forked from epics_driver_modules/motorBase
Added "initcall" function argument to process_motor_info() to prevent
LINK alarms when init_record() called.
This commit is contained in:
Ron Sluiter
@@ -2,9 +2,9 @@
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FILENAME... motorRecord.c
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USAGE... Motor Record Support.
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Version: $Revision: 1.14 $
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Version: $Revision: 1.15 $
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Modified By: $Author: sluiter $
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Last Modified: $Date: 2001-10-02 23:16:52 $
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Last Modified: $Date: 2002-02-06 17:43:35 $
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*/
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/*
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@@ -133,6 +133,10 @@ Last Modified: $Date: 2001-10-02 23:16:52 $
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* - Removed erroneous setting of PP <- TRUE in init_record().
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* - Replaced PDIF with CDIR field (see README V4.5 item #2).
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* - Simplified "tdir" logic in process().
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* .40 02-06-02 rls - Added "initcall" function argument to process_motor_info()
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* so that init_record() can call process_motor_info()
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* without reading the external readback device (RDBL).
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* init_record() was causing LINK alarms.
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*/
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#define VERSION 4.5
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@@ -184,7 +188,7 @@ extern "C" {
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/*----------------debugging-----------------*/
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#ifdef DEBUG
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#define Debug(l, f, args...) { if(l<=motorRecordDebug) printf(f,## args); }
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#define Debug(l, f, args...) {if (l <= motorRecordDebug) printf(f, ## args);}
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#else
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#define Debug(l, f, args...)
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#endif
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@@ -197,7 +201,7 @@ STATIC long do_work(motorRecord *);
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STATIC void alarm(motorRecord *);
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STATIC void monitor(motorRecord *);
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STATIC void post_MARKed_fields(motorRecord *, unsigned short);
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STATIC void process_motor_info(motorRecord *);
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STATIC void process_motor_info(motorRecord *, BOOLEAN);
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STATIC void load_pos(motorRecord *);
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STATIC void check_speed_and_resolution(motorRecord *);
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STATIC void set_dial_highlimit(motorRecord *, struct motor_dset *);
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@@ -273,17 +277,17 @@ Support for tracking the progress of motor from one invocation of 'process()'
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to the next. The field 'pmr->mip' stores the motion in progress using these
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fields. ('pmr' is a pointer to motorRecord.)
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*******************************************************************************/
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#define MIP_DONE 0x0000 /* No motion is in progress. */
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#define MIP_JOGF 0x0001 /* A jog-forward command is in progress. */
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#define MIP_JOGR 0x0002 /* A jog-reverse command is in progress. */
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#define MIP_JOG_BL 0x0004 /* Done jogging; now take out backlash. */
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#define MIP_DONE 0x0000 /* No motion is in progress. */
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#define MIP_JOGF 0x0001 /* A jog-forward command is in progress. */
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#define MIP_JOGR 0x0002 /* A jog-reverse command is in progress. */
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#define MIP_JOG_BL 0x0004 /* Done jogging; now take out backlash. */
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#define MIP_JOG (MIP_JOGF | MIP_JOGR | MIP_JOG_BL)
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#define MIP_HOMF 0x0008 /* A home-forward command is in progress. */
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#define MIP_HOMR 0x0010 /* A home-reverse command is in progress. */
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#define MIP_HOMF 0x0008 /* A home-forward command is in progress. */
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#define MIP_HOMR 0x0010 /* A home-reverse command is in progress. */
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#define MIP_HOME (MIP_HOMF | MIP_HOMR)
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#define MIP_MOVE 0x0020 /* A move not resulting from Jog* or Hom*. */
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#define MIP_RETRY 0x0040 /* A retry is in progress. */
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#define MIP_LOAD_P 0x0080 /* A load-position command is in progress. */
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#define MIP_MOVE 0x0020 /* A move not resulting from Jog* or Hom*. */
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#define MIP_RETRY 0x0040 /* A retry is in progress. */
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#define MIP_LOAD_P 0x0080 /* A load-position command is in progress. */
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#define MIP_STOP 0x0200 /* We're trying to stop. When combined with */
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/* MIP_JOG* or MIP_HOM*, the jog or home */
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/* command is performed after motor stops */
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@@ -614,7 +618,7 @@ STATIC long init_record(motorRecord * pmr, int pass)
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/* v3.2 Set .res according to whether an encoder is in use. */
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pmr->res = ((pmr->msta & EA_PRESENT) && pmr->ueip) ? pmr->eres : pmr->mres;
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process_motor_info(pmr);
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process_motor_info(pmr, ON);
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enforceMinRetryDeadband(pmr);
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/*
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@@ -1018,14 +1022,11 @@ LOGIC:
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IF function was invoked by a callback, OR, process delay acknowledged is ON?
