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Merge pull request #193 from rerpha/rawlimits

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Add raw limits so that soft limits are synced with motor resolution change.  Fixes #191
This commit is contained in:
Kevin Peterson
2023-05-12 14:58:52 -05:00
committed by GitHub
parent 6b99e7cd4a 99d0c41415
commit cd09677d2a
2 changed files with 234 additions and 101 deletions
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motorApp/MotorSrc/motorRecord.cc
+222 -101
View File
@@ -190,6 +190,7 @@ USAGE... Motor Record Support.
* .76 04-04-18 rls - If URIP is Yes and RDBL is inaccessible (e.g., CA server is down), do not start
* a new target position move (sans Home search or Jog).
* .78 08-21-18 kmp - Reverted .69 stop on RA_PROBLEM true.
* .79 21-11-22 jrh - Added raw limits, sync limits on motor resolution change
*/
#define VERSION 7.2
@@ -234,6 +235,8 @@ static void monitor(motorRecord *);
static void process_motor_info(motorRecord *, bool);
static void load_pos(motorRecord *);
static void check_speed_and_resolution(motorRecord *);
static void set_user_highlimit(motorRecord*, struct motor_dset*);
static void set_user_lowlimit(motorRecord*, struct motor_dset*);
static void set_dial_highlimit(motorRecord *, struct motor_dset *);
static void set_dial_lowlimit(motorRecord *, struct motor_dset *);
static void set_userlimits(motorRecord *);
@@ -383,6 +386,8 @@ typedef union
unsigned int M_JOGR :1;
unsigned int M_HOMF :1;
unsigned int M_HOMR :1;
unsigned int M_RHLM :1;
unsigned int M_RLLM :1;
} Bits;
} nmap_field;
@@ -2495,7 +2500,7 @@ static long special(DBADDR *paddr, int after)
int dir = dir_positive ? 1 : -1;
bool changed = false;
int fieldIndex = dbGetFieldIndex(paddr);
double offset, tmp_raw, tmp_limit, fabs_urev;
double fabs_urev;
RTN_STATUS rtnval;
motor_cmnd command;
double temp_dbl;
@@ -2700,110 +2705,12 @@ static long special(DBADDR *paddr, int after)
/* new user high limit */
case motorRecordHLM:
offset = pmr->off;
if (dir_positive)
{
tmp_limit = pmr->hlm - offset;
MARK(M_DHLM);
}
else
{
tmp_limit = -(pmr->hlm) + offset;
MARK(M_DLLM);
}
/* Which controller limit we set depends not only on dir, but
also on the sign of MRES */
/* Direction +ve AND +ve MRES OR
Direction -ve AND -ve MRES */
if (dir_positive ^ (pmr->mres < 0))
{
command = SET_HIGH_LIMIT;
}
else
/* Direction -ve AND +ve MRES OR
Direction +ve AND -ve MRES */
{
command = SET_LOW_LIMIT;
}
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(command, &tmp_raw, pmr);
if (rtnval != OK)
{
/* If an error occured, build_trans() has reset
* dial high or low limit to controller's value. */
if (dir_positive)
pmr->hlm = pmr->dhlm + offset;
else
pmr->hlm = -(pmr->dllm) + offset;
}
else
{
SEND_MSG();
if (dir_positive)
pmr->dhlm = tmp_limit;
else
pmr->dllm = tmp_limit;
}
MARK(M_HLM);
set_user_highlimit(pmr, pdset);
break;
/* new user low limit */
case motorRecordLLM:
offset = pmr->off;
if (dir_positive)
{
tmp_limit = pmr->llm - offset;
MARK(M_DLLM);
}
else
{
tmp_limit = -(pmr->llm) + offset;
MARK(M_DHLM);
}
/* Which controller limit we set depends not only on dir, but
also on the sign of MRES */
/* Direction +ve AND +ve MRES OR
Direction -ve AND -ve MRES */
