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

devMotorAsyn: always do SET_ENC_RATIO at the beginning of the init_controller function. This fixes an issue that was causing set position to fail in some cases.

Browse Source
This commit is contained in:
mp49
2014-08-05 15:58:40 +00:00
parent ac47bfb650
commit ea2616382d
1 changed files with 11 additions and 6 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/MotorSrc/devMotorAsyn.c
+11 -6
View File
@@ -33,7 +33,12 @@
*
* .03 2013-01-02 rls
* Support for motor record raw actual velocity (RVEL).
*
*
* .04 2014-08-05 MRP
* Fix for manual set position after IOC startup. The encoder ratio was not being set at IOC startup
* which meant that set position failed for Asyn drivers. We now always set the encoder ratio
* at the beginning of the init_controller function.
*
*/
#include <stddef.h>
@@ -171,6 +176,11 @@ static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
double rdbd = (fabs(pmr->rdbd) < fabs(pmr->mres) ? fabs(pmr->mres) : fabs(pmr->rdbd) );
double encRatio[2] = {pmr->mres, pmr->eres};
/*Before setting position, set the correct encoder ratio.*/
start_trans(pmr);
build_trans(SET_ENC_RATIO, encRatio, pmr);
end_trans(pmr);
if ((fabs(pmr->dval) > rdbd && pmr->mres != 0) &&
(fabs(position * pmr->mres) < rdbd))
{
@@ -179,11 +189,6 @@ static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
pPvt->initEvent = initEvent;
/*Before setting position, set the correct encoder ratio.*/
start_trans(pmr);
build_trans(SET_ENC_RATIO, encRatio, pmr);
end_trans(pmr);
start_trans(pmr);
build_trans(LOAD_POS, &setPos, pmr);
end_trans(pmr);