Skip to content

Commit

Permalink
Merge pull request #122 from EuropeanSpallationSource/torsten/181203_…
Browse files Browse the repository at this point in the history 
…1217_add_ACCS_field

Add ACCS field with ACCU indicator
  • Loading branch information
@kmpeters
kmpeters authored May 22, 2023
2 parents 3b5c71c + ddf1095 commit 7c0ef61
Show file tree
Hide file tree
Showing 3 changed files with 129 additions and 4 deletions.
13 changes: 11 additions & 2 deletions docs/motorRecord.html
View file
Original file line number Diff line number Diff line change
Expand Up @@ -264,6 +264,14 @@ <h2>Field Descriptions</h2> In addition to fields common to all record types (se
<td>DOUBLE</td>
<td>acceleration time</td>
</tr>
<tr>
<td><a href="#Fields_motion">ACCS</a></td>
<td>R/W</td>
<td>Acceleration (EGU/s^2)</td>
<td>DOUBLE</td>
<td><br>
</td>
</tr>
<tr>
<td><a href="#Fields_status">ADEL</a></td>
<td>R/W</td>
Expand Down Expand Up @@ -1713,7 +1721,8 @@ <h2>Field Descriptions</h2> In addition to fields common to all record types (se
<td colspan="5">The motor record expects the hardware to produce a trapezoidal
speed profile. That is, the motor speed is expected to increase linearly with
time from the base speed, VBAS, to the full speed, VELO, in ACCL seconds. At the
end of a motion, the speed is expected to decrease similarly to VBAS.&nbsp;</td>
end of a motion, the speed is expected to decrease similarly to VBAS.
Note that the ACCS field can be use to specify the acceleration in EGU/s^2.&nbsp;</td>
</tr>
<tr>
<td>JVEL</td>
Expand Down Expand Up @@ -2377,7 +2386,7 @@ <h2>Field Descriptions</h2> In addition to fields common to all record types (se
<td colspan="5">When one of these fields is set to 1, the record will
immediately reset it to 0, and the motor will move (with backlash takeout if
BDST is nonzero) by a distance TWV (in user coordinates) at the acceleration
specified by ACCL and at speed VELO.</td>
specified by ACCL/ACCS and at speed VELO.</td>
</tr>
<tr valign="top">
<td>TWV</td>
Expand Down
103 changes: 101 additions & 2 deletions motorApp/MotorSrc/motorRecord.cc
View file
Original file line number Diff line number Diff line change
Expand Up @@ -480,6 +480,83 @@ static void callbackFunc(struct callback *pcb)
}


static double accEGUfromVelo(motorRecord *pmr, double veloEGU)
{
double vmin = pmr->vbas;
double vmax = fabs(veloEGU);
double acc;
/* ACCL or ACCS */
if (pmr->accu == motorACCSused_Accs)
acc = pmr->accs;
else if (vmax > vmin)
acc = (vmax - vmin) / pmr->accl;
else
acc = vmax / pmr->accl;

return acc;
}

static void updateACCLfromACCS(motorRecord *pmr)
{
if (pmr->accu != motorACCSused_Accs)
{
pmr->accu = motorACCSused_Accs;
db_post_events(pmr, &pmr->accu, DBE_VAL_LOG);
}
if (pmr->accs > 0.0)
{
double temp_dbl = pmr->velo / pmr->accs;
if (pmr->accl != temp_dbl)
{
pmr->accl = temp_dbl;
db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
}
}
}

static void updateACCSfromACCL(motorRecord *pmr)
{
double temp_dbl;
if (pmr->accu != motorACCSused_Accl)
{
pmr->accu = motorACCSused_Accl;
db_post_events(pmr, &pmr->accu, DBE_VAL_LOG);
}
temp_dbl = pmr->velo / pmr->accl;
if (pmr->accs != temp_dbl)
{
pmr->accs = temp_dbl;
db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
}
}

static void updateACCL_ACCSfromVELO(motorRecord *pmr)
{
if (pmr->accu == motorACCSused_Accs)
{
if (pmr->accs > 0.0)
{
double temp_dbl = pmr->velo / pmr->accs;
if (pmr->accl != temp_dbl)
{
pmr->accl = temp_dbl;
db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
}
}
}
else
{
double temp_dbl = pmr->velo / pmr->accl;
if (pmr->accs != temp_dbl)
{
pmr->accs = temp_dbl;
db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
}
}
}



