lin-epics-modules/motorBase
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Update CountsPerUnit everytime torque is enabled to reduce IOC reboots

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sluiter
2018-05-31 16:47:44 -05:00
parent acf0d00496
commit 74a8cedc28
1 changed files with 13 additions and 0 deletions
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motorApp/AerotechSrc/drvEnsembleAsyn.cc
+13
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@@ -65,6 +65,8 @@ in file LICENSE that is included with this distribution.
* .20 11-24-14 rls - Moved "WAIT MODE NOWAIT" from EnsembleAsynConfig to motorAxisSetInteger
* where torque is enabled/disabled.
* .21 10-14-15 rls - Use "ReverseDirec" parameter to set "HomeSetup" parameter.
* .22 05-29-18 rls - To avoid EPICS IOC reboots after parameter file changes, update
* CountsPerUnit everytime torque is enabled.
*/
@@ -408,6 +410,7 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
int ret_status = MOTOR_AXIS_ERROR;
int status, FaultStatus;
char inputBuff[BUFFER_SIZE], outputBuff[BUFFER_SIZE];
static char getparamstr[] = "GETPARM(@%d, %d)";
if (pAxis == NULL || pAxis->pController == NULL)
return (MOTOR_AXIS_ERROR);
@@ -421,6 +424,16 @@ static int motorAxisSetInteger(AXIS_HDL pAxis, motorAxisParam_t function, int va
sprintf(outputBuff, "DISABLE @%d", pAxis->axis);
else
{
sprintf(outputBuff, getparamstr, pAxis->axis, PARAMETERID_CountsPerUnit);
sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));
if (inputBuff[0] == ASCII_ACK_CHAR)
{
double localstepsize;
localstepsize = 1 / atof(&inputBuff[1]);
if (localstepsize != pAxis->stepSize)
pAxis->stepSize = localstepsize; /* Update new stepsize. */
}
sprintf(outputBuff, "AXISFAULT @%d", pAxis->axis);
ret_status = sendAndReceive(pAxis->pController, outputBuff, inputBuff, sizeof(inputBuff));