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Add MINP for soft motors #211

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Add MINP for soft motors #211

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2dc3101
Add MINP for soft motors
tboegi Dec 11, 2023
4a902d0
Bugfix for MINP: it is a long
tboegi Feb 6, 2024
3df5ad8
motorRecord.html: Add the MINP field
tboegi Apr 24, 2024
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19 changes: 17 additions & 2 deletions docs/motorRecord.html
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Original file line number Diff line number Diff line change
Expand Up @@ -725,6 +725,13 @@ <h2>Field Descriptions</h2> In addition to fields common to all record types (se
<td>SHORT</td>
<td><br>
</td>
</tr>
<td><a href="#Fields_link">MINP</a></td>
<td>R/W</td>
<td>MSTA Input Link</td>
<td>INLINK</td>
<td><br>
</td>
</tr>
<tr>
<td><a href="#Fields_status">MDEL</a></td>
Expand Down Expand Up @@ -2047,6 +2054,14 @@ <h2>Field Descriptions</h2> In addition to fields common to all record types (se
link is used to set the DONE bit in the MSTA field; which in turn sets the DMOV
field.</td>
</tr>
<tr>
<td>MINP</td>
<td>R/W</td>
<td>MSTA Input Link</td>
<td>INLINK</td>
<td>If Soft Channel device support is specified, the value specified by this
link is used to set most bits of the MSTA field - all except the DONE bit, which comes through DINP</td>
</tr>
<tr>
<td>RINP</td>
<td>R/W</td>
Expand All @@ -2065,11 +2080,11 @@ <h2>Field Descriptions</h2> In addition to fields common to all record types (se
</tr>
<TR nosave="">
<TD colspan="5" nosave=""><H4>Soft Channel Device Driver</H4>
The Soft Channel database links (i.e., DINP, RINP and STOO) are only processed
The Soft Channel database links (i.e., DINP, MINP, RINP and STOO) are only processed
when the Soft Channel device driver is selected.&nbsp; These links are ignored
when using any other Motor Record device driver. <BR>
<BR>
The input links (i.e., DINP, RDBL and RINP) are monitored for value changes by a
The input links (i.e., DINP, MINP, RDBL and RINP) are monitored for value changes by a
CA event task.&nbsp; Users must choose either a dial input link (RDBL) or a raw
input link (RINP), but not both. At this time, the above links are <B>not</B>
dynamically retargetable.&nbsp; <BR>
Expand Down
6 changes: 6 additions & 0 deletions motorApp/MotorSrc/motorRecord.dbd
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Original file line number Diff line number Diff line change
Expand Up @@ -754,6 +754,12 @@ recordtype(motor) {
special(SPC_MOD)
interest(1)
}
field(MINP,DBF_INLINK) {
prompt("MSTA Input Link")
promptgroup(GUI_COMMON)
special(SPC_MOD)
interest(1)
}
field(RINP,DBF_INLINK) {
prompt("RMP Input Link")
promptgroup(GUI_COMMON)
Expand Down
17 changes: 17 additions & 0 deletions motorApp/SoftMotorSrc/devSoft.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -254,6 +254,23 @@ void soft_dinp_func(struct motorRecord *mr, short newdinp)
}
}

void soft_minp_func(struct motorRecord *mr, long newminp)
{
msta_field status;
unsigned int old_RA_DONE;
if (interruptAccept != TRUE)
return;

status.All = mr->msta;
old_RA_DONE = status.Bits.RA_DONE;
Debug(5, "update(): old msta=0x%04x newminp=0x%04x for %s.\n",
mr->msta, (unsigned)newminp, mr->name);

status.All = newminp;
status.Bits.RA_DONE = old_RA_DONE;
mr->msta = status.All;
soft_process(mr);
}

void soft_rinp_func(struct motorRecord *mr, long newrinp)
{
Expand Down
1 change: 1 addition & 0 deletions motorApp/SoftMotorSrc/devSoft.h
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Original file line number Diff line number Diff line change
Expand Up @@ -57,6 +57,7 @@ struct motor_node {
extern long soft_init(int);
extern long soft_init_record(void *);
extern void soft_dinp_func(struct motorRecord *, short);
extern void soft_minp_func(struct motorRecord *, long);
extern void soft_rdbl_func(struct motorRecord *, double);
extern void soft_rinp_func(struct motorRecord *, long);
extern void soft_motor_callback(CALLBACK *);
Expand Down
20 changes: 18 additions & 2 deletions motorApp/SoftMotorSrc/devSoftAux.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -66,6 +66,7 @@ static inline void Debug(int level, const char *format, ...)
}

STATIC void soft_dinp(struct event_handler_args);
STATIC void soft_minp(struct event_handler_args);
STATIC void soft_rdbl(struct event_handler_args);
STATIC void soft_rinp(struct event_handler_args);
STATIC EPICSTHREADFUNC soft_motor_task(void *);
Expand All @@ -78,6 +79,11 @@ STATIC void soft_dinp(struct event_handler_args args)
soft_dinp_func((struct motorRecord *) args.usr, *((short *) args.dbr));
}

STATIC void soft_minp(struct event_handler_args args)
{
soft_minp_func((struct motorRecord *) args.usr, *((long *) args.dbr));
}


STATIC void soft_rdbl(struct event_handler_args args)
{
Expand Down Expand Up @@ -162,7 +168,7 @@ STATIC EPICSTHREADFUNC soft_motor_task(void *parm)
{
struct motorRecord *mr;
struct motor_node *node;
chid dinp, rdbl, rinp;
chid dinp, minp, rdbl, rinp;
epicsEventId wait_forever;

epicsEventWait(soft_motor_sem); /* Wait for dbLockInitRecords() to execute. */
Expand Down Expand Up @@ -195,7 +201,17 @@ STATIC EPICSTHREADFUNC soft_motor_task(void *parm)
{
ptr->default_done_behavior = true;
}

if (((mr->minp.type == PV_LINK) ||
(mr->minp.type == CA_LINK) ||
(mr->minp.type == DB_LINK)) &&
(mr->minp.value.pv_link.pvname != NULL))
{
Debug(5, "devSoftAux::soft_motor_task: adding minp link for motor %s link=%s\n", mr->name, mr->minp.value.pv_link.pvname);
SEVCHK(ca_search(mr->minp.value.pv_link.pvname, &minp),"ca_search() failure");
SEVCHK(ca_add_event(DBR_SHORT, minp, soft_minp, mr, NULL),"ca_add_event() failure");
SEVCHK(ca_pend_io((float) 5.0), "MINP link failure");
}

if ((mr->urip != 0) &&
((mr->rdbl.type == PV_LINK) ||
(mr->rdbl.type == CA_LINK) ||
Expand Down
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