Ignore limit switch errors when the motor is homing or has been homed

Makefile

@@ -9,6 +9,8 @@ ARCH_FILTER=RHEL%
 # Specify the version of asynMotor we want to build against
 motorBase_VERSION=7.2.2
 
+LIBVERSION=homeerror
+
 # These headers allow to depend on this library for derived drivers.
 HEADERS += src/masterMacsAxis.h
 HEADERS += src/masterMacsController.h

src/masterMacsAxis.cpp

@@ -628,6 +628,14 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
             poll_status = asynError;
         }
 
+        /*
+        If the motor is homing or has been homed, ignore limit switch errors.
+         */
+        int homing = 0;
+        int homed = 0;
+        getAxisParamChecked(this, motorStatusHome, &homing);
+        getAxisParamChecked(this, motorStatusHomed, &homed);
+        if (homing || homed) {
             /*
             Either the software limits or the end switches of the controller
             have been hit. Since the EPICS limits are derived from the software
@@ -666,6 +674,7 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
 
                 poll_status = asynError;
             }
+        }
 
         if (overCurrent()) {
             appendErrorMessage(shellMessage, sizeof(shellMessage),