lin-epics-modules/motorBase
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RMP and REP were being posted with same value. Moved CA posting of changes to the RMP, REP and RVEL fields from motor record to update_values().

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Ron Sluiter
2014-09-11 15:28:26 +00:00
parent 5e9d71624f
commit 95819d8a2a
2 changed files with 38 additions and 12 deletions
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motorApp/MotorSrc/devMotorAsyn.c
+27 -10
View File
@@ -38,7 +38,9 @@
* Fix for manual set position after IOC startup. The encoder ratio was not being set at IOC startup
* which meant that set position failed for Asyn drivers. We now always set the encoder ratio
* at the beginning of the init_controller function.
*
*
* .05 2014-09-11 RLS
* Moved CA posting of changes to the RMP, REP and RVEL fields from motor record to update_values().
*/
#include <stddef.h>
@@ -407,16 +409,31 @@ CALLBACK_VALUE update_values(struct motorRecord * pmr)
asynPrint(pPvt->pasynUser, ASYN_TRACEIO_DEVICE,
"%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)
if ( pPvt->needUpdate )
{
epicsInt32 rawvalue;
rawvalue = (epicsInt32)floor(pPvt->status.position + 0.5);
if (pmr->rmp != rawvalue)
{
pmr->rvel = rawvel;
pmr->rmp = rawvalue;
db_post_events(pmr, &pmr->rmp, DBE_VAL_LOG);
}
rawvalue = (epicsInt32)floor(pPvt->status.encoderPosition + 0.5);
if (pmr->rep != rawvalue)
{
pmr->rep = rawvalue;
db_post_events(pmr, &pmr->rep, DBE_VAL_LOG);
}
/* Don't post MSTA changes here; motor record's process() function does efficent MSTA posting. */
pmr->msta = pPvt->status.status;
rawvalue = (epicsInt32)floor(pPvt->status.velocity);
if (pmr->rvel != rawvalue)
{
pmr->rvel = rawvalue;
db_post_events(pmr, &pmr->rvel, DBE_VAL_LOG);
}
motorApp/MotorSrc/motordevCom.cc
+11 -2
View File
@@ -58,6 +58,7 @@ HeadURL: $URL$
* .12 03/08/10 rls Always send positive encoder ratio values.
* .13 06/09/10 rls Set RA_PROBLEM instead of CNTRL_COMM_ERR when a NULL
* motor_state[] ptr is detected in motor_end_trans_com().
* .14 08/19/14 rls Moved RMP and REP posting from record to here.
*/
@@ -409,8 +410,16 @@ epicsShareFunc CALLBACK_VALUE motor_update_values(struct motorRecord * mr)
/* raw motor pulse count */
if (ptrans->callback_changed == YES)
{
mr->rmp = ptrans->motor_pos;
mr->rep = ptrans->encoder_pos;
if (mr->rmp != ptrans->motor_pos)
{
mr->rmp = ptrans->motor_pos;
db_post_events(mr, &mr->rmp, DBE_VAL_LOG);
}
if (mr->rep != ptrans->encoder_pos)
{
mr->rep = ptrans->encoder_pos;
db_post_events(mr, &mr->rep, DBE_VAL_LOG);
}
if (mr->rvel != ptrans->vel)
{
mr->rvel = ptrans->vel;