lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

don't use variable named "time". Conflicts with time().

Browse Source 
make seq_pvGet() call sensitive to seq version number
This commit is contained in:
timmmooney
2014-08-28 18:15:18 +00:00
parent f46aba74ad
commit dfa946fce7
1 changed files with 21 additions and 5 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/OmsSrc/MAX_trajectoryScan.st
+21 -5
View File
@@ -25,6 +25,10 @@ program MAX_trajectoryScan("P=13IDC:,R=traj1,M1=M1,M2=M2,M3=M3,M4=M4,M5=M5,M6=M6
%% #include <epicsStdio.h>
%% #include <asynOctetSyncIO.h>
#include <seq_release.h> /* definition of MAGIC */
#define VERSION_INT(MAJ,MIN) ((MAJ)*1000000+(MIN)*1000)
#define LT_SEQ_VERSION(MAJ,MIN) ((MAGIC) < VERSION_INT(MAJ,MIN))
#define MAX(a,b) ((a) > (b) ? (a) : (b))
#define MIN(a,b) ((a) > (b) ? (b) : (a))
#define NINT(f) (int)((f)>0 ? (f)+0.5 : (f)-0.5)
@@ -354,7 +358,7 @@ ss maxTrajectoryScan {
/* If time mode is TIME_MODE_TOTAL then construct timeTrajectory and post it */
/* Note that timeTrajectory[i] is the time to go from motorTrajectory[i] to motorTrajectory[i+1] */
if (timeMode == TIME_MODE_TOTAL) {
dtime = time/(nelements-1);
dtime = time_PV/(nelements-1);
for (i=0; i<nelements-1; i++) timeTrajectory[i] = dtime;
for (i=nelements-1; i<MAX_ELEMENTS; i++) timeTrajectory[i] = 0;
pvPut(timeTrajectory);
@@ -992,7 +996,11 @@ static int getEpicsMotorMoving(SS_ID ssId, struct UserVar *pVar)
int result=0, mask=0x01;
for (j=0; j<pVar->numAxes; j++) {
#if LT_SEQ_VERSION(2,2)
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0);
#else
seq_pvGet(ssId, pVar->epicsMotorDoneIndex[j], 0, DEFAULT_TIMEOUT);
#endif
if (pVar->epicsMotorDone[j] == 0) result |= mask;
mask = mask << 1;
}
@@ -1011,14 +1019,22 @@ static int waitEpicsMotors(SS_ID ssId, struct UserVar *pVar)
/* Get the current motor positions, post them */
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
if (pVar->debugLevel >= 1) printf("waitEpicsMotors: m1=%f\n", pVar->epicsMotorPos[0]);
epicsThreadSleep(POLL_INTERVAL);
}
for (j=0; j<pVar->numAxes; j++) {
pVar->motorCurrent[j] = pVar->epicsMotorPos[j];
#if LT_SEQ_VERSION(2,2)
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0);
#else
seq_pvPut(ssId, pVar->motorCurrentIndex[j], 0, DEFAULT_TIMEOUT);
#endif
}
return(0);
}
@@ -1036,7 +1052,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
double *accelDist, double *decelDist)
{
double dp, dt, v_ideal, v_lin, accel_p, accel_v, time;
double dp, dt, v_ideal, v_lin, accel_p, accel_v, thisTime;
double x0;
int i, dir;
@@ -1135,13 +1151,13 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
}
for (i=0; i<npoints; i++) {
if (i < npoints-1) {
time = realTimeTrajectory[i+1];
thisTime = realTimeTrajectory[i+1];
dt = realTimeTrajectory[i+1] - realTimeTrajectory[i];
position[i] = userToRaw(calcMotorTrajectory[i+1], motorOffset, dir, motorResolution);
velocity[i] = NINT(dir*v_out[i+1]/motorResolution);
acceleration[i] = NINT(dir*a_out[i]/motorResolution);
} else {
time = realTimeTrajectory[i];
thisTime = realTimeTrajectory[i];
dt = realTimeTrajectory[i] - realTimeTrajectory[i-1];
position[i] = userToRaw(calcMotorTrajectory[i], motorOffset, dir, motorResolution);
velocity[i] = 0;
@@ -1152,7 +1168,7 @@ static int buildTrajectory(SS_ID ssId, struct UserVar *pVar, double *realTimeTra
} else {
x0 = .5 * acceleration[i]*dt*dt;
}
if (pVar->debugLevel >= 1) printf("%10.2f %10d %10d %10d %10d\n", time, position[i], NINT(x0), velocity[i], acceleration[i]);
if (pVar->debugLevel >= 1) printf("%10.2f %10d %10d %10d %10d\n", thisTime, position[i], NINT(x0), velocity[i], acceleration[i]);
}
if (pVar->addAccelDecel) {