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

V4.4 item #8.

Browse Source 
Bug fix for MIP left in STOP state if STOP set TRUE or SPMG set to STOP in between MIP set to RETRY in maybeRetry() and MIP set to MOVE in do_work().
This commit is contained in:
Ron Sluiter
2001-06-08 16:17:14 +00:00
parent a43824f8ca
commit e190e6feef
1 changed files with 35 additions and 34 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/MotorSrc/motorRecord.c
+35 -34
View File
@@ -2,9 +2,9 @@
FILENAME... motorRecord.c
USAGE... Motor Record Support.
Version: $Revision: 1.11 $
Version: $Revision: 1.12 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2001-06-05 15:38:44 $
Last Modified: $Date: 2001-06-08 16:17:14 $
*/
/*
@@ -124,6 +124,11 @@ Last Modified: $Date: 2001-06-05 15:38:44 $
* position is followed by a target position that violates
* the travel limit, while 1st move is in progress.
* Modified do_work() to set DMOV true only if MIP is DONE.
* .38 06-08-01 rls Bug fix for MIP left in STOP state if STOP set TRUE or
* SPMG set to STOP in between MIP set to RETRY in
* maybeRetry() and MIP set to MOVE in do_work(). Modified
* do_work() STOP and SPMG processing to set MIP <- DONE and
* DMOV <- TRUE when MIP == RETRY.
*/
#define VERSION 4.4
@@ -1487,34 +1492,14 @@ STATIC long do_work(motorRecord * pmr)
int dir_positive = (pmr->dir == motorDIR_Pos);
int dir = dir_positive ? 1 : -1;
int set = pmr->set;
int stopped = (pmr->spmg == motorSPMG_Stop || pmr->spmg == motorSPMG_Pause);
BOOLEAN stop_or_pause = (pmr->spmg == motorSPMG_Stop ||
pmr->spmg == motorSPMG_Pause) ? ON : OFF;
int old_lvio = pmr->lvio;
const unsigned short monitor_mask = DBE_VALUE;
mmap_field mmap_bits;
Debug(3, "do_work: begin\n", 0);
/*** Process Stop button. ***/
if (pmr->stop != 0)
{
pmr->stop = 0;
if (pmr->mip == MIP_DONE || pmr->mip == MIP_STOP)
{
/* Send message (just in case), but don't put MIP in STOP state. */
INIT_MSG();
WRITE_MSG(STOP_AXIS, NULL);
SEND_MSG();
return(OK);
}
else
{
/* Stop motor. */
pmr->pp = TRUE;
pmr->jogf = pmr->jogr = 0;
goto stop_all;
}
}
/*** Process Stop/Pause/Go_Pause/Go switch. ***
*
* STOP means make the motor stop and, when it does, make the drive
@@ -1536,20 +1521,32 @@ STATIC long do_work(motorRecord * pmr)
* Note that a great many fields (.val, .rvl, .off, .twf, .homf,
* .jogf, etc.) can make .dval change.
*/
if (pmr->spmg != pmr->lspg)
if (pmr->spmg != pmr->lspg || pmr->stop != 0)
{
pmr->lspg = pmr->spmg;
if (pmr->spmg == motorSPMG_Stop ||
pmr->spmg == motorSPMG_Pause)
BOOLEAN stop = (pmr->stop != 0) ? ON : OFF;
if (pmr->spmg != pmr->lspg)
pmr->lspg = pmr->spmg;
else
pmr->stop = 0;
if (stop_or_pause == ON || stop == ON)
{
/*
* If STOP, make drive values agree with readback values (when the
* motor actually stops).
*/
if (pmr->spmg == motorSPMG_Stop)
if (pmr->spmg == motorSPMG_Stop || stop == ON)
{
if (pmr->mip == MIP_DONE || pmr->mip == MIP_STOP)
if (pmr->mip == MIP_DONE || pmr->mip == MIP_STOP || pmr->mip == MIP_RETRY)
{
if (pmr->mip == MIP_RETRY)
{
pmr->mip = MIP_DONE;
MARK(M_MIP);
pmr->dmov = TRUE;
MARK(M_DMOV);
}
/* Send message (just in case), but don't put MIP in STOP state. */
INIT_MSG();
WRITE_MSG(STOP_AXIS, NULL);
@@ -1557,7 +1554,10 @@ STATIC long do_work(motorRecord * pmr)
return(OK);
}
else if (pmr->movn)
{
pmr->pp = TRUE; /* Do when motor stops. */
pmr->jogf = pmr->jogr = 0;
}
else
{
pmr->val = pmr->rbv;
@@ -1568,7 +1568,7 @@ STATIC long do_work(motorRecord * pmr)
MARK(M_RVAL);
}
}
stop_all: /* Cancel any operations. */
/* Cancel any operations. */
if (pmr->mip & MIP_HOMF)
{
pmr->homf = 0;
@@ -1701,7 +1701,7 @@ stop_all: /* Cancel any operations. */
((pmr->homf && !(pmr->mip & MIP_HOMF) && !pmr->hls) ||
(pmr->homr && !(pmr->mip & MIP_HOMR) && !pmr->lls)))
{
if (stopped)
if (stop_or_pause == ON)
{
pmr->dmov = FALSE;
MARK(M_DMOV);
@@ -1765,7 +1765,8 @@ stop_all: /* Cancel any operations. */
* Jog motor. Move continuously until we hit a software limit or a
* limit switch, or until user releases button.
*/
if (!(pmr->mip & MIP_JOG) && !stopped && !pmr->lvio && (pmr->mip & MIP_JOG_REQ))
if (!(pmr->mip & MIP_JOG) && stop_or_pause == OFF && !pmr->lvio &&
(pmr->mip & MIP_JOG_REQ))
{
/* check for limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == (float) 0.0))
@@ -1916,7 +1917,7 @@ stop_all: /* Cancel any operations. */
return(OK);
}
if (pmr->spmg == motorSPMG_Stop || pmr->spmg == motorSPMG_Pause)
if (stop_or_pause == ON)
return(OK);
/* IF DVAL field has changed, OR, NOT done moving. */