if (dir_positive ^ (pmr->mres < 0))
{
command = SET_LOW_LIMIT;
}
else
/* Direction -ve AND +ve MRES OR
Direction +ve AND -ve MRES */
{
command = SET_HIGH_LIMIT;
}
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(command, &tmp_raw, pmr);
if (rtnval != OK)
{
/* If an error occured, build_trans() has reset
* dial high or low limit to controller's value. */
if (dir_positive)
pmr->llm = pmr->dllm + offset;
else
pmr->llm = -(pmr->dhlm) + offset;
}
else
{
SEND_MSG();
if (dir_positive)
pmr->dllm = tmp_limit;
else
pmr->dhlm = tmp_limit;
}
MARK(M_LLM);
set_user_lowlimit(pmr, pdset);
break;
/* new dial high limit */
@@ -2877,6 +2784,19 @@ velcheckB:
pmr->vmax = temp_dbl;
db_post_events(pmr, &pmr->vmax, DBE_VAL_LOG);
}
if (pmr->dllm != (temp_dbl = pmr->rllm * pmr->mres))
{
pmr->dllm = temp_dbl;
db_post_events(pmr, &pmr->dllm, DBE_VAL_LOG);
}
if (pmr->dhlm != (temp_dbl = pmr->rhlm * pmr->mres))
{
pmr->dhlm = temp_dbl;
db_post_events(pmr, &pmr->dhlm, DBE_VAL_LOG);
}
set_userlimits(pmr);
db_post_events(pmr, &pmr->hlm, DBE_VAL_LOG);
db_post_events(pmr, &pmr->llm, DBE_VAL_LOG);
break;
/* new srev: make mres agree */
@@ -3607,6 +3527,10 @@ static void monitor(motorRecord * pmr)
db_post_events(pmr, &pmr->homf, local_mask);
if ((local_mask = monitor_mask | (MARKED_AUX(M_HOMR) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->homr, local_mask);
if ((local_mask = monitor_mask | (MARKED_AUX(M_RHLM) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->rhlm, local_mask);
if ((local_mask = monitor_mask | (MARKED_AUX(M_RLLM) ? DBE_VAL_LOG : 0)))
db_post_events(pmr, &pmr->rllm, local_mask);
UNMARK_ALL;
}
@@ -3828,6 +3752,20 @@ static void load_pos(motorRecord * pmr)
* Range check; VBAS < VELO < VMAX.
* S < - VELO / |UREV|.
* ENDIF
*
* IF RLLM is nonzero.
* DLLM < - RLLM * MRES.
* ENDIF
* IF RLLM is not DLLM / MRES.
* RLLM < - DLLM / MRES.
* ENDIF
*
* IF RHLM is nonzero.
* DHLM < - RHLM * MRES.
* ENDIF
* IF RHLM is not DHLM / MRES.
* RHLM < - DHLM / MRES.
* ENDIF
*
* IF SBAK is nonzero.
* Range check; SBAS < SBAK < SMAX.
@@ -3917,6 +3855,35 @@ static void check_speed_and_resolution(motorRecord * pmr)
db_post_events(pmr, &pmr->velo, DBE_VAL_LOG);
db_post_events(pmr, &pmr->s, DBE_VAL_LOG);
/* RLLM <--> DLLM */
if (pmr->rllm != 0.0)
{
pmr->dllm = pmr->rllm * pmr->mres;
MARK(M_DLLM);
}
if (pmr->rllm != pmr->dllm / pmr->mres)
{
pmr->rllm = pmr->dllm / pmr->mres;
MARK_AUX(M_RLLM);
}
db_post_events(pmr, &pmr->dllm, DBE_VAL_LOG);
db_post_events(pmr, &pmr->rllm, DBE_VAL_LOG);
/* RHLM <--> DHLM */
if (pmr->rhlm != 0.0)
{
pmr->dhlm = pmr->rhlm * pmr->mres;
MARK(M_DHLM);
}
if (pmr->rhlm != pmr->dhlm / pmr->mres)
{
pmr->rhlm = pmr->dhlm / pmr->mres;
MARK_AUX(M_RHLM);
}
db_post_events(pmr, &pmr->rhlm, DBE_VAL_LOG);
db_post_events(pmr, &pmr->dhlm, DBE_VAL_LOG);
/* SBAK (revolutions/sec) <--> BVEL (EGU/sec) */
if (pmr->sbak != 0.0)
{
@@ -3958,6 +3925,153 @@ static void check_speed_and_resolution(motorRecord * pmr)
range_check(pmr, &pmr->hvel, pmr->vbas, pmr->vmax);
}
/*
FUNCTION... void set_user_highlimit(motorRecord *)
USAGE... Set user high limit.
NOTES... This function sends a command to the device to set the user high
limit. This is respective to the direction of the motor.
