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Support for motor record raw actual velocity (RVEL).

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Ron Sluiter
2013-01-02 22:51:49 +00:00
parent 964b585840
commit 807d8c1d98
1 changed files with 13 additions and 0 deletions
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motorApp/MotorSrc/devMotorAsyn.c
+13
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@@ -30,6 +30,10 @@
* Fix for motor simulator stuck in Moving state after multiple LOAD_POS
* commands to the same position; set needUpdate = 1 in asynCallback() before
* dbProcess.
*
* .03 2013-01-02 rls
* Support for motor record raw actual velocity (RVEL).
*
*/
#include <stddef.h>
@@ -46,6 +50,7 @@
#include <alarm.h>
#include <epicsEvent.h>
#include <cantProceed.h> /* !! for callocMustSucceed() */
#include <dbEvent.h>
#include <asynDriver.h>
#include <asynInt32.h>
@@ -393,10 +398,18 @@ CALLBACK_VALUE update_values(struct motorRecord * pmr)
"%s devMotorAsyn::update_values, needUpdate=%d\n",
pmr->name, pPvt->needUpdate);
if ( pPvt->needUpdate ) {
epicsInt32 rawvel;
pmr->rmp = (epicsInt32)floor(pPvt->status.position + 0.5);
pmr->rep = (epicsInt32)floor(pPvt->status.encoderPosition + 0.5);
/* pmr->rvel = (epicsInt32)round(pPvt->status.velocity); */
pmr->msta = pPvt->status.status;
rawvel = (epicsInt32)floor(pPvt->status.velocity);
if (pmr->rvel != rawvel)
{
pmr->rvel = rawvel;
db_post_events(pmr, &pmr->rvel, DBE_VAL_LOG);
}
rc = CALLBACK_DATA;
pPvt->needUpdate = 0;
}