lin-epics-modules/motorBase
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Initialize PID parameters.

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This commit is contained in:
Ron Sluiter
2004-02-03 19:42:47 +00:00
parent 7024907cce
commit cf16857433
1 changed files with 35 additions and 6 deletions
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motorApp/MotorSrc/motordevCom.cc
+35 -6
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@@ -1,11 +1,11 @@
/*
FILENAME: motordevCom.c
FILENAME: motordevCom.cc
USAGE... This file contains device functions that are common to all motor
record device support modules.
Version: $Revision: 1.5 $
Version: $Revision: 1.6 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2003-12-12 21:38:42 $
Last Modified: $Date: 2004-02-03 19:42:47 $
*/
/*
@@ -42,6 +42,7 @@ Last Modified: $Date: 2003-12-12 21:38:42 $
* .04 11-26-96 jps allow for bumpless-reboot on position
* .04a 02-19-97 tmm fixed for EPICS 3.13
* .05 06/13/03 rls Ported to R3.14.
* .06 02/03/04 rls Initialize PID parameters from motor_init_record_com().
*/
@@ -175,7 +176,7 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
struct motor_dset *pdset = (struct motor_dset *) (mr->dset);
struct board_stat *brdptr;
int card, signal;
bool initEncoder, initPos, initString;
bool initEncoder, initPos, initString, initPID;
struct motor_trans *ptrans;
MOTOR_AXIS_QUERY axis_query;
struct mess_node *motor_call;
@@ -281,9 +282,11 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
initPos = (mr->dval != 0 && mr->mres != 0 && axis_query.position == 0) ? true : false;
/* Test for command primitive initialization string. */
initString = (mr->init != NULL && strlen(mr->init)) ? true : false;
/* Test for PID support. */
initPID = (msta.Bits.GAIN_SUPPORT) ? true : false;
/* Program the device if an encoder is present */
if (initPos == true || initEncoder == true || initString == true)
if (initPos == true || initEncoder == true || initString == true || initPID)
{
/* Semaphore used to hold initialization until device is programmed - cleared by callback. */
ptrans->initSem = new epicsEvent(epicsEventEmpty);
@@ -314,6 +317,32 @@ long motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_tab
(*pdset->end_trans)(mr);
}
if (initPID == true)
{
double pidcoef;
if ((pidcoef = mr->pcof) > 0.0)
{
(*pdset->start_trans)(mr);
(*pdset->build_trans)(SET_PGAIN, &pidcoef, mr);
(*pdset->end_trans)(mr);
}
if ((pidcoef = mr->icof) > 0.0)
{
(*pdset->start_trans)(mr);
(*pdset->build_trans)(SET_IGAIN, &pidcoef, mr);
(*pdset->end_trans)(mr);
}
if ((pidcoef = mr->dcof) > 0.0)
{
(*pdset->start_trans)(mr);
(*pdset->build_trans)(SET_DGAIN, &pidcoef, mr);
(*pdset->end_trans)(mr);
}
}
/* Changing encoder ratio may have changed the readback value. */
(*pdset->start_trans)(mr);
(*pdset->build_trans)(GET_INFO, NULL, mr);