lin-epics-modules/motorBase
0
0
Fork 0
forked from epics_driver_modules/motorBase
Code Pull Requests Activity

Temporarily backing out previous change on EOT LS's; need more cnfg. info from controller on LS active high/low.

Browse Source
This commit is contained in:
Ron Sluiter
2010-04-21 19:38:39 +00:00
parent 82c26005f5
commit 2d21d79755
1 changed files with 18 additions and 10 deletions
Download Patch File Download Diff File Expand all files Collapse all files
motorApp/AerotechSrc/drvEnsembleAsyn.cc
+18 -10
View File
@@ -34,6 +34,8 @@ in file LICENSE that is included with this distribution.
* .04 04-07-10 rls Acknowledged fault before enabling drive.
* .05 04-19-10 rls Change back to reading EOT LS's and let record determine
* limit error condition.
* .06 04-21-10 rls Temporarily backing out previous change on EOT LS's; need
* more cnfg. info from controller on LS active high/low.
*/
@@ -667,16 +669,6 @@ static void EnsemblePoller(EnsembleController *pController)
motorParam->setInteger(pAxis->params, motorAxisDirection, axisStatus.Bits.motion_ccw);
else
motorParam->setInteger(pAxis->params, motorAxisDirection, !axisStatus.Bits.motion_ccw);
if (pAxis->stepSize > 0.0)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisStatus.Bits.CW_limit);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisStatus.Bits.CCW_limit);
}
else
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisStatus.Bits.CCW_limit);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisStatus.Bits.CW_limit);
}
}
pAxis->axisStatus = axisStatus.All;
}
@@ -720,6 +712,22 @@ static void EnsemblePoller(EnsembleController *pController)
epicsMutexUnlock(pAxis->mutexId);
continue;
}
else
{
int axisFault;
axisFault = atoi(&inputBuff[1]);
if (pAxis->stepSize > 0.0)
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisFault & CW_FAULT_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisFault & CCW_FAULT_BIT ? 1 : 0);
}
else
{
motorParam->setInteger(pAxis->params, motorAxisHighHardLimit, axisFault & CCW_FAULT_BIT ? 1 : 0);
motorParam->setInteger(pAxis->params, motorAxisLowHardLimit, axisFault & CW_FAULT_BIT ? 1 : 0);
}
}
}
motorParam->callCallback(pAxis->params);
epicsMutexUnlock(pAxis->mutexId);