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Restored SET_ENC_RATIO command.

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This commit is contained in:
Ron Sluiter
2002-07-05 17:03:39 +00:00
parent aa7e22266d
commit 77b3a342cc
1 changed files with 47 additions and 2 deletions
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motorApp/V544Src/devV544.c
+47 -2
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@@ -129,6 +129,7 @@ static struct v544_motor_table v544_table[] = {
{IMMEDIATE, -1, 1}, /* SET_VELO */
{IMMEDIATE, -1, 1}, /* SET_ACCEL */
{IMMEDIATE, CS_GO, 0}, /* GO */
{IMMEDIATE, -1, 2}, /* SET_ENC_RATIO - Not supported */
{INFO, -1, 0}, /* GET_INFO */
{MOVE_TERM, CS_IDLE, 0}, /* STOP_AXIS */
{VELOCITY, -1, 1}, /* JOG */
@@ -228,10 +229,11 @@ STATIC long v544_init(int after)
STATIC long v544_init_record(struct motorRecord * mr)
{
int card, signal;
int initPos;
int initEncoder, initPos;
struct v544_trans *ptrans;
MOTOR_AXIS_QUERY axis_query;
MOTOR_CALL *motor_call;
double ep_mp[2]; /* encoder pulses, motor pulses */
int rtnStat;
Debug(1, "v544_init_record: entry...\n", 0);
@@ -306,10 +308,41 @@ STATIC long v544_init_record(struct motorRecord * mr)
v544_cards[card].v544_axis[signal].in_use = YES;
/*jps: setting the encoder ratio was moved from init_record() remove callbacks during iocInit */
/*
* Set the encoder ratio. Note this is blatantly device dependent.
* Determine the number of encoder pulses and the number of motor pulses
* per engineering unit (EGU). Send an array containing this information
* to device support.
*/
if ((initEncoder = (mr->msta & EA_PRESENT)) && mr->ueip)
{
if (fabs(mr->mres) < 1.e-9)
mr->mres = 1.;
if (fabs(mr->eres) < 1.e-9)
mr->eres = mr->mres;
{
int m;
for (m=10000000; (m > 1) &&
(fabs(m/mr->eres) > 1.e6 || fabs(m/mr->mres) > 1.e6);
m /= 10)
;
Debug(5, "oms58_init_record: ER mult = %d\n", m);
ep_mp[0] = m / mr->eres; /* encoder pulses per ...*/
ep_mp[1] = m / mr->mres; /* motor pulses */
}
}
else
{
ep_mp[0] = 1.;
ep_mp[1] = 1.;
}
/* Program the device if an initial position is programmed or
* an encoder is present. */
if (initPos = (mr->dval && mr->mres))
if ((initPos = (mr->dval && mr->mres)) || initEncoder)
{
/*
@@ -325,6 +358,17 @@ STATIC long v544_init_record(struct motorRecord * mr)
callbackSetCallback((void (*)(struct callbackPvt *)) v544_init_callback,
&(motor_call->callback));
if (initEncoder)
{
Debug(7, "v544_init_record: encoder pulses per EGU = %f\n", ep_mp[0]);
Debug(7, "v544_init_record: motor pulses per EGU = %f\n", ep_mp[1]);
v544_start_trans(mr);
v544_build_trans(SET_ENC_RATIO, ep_mp, mr);
v544_end_trans(mr);
}
if (initPos)
{
double setPos = mr->dval / mr->mres;
@@ -521,6 +565,7 @@ STATIC long v544_build_trans(motor_cmnd command, double *parms, struct motorReco
motor_call->cmndList[motor_call->cmndCnt].cmnd |= v544_table[command].command;
motor_call->cmndCnt++;
break;
case SET_ENC_RATIO:
case GET_INFO:
motor_call->cmndCnt++;
break;