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Merge pull request #108 from kmpeters/issue27

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Set LVIO=1 if DLLM > DHLM
This commit is contained in:
Kevin Peterson
2018-08-21 09:59:42 -05:00
committed by GitHub
parent a21b1ccbd6 270347dfb3
commit 741d4292cd
1 changed files with 12 additions and 5 deletions
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motorApp/MotorSrc/motorRecord.cc
+12 -5
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@@ -517,7 +517,8 @@ LOGIC:
Initialize Limit violation field false.
IF (Software Travel limits are NOT disabled), AND,
(Dial readback violates dial high limit), OR,
(Dial readback violates dial low limit)
(Dial readback violates dial low limit), OR,
(Dial low limit is greater than dial high limit)
Set Limit violation field true.
ENDIF
...
@@ -666,7 +667,8 @@ static long init_record(dbCommon* arg, int pass)
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
;
else if ((pmr->drbv > pmr->dhlm + pmr->mres) || (pmr->drbv < pmr->dllm - pmr->mres))
else if ((pmr->drbv > pmr->dhlm + pmr->mres) || (pmr->drbv < pmr->dllm - pmr->mres) ||
(pmr->dllm > pmr->dhlm))
{
pmr->lvio = 1;
MARK(M_LVIO);
@@ -1149,7 +1151,7 @@ LOGIC:
Clear Limit violation field.
ELSE
IF Jog indicator is true in MIP field.
Update Limit violation (LVIO) based on Jog direction (JOGF/JOGR) and velocity (JVEL).
Update Limit violation (LVIO) based on Jog direction (JOGF/JOGR) and velocity (JVEL) or DLLM > HLLM
ELSE IF Homing indicator is true in MIP field.
Set Limit violation (LVIO) FALSE.
ENDIF
@@ -1389,7 +1391,8 @@ enter_do_work:
{
if (pmr->mip & MIP_JOG)
pmr->lvio = (pmr->jogf && (pmr->rbv > pmr->hlm - pmr->jvel)) ||
(pmr->jogr && (pmr->rbv < pmr->llm + pmr->jvel));
(pmr->jogr && (pmr->rbv < pmr->llm + pmr->jvel)) ||
(pmr->dllm > pmr->dhlm);
else if (pmr->mip & MIP_HOME)
pmr->lvio = false; /* Disable soft-limit error check during home search. */
}
@@ -2007,7 +2010,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
;
else if ((pmr->jogf && (pmr->val > pmr->hlm - pmr->jvel)) ||
(pmr->jogr && (pmr->val < pmr->llm + pmr->jvel)))
(pmr->jogr && (pmr->val < pmr->llm + pmr->jvel)) ||
(pmr->dllm > pmr->dhlm))
{
pmr->lvio = 1;
MARK(M_LVIO);
@@ -2306,6 +2310,9 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
/* Check for soft-travel limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
pmr->lvio = false;
/* At least one limit is violated when DLLM > DHLM */
else if (pmr->dllm > pmr->dhlm)
pmr->lvio = true;
/* LVIO = TRUE, AND, Move request towards valid travel limit range. */
else if (((pmr->dval > pmr->dhlm) && (pmr->dval < pmr->ldvl)) ||
((pmr->dval < pmr->dllm) && (pmr->dval > pmr->ldvl)))