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For MAXv, fix error on ER command; replace UU1.0 with UF.

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This commit is contained in:
Ron Sluiter
2008-06-11 15:44:43 +00:00
parent 1a32160885
commit 4ae54f097c
1 changed files with 30 additions and 12 deletions
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motorApp/OmsSrc/devOmsCom.cc
+30 -12
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@@ -2,9 +2,9 @@
FILENAME... devOmsCom.cc
USAGE... Data and functions common to all OMS device level support.
Version: $Revision: 1.14 $
Version: $Revision: 1.15 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-05-14 21:51:56 $
Last Modified: $Date: 2008-06-11 15:44:43 $
*/
/*
@@ -61,6 +61,7 @@ Last Modified: $Date: 2008-05-14 21:51:56 $
* normalization calculation.
* .17 05-14-08 rls Fixed stop acceleration calculation.
* .18 05-14-08 rls For MAXv, restore slew acceleration after STOP command.
* .19 06-11-08 rls For MAXv, fix error on ER command; replace UU1.0 with UF.
*
*/
@@ -194,9 +195,14 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
msg_types cmnd_type;
RTN_STATUS rtnind;
static bool invalid_velmsg_latch = false;
bool MAXv = false;
bool MAXv_PSE = false;
int card, signal;
rtnind = OK;
motor_call = &trans->motor_call;
card = motor_call->card;
signal = motor_call->signal;
cmnd_type = oms_table[command].type;
if (cmnd_type > motor_call->type)
@@ -206,6 +212,21 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
if (trans->state != BUILD_STATE)
return(rtnind = ERROR);
brdptr = (*trans->tabptr->card_array)[card];
if (strncmp(brdptr->ident, "MAXv", 4) == 0)
{
MAXv = true;
if (brdptr->motor_info[signal].encoder_present == YES &&
brdptr->motor_info[signal].pid_present == NO)
MAXv_PSE = true;
/* Error check; ER command only for MAXv PSE type motors. */
if (command == SET_ENC_RATIO && MAXv_PSE == false)
{
trans->state = IDLE_STATE; /* No command sent to the controller. */
return(rtnind);
}
}
if ((command == PRIMITIVE) && (mr->init != NULL) &&
(strlen(mr->init) != 0))
{
@@ -225,10 +246,9 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
int response, bitselect;
char respbuf[10];
(*tabptr->getmsg)(motor_call->card, respbuf, -1);
(*tabptr->sendmsg)(motor_call->card, "RB\r",
(char) NULL);
(*tabptr->getmsg)(motor_call->card, respbuf, 1);
(*tabptr->getmsg)(card, respbuf, -1);
(*tabptr->sendmsg)(card, "RB\r", (char) NULL);
(*tabptr->getmsg)(card, respbuf, 1);
if (sscanf(respbuf, "%x", &response) == 0)
response = 0; /* Force an error. */
bitselect = (1 << motor_call->signal);
@@ -269,13 +289,8 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
}
else if (command == STOP_AXIS)
{
bool MAXv = false;
double acc = ((mr->velo - mr->vbas) / fabs(mr->mres)) / mr->accl;
brdptr = (*trans->tabptr->card_array)[motor_call->card];
if (strncmp(brdptr->ident, "MAXv", 4) == 0)
MAXv = true;
/* Put in acceleration. */
if (MAXv == true)
strcat(motor_call->message, "FL");
@@ -465,7 +480,10 @@ errorexit: errMessage(-1, "Invalid device directive");
switch (command)
{
case SET_ENC_RATIO:
sprintf(buffer, " UU%f", parms[0]/parms[1]);
if (MAXv == true && parms[0] == parms[1])
sprintf(buffer, " UF");
else
sprintf(buffer, " UU%f", parms[0]/parms[1]);
strcat(motor_call->message, buffer);
break;