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Support externally initiated moves

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* When processing, if moving and DMOV true then set DMOV false, set
  post-process true (so that at the end of the move, the VAL/DVAL will be
  updated) and set the internal state to a new MIP_EXTERNAL.
This commit is contained in:
Peter Denison
2008-04-29 15:45:00 +00:00
parent defcc66c33
commit ea063f5f73
1 changed files with 17 additions and 3 deletions
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motorApp/MotorSrc/motorRecord.cc
+17 -3
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@@ -2,9 +2,9 @@
FILENAME... motorRecord.cc
USAGE... Motor Record Support.
Version: $Revision: 1.45 $
Modified By: $Author: sluiter $
Last Modified: $Date: 2008-03-26 15:59:22 $
Version: $Revision: 1.46 $
Modified By: $Author: peterd $
Last Modified: $Date: 2008-04-29 15:45:00 $
*/
/*
@@ -225,6 +225,7 @@ fields. ('pmr' is a pointer to motorRecord.)
#define MIP_JOG_REQ 0x1000 /* Jog Request. */
#define MIP_JOG_STOP 0x2000 /* Stop jogging. */
#define MIP_JOG_BL2 0x4000 /* 2nd phase take out backlash. */
#define MIP_EXTERNAL 0x8000 /* Move started by external source */
/*******************************************************************************
Support for keeping track of which record fields have been changed, so we can
@@ -1002,6 +1003,7 @@ LOGIC:
Set process reason indicator to CALLBACK_DATA.
Call process_motor_info().
IF motor-in-motion indicator (MOVN) is true.
Set the Done Moving field (DMOV) FALSE, and mark it as changed, if not already
IF new target position in opposite direction of current motion.
[Sign of RDIF is NOT the same as sign of CDIR], AND,
[Dist. to target {DIFF} > (NTMF x (|BDST| + RDBD)], AND,
@@ -1129,6 +1131,18 @@ static long process(dbCommon *arg)
int sign_rdif = (pmr->rdif < 0) ? 0 : 1;
double ntm_deadband = pmr->ntmf * (fabs(pmr->bdst) + pmr->rdbd);
/* Since other sources can now initiate motor moves (e.g. Asyn
* motors, written to by other records), make dmov track the state
* of movn (inverted).
*/
if (pmr->dmov) {
pmr->dmov = FALSE;
MARK(M_DMOV);
pmr->mip |= MIP_EXTERNAL;
MARK(M_MIP);
pmr->pp = TRUE;
}
/* Test for new target position in opposite direction of current
motion.
*/