*/
static void set_user_highlimit(motorRecord* pmr, struct motor_dset* pdset)
{
int dir_positive = (pmr->dir == motorDIR_Pos);
double tmp_limit, offset, tmp_raw;
motor_cmnd command;
RTN_STATUS rtnval;
offset = pmr->off;
if (dir_positive)
{
tmp_limit = pmr->hlm - offset;
MARK(M_DHLM);
}
else
{
tmp_limit = -(pmr->hlm) + offset;
MARK(M_DLLM);
}
/* Which controller limit we set depends not only on dir, but
also on the sign of MRES */
/* Direction +ve AND +ve MRES OR
Direction -ve AND -ve MRES */
if (dir_positive ^ (pmr->mres < 0))
{
command = SET_HIGH_LIMIT;
}
else
/* Direction -ve AND +ve MRES OR
Direction +ve AND -ve MRES */
{
command = SET_LOW_LIMIT;
}
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(command, &tmp_raw, pmr);
if (rtnval != OK)
{
/* If an error occured, build_trans() has reset
* dial high or low limit to controller's value. */
if (dir_positive)
pmr->hlm = pmr->dhlm + offset;
else
pmr->hlm = -(pmr->dllm) + offset;
}
else
{
// set dial and raw limits
SEND_MSG();
if (dir_positive)
{
pmr->dhlm = tmp_limit;
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
}
else
{
pmr->dllm = tmp_limit;
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
}
MARK(M_HLM);
}
/*
FUNCTION... void set_user_lowlimit(motorRecord *)
USAGE... Set user low limit.
NOTES... This function sends a command to the device to set the user low
limit. This is respective to the direction of the motor.
*/
static void set_user_lowlimit(motorRecord* pmr, struct motor_dset* pdset)
{
int dir_positive = (pmr->dir == motorDIR_Pos);
double tmp_limit, offset, tmp_raw;
motor_cmnd command;
RTN_STATUS rtnval;
offset = pmr->off;
if (dir_positive)
{
tmp_limit = pmr->llm - offset;
MARK(M_DLLM);
}
else
{
tmp_limit = -(pmr->llm) + offset;
MARK(M_DHLM);
}
/* Which controller limit we set depends not only on dir, but
also on the sign of MRES */
/* Direction +ve AND +ve MRES OR
Direction -ve AND -ve MRES */
if (dir_positive ^ (pmr->mres < 0))
{
command = SET_LOW_LIMIT;
}
else
/* Direction -ve AND +ve MRES OR
Direction +ve AND -ve MRES */
{
command = SET_HIGH_LIMIT;
}
tmp_raw = tmp_limit / pmr->mres;
INIT_MSG();
rtnval = (*pdset->build_trans)(command, &tmp_raw, pmr);
if (rtnval != OK)
{
/* If an error occured, build_trans() has reset
* dial high or low limit to controller's value. */
if (dir_positive)
pmr->llm = pmr->dllm + offset;
else
pmr->llm = -(pmr->dhlm) + offset;
}
else
{
// set dial and raw limits
SEND_MSG();
if (dir_positive) {
pmr->dllm = tmp_limit;
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
else
{
pmr->dhlm = tmp_limit;
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
}
}
MARK(M_LLM);
}
/*
FUNCTION... void set_dial_highlimit(motorRecord *)
USAGE... Set dial-coordinate high limit.
@@ -3974,6 +4088,10 @@ static void set_dial_highlimit(motorRecord *pmr, struct motor_dset *pdset)
RTN_STATUS rtnval;
tmp_raw = pmr->dhlm / pmr->mres;
// set the raw high limit
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
INIT_MSG();
if (pmr->mres < 0) {
command = SET_LOW_LIMIT;
@@ -4014,6 +4132,9 @@ static void set_dial_lowlimit(motorRecord *pmr, struct motor_dset *pdset)
RTN_STATUS rtnval;
tmp_raw = pmr->dllm / pmr->mres;
// set the raw low limit
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
INIT_MSG();
if (pmr->mres < 0) {
motorApp/MotorSrc/motorRecord.dbd
+12
View File
@@ -309,6 +309,18 @@ recordtype(motor) {
interest(1)
size(16)
}
field(RHLM,DBF_DOUBLE) {
prompt("Raw High Limit")
promptgroup(GUI_COMMON)
special(SPC_NOMOD)
interest(1)
}
field(RLLM,DBF_DOUBLE) {
prompt("Raw Low Limit")
promptgroup(GUI_COMMON)
special(SPC_NOMOD)
interest(1)
}
field(HLM,DBF_DOUBLE) {
prompt("User High Limit")
special(SPC_MOD)