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

Error check for valid acceleration rate on STOP command.

Browse Source
This commit is contained in:
Ron Sluiter
2010-11-11 17:12:00 +00:00
parent 18f8857c2f
commit e72e02ff6a
1 changed files with 34 additions and 11 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/OmsSrc/devOmsCom.cc
+34 -11
View File
@@ -65,6 +65,7 @@ HeadURL: $URL$
* .19 06-11-08 rls For MAXv, fix error on ER command; replace UU1.0 with UF.
* .20 07-24-08 rls For MAXv, normalize PID values based on 32,767 maximum.
* .21 03-01-10 rls Some MR commands still ignored; change fraction to .9.
* .22 11-10-10 rls Error check for valid acceleration rate on STOP command.
*
*/
@@ -81,6 +82,14 @@ HeadURL: $URL$
#include "motordevCom.h"
#include "devOmsCom.h"
/* WARNING... The following is a COPY of a motorRecord.cc definition.
If device support uses MIP definitions, then they should be moved
from motorRecord.cc to motor.h. In addition, for device support to
fully use MIP (e.g. correct accleration on STOP command), device
support needs record support to implement previous MIP (PMIP). */
#define MIP_JOG_STOP 0x2000 /* Stop jogging. */
/*
Command set used by record support. WARNING! this must match "motor_cmnd" in
motor.h
@@ -201,6 +210,7 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
bool MAXv = false;
bool MAXv_PSE = false;
int card, signal;
long valid_acc;
rtnind = OK;
motor_call = &trans->motor_call;
@@ -291,14 +301,31 @@ RTN_STATUS oms_build_trans(motor_cmnd command, double *parms, struct motorRecord
rtnind = ERROR;
}
else if (command == STOP_AXIS)
{
double acc = ((mr->velo - mr->vbas) / fabs(mr->mres)) / mr->accl;
{
double acc;
/* Use MIP to determine which acc. rate to use. */
if (mr->mip & MIP_JOG_STOP)
acc = ((mr->jar) / fabs(mr->mres)) / mr->accl;
else
acc = ((mr->velo - mr->vbas) / fabs(mr->mres)) / mr->accl;
valid_acc = NINT(acc);
/* For VME8/44 & MAXv, valid_acc < 8E6. For VME58, valid_acc < 1E9.
* Use 8E6 in common code. */
if (valid_acc < 1 || valid_acc > 8E6)
{
errPrintf(-1, __FILE__, __LINE__,
"Overriding invalid acceleration.\n");
valid_acc = (long) 200000; /* Using VME58 default. */
}
/* Put in acceleration. */
if (MAXv == true)
strcat(motor_call->message, "FL");
strcat(motor_call->message, oms_table[SET_ACCEL].command);
sprintf(buffer, "%ld", NINT(acc));
sprintf(buffer, "%ld", valid_acc);
strcat(motor_call->message, buffer);
if (MAXv == true)
strcat(motor_call->message, "; WQ");
@@ -458,17 +485,13 @@ errorexit: errMessage(-1, "Invalid device directive");
case SET_ACCEL: /* Prevent invalid acceleration values. */
{
long valid_acc = NINT(parms[itera]);
valid_acc = NINT(parms[itera]);
if (valid_acc < 1 || valid_acc > 1000000000)
if (valid_acc < 1 || valid_acc > 8E6)
{
errPrintf(-1, __FILE__, __LINE__,
"Overriding invalid acceleration.\n");
if (valid_acc < 1)
valid_acc = 1;
else
valid_acc = 1000000000;
valid_acc = (long) 200000; /* Using VME58 default. */
}
sprintf(buffer, "%ld", valid_acc);
}