From 3b4a24ea82a8a118f878cbf5619000583c683244 Mon Sep 17 00:00:00 2001
From: kmpeters <kmpeters@anl.gov>
Date: Mon, 17 Dec 2012 23:18:58 +0000
Subject: [PATCH] Set more status bits in the SMChydra poller.

---
 motorApp/MicosSrc/SMChydraDriver.cpp | 17 ++++++++++++++---
 1 file changed, 14 insertions(+), 3 deletions(-)

diff --git a/motorApp/MicosSrc/SMChydraDriver.cpp b/motorApp/MicosSrc/SMChydraDriver.cpp
index c82f25ed..2b328fdd 100644
--- a/motorApp/MicosSrc/SMChydraDriver.cpp
+++ b/motorApp/MicosSrc/SMChydraDriver.cpp
@@ -343,12 +343,14 @@ asynStatus SMChydraAxis::poll(bool *moving)
 { 
   int done;
   int driveOn;
+  int direction;
   int lowLimit;
   int highLimit;
   int ignoreLowLimit;
   int ignoreHighLimit;
   int axisStatus=-1;
   double position=0.0;
+  double newposition;
   asynStatus comStatus;
 
   static const char *functionName = "SMChydraAxis::poll";
@@ -359,7 +361,13 @@ asynStatus SMChydraAxis::poll(bool *moving)
   if (comStatus) goto skip;
   // The response string is a double
   position = atof( (char *) &pC_->inString_);
+  newposition = position / axisRes_;
+  // Simulate the direction bit
+  direction = (newposition >= pC_->motorPosition_) ? 1 : 0;
+  setIntegerParam(pC_->motorStatusDirection_, direction);
+  // Update position, now that is is no longer needed for direction calc
   setDoubleParam(pC_->motorPosition_, (position / axisRes_) );
+  setDoubleParam(pC_->motorEncoderPosition_, (position / axisRes_) );
 
   // Read the status of this motor
   sprintf(pC_->outString_, "%i nst", (axisNo_ + 1));
@@ -381,7 +389,6 @@ asynStatus SMChydraAxis::poll(bool *moving)
   sprintf(pC_->outString_, "%i gna", (axisNo_ + 1));
   comStatus = pC_->writeReadController();
 
-
   // Check the limit bit (0x40)
   if (axisStatus & 0x40)
   {
@@ -406,6 +413,10 @@ asynStatus SMChydraAxis::poll(bool *moving)
     asynPrint(this->pasynUser_, ASYN_TRACEIO_DRIVER, 
       "%s: axis %i emergency stop switch active.\n",
       functionName, (axisNo_ + 1));
+    setIntegerParam(pC_->motorStatusProblem_, 1);
+  }
+  else{
+    setIntegerParam(pC_->motorStatusProblem_, 0);
   }
 
   // Check the device busy bit (0x400)
@@ -452,10 +463,10 @@ asynStatus SMChydraAxis::poll(bool *moving)
   // Check the drive power bit (0x100)
   driveOn = (axisStatus & 0x100) ? 0 : 1;
   setIntegerParam(pC_->motorStatusPowerOn_, driveOn);
-  setIntegerParam(pC_->motorStatusProblem_, 0);
+  setIntegerParam(pC_->motorStatusCommsError_, 0);
 
   skip:
-  setIntegerParam(pC_->motorStatusProblem_, comStatus ? 1:0);
+  setIntegerParam(pC_->motorStatusCommsError_, comStatus ? 1:0);
   callParamCallbacks();
   return comStatus ? asynError : asynSuccess;
 }