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Set process reason indicator to CALLBACK_DATA.
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Call process_motor_info().
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IF DMOV is TRUE.
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GOTO Exit.
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IF motor-in-motion indicator (MOVN) is ON.
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IF [The UEIP {"Use Encoder If Present"} is set to NO], AND,
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[The URIP {"Use RDBL Link If Present"} is set to NO], AND,
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IF [Sign of RDIF is NOT the same as sign of CDIR], AND,
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[Dist. to target {DIFF} > 2 x (|Backlash Dist.| + Retry Deadband)], AND,
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[Previous RDIF (pre_rdif) is nonzero], AND
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[The polarity of the raw dist. to target {RDIF} has changed], AND,
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[Raw Velocity is nonzero], AND,
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[Raw Readback Value {RRBV} has been changed], AND,
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[MIP indicates this move is either (a result of a retry),OR,
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(not from a Jog* or Hom*)]
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Send Stop Motor command.
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@@ -1056,8 +1057,6 @@ LOGIC:
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ENDIF
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ENDIF
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ENDIF
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Save previous RDIF (pre_rdif) for target direction reversal detection in
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above Stop logic.
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ENDIF
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IF Software travel limits are disabled.
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Clear Limit violation field.
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@@ -1089,6 +1088,7 @@ LOGIC:
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IF Done Moving field (DMOV) is TRUE.
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Process the forward-scan-link record, call recGblFwdLink().
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ENDIF
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Exit:
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Update record timestamp, call recGblGetTimeStamp().
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Process alarms, call alarm().
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Monitor changes to record fields, call monitor().
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@@ -1138,7 +1138,7 @@ STATIC long process(motorRecord * pmr)
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* Get position and status from motor controller. Get readback-link
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* value if link exists.
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*/
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process_motor_info(pmr);
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process_motor_info(pmr, OFF);
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/* For Soft Channel device support; skip most record processing if
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* called due to readback updates.
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@@ -1262,6 +1262,7 @@ process_exit:
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alarm(pmr); /* If we've violated alarm limits, yell. */
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monitor(pmr); /* If values have changed, broadcast them. */
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pmr->pact = 0;
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Debug(4, "process:---------------------- end; motor \"%s\"\n", pmr->name);
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return (status);
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}
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@@ -1684,7 +1685,7 @@ STATIC long do_work(motorRecord * pmr)
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if (!RTN_SUCCESS(status))
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{
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pmr->udf = TRUE;
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return (1);
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return(ERROR);
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}
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pmr->udf = FALSE;
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/* Later, we'll act on this new value of .val. */
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@@ -3111,7 +3112,7 @@ STATIC void post_MARKed_fields(motorRecord * pmr, unsigned short mask)
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process_motor_info()
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*******************************************************************************/
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STATIC void
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process_motor_info(motorRecord * pmr)
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process_motor_info(motorRecord * pmr, BOOLEAN initcall)
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{
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unsigned long status = pmr->msta;
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double old_drbv = pmr->drbv;
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@@ -3184,7 +3185,7 @@ STATIC void
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* have been read and propagated to .rbv in case .rdbl is a link involving
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* that field.
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*/
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if (pmr->urip)
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if (pmr->urip && initcall == OFF)
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{
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long status;
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