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Bug fix for drvMM4000ReadbackDelay.

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The first call after the readback dealy now gets and sets the
status properly.  Also, the delay ws changed from a double (s)
to an int (ms) because the VxWorks shell has problems passing 
floating-point values.
This commit is contained in:
kmpeters
2011-08-25 20:05:25 +00:00
parent 3e37c36e3b
commit a2d07069ad
1 changed files with 10 additions and 6 deletions
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motorApp/NewportSrc/drvMM4000.cc
+10 -6
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@@ -73,6 +73,10 @@ HeadURL: $URL$
* - make debug variables always available.
* .14 02/18/09 rls Check for controller error.
* .15 02/17/10 rls Bug fix controller error check overwriting position buffer.
* .16 08/25/11 kmp Bug fix for drvMM4000Readback delay. The first call after the
* readback delay now gets and sets the status properly. Also, the delay
* was changed from a double (seconds) to an int (milliseconds) because
* of problems passing floating-point values from the VxWorks shell.
*
*/
@@ -130,9 +134,9 @@ int MM4000_num_cards = 0;
/* This is a temporary fix to introduce a delayed reading of the motor
* position after a move completes
* position after a move completes. drvMM4000ReadbackDelay is in milliseconds
*/
volatile double drvMM4000ReadbackDelay = 0.;
volatile int drvMM4000ReadbackDelay = 0;
/*----------------functions-----------------*/
@@ -374,11 +378,11 @@ static int set_status(int card, int signal)
* on the first poll, when it is really moving. We work around this by reading
* the status again after the delay, in case it is really still moving.
*/
if (motor_info->pid_present == YES && drvMM4000ReadbackDelay != 0.)
if (motor_info->pid_present == YES && drvMM4000ReadbackDelay != 0)
{
epicsThreadSleep(drvMM4000ReadbackDelay);
send_mess(card, READ_POSITION, (char) NULL);
recv_mess(card, cntrl->position_string, 1);
epicsThreadSleep((double) drvMM4000ReadbackDelay/1000.0);
send_mess(card, READ_STATUS, (char) NULL);
recv_mess(card, cntrl->status_string, 1);
pos = signal*5 + 3; /* Offset in status string */
mstat.All = cntrl->status_string[pos];
if (mstat.Bits.inmotion == true)