frappy_psi.trinamic: fix handling with no limit switches

cfg/uniax_cfg.py

@@ -24,6 +24,7 @@ Mod('drv',
     encoder_tolerance=3.6,
     free_wheeling=0.1,
     power_down_delay=0.1,
+    has_limit_switches=False,
 )
 
 Mod('transducer',

frappy_psi/trinamic.py

@@ -159,7 +159,7 @@ class Motor(PersistentMixin, HasIO, Drivable):
     has_home = Parameter('enable home and activate pullup resistor', BoolType(), export=True,
                           default=False, group='more')
     has_limit_switches = Parameter('enable limit switches and activate pullup resistor',
-                                   BoolType(), default=False, group='motorparam')
+                                   BoolType(), value=False, readonly=False, group='motorparam')
     disable_right_switch = writable('disable right limit switch', BoolType(), group='motorparam')
     disable_left_switch = writable('disable left limit switch', BoolType(), group='motorparam')
     has_inputs = Parameter('inputs are polled', BoolType(), group='more', default=False)
@@ -505,10 +505,14 @@ class Motor(PersistentMixin, HasIO, Drivable):
             self.write_pullup_inputs(True)
 
     def write_has_limit_switches(self, value):
-        self.has_inputs = True
-        self.write_pullup_inputs(True)
-        self.write_disable_left_switch(False)
-        self.write_disable_right_switch(False)
+        if value:
+            self.has_inputs = True
+            self.write_pullup_inputs(True)
+            self.write_disable_left_switch(False)
+            self.write_disable_right_switch(False)
+        else:
+            self.write_disable_left_switch(True)
+            self.write_disable_right_switch(True)
 
     @Command(FloatRange())
     def set_zero(self, value):