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- RMOD field added for arthmetic and geometric sequence retries.

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- post changes to TWF/TWR.
- ramifications of ORing MIP_MOVE with MIP_RETRY.
This commit is contained in:
Ron Sluiter
2008-11-19 21:06:43 +00:00
parent 378a9e6597
commit 8ee5ccdc65
1 changed files with 59 additions and 16 deletions
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motorApp/MotorSrc/motorRecord.cc
+59 -16
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.49 $
Modified By: $Author: mp49 $
Last Modified: $Date: 2008-11-14 13:39:09 $
Version: $Revision: 1.50 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-11-19 21:06:43 $
*/
/*
@@ -113,8 +113,11 @@ Last Modified: $Date: 2008-11-14 13:39:09 $
* and put record into MAJOR STATE alarm.
* Fix for the bug where the retry count is not incremented
* when doing retries.
*
*/
* .49 11-19-08 rls - RMOD field added for arthmetic and geometric sequence
* retries; i.e., 10/10, 9/10, 8/10,...
* - post changes to TWF/TWR.
* - ramifications of ORing MIP_MOVE with MIP_RETRY.
*/
#define VERSION 6.4
@@ -1011,9 +1014,9 @@ LOGIC:
Call process_motor_info().
IF motor-in-motion indicator (MOVN) is true.
Set the Done Moving field (DMOV) FALSE, and mark it as changed, if not already
IF new target position in opposite direction of current motion.
IF [New target monitoring is enabled], AND,
[Sign of RDIF is NOT the same as sign of CDIR], AND,
[Dist. to target {DIFF} > (NTMF x (|BDST| + RDBD)], AND,
[|Dist. to target| > (NTMF x (|BDST| + RDBD)], AND,
[MIP indicates this move is either (a result of a retry),OR,
(not from a Jog* or Hom*)]
Send Stop Motor command.
@@ -1137,6 +1140,12 @@ static long process(dbCommon *arg)
{
int sign_rdif = (pmr->rdif < 0) ? 0 : 1;
double ntm_deadband = pmr->ntmf * (fabs(pmr->bdst) + pmr->rdbd);
bool move_or_retry;
if ((pmr->mip & MIP_RETRY) != 0 || (pmr->mip & MIP_MOVE) != 0)
move_or_retry = true;
else
move_or_retry = false;
/* Since other sources can now initiate motor moves (e.g. Asyn
* motors, written to by other records), make dmov track the state
@@ -1154,9 +1163,9 @@ static long process(dbCommon *arg)
motion.
*/
if (pmr->ntm == menuYesNoYES &&
(sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > ntm_deadband) &&
(pmr->mip == MIP_RETRY || pmr->mip == MIP_MOVE))
(sign_rdif != pmr->cdir) &&
(fabs(pmr->diff) > ntm_deadband) &&
(move_or_retry == true))
{
/* We're going in the wrong direction. Readback problem? */
@@ -1486,7 +1495,9 @@ LOGIC:
ELSE
Set "use relative move" indicator (use_rel) to false.
ENDIF
Set VAL and RVAL based on DVAL; mark VAL and RVAL for posting.
IF new raw commanded position = current raw feedback position.
IF not done moving, AND, [either no motion-in-progress, OR,
retry-in-progress].
@@ -1497,8 +1508,6 @@ LOGIC:
ENDIF
ENDIF
Set VAL and RVAL based on DVAL; mark DVAL, VAL and RVAL for
dbposting.
IF this is not a retry.
Reset retry counter and mark RCNT for dbposting.
@@ -1606,7 +1615,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
if ((pmr->mip == MIP_DONE) || (pmr->mip & MIP_STOP) ||
(pmr->mip & MIP_RETRY))
{
if (pmr->mip == MIP_RETRY)
if (pmr->mip & MIP_RETRY)
{
pmr->mip = MIP_DONE;
MARK(M_MIP);
@@ -1906,9 +1915,15 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->val += pmr->twv * (pmr->twf ? 1 : -1);
/* Later, we'll act on this. */
if (pmr->twf)
{
pmr->twf = 0;
db_post_events(pmr, &pmr->twf, DBE_VAL_LOG);
}
if (pmr->twr)
{
pmr->twr = 0;
db_post_events(pmr, &pmr->twr, DBE_VAL_LOG);
}
}
/*
* New relative value. Someone has poked a value into the "move
@@ -2082,6 +2097,33 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
pmr->rcnt = 0;
MARK(M_RCNT);
}
else if (pmr->rmod == motorRMOD_A) /* Do arthmetic sequence retries. */
{
double factor = (pmr->rtry - pmr->rcnt + 1.0) / pmr->rtry;
relpos *= factor;
if (fabs(relpos) < 1.0)
relpos = (relpos > 0.0) ? 1.0 : -1.0;
relbpos *= factor;
if (fabs(relbpos) < 1.0)
relbpos = (relbpos > 0.0) ? 1.0 : -1.0;
}
else if (pmr->rmod == motorRMOD_G) /* Do geometric sequence retries. */
{
double factor;
factor = 1 / pow(2.0, (pmr->rcnt - 1));
relpos *= factor;
if (fabs(relpos) < 1.0)
relpos = (relpos > 0.0) ? 1.0 : -1.0;
relbpos *= factor;
if (fabs(relbpos) < 1.0)
relbpos = (relbpos > 0.0) ? 1.0 : -1.0;
}
if (((use_rel == false) && ((pmr->dval > pmr->ldvl) == (pmr->bdst > 0))) ||
((use_rel == true) && ((pmr->diff > 0) == (pmr->bdst > 0))))
@@ -2156,7 +2198,8 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
position = relbpos;
else
position = bpos;
pmr->pp = TRUE; /* Do backlash from posprocess(). */
if ((pmr->mip & MIP_RETRY) == 0) /* If this is not a retry, */
pmr->pp = TRUE; /* do backlash from posprocess(). */
}
pmr->cdir = (pmr->rdif < 0.0) ? 0 : 1;
@@ -2164,7 +2207,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
WRITE_MSG(SET_VELOCITY, &velocity);
if (accel > 0.0) /* Don't SET_ACCEL = 0.0 */
WRITE_MSG(SET_ACCEL, &accel);
if (use_rel == true)
if (use_rel == true)
WRITE_MSG(MOVE_REL, &position);
else
WRITE_MSG(MOVE_ABS, &position);