frappy_psi.hepump: check conn. before reading digital inputs

trinamic: export input3 if available
Change-Id: Idacfb92a37ab8a8a5d7bb7502d23a9f3c6d962e7

frappy_psi/hepump.py

@@ -41,15 +41,17 @@ class HePump(Writable):
         self.valvemotor.write_output0(value)
 
     def read_target(self):
-        return self.valvemotor.read_output0()
+        if self.valvemotor.io.is_connected:
+            return self.valvemotor.read_output0()
+        return self.target
 
     def read_value(self):
-        if self.has_feedback:
+        if self.has_feedback and self.valvemotor.io.is_connected:
             return not self.valvemotor.read_input3()
         return self.target
 
     def read_eco_mode(self):
-        if self.pump_type == 'xds35':
+        if self.pump_type == 'xds35' and self.valvemotor.io.is_connected:
             return self.valvemotor.read_output1()
         return False
 

frappy_psi/trinamic.py

@@ -162,7 +162,9 @@ class Motor(PersistentMixin, HasIO, Drivable):
         if self.has_home:
             self.parameters['home'].export = '_home'
             self.setProperty('has_inputs', True)
-        if not self.has_inputs:
+        if self.has_inputs:
+            self.parameters['input3'].export = '_input3'
+        else:
             self.setProperty('with_pullup', False)
 
     def writeInitParams(self):