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Allow negative values of JVEL. #251

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Allow negative values of JVEL. #251

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4efa03f
Allow negative values of JVEL.
MarkRivers Jun 20, 2026
102c15c
Created new static functions jvel_range_check() and jvel_limit_check()
MarkRivers Jun 22, 2026
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52 changes: 38 additions & 14 deletions motorApp/MotorSrc/motorRecord.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -241,6 +241,8 @@ static void set_dial_highlimit(motorRecord *, struct motor_dset *);
static void set_dial_lowlimit(motorRecord *, struct motor_dset *);
static void set_userlimits(motorRecord *);
static void range_check(motorRecord *, double *, double, double);
static void jvel_range_check(motorRecord *);
static bool jvel_limit_check(motorRecord *);
static void clear_buttons(motorRecord *);
static void syncTargetPosition(motorRecord *);

Expand Down Expand Up @@ -1465,9 +1467,7 @@ static long process(dbCommon *arg)
else
{
if (pmr->mip & MIP_JOG)
pmr->lvio = (pmr->jogf && (pmr->rbv > pmr->hlm - pmr->jvel)) ||
(pmr->jogr && (pmr->rbv < pmr->llm + pmr->jvel)) ||
(pmr->dllm > pmr->dhlm);
pmr->lvio = jvel_limit_check(pmr);
else if (pmr->mip & MIP_HOME)
pmr->lvio = false; /* Disable soft-limit error check during home search. */
}
Expand Down Expand Up @@ -2084,9 +2084,7 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
/* check for limit violation */
if ((pmr->dhlm == pmr->dllm) && (pmr->dllm == 0.0))
;
else if ((pmr->jogf && (pmr->val > pmr->hlm - pmr->jvel)) ||
(pmr->jogr && (pmr->val < pmr->llm + pmr->jvel)) ||
(pmr->dllm > pmr->dhlm))
else if (jvel_limit_check(pmr))
{
pmr->lvio = 1;
MARK(M_LVIO);
Expand Down Expand Up @@ -2124,10 +2122,10 @@ static RTN_STATUS do_work(motorRecord * pmr, CALLBACK_VALUE proc_ind)
MARK(M_DMOV);
pmr->pp = TRUE;
if (pmr->jogf)
pmr->cdir = 1;
pmr->cdir = (pmr->jvel > 0.) ? 1 : 0;
else
{
pmr->cdir = 0;
pmr->cdir = (pmr->jvel > 0.) ? 0 : 1;
jogv = -jogv;
}

Expand Down Expand Up @@ -3054,8 +3052,7 @@ static long special(DBADDR *paddr, int after)
break;

case motorRecordJVEL:
range_check(pmr, &pmr->jvel, pmr->vbas, pmr->vmax);

jvel_range_check(pmr);
if ((pmr->mip & MIP_JOGF) || (pmr->mip & MIP_JOGR))
{
double jogv = (pmr->jvel * dir) / pmr->mres;
Expand All @@ -3074,7 +3071,7 @@ static long special(DBADDR *paddr, int after)
case motorRecordJAR:
// Valid JAR; 0 < JAR < JVEL [egu / sec] / 0.1 [sec]
if (pmr->jar <= 0.0)
pmr->jar = pmr->jvel / 0.1;
pmr->jar = fabs(pmr->jvel) / 0.1;
break;

case motorRecordHVEL:
Expand Down Expand Up @@ -3142,7 +3139,7 @@ static long special(DBADDR *paddr, int after)
db_post_events(pmr, &pmr->sbak, DBE_VAL_LOG);
}

range_check(pmr, &pmr->jvel, pmr->vbas, pmr->vmax);
jvel_range_check(pmr);
range_check(pmr, &pmr->hvel, pmr->vbas, pmr->vmax);
}
/* Do not process (i.e., clear) marked fields here. PP fields (e.g., MRES) must remain marked. */
Expand Down Expand Up @@ -4054,8 +4051,9 @@ static void check_speed_and_resolution(motorRecord * pmr)
/* Sanity check on jog velocity and acceleration rate. */
if (pmr->jvel == 0.0)
pmr->jvel = pmr->velo;
else
range_check(pmr, &pmr->jvel, pmr->vbas, pmr->vmax);
else {
jvel_range_check(pmr);
}

if (pmr->jar == 0.0)
pmr->jar = pmr->velo / pmr->accl;
Expand Down Expand Up @@ -4378,6 +4376,32 @@ static void range_check(motorRecord *pmr, double *parm_ptr, double min, double m
}
}

/*
FUNCTION... void jvel_range_check(motorRecord *)
USAGE... Limit jvel parameter to valid range;
*/
static void jvel_range_check(motorRecord *pmr)
{
if (pmr->jvel >= 0) {
range_check(pmr, &pmr->jvel, pmr->vbas, pmr->vmax);
} else {
range_check(pmr, &pmr->jvel, -pmr->vmax, -pmr->vbas);
}
}

/*
FUNCTION... void jvel_limit_check(motorRecord *)
USAGE... Return true if jogging for 1 second would result in soft limit violation;
*/

static bool jvel_limit_check(motorRecord *pmr)
{
return (((pmr->jogf && pmr->jvel > 0.) && (pmr->rbv > pmr->hlm - pmr->jvel)) ||
((pmr->jogr && pmr->jvel < 0.) && (pmr->rbv > pmr->hlm + pmr->jvel)) ||
((pmr->jogr && pmr->jvel > 0.) && (pmr->rbv < pmr->llm + pmr->jvel)) ||
((pmr->jogf && pmr->jvel < 0.) && (pmr->rbv < pmr->llm - pmr->jvel)) ||
(pmr->dllm > pmr->dhlm));
}

/*
FUNCTION... void clear_buttons(motorRecord *)
Expand Down
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