This is from Matthew Pearson, pearsonmr@ornl.gov
A number of users and staff have requested that the motor record have a
setpoint deadband field (eg. SPDB), which prevents any motion from
happening if the readback position is within SPDB.
Without a SPDB we have issues with motors moving unnecessarily.
For example, if the RBV is 0.001 and we set VAL to 0.0, if we have a
non-zero backlash correction then the motor will move unnecessarily
to take out backlash.
Even without backlash correction we often enable and disable the
drive amplifier for no good reason.
Currently the effective setpoint deadband is equal to MRES,
but this is often too small to be an effective setpoint deadband.
The new SPDB field would default to 0.0
The new code hooks into do_work():
When the new setpoint is within DPDB, set too_small and don't move.
The new code does not use snipptes like "abs(npos - rpos)", these
already produce warnings on 64 bit sytems.
abs() is declared to work on int, but we feed long values.
Simply compare the coordinates in engineering units.
1. Changed init function arguments in model-1 drivers to int
2. Simplified the init function logic related to "after"
3. Cast the pointer to the init function as DEVSUPFUN in the motor_dset structure
The asyn module make the constructor
asynPortDriver::asynPortDriver(const char *portNameIn, int maxAddrIn,
int paramTableSize, int interfaceMask, int interruptMask,
int asynFlags, int autoConnect, int priority, int stackSize)
obsolete in R4.32.0, the more modern version should be used, which does
not have the parameter paramTableSize.
Using a modern version of asyn for the motor gives a compiler warning.
As I don't like compiler warnings, add a #ifdef construct to suppress it
for asyn > R4.32, and still allow to compile agains asyn >= R4.32
like this:
../devOmsPC68.cc:74:1: error: invalid conversion from ‘long int
(*)(int)’ to ‘DEVSUPFUN {aka long int (*)(void*)}’ [-fpermissive]
};
and this:
./devPmac.cc:66: error: invalid conversion from 'long int (*)(int)' to
'long int (*)(void*)'
Refactor the changes for the deprecated RECSUP in later EPICS base
version, which need a typedef for struct rset.
Unite all common code and put it into a single include file.
Add motor_epics_inc.h.
Remove more compiler warnings when compiling against the base 7.0 branch.
Note:
Some of the model1/2 drivers still give a warning. As I can not test the
code, leave those files untouched.
- It was using the value of mr->[link]->value.constantStr and mr->[link]->value.pv_link.pvname without checking the link types.
This was incorrect, and led to errors because constantStr no longer has a defined value if the link type is not CONSTANT.
Changed so that it only accesses these union fields if the link is the correct type.
- It did not check if pv_link.pvname was NULL before calling CA functions, though now that we check the link type perhaps this cannot occur.
- It did not lock the motor record before accessing the fields.
- Added Debug calls to show the link types and values.
Don't set "stop" field true if driver returns RA_PROBLEM true
Partially reverts commit 303a9208e3
Fixes issue #100:
> There have been multiple problems caused by the motor record sending a stop when the problem bit is set.
>
> One problem is discussed here:
> https://epics.anl.gov/tech-talk/2018/msg01338.php
>
> The commit that introduced the stop is 303a920. I vaguely recall the change being a workaround for less-than-idea behavior of a motor controller, but neither @rsluiter nor I remember which controller that was.
>
> Motor drivers should be modified to send the stop command when the condition that triggers the setting of the problem bit is detected, if needed.
the driver's responsiblity to stop a motor if the condition that results
in the RA_PROBLEM bit being set doesn't result in the motor
automatically stopping.
This partially reverts commit 303a9208e3
motorRecord.cc: Jogging against to LVIO in LVIO
This change resets the JOGF/JOGR fields to zero when a limit violation occurs, rather than when the JOGF/JOGR fields get reset to zero by the user.
When jogging has stopped because the motor is close to a softlimit,
the record seems to be locked up when the same jog button is pressed again.
The user must release the jog button, before doing any other action.
STOP doesn't help, neither does jog into the opposite direction work.
Solution:
Clear the JOGF and JOGR button in the record.
Japan:
"While I was developing an EPICS application on the top of the motor
module, my application died for segmentation fault. The reason was my
mistake: I forgot to call XPSConfigAxis before I start to use that axis,
but it took time for me to find it out (e.g. compiled the motor module
and my application with debug option, running gdb, ...). So, I thought
it would be nice if an error message is shown in the console instead of
sudden death only with segmentation fault message, and the attached
patch does it."
Pete R Jemian