don't allow
* motor and encoder resolutions to differ in sign.
*/
if ((pmr->mres < 0.) != (pmr->eres < 0.))
{
pmr->eres *= -1.;
MARK(M_ERES);
}
/* Calculate encoder ratio. */
for (m = 10000000; (m > 1) &&
(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);
}
else
{
ep_mp[0] = 1.;
ep_mp[1] = 1.;
}
/* Make sure retry deadband is achievable */
enforceMinRetryDeadband(pmr);
if (pmr->msta & EA_PRESENT)
{
INIT_MSG();
WRITE_MSG(SET_ENC_RATIO, ep_mp);
SEND_MSG();
}
if (pmr->set)
{
pmr->pp = TRUE;
@@ -2691,6 +2648,8 @@ velcheckA:
pmr->sbak = temp_dbl;
db_post_events(pmr, &pmr->sbak, monitor_mask);
}
range_check(pmr, &pmr->jvel, pmr->vbas, pmr->vmax);
}
/* Do not process (i.e., clear) marked fields here. PP fields (e.g., MRES) must remain marked. */
return(OK);