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Merge pull request #36 from rokvintar/ls_status_update_fix

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Status of limit switches updated independent of movement direction.  Fixes #35
This commit is contained in:
Kevin Peterson
2018-06-26 15:45:59 -05:00
committed by GitHub
parent 31e0afe6a7 ddef3a8754
commit 0dc3a09a0b
1 changed files with 16 additions and 8 deletions
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motorApp/MotorSrc/motorRecord.cc
+16 -8
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@@ -971,7 +971,12 @@ that it will happen when we return.
******************************************************************************/
static void maybeRetry(motorRecord * pmr)
{
if ((fabs(pmr->diff) >= pmr->rdbd) && !pmr->hls && !pmr->lls)
bool user_cdir;
/* Commanded direction in user coordinates. */
user_cdir = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->cdir : !pmr->cdir;
if ((fabs(pmr->diff) >= pmr->rdbd) && !(pmr->hls && user_cdir) && !(pmr->lls && !user_cdir))
{
/* No, we're not close enough. Try again. */
Debug(1, "maybeRetry: not close enough; diff = %f\n", pmr->diff);
@@ -1280,7 +1285,7 @@ static long process(dbCommon *arg)
}
/* Do another update after LS error. */
if (pmr->mip != MIP_DONE && (pmr->rhls || pmr->rlls))
if (pmr->mip != MIP_DONE && ((pmr->rhls && pmr->cdir) || (pmr->rlls && !pmr->cdir)))
{
/* Restore DMOV to false and UNMARK it so it is not posted. */
pmr->dmov = FALSE;
@@ -1309,7 +1314,8 @@ static long process(dbCommon *arg)
status = postProcess(pmr);
}
if ((pmr->rhls || pmr->rlls) || (pmr->mip == MIP_LOAD_P)) /* Should we test for a retry? */
/* Should we test for a retry? Consider limit only if in direction of move.*/
if (((pmr->rhls && pmr->cdir) || (pmr->rlls && !pmr->cdir)) || (pmr->mip == MIP_LOAD_P))
{
pmr->mip = MIP_DONE;
MARK(M_MIP);
@@ -3302,7 +3308,8 @@ static void alarm_sub(motorRecord * pmr)
status = recGblSetSevr((dbCommon *) pmr, UDF_ALARM, INVALID_ALARM);
return;
}
/* limit-switch and soft-limit violations */
/* Limit-switch and soft-limit violations. Consider limit switches also if not in
* direction of move (limit hit by externally triggered move)*/
if (pmr->hlsv && (pmr->hls || (pmr->dval > pmr->dhlm)))
{
status = recGblSetSevr((dbCommon *) pmr, HIGH_ALARM, pmr->hlsv);
@@ -3640,11 +3647,12 @@ static void process_motor_info(motorRecord * pmr, bool initcall)
if (pmr->tdir != old_tdir)
MARK(M_TDIR);
/* Get states of high, low limit switches. */
pmr->rhls = (msta.Bits.RA_PLUS_LS) && pmr->cdir;
pmr->rlls = (msta.Bits.RA_MINUS_LS) && !pmr->cdir;
/* Get states of high, low limit switches. State is independent of direction. */
pmr->rhls = (msta.Bits.RA_PLUS_LS);
pmr->rlls = (msta.Bits.RA_MINUS_LS);
ls_active = (pmr->rhls || pmr->rlls) ? true : false;
/* Treat limit switch active only when it is pressed and in direction of movement. */
ls_active = ((pmr->rhls && pmr->cdir) || (pmr->rlls && !pmr->cdir)) ? true : false;
pmr->hls = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->rhls : pmr->rlls;
pmr->lls = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->rlls : pmr->rhls;