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Seperate +/- limit switch status bits.

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This commit is contained in:
Ron Sluiter
2002-07-05 19:40:07 +00:00
parent 33a8372c7c
commit dad124bd38
2 changed files with 85 additions and 30 deletions
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motorApp/OmsSrc/drvOms.c
+24 -14
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms.c
USAGE... Driver level support for OMS models VME8, VME44 and VS4.
Version: $Revision: 1.9 $
Version: $Revision: 1.10 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-02-25 16:48:13 $
Last Modified: $Date: 2002-07-05 19:39:28 $
*/
/*
@@ -235,8 +235,9 @@ STATIC int set_status(int card, int signal)
struct axis_status *ax_stat;
struct encoder_status *en_stat;
char q_buf[50];
int i, pos;
int index, pos;
int rtn_state;
BOOLEAN ls_active;
motor_info = &(motor_state[card]->motor_info[signal]);
@@ -254,10 +255,10 @@ STATIC int set_status(int card, int signal)
Debug(5, "info = (%s)\n", q_buf);
for (i = 0, p = strtok_r(q_buf, ",", &tok_save); p;
p = strtok_r(NULL, ",", &tok_save), i++)
for (index = 0, p = strtok_r(q_buf, ",", &tok_save); p;
p = strtok_r(NULL, ",", &tok_save), index++)
{
switch (i)
switch (index)
{
case 0: /* axis status */
ax_stat = (struct axis_status *) p;
@@ -273,9 +274,18 @@ STATIC int set_status(int card, int signal)
motor_info->status &= ~RA_DONE;
if (ax_stat->overtravel == 'L')
motor_info->status |= RA_OVERTRAVEL;
{
ls_active = ON;
if (motor_info->status & RA_DIRECTION)
motor_info->status |= RA_PLUS_LS;
else
motor_info->status |= RA_MINUS_LS;
}
else
motor_info->status &= ~RA_OVERTRAVEL;
{
ls_active = OFF;
motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
}
if (ax_stat->home == 'H')
motor_info->status |= RA_HOME;
@@ -284,7 +294,7 @@ STATIC int set_status(int card, int signal)
break;
case 1: /* motor pulse count (position) */
sscanf(p, "%i", &pos);
sscanf(p, "%index", &pos);
if (pos == motor_info->position)
motor_info->no_motion_count++;
@@ -308,7 +318,7 @@ STATIC int set_status(int card, int signal)
{
int temp;
sscanf(p, "%i", &temp);
sscanf(p, "%index", &temp);
motor_info->encoder_position = (epicsInt32) temp;
}
break;
@@ -355,12 +365,12 @@ STATIC int set_status(int card, int signal)
if (!(motor_info->status & RA_DIRECTION))
motor_info->velocity *= -1;
rtn_state = (!motor_info->no_motion_count ||
(motor_info->status & (RA_OVERTRAVEL | RA_DONE | RA_PROBLEM))) ? 1 : 0;
rtn_state = (!motor_info->no_motion_count || ls_active == ON ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || motor_info->status & RA_OVERTRAVEL) &&
(motor_info->motor_motion != 0) &&
if ((motor_info->status & RA_DONE || ls_active == ON) &&
(motor_info->motor_motion != 0) &&
(motor_info->motor_motion->postmsgptr != 0))
{
send_mess(card, motor_info->motor_motion->postmsgptr, oms_axis[signal]);
motorApp/OmsSrc/drvOms58.c
+61 -16
View File
@@ -2,9 +2,9 @@
FILENAME... drvOms58.c
USAGE... Motor record driver level support for OMS model VME58.
Version: $Revision: 1.7 $
Version: $Revision: 1.8 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2002-02-22 22:08:01 $
Last Modified: $Date: 2002-07-05 19:40:07 $
*/
/*
@@ -307,10 +307,46 @@ STATIC void start_status(int card)
}
}
/**************************************************************
* Read motor status from card
* set_status()
************************************************************/
/******************************************************************************
* FUNCTION NAME: set_status
*
* ARGUMETS Type I/O Description
* -------- ---- --- -----------
*
* card int I Controller card index #.
* signal int I Motor index.
*
* LOGIC
* Initialize.
* IF encoder present.
* Get axis and encoder information.
* ELSE
* Get axis information.
* ENDIF
*
* Process controller response strings.
*
* ...
* ...
* IF "motor-in-motion" (i.e., nodeptr != 0), AND, no limit switch error.
* IF drive power monitoring enabled.
* ...
* ENDIF
* ENDIF
*
* IF no motion, OR, status indicates limit switch error, OR, motor done, OR,
* controller problem.
* Set return state to "callback record".
* ELSE
* Set return state to skip "record callback".
* ENDIF
* IF status indicates DONE/LIMIT, AND, "motor-in-motion" (nodeptr != 0), AND,
* post-move message is not null.
* Send post-move message to controller.
* Clear post-move message pointer.
* ENDIF
* EXIT with return state indicator.
******************************************************************************/
STATIC int set_status(int card, int signal)
{
@@ -326,6 +362,7 @@ STATIC int set_status(int card, int signal)
struct encoder_status *en_stat;
char q_buf[50], outbuf[50];
int index;
BOOLEAN ls_active;
int rtn_state;
@@ -370,9 +407,18 @@ STATIC int set_status(int card, int signal)
motor_info->status &= ~RA_DONE;
if (ax_stat->overtravel == 'L')
motor_info->status |= RA_OVERTRAVEL;
{
ls_active = ON;
if (motor_info->status & RA_DIRECTION)
motor_info->status |= RA_PLUS_LS;
else
motor_info->status |= RA_MINUS_LS;
}
else
motor_info->status &= ~RA_OVERTRAVEL;
{
ls_active = OFF;
motor_info->status &= ~(RA_PLUS_LS | RA_MINUS_LS);
}
if (ax_stat->home == 'H')
motor_info->status |= RA_HOME;
@@ -454,7 +500,7 @@ STATIC int set_status(int card, int signal)
motor_info->encoder_position = motorData;
if ((nodeptr != NULL) && ((motor_info->status & RA_OVERTRAVEL) == 0))
if (nodeptr != NULL && ls_active == OFF)
{
struct motor_trans *trans = (struct motor_trans *) nodeptr->mrecord->dpvt;
if (trans->dpm == ON)
@@ -464,20 +510,19 @@ STATIC int set_status(int card, int signal)
bitselect = (1 << signal);
if ((inputs & bitselect) == 0)
{
motor_info->status |= RA_OVERTRAVEL;
motor_info->status |= (RA_PLUS_LS | RA_MINUS_LS);
logMsg((char *) "Drive power failure at VME58 card#%d motor#%d\n",
card, signal, 0, 0, 0, 0);
}
}
}
rtn_state = (!motor_info->no_motion_count ||
(motor_info->status & (RA_OVERTRAVEL | RA_DONE | RA_PROBLEM))) ? 1 : 0;
rtn_state = (!motor_info->no_motion_count || ls_active == ON ||
(motor_info->status & (RA_DONE | RA_PROBLEM))) ? 1 : 0;
/* Test for post-move string. */
if ((motor_info->status & RA_DONE || motor_info->status & RA_OVERTRAVEL) &&
(nodeptr != 0) &&
(nodeptr->postmsgptr != 0))
if ((motor_info->status & RA_DONE || ls_active == ON) && nodeptr != 0 &&
nodeptr->postmsgptr != 0)
{
strcpy(outbuf, nodeptr->postmsgptr);
send_mess(card, outbuf, oms58_axis[signal]);