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RHLM, RLLM: Fix when MRES is negativ

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Fix the situation when MRES < 0 and either the softlimits
are changed (and RHLM and RLLM are garbled) or when
MRES itself is negative and changed, so that DHLM and DLLM
needed to be updated from the constant RHLM/RLLM.
Based on the update of DHLM/DLLM HLM/LLM will be updated as well.

The current implementation around RHLM/RLLM did not consider
MRES < 0 at all. And even if this configuration is not often
used, it is still supported.
Beside that we want to avoid RHLM=-40 RLLM=50 when it should be
the other way around
This commit is contained in:
Torsten Bögershausen
2023-05-22 16:37:07 +02:00
parent d80b006a39
commit fd808eb252
1 changed files with 108 additions and 40 deletions
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motorApp/MotorSrc/motorRecord.cc
+108 -40
View File
@@ -2784,15 +2784,36 @@ velcheckB:
pmr->vmax = temp_dbl;
db_post_events(pmr, &pmr->vmax, DBE_VAL_LOG);
}
if (pmr->dllm != (temp_dbl = pmr->rllm * pmr->mres))
/* We may have new MRES */
if (pmr->mres > 0)
{
pmr->dllm = temp_dbl;
db_post_events(pmr, &pmr->dllm, DBE_VAL_LOG);
if (pmr->dllm != (temp_dbl = pmr->rllm * pmr->mres))
{
pmr->dllm = temp_dbl;
db_post_events(pmr, &pmr->dllm, DBE_VAL_LOG);
}
if (pmr->dhlm != (temp_dbl = pmr->rhlm * pmr->mres))
{
pmr->dhlm = temp_dbl;
db_post_events(pmr, &pmr->dhlm, DBE_VAL_LOG);
}
}
if (pmr->dhlm != (temp_dbl = pmr->rhlm * pmr->mres))
else
{
pmr->dhlm = temp_dbl;
db_post_events(pmr, &pmr->dhlm, DBE_VAL_LOG);
// MRES < 0 swaps DHLM DLLM
if (pmr->dhlm != (temp_dbl = pmr->rllm * pmr->mres))
{
pmr->dhlm = temp_dbl;
db_post_events(pmr, &pmr->dhlm, DBE_VAL_LOG);
}
if (pmr->dllm != (temp_dbl = pmr->rhlm * pmr->mres))
{
pmr->dllm = temp_dbl;
db_post_events(pmr, &pmr->dllm, DBE_VAL_LOG);
}
set_userlimits(pmr);
db_post_events(pmr, &pmr->hlm, DBE_VAL_LOG);
db_post_events(pmr, &pmr->llm, DBE_VAL_LOG);
}
set_userlimits(pmr);
db_post_events(pmr, &pmr->hlm, DBE_VAL_LOG);
@@ -3855,34 +3876,56 @@ static void check_speed_and_resolution(motorRecord * pmr)
db_post_events(pmr, &pmr->velo, DBE_VAL_LOG);
db_post_events(pmr, &pmr->s, DBE_VAL_LOG);
/* RLLM <--> DLLM */
if (pmr->rllm != 0.0)
if (pmr->mres > 0)
{
pmr->dllm = pmr->rllm * pmr->mres;
MARK(M_DLLM);
/* RLLM <--> DLLM */
if (pmr->rllm != 0.0)
{
pmr->dllm = pmr->rllm * pmr->mres;
MARK(M_DLLM);
}
if (pmr->rllm != pmr->dllm / pmr->mres)
{
pmr->rllm = pmr->dllm / pmr->mres;
MARK_AUX(M_RLLM);
}
/* RHLM <--> DHLM */
if (pmr->rhlm != 0.0)
{
pmr->dhlm = pmr->rhlm * pmr->mres;
MARK(M_DHLM);
}
if (pmr->rhlm != pmr->dhlm / pmr->mres)
{
pmr->rhlm = pmr->dhlm / pmr->mres;
MARK_AUX(M_RHLM);
}
}
if (pmr->rllm != pmr->dllm / pmr->mres)
else
{
