lin-epics-modules/motorBase
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- make epicsExportAddress extern "C" linkage for MS Visual C

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compatibility.
- fixed incorrect slew acceleration calculation.
This commit is contained in:
Ron Sluiter
2004-12-21 17:37:07 +00:00
parent 547f2b286e
commit 84a609c2f5
1 changed files with 13 additions and 11 deletions
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motorApp/MotorSrc/motorRecord.cc
+13 -11
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.20 $
Version: $Revision: 1.21 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2004-10-08 17:54:47 $
Last Modified: $Date: 2004-12-21 17:37:07 $
*/
/*
@@ -66,7 +66,9 @@ Last Modified: $Date: 2004-10-08 17:54:47 $
* .16 06-16-04 rls - JAR validity check.
* .17 09-20-04 rls - Do status update if nothing else to do.
* .18 10-08-04 rls - Bug fix for backlashing into limit switch; update CDIR.
*
* .19 12-01-04 rls - make epicsExportAddress extern "C" linkage for Windows
* compatibility.
* .20 12-02-04 rls - fixed incorrect slew acceleration calculation.
*/
#define VERSION 5.5
@@ -96,15 +98,15 @@ Last Modified: $Date: 2004-10-08 17:54:47 $
#ifdef __GNUG__
#ifdef DEBUG
volatile int motorRecordDebug = 0;
#define Debug(l, f, args...) {if (l <= motorRecordDebug) printf(f, ## args);}
epicsExportAddress(int, motorRecordDebug);
#else
#define Debug(l, f, args...)
#endif
#else
#define Debug()
#endif
volatile int motorRecordDebug = 0;
extern "C" {epicsExportAddress(int, motorRecordDebug);}
/*** Forward references ***/
@@ -154,7 +156,7 @@ rset motorRSET =
(RECSUPFUN) get_control_double,
(RECSUPFUN) get_alarm_double
};
epicsExportAddress(rset, motorRSET);
extern "C" {epicsExportAddress(rset, motorRSET);}
/*******************************************************************************
@@ -702,7 +704,7 @@ static long postProcess(motorRecord * pmr)
if (pmr->mip & MIP_JOG_STOP)
{
double acc = vel / pmr->accl;
double acc = (vel - vbase) / pmr->accl;
WRITE_MSG(SET_VEL_BASE, &vbase);
if (vel <= vbase)
@@ -718,7 +720,7 @@ static long postProcess(motorRecord * pmr)
else
{
double bvel = pmr->bvel / fabs(pmr->mres);
double bacc = bvel / pmr->bacc;
double bacc = (bvel - vbase) / pmr->bacc;
if (bvel <= vbase)
bvel = vbase + 1;
@@ -758,8 +760,8 @@ static long postProcess(motorRecord * pmr)
/* First part of jog done. Do backlash correction. */
double bvel = pmr->bvel / fabs(pmr->mres);
double bacc = bvel / pmr->bacc;
double vbase = pmr->vbas / fabs(pmr->mres);
double bacc = (bvel - vbase) / pmr->bacc;
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
/* Use if encoder or ReadbackLink is in use. */
@@ -1931,13 +1933,13 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double newpos = pmr->dval / pmr->mres; /* where to go */
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = vel / pmr->accl; /* normal accel. */
double acc = (vel - vbase) / pmr->accl; /* normal accel. */
/*
* 'bpos' is one backlash distance away from 'newpos'.
*/
double bpos = (pmr->dval - pmr->bdst) / pmr->mres;
double bvel = pmr->bvel / fabs(pmr->mres); /* backlash speed */
double bacc = bvel / pmr->bacc; /* backlash accel. */
double bacc = (bvel - vbase) / pmr->bacc; /* backlash accel. */
double slop = 0.95 * pmr->rdbd;
bool use_rel, preferred_dir;
double relpos = pmr->diff / pmr->mres;