lin-epics-modules/motorBase
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Change initialisation order so that autosave is actually dependent on the

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values read back from the controller for asyn motors.
This commit is contained in:
Peter Denison
2008-05-19 15:56:01 +00:00
parent c235bb8b99
commit bcce2174d8
1 changed files with 24 additions and 10 deletions
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motorApp/MotorSrc/devMotorAsyn.c
+24 -10
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@@ -11,9 +11,9 @@
* Notwithstanding the above, explicit permission is granted for APS to
* redistribute this software.
*
* Version: $Revision: 1.22 $
* Modified by: $Author: sluiter $
* Last Modified: $Date: 2008-04-02 19:47:23 $
* Version: $Revision: 1.23 $
* Modified by: $Author: peterd $
* Last Modified: $Date: 2008-05-19 15:56:01 $
*
* Original Author: Peter Denison
* Current Author: Peter Denison
@@ -108,7 +108,7 @@ static long init( int after )
return 0;
}
static void init_controller(struct motorRecord *pmr )
static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
{
/* This routine is copied out of the old motordevCom and initialises the controller
based on the record values. I think most of it should be transferred to init_record
@@ -128,6 +128,10 @@ static void init_controller(struct motorRecord *pmr )
build_trans(LOAD_POS, &setPos, pmr);
end_trans(pmr);
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"devMotorAsyn::init_controller, %s set position to %f\n",
pmr->name, setPos );
if ( initEvent )
{
epicsEventMustWait(initEvent);
@@ -135,6 +139,11 @@ static void init_controller(struct motorRecord *pmr )
pPvt->initEvent = 0;
}
}
else
asynPrint(pasynUser, ASYN_TRACE_FLOW,
"devMotorAsyn::init_controller, %s setting of position not required, position=%f, mres=%f, dval=%f, rdbd=%f",
pmr->name, position, pmr->mres, pmr->dval, rdbd );
}
static long init_record(struct motorRecord * pmr )
@@ -231,12 +240,6 @@ static long init_record(struct motorRecord * pmr )
pmr->name, pasynUser->errorMessage);
}
/* Once everything is set-up, we can do the initial setting of position.
This should be the first thing that pushes onto the Asyn queue.
It needs to be done before we get the initial values back from the
controller.*/
init_controller(pmr);
/* Initiate calls to get the initial motor parameters
Have to do it the long-winded way, because before iocInit, none of the
locks or scan queues are initialised, so calls to scanOnce(),
@@ -259,6 +262,17 @@ static long init_record(struct motorRecord * pmr )
"%s devMotorAsyn.c::init_record: pasynMotorStatus->read "
"returned %s", pmr->name, pasynUser->errorMessage);
}
/* We must get the first set of status values from the controller before
* the initial setting of position. Otherwise we won't be able to decide
* whether or not to write new position values to the controller.
*/
init_controller(pmr, pasynUser);
/* Do not need to manually retrieve the new status values, as if they are
* set, a callback will be generated
*/
/* Finally, indicate to the motor record that these values can be used. */
pasynManager->freeAsynUser(pasynUser);
pPvt->needUpdate = 1;