lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Set LS error indicator based on LS active high/low

Browse Source 
configuration indicator and the state of the LS.
This commit is contained in:
Ron Sluiter
2006-09-25 19:42:40 +00:00
parent 424fcd4cb9
commit a490de96ed
1 changed files with 18 additions and 15 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/PiSrc/drvPIC862.cc
+18 -15
View File
@@ -11,6 +11,8 @@ USAGE... Motor record driver level support for Physik Instrumente (PI)
* Modification Log:
* -----------------
* .00 09/05/2006 mr copied from drvPIC848.cc
* .01 09/25/2006 rls Set LS error indicator based on LS active high/low
* configuration indicator and the state of the LS.
*/
@@ -199,7 +201,7 @@ static int set_status(int card, int signal)
int rtn_state, convert_cnt, charcnt;
epicsInt32 motorData;
bool plusdir, ls_active = false, plusLS, minusLS;
bool plusdir, ls_active = false, plusLS, minusLS, LSactiveH;
msta_field status;
cntrl = (struct PIC862controller *) motor_state[card]->DevicePrivate;
@@ -252,8 +254,21 @@ static int set_status(int card, int signal)
status.Bits.RA_DONE = (mstat1.Bits.trty_done) ? 1 : 0;
status.Bits.EA_POSITION = (mstat1.Bits.motor_off) ? 0 : 1;
status.Bits.RA_DIRECTION = (mstat3.Bits.mvdir_pol) ? 1 : 0;
plusLS = !mstat5.Bits.plus_ls;
minusLS = !mstat5.Bits.minus_ls;
/* Set +/- LS indicator based on limit switch active high/low
configuration and the state of the limits switch. */
LSactiveH = (mstat4.Bits.lmt_high) ? true : false;
if (LSactiveH == true)
{
plusLS = mstat5.Bits.plus_ls;
minusLS = mstat5.Bits.minus_ls;
}
else
{
plusLS = !mstat5.Bits.plus_ls;
minusLS = !mstat5.Bits.minus_ls;
}
/* Parse motor position */
@@ -268,10 +283,6 @@ static int set_status(int card, int signal)
}
else
{
// status.Bits.RA_DIRECTION = (motorData >= motor_info->position) ? 1 : 0;
motor_info->position = motor_info->encoder_position = motorData;
motor_info->no_motion_count = 0;
}
@@ -304,14 +315,6 @@ static int set_status(int card, int signal)
status.Bits.RA_PROBLEM = 0;
/* Parse motor velocity */
/*
send_mess(card, "TV", (char) NULL);
recv_mess(card, buff, 1);
motorData = NINT(atof(&buff[2]));
motor_info->velocity = motorData;
*/
if (!status.Bits.RA_DIRECTION)
motor_info->velocity *= -1;