/******************************************************************************
enforceMinRetryDeadband()
Expand Down Expand Up @@ -864,7 +941,7 @@ static long postProcess(motorRecord * pmr)

if (pmr->mip & MIP_JOG_STOP)
{
double acc = (vel - vbase) > 0 ? ((vel - vbase)/ pmr->accl) : (vel / pmr->accl);
double acc = accEGUfromVelo(pmr, pmr->velo) / fabs(pmr->mres);

if (vel <= vbase)
vel = vbase + 1;
Expand Down Expand Up @@ -2195,7 +2272,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
double newpos = pmr->dval / pmr->mres; /* where to go */
double vbase = pmr->vbas / fabs(pmr->mres); /* base speed */
double vel = pmr->velo / fabs(pmr->mres); /* normal speed */
double acc = (vel - vbase) > 0 ? ((vel - vbase) / pmr->accl) : (vel / pmr->accl); /* normal accel. */
double acc = accEGUfromVelo(pmr, pmr->velo) / fabs(pmr->mres);
/*
* 'bpos' is one backlash distance away from 'newpos'.
*/
Expand Down Expand Up @@ -2612,6 +2689,7 @@ static long special(DBADDR *paddr, int after)
/* new velo: make s agree */
case motorRecordVELO:
range_check(pmr, &pmr->velo, pmr->vbas, pmr->vmax);
updateACCL_ACCSfromVELO(pmr);

if ((pmr->urev != 0.0) && (pmr->s != (temp_dbl = pmr->velo / fabs_urev)))
{
Expand All @@ -2629,6 +2707,7 @@ static long special(DBADDR *paddr, int after)
pmr->velo = temp_dbl;
db_post_events(pmr, &pmr->velo, DBE_VAL_LOG);
}
updateACCL_ACCSfromVELO(pmr);
break;

/* new bvel: make sbak agree */
Expand Down Expand Up @@ -2660,6 +2739,13 @@ static long special(DBADDR *paddr, int after)
pmr->accl = 0.1;
db_post_events(pmr, &pmr->accl, DBE_VAL_LOG);
}
updateACCSfromACCL(pmr);
break;

/* new accs */
case motorRecordACCS:
db_post_events(pmr, &pmr->accs, DBE_VAL_LOG);
updateACCLfromACCS(pmr);
break;

/* new bacc */
Expand Down Expand Up @@ -3941,6 +4027,14 @@ static void check_speed_and_resolution(motorRecord * pmr)
db_post_events(pmr, &pmr->sbak, DBE_VAL_LOG);
db_post_events(pmr, &pmr->bvel, DBE_VAL_LOG);

if (pmr->accs && !pmr->accl)
{
/* ACCL == 0.0, ACCS is != 0.0 -> Use ACCS
This is a (possible) new way to configure a database.
Existing Db files will have ACCS == 0.0 and this
is backwards compatible and behaves as before */
updateACCLfromACCS(pmr);
}
/* Sanity check on acceleration time. */
if (pmr->accl == 0.0)
{
Expand All @@ -3966,6 +4060,11 @@ static void check_speed_and_resolution(motorRecord * pmr)
pmr->hvel = pmr->vbas;
else
range_check(pmr, &pmr->hvel, pmr->vbas, pmr->vmax);
/* Make sure that ACCS/ACCU are initialized */
if (pmr->accu == motorACCSused_Undef)
{
updateACCSfromACCL(pmr);
}
}

/*
Expand Down
17 changes: 17 additions & 0 deletions motorApp/MotorSrc/motorRecord.dbd
View file
Original file line number Diff line number Diff line change
Expand Up @@ -76,6 +76,12 @@ menu(motorRSTM) {
choice(motorRSTM_Conditional, "Conditional")
}

menu(motorACCSused) {
choice(motorACCSused_Undef,"Undef")
choice(motorACCSused_Accl, "Accl")
choice(motorACCSused_Accs, "Accs")
}

include "menuOmsl.dbd"

recordtype(motor) {
Expand Down Expand Up @@ -182,6 +188,17 @@ recordtype(motor) {
interest(1)
initial("0.2")
}
field(ACCS,DBF_DOUBLE) {
prompt("Move Accel. (EGU/s^2)")
promptgroup(GUI_COMMON)
special(SPC_MOD)
interest(1)
}
field(ACCU,DBF_MENU) {
prompt("ACCS used")
special(SPC_NOMOD)
menu(motorACCSused)
}
field(BDST,DBF_DOUBLE) {
prompt("BL Distance (EGU)")
asl(ASL0)
Expand Down

0 comments on commit 7c0ef61

Please sign in to comment.