Bug fix for target position (VAL/DVAL/RVAL) initialization error when…

… the motor record is configured to do retries.

README

@@ -155,8 +155,8 @@ Modification Log for R6-10
         Files modified: motorApp/MotorSrc/motorRecord.cc
                         motorApp/MotorSrc/motorRecord.dbd
 
-2) Fix for OMS controllers not have the correct deceleration rate at the end
-        of a JOG. Bug introduced with item #9 under R6-6.
+2) Fix for OMS controllers that do not have the correct deceleration rate at
+        the end of a JOG. Bug introduced with item #9 under R6-6.
 
         File modified: OmsSrc/devOmsCom.cc
 
@@ -187,6 +187,32 @@ Modification Log for R6-10
 			motorApp/NewportSrc/Makefile
 			motorApp/NewportSrc/devNewport.dbd
 
+5) M�rcio Paduan Donadio (LNLS) fixed a bug with SYNC field processing. SYNC
+        was being ignored when URIP == True.
+
+	Files modified:	syncTargetPosition() in motorRecord.cc
+
+6) Kevin Peterson discovered an initialization bug when the motor record is
+        configured to do retries. When configured to do retries, the motor
+        record issues incremental rather than absolute moves. If the motor
+        behaves badly (e.g., a piezo stiction motor) the controller's absolute
+        step count can be far from its' absolute readback position. The motor
+        record initialization logic that determines how the target positions
+        are initialized at boot-up was not taking into consideration whether
+        or not the motor record is configured to do retries, and therefore,
+        whether or not absolute or incremental moves were issued by the motor
+        record. With this release, if the motor record is configured to do
+        retries, then the controller's absolute position is ignored (because
+        the controller's absolute position was "corrupted" by retries) and the
+        autosave/restore position is used to set the controllers position.
+
+        Switching between retries on and off (relative vs. absolute moves)
+        between reboots will cause unpredictable results and is not covered
+        by this bug fix.
+
+	Files modified:	motor_init_record_com() in MotorSrc/motordevCom.cc
+	                init_controller()       in MotorSrc/devMotorAsyn.c
+
 
 Modification Log for R6-9
 =========================

motorApp/MotorSrc/devMotorAsyn.c

@@ -41,6 +41,11 @@
  * 
  * .05 2014-09-11 RLS
  * Moved CA posting of changes to the RMP, REP and RVEL fields from motor record to update_values().
+ * 
+ * .06 2015-07-29 RLS
+ * Added "Use Relative" (use_rel) indicator to init_controller()'s "LOAD_POS" logic.
+ * See README R6-10 item #6 for details.
+ * 
  */
 
 #include <stddef.h>
@@ -177,14 +182,16 @@ static void init_controller(struct motorRecord *pmr, asynUser *pasynUser )
     double position = pPvt->status.position;
     double rdbd = (fabs(pmr->rdbd) < fabs(pmr->mres) ? fabs(pmr->mres) : fabs(pmr->rdbd) );
     double encRatio[2] = {pmr->mres, pmr->eres};
+    int use_rel = (pmr->rtry != 0 && pmr->rmod != motorRMOD_I && (pmr->ueip || pmr->urip));
 
     /*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))
+    if ((use_rel != 0) ||
+        ((fabs(pmr->dval) > rdbd) && (pmr->mres != 0) && (fabs(position * pmr->mres) < rdbd))
+       )
     {
         double setPos = pmr->dval / pmr->mres;
         epicsEventId initEvent = epicsEventCreate( epicsEventEmpty );

motorApp/MotorSrc/motordevCom.cc

@@ -59,6 +59,8 @@ HeadURL:        $URL$
  * .13  06/09/10 rls Set RA_PROBLEM instead of CNTRL_COMM_ERR when a NULL
  *                   motor_state[] ptr is detected in motor_end_trans_com().
  * .14  08/19/14 rls Moved RMP and REP posting from record to here.
+ * .15  07/29/15 rls Added "Use Relative" (use_rel) indicator to "init_pos" logic in
+ *                   motor_init_record_com(). See README R6-10 item #6 for details.
  */
 
 
@@ -159,9 +161,9 @@ LOGIC...
         Set local encoder ratio to unity.
     ENDIF
 
-    Set Initialize position indicator based on (|DVAL| > RDBD, AND, MRES != 0,
-        AND, the above |"get_axis_info()" position| < RDBD) [NOTE: |controller
-        position| >= RDBD takes precedence over save/restore position].
+    Set Initialize position indicator based on (Use Relative Moves indicator == TRUE, OR,
+        [|DVAL| > RDBD, AND, MRES != 0, AND, the above |"get_axis_info()" position| < RDBD)]
+        [NOTE: |controller position| >= RDBD takes precedence over save/restore position].
     Set Command Primitive Initialization string indicator based on (non-NULL "init"
         pointer, AND, non-zero string length.
 
@@ -203,6 +205,7 @@ motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_table *t
     double ep_mp[2];            /* encoder pulses, motor pulses */
     int rtnStat;
     msta_field msta;
+    bool use_rel = (mr->rtry != 0 && mr->rmod != motorRMOD_I && (mr->ueip || mr->urip));
 
     /* allocate space for private field - an motor_trans structure */
     mr->dpvt = (struct motor_trans *) malloc(sizeof(struct motor_trans));
@@ -294,9 +297,9 @@ motor_init_record_com(struct motorRecord *mr, int brdcnt, struct driver_table *t
     else
         ep_mp[0] = ep_mp[1] = 1.0;
 
-    initPos = (fabs(mr->dval) > mr->rdbd && mr->mres != 0 &&
-               fabs(axis_query.position * mr->mres) < mr->rdbd)
-               ? true : false;
+    initPos = ((use_rel == true) ||
+               (fabs(mr->dval) > mr->rdbd && mr->mres != 0 && fabs(axis_query.position * mr->mres) < mr->rdbd)
+              ) ? true : false;
     /* Test for command primitive initialization string. */
     initString = (mr->init != NULL && strlen(mr->init)) ? true : false;
     /* Test for PID support. */