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- NTM field added to prevent certain Soft Channel stop commands.

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- Update 'last' target position in do_work() when stop command is sent.
This commit is contained in:
Ron Sluiter
2002-10-31 20:38:45 +00:00
parent 681a8d1a80
commit 521fcb1ee7
1 changed files with 16 additions and 122 deletions
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motorApp/MotorSrc/motorRecord.cc
+16 -122
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.2 $
Version: $Revision: 1.3 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-10-24 18:03:32 $
Last Modified: $Date: 2002-10-31 20:38:45 $
*/
/*
@@ -34,118 +34,12 @@ Last Modified: $Date: 2002-10-24 18:03:32 $
*
* Modification Log:
* -----------------
* .01 01-18-93 jbk initial development
* .02 01-25-93 tmm initial development continued
* .03 09-13-93 tmm disabled HOPR & LOPR with #define USE_HOPR_LOPR 0
* .04 08-01-94 tmm move to 3.11.6 (tsLocalTime -> recGblGetTimeStamp)
* .05 09-07-94 tmm make .diff zero when we set drive fields to readback
* fields
* .06 09-07-94 tmm test for stop and spmg every time record processes
* .07 11-15-94 jps create .rvel to indicate motor actually moving
* .08 06-12-95 tmm added VERSION and .vers field, fixed stuck .dmov flag
* .09 06-14-95 tmm propagate dial-value calibration to user value;
* fix precision and units assoc. with .vers field
* .10 07-20-95 tmm added record name to debug output
* .11 07-20-95 tmm check that we've actually moved before worrying whether
* we're going in the wrong direction
* .12 08-23-95 tmm version 1.5 removed HOPR/LOPR code, added dial dir
* (sign of .mres). Fixed coding error in jog*. No
* longer propagate dial-value calib. to user value
* .13 08-25-95 tmm version 1.51 limit switches now reported w.r.t user
* coordinates. Added raw limit switches .rhls, .rlls.
* .14 08-28-95 tmm version 1.6 Added .card field, so users can know which
* card in crate is associated with this motor.
* .15 08-30-95 tmm version 1.7 Added .nmap field to supplement .mmap, and
* rewrote MARK() macros.
* .16 08-31-95 tmm version 1.8 Freeze-offset switch (.foff) replaces earlier
* "propagate dial-value calibration to user value"
* .17 09-01-95 tmm limit-violation changes.
* .18 09-07-95 tmm version 1.9 Added .fof / .vof fields to put .foff (freeze
* offset) into frozen / variable mode.
* Added .urev, .srev, .s, .sbas, .sbak fields to meet user
* demands for more intuitive setting of speeds and
* resolution.
* Modified offset handling. Changing .off should never
* cause the motor to move.
* .19 09-08-95 tmm version 1.91 Work around 8-character limit in handling
* by dbGet() of the string returned by get_units().
* .20 09-13-95 tmm version 1.92 Allow .rdbl (readback inlink) and .rlnk
* (readout outlink) to be channel-access links.
* .21 09-26-95 tmm version 1.93 Post process (as if STOP had been hit)
* when a limit switch is hit. When post process sets,
* e.g., VAL=RBV, then also set LVAL=RBV.
* .22 11-21-95 tmm Version 1.94 Fix post_MARKed_fields. Fix pmr->pp bug
* that caused post processing every time.
* .23 12-27-95 tmm Version 1.95 Implemented MISS field. More sanity checks
* on resolution, speed, and acceleration.
* .24 02-09-96 tmm Version 1.96 Don't db_post dmov==0 if special() already
* posted it.
* .25 03-19-96 tmm v1.97 Much more precise encoder-ratio calculation.
* Made actual home speed independent of UEIP flag.
* (Thanks to Vicky Austin, Royal Greenwich Observatory.)
* .26 06-07-96 tmm v1.98 Added more debugging output.
* .27 06-10-96 tmm v2.00 Fixed the way changes to resolutions and speeds are
* handled in init_record() and in special(). Now, when
* motor resolution is changed, speeds in revs/sec are held
* constant, which requires speeds in EGUs/sec to change.
* .28 08-02-96 tmm v2.1 Changing mres or eres while in SET mode no longer
* changes the raw motor position, but instead changes user
* and dial positions to agree with the old raw position.
* .29 08-09-96 tmm v2.2 Changed the order in which PV's are posted. DMOV is
* last; frequently changed PV's are first.
* .30 08-14-96 tmm v2.3 Fixed long-standing bug in special handling of DVAL,
* RVAL, RLV.
* .31 08-14-96 tmm v3.0 Conversion to EPICS 3.13.0
* .32 12-16-96 tmm v3.1 Fixed moving-in-right-dir check, and jog, when using
* relative moves. Fixed JOG limits.
* .33 05-29-97 tmm v3.2 Watchdog callback for encoder-settling time delay.
* Added DLY field to implement delay.
* Split postProcess() and maybeRetry() out of process().