pmr->rllm = pmr->dllm / pmr->mres;
MARK_AUX(M_RLLM);
/* RLLM <--> DHLM */
if (pmr->rllm != 0.0)
{
pmr->dhlm = pmr->rllm * fabs(pmr->mres);
MARK(M_DHLM);
}
if (pmr->rllm != pmr->dhlm / fabs(pmr->mres))
{
pmr->rllm = pmr->dhlm / fabs(pmr->mres);
MARK_AUX(M_RLLM);
}
/* RHLM <--> DLLM */
if (pmr->rhlm != 0.0)
{
pmr->dllm = pmr->rhlm * fabs(pmr->mres);
MARK(M_DLLM);
}
if (pmr->rhlm != pmr->dllm / fabs(pmr->mres))
{
pmr->rhlm = pmr->dllm / fabs(pmr->mres);
MARK_AUX(M_RHLM);
}
}
db_post_events(pmr, &pmr->dllm, DBE_VAL_LOG);
db_post_events(pmr, &pmr->rllm, DBE_VAL_LOG);
/* RHLM <--> DHLM */
if (pmr->rhlm != 0.0)
{
pmr->dhlm = pmr->rhlm * pmr->mres;
MARK(M_DHLM);
}
if (pmr->rhlm != pmr->dhlm / pmr->mres)
{
pmr->rhlm = pmr->dhlm / pmr->mres;
MARK_AUX(M_RHLM);
}
db_post_events(pmr, &pmr->rhlm, DBE_VAL_LOG);
db_post_events(pmr, &pmr->dhlm, DBE_VAL_LOG);
/* SBAK (revolutions/sec) <--> BVEL (EGU/sec) */
if (pmr->sbak != 0.0)
@@ -3985,12 +4028,18 @@ static void set_user_highlimit(motorRecord* pmr, struct motor_dset* pdset)
if (dir_positive)
{
pmr->dhlm = tmp_limit;
}
else
{
pmr->dllm = tmp_limit;
}
if (command == SET_HIGH_LIMIT)
{
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
}
else
{
pmr->dllm = tmp_limit;
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
@@ -4057,16 +4106,21 @@ static void set_user_lowlimit(motorRecord* pmr, struct motor_dset* pdset)
SEND_MSG();
if (dir_positive) {
pmr->dllm = tmp_limit;
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
else
{
pmr->dhlm = tmp_limit;
}
if (command == SET_HIGH_LIMIT)
{
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
}
else
{
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
}
MARK(M_LLM);
}
@@ -4088,9 +4142,6 @@ static void set_dial_highlimit(motorRecord *pmr, struct motor_dset *pdset)
RTN_STATUS rtnval;
tmp_raw = pmr->dhlm / pmr->mres;
// set the raw high limit
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
INIT_MSG();
if (pmr->mres < 0) {
@@ -4113,6 +4164,16 @@ static void set_dial_highlimit(motorRecord *pmr, struct motor_dset *pdset)
pmr->llm = -(pmr->dhlm) + offset;
MARK(M_LLM);
}
if (command == SET_HIGH_LIMIT)
{
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
}
else
{
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
MARK(M_DHLM);
}
@@ -4132,9 +4193,6 @@ static void set_dial_lowlimit(motorRecord *pmr, struct motor_dset *pdset)
RTN_STATUS rtnval;
tmp_raw = pmr->dllm / pmr->mres;
// set the raw low limit
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
INIT_MSG();
if (pmr->mres < 0) {
@@ -4157,6 +4215,16 @@ static void set_dial_lowlimit(motorRecord *pmr, struct motor_dset *pdset)
pmr->hlm = -(pmr->dllm) + offset;
MARK(M_HLM);
}
if (command == SET_HIGH_LIMIT)
{
pmr->rhlm = tmp_raw;
MARK_AUX(M_RHLM);
}
else
{
pmr->rllm = tmp_raw;
MARK_AUX(M_RLLM);
}
MARK(M_DLLM);
}