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

@@ -629,42 +629,51 @@ asynStatus masterMacsAxis::doPoll(bool *moving) {
         }
 
         /*
-        Either the software limits or the end switches of the controller
+        If the motor is homing or has been homed, ignore limit switch errors.
-        have been hit. Since the EPICS limits are derived from the software
+         */
-        limits and are a little bit smaller, these error cases can only
+        int homing = 0;
-        happen if either the axis has an incremental encoder which is not
+        int homed = 0;
-        properly homed or if a bug occured.
+        getAxisParamChecked(this, motorStatusHome, &homing);
-        */
+        getAxisParamChecked(this, motorStatusHomed, &homed);
-        if (positiveLimitSwitch() || negativeLimitSwitch() ||
+        if (homing || homed) {
-            positiveSoftwareLimit() || negativeSoftwareLimit()) {
+            /*
+            Either the software limits or the end switches of the controller
+            have been hit. Since the EPICS limits are derived from the software
+            limits and are a little bit smaller, these error cases can only
+            happen if either the axis has an incremental encoder which is not
+            properly homed or if a bug occured.
+            */
+            if (positiveLimitSwitch() || negativeLimitSwitch() ||
+                positiveSoftwareLimit() || negativeSoftwareLimit()) {
 
-            // Distinction for developers
+                // Distinction for developers
-            if (positiveLimitSwitch()) {
+                if (positiveLimitSwitch()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Positive limit switch.");
+                                       "Positive limit switch.");
-            }
+                }
-            if (negativeLimitSwitch()) {
+                if (negativeLimitSwitch()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Negative limit switch.");
+                                       "Negative limit switch.");
-            }
+                }
-            if (positiveSoftwareLimit()) {
+                if (positiveSoftwareLimit()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Positive software limit.");
+                                       "Positive software limit.");
-            }
+                }
-            if (negativeSoftwareLimit()) {
+                if (negativeSoftwareLimit()) {
-                appendErrorMessage(shellMessage, sizeof(shellMessage),
+                    appendErrorMessage(shellMessage, sizeof(shellMessage),
-                                   "Negative software limit.");
+                                       "Negative software limit.");
-            }
+                }
 
-            // Generic error message for user
+                // Generic error message for user
-            appendErrorMessage(
+                appendErrorMessage(
-                errorMessage, sizeof(errorMessage),
+                    errorMessage, sizeof(errorMessage),
-                "Software limits or end switch hit. Try homing the motor, "
+                    "Software limits or end switch hit. Try homing the motor, "
-                "moving in the opposite direction or check the SPS for "
+                    "moving in the opposite direction or check the SPS for "
-                "errors (if available). Otherwise please call the "
+                    "errors (if available). Otherwise please call the "
-                "support.");
+                    "support.");
 
-            poll_status = asynError;
+                poll_status = asynError;
+            }
         }
 
         if (overCurrent()) {