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- Bug fix for backlash in wrong direction when MRES < 0.

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- Fix for bug introduced with R4.6; record locks-up when
BDST != 0, DLY != 0 and new target position before backlash
correction move.
- Update readback after DLY timeout.
- Removed dMdR = 1.0, since R4.5.
This commit is contained in:
Ron Sluiter
2003-11-03 18:43:15 +00:00
parent 5dd73038bb
commit 5ad7adfede
1 changed files with 55 additions and 13 deletions
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motorApp/MotorSrc/motorRecord.cc
+55 -13
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.11 $
Version: $Revision: 1.12 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-10-23 19:52:16 $
Last Modified: $Date: 2003-11-03 18:43:15 $
*/
/*
@@ -43,6 +43,17 @@ Last Modified: $Date: 2003-10-23 19:52:16 $
* .04 03-21-03 rls - Elminate three redundant DMOV monitor postings.
* - Consolidate do_work() backlash correction logic.
* .05 04-16-03 rls - Home velocity field (HVEL) added.
* .06 06-03-03 rls - Set DBE_LOG on all calls to db_post_events().
* .07 10-29-03 rls - If move is in the preferred direction and the backlash
* speed and acceleration are the same as the slew speed and
* acceleration, then skip the backlash move and go directly
* to the target position. Bug fix for doing backlash in
* wrong direction when MRES < 0.
* .08 10-31-03 rls - Fix for bug introduced with R4.5.1; record locks-up when
* BDST != 0, DLY != 0 and new target position before
* backlash correction move.
* - Update readback after DLY timeout.
*
*/
#define VERSION 5.2
@@ -319,7 +330,8 @@ static void callbackFunc(struct callback *pcb)
*/
if (pmr->mip & MIP_DELAY_REQ)
{
pmr->mip |= MIP_DELAY_ACK;
pmr->mip &= ~MIP_DELAY_REQ; /* Turn off REQ. */
pmr->mip |= MIP_DELAY_ACK; /* Turn on ACK. */
scanOnce(pmr);
}
}
@@ -1046,7 +1058,12 @@ static long process(dbCommon *arg)
if (pmr->pp)
{
if (pmr->val != pmr->lval)
{
pmr->mip = MIP_DONE;
/* Bug fix, record locks-up when BDST != 0, DLY != 0 and
* new target position before backlash correction move.*/
goto enter_do_work;
}
else
status = postProcess(pmr);
}
@@ -1056,8 +1073,17 @@ static long process(dbCommon *arg)
{
if (pmr->mip & MIP_DELAY_ACK || (pmr->dly <= 0.0))
{
if (pmr->mip & MIP_DELAY_ACK && !(pmr->mip & MIP_DELAY_REQ))
{
pmr->mip |= MIP_DELAY;
INIT_MSG();
WRITE_MSG(GET_INFO, NULL);
SEND_MSG();
pmr->dmov = FALSE;
goto process_exit;
}
pmr->mip &= ~MIP_DELAY;
MARK(M_MIP);/* done delaying */
MARK(M_MIP); /* done delaying */
maybeRetry(pmr);
}
else
@@ -1075,6 +1101,8 @@ static long process(dbCommon *arg)
}
} /* END of (process_reason == CALLBACK_DATA). */
enter_do_work:
/* check for soft-limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == (float) 0.0))
pmr->lvio = false;
@@ -1318,8 +1346,23 @@ LOGIC:
move is to the same raw position.
ENDIF
ENDIF
....
....
Set VAL and RVAL based on DVAL; mark DVAL, VAL and RVAL for
dbposting.
IF this is not a retry.
Reset retry counter and mark RCNT for dbposting.
ENDIF
IF (relative move indicator is OFF, AND, sign of absolute move
matches sign of backlash distance), OR, (relative move indicator
is ON, AND, sign of relative move matches sign of backlash
distance)
Set preferred direction indicator ON.
ELSE
Set preferred direction indicator OFF.
ENDIF
IF the dial DIFF is within the retry deadband.
IF the move is in the "preferred direction".
Update last target positions.
@@ -1817,7 +1860,6 @@ static RTN_STATUS do_work(motorRecord * pmr)
double bacc = bvel / pmr->bacc; /* backlash accel. */
double slop = 0.95 * pmr->rdbd;
bool use_rel, preferred_dir;
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;
@@ -1827,8 +1869,8 @@ static RTN_STATUS do_work(motorRecord * pmr)
* motor steps by truncating any fractional part, instead of
* converting to nearest integer, so we prepare for that.
*/
double mRelPos = (NINT(relpos / dMdR) + ((relpos > 0) ? .5 : -.5)) * dMdR;
double mRelBPos = (NINT(relbpos / dMdR) + ((relbpos > 0) ? .5 : -.5)) * dMdR;
double mRelPos = NINT(relpos) + ((relpos > 0) ? .5 : -.5);
double mRelBPos = NINT(relbpos) + ((relbpos > 0) ? .5 : -.5);
/*** Use if encoder or ReadbackLink is in use. ***/
if (((pmr->msta & EA_PRESENT) && pmr->ueip) || pmr->urip)
@@ -1871,11 +1913,11 @@ static RTN_STATUS do_work(motorRecord * pmr)
MARK(M_RCNT);
}
if (((use_rel == false) && ((newpos > currpos) != (pmr->bdst > 0))) ||
((use_rel == true) && ((mRelPos > 0) != (pmr->bdst > 0))))
preferred_dir = false;
else
if (((use_rel == false) && ((pmr->dval > pmr->ldvl) == (pmr->bdst > 0))) ||
((use_rel == true) && ((pmr->diff > 0) == (pmr->bdst > 0))))
preferred_dir = true;
else
preferred_dir = false;
/*
* If we're within retry deadband, move only in preferred dir.