* Fix problem of first call to process() looking like a
* device-support callback (first move command fails).
* Don't do mid-course checks if using encoder or readback
* device. (We don't know how badly they might behave while
* the motor's moving.) Set .res field in init_record().
* Set retry deadband according to .mres, .eres, and .bdst.
* .34 05-30-97 tmm v3.3 Relative moves know about motor granularity.
* .35 10-11-99 rls v4.0 Enforce finite state machine on jog request, jogging,
* stopping a jog and backlash after jogging. These
* modifications fix the "runaway jog" problem discovered
* with the MM4000 device support using serial communication
* when the user "hammers" on the jog request.
* .36 02-14-01 rls - Changed logic in do_work() so that the stop command is
* always sent to the controller when the STOP field is
* activated; but, the MIP field in only set to the "stop"
* state if the current state is not STOP or DONE.
* - Eliminated unused MIP_LOAD_ER.
* - Added Mark Rivers Soft Channel changes as a
* conditionial option; DMR_SOFTMOTOR_MODS.
* .37 06-05-01 rls Bug fix for MIP left in MOVE state if valid target
* position is followed by a target position that violates
* the travel limit, while 1st move is in progress.
* Modified do_work() to set DMOV true only if MIP is DONE.
* .38 06-08-01 rls Bug fix for MIP left in STOP state if STOP set TRUE or
* SPMG set to STOP in between MIP set to RETRY in
* maybeRetry() and MIP set to MOVE in do_work(). Modified
* do_work() STOP and SPMG processing to set MIP <- DONE and
* DMOV <- TRUE when MIP == RETRY.
* .39 10-02-01 rls - V4.5
* - Removed erroneous setting of PP <- TRUE in init_record().
* - Replaced PDIF with CDIR field (see README V4.5 item #2).
* - Simplified "tdir" logic in process().
* .40 02-06-02 rls - Added "initcall" function argument to process_motor_info()
* 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 - RES=MRES. RES preserved for backward compatibility only.
* - Range check JVEL when VMAX or VBAS change.
* - Do backlash in a separate command; after move completed.
* .42 07-05-02 rls - Force RDBD >= MRES.
* - Do another update after Done due to LS error.
* - Seperate +/- limit switch status bits.
* - CDIR matches TDIR and RA_DIRECTION.
* .43 07-11-02 rls Post all fields when recGblResetAlarms() returns an alarm.
* .44 09-17-02 rls Joe Sullivan's port to R3.14.x and OSI.
* .01 09-17-02 rls Joe Sullivan's port to R3.14.x and OSI.
* .02 09-30-02 rls Bug fix for another "invalid state" scenario (i.e., new
* target position while MIP != DONE, see README).
* .03 10-29-02 rls - NTM field added for Soft Channel device.
* - Update "last" target position in do_work() when stop
* command is sent.
*/
#define VERSION 5.1
@@ -174,13 +68,12 @@ Last Modified: $Date: 2002-10-24 18:03:32 $
/*----------------debugging-----------------*/
#ifdef DEBUG
volatile int motorRecordDebug = 0;
#define Debug(l, f, args...) {if (l <= motorRecordDebug) printf(f, ## args);}
#else
#define Debug(l, f, args...)
#endif
volatile int motorRecordDebug = 0;
/*----------------debugging-----------------*/
/*** Forward references ***/
@@ -1102,7 +995,8 @@ STATIC long process(dbCommon *arg)
/* Test for new target position in opposite direction of current
motion.
*/
if ((sign_rdif != pmr->cdir) &&
if (pmr->ntm == menuYesNoYES &&
(sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > 2 * (fabs(pmr->bdst) + pmr->rdbd)) &&
(pmr->mip == MIP_RETRY || pmr->mip == MIP_MOVE))
{
@@ -1119,7 +1013,7 @@ STATIC long process(dbCommon *arg)
}
else
{
mmap_field mmap_bits;
mmap_field mmap_bits;
mmap_bits.All = pmr->mmap; /* Initialize for MARKED. */
@@ -1262,7 +1156,7 @@ LOGIC:
Update Last Stop/Pause/Move/Go field.
IF SPMG field set to STOP, OR, PAUSE.
IF SPMG field set to STOP.
IF MIP state is DONE or STOP.
IF MIP state is DONE, STOP or RETRY.
Shouldn't be moving, but send a STOP command without
changing to the STOP state.
NORMAL RETURN.
@@ -1514,11 +1408,11 @@ STATIC RTN_STATUS do_work(motorRecord * pmr)
}
else
{
pmr->val = pmr->rbv;
pmr->val = pmr->lval = pmr->rbv;
MARK(M_VAL);
pmr->dval = pmr->drbv;
pmr->dval = pmr->ldvl = pmr->drbv;
MARK(M_DVAL);
pmr->rval = NINT(pmr->dval / pmr->mres);
pmr->rval = pmr->lrvl = NINT(pmr->dval / pmr->mres);
MARK(M_RVAL);
}
}