From 181dc85f146f80409d8318d379dd6c60f9bb066c Mon Sep 17 00:00:00 2001
From: Douglas Clowes <dcl@ansto.gov.au>
Date: Wed, 21 Mar 2007 17:36:30 +1100
Subject: [PATCH] Differentiate between motion control off and unknown

r1693 | dcl | 2007-03-21 17:36:30 +1100 (Wed, 21 Mar 2007) | 2 lines
---
 site_ansto/motor_dmc2280.c | 29 ++++++++++++++++++++++-------
 1 file changed, 22 insertions(+), 7 deletions(-)

diff --git a/site_ansto/motor_dmc2280.c b/site_ansto/motor_dmc2280.c
index a69b7fa7..a852638c 100644
--- a/site_ansto/motor_dmc2280.c
+++ b/site_ansto/motor_dmc2280.c
@@ -132,7 +132,9 @@ int DMC2280MotionControl = 1; /* defaults to enabled */
 #define IMPOSSIBLE_LIM_SW -14
 #define BGFAIL     -15 // NOT SET
 #define BLOCKED    -16
-#define MOTIONCONTROL -17
+#define MOTIONCONTROLOFF -17
+#define MOTIONCONTROLUNK -18
+#define MOTCMDTMO  -19 /* Motor Command Timeout */
 /*--------------------------------------------------------------------*/
 #define STATUSMOVING 128 /* Motor is moving */
 #define STATUSERRORLIMIT 64 /* Number of errorss exceed limit */
@@ -668,7 +670,10 @@ static int DMC2280Run(void *pData,float fValue){
 
   /* If Motion Control is off, report HWFault */
   if (DMC2280MotionControl != 1) {
-    self->errorCode = MOTIONCONTROL;
+    if (DMC2280MotionControl == 0)
+      self->errorCode = MOTIONCONTROLOFF;
+    else
+      self->errorCode = MOTIONCONTROLUNK;
     return HWFault;
   }
 
@@ -893,7 +898,10 @@ static int DMC2280Status(void *pData){
     int iRet;
     /* If Motion Control is off, report HWFault */
     if (DMC2280MotionControl != 1) {
-      self->errorCode = MOTIONCONTROL;
+      if (DMC2280MotionControl == 0)
+        self->errorCode = MOTIONCONTROLOFF;
+      else
+        self->errorCode = MOTIONCONTROLUNK;
       return HWFault;
     }
     /* If pos hasn't changed since last 
@@ -1041,6 +1049,8 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
     case BADMEMORY:
     case INCOMPLETE:
       getRS232Error(*iCode, error, errLen);
+    case MOTCMDTMO:
+      strncpy(error, "Command Timeout", (size_t)errLen);
       break;
     case BADADR:
       strncpy(error,"Bad address",(size_t)errLen);
@@ -1088,8 +1098,11 @@ static void DMC2280Error(void *pData, int *iCode, char *error, int errLen){
     case BLOCKED:
       strncpy(error,"STOPPING MOTOR, MOTION SEEMS TO BE BLOCKED", (size_t)errLen);
       break;
-    case MOTIONCONTROL:
-      strncpy(error,"MOTION CONTROL SEEMS TO BE DISABLED", (size_t)errLen);
+    case MOTIONCONTROLOFF:
+      strncpy(error, "MOTION CONTROL SEEMS TO BE DISABLED", (size_t)errLen);
+      break;
+    case MOTIONCONTROLUNK:
+      strncpy(error, "MOTION CONTROL SEEMS TO BE UNKNOWN", (size_t)errLen);
       break;
     default:
       /* FIXME What's the default */
@@ -1121,7 +1134,9 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
       //case TIMEOUT:
     case BADPAR:
     case BLOCKED:
-    case MOTIONCONTROL:
+    case MOTIONCONTROLOFF:
+    case MOTIONCONTROLUNK:
+    case MOTCMDTMO:
       return MOTFAIL;
     case POSFAULT:
     case BADSEND:  
@@ -1534,7 +1549,7 @@ static void DMC2280List(void *self, char *name, SConnection *pCon){
   SCWrite(pCon, buffer, eStatus);
   snprintf(buffer, BUFFLEN, "%s.home = %f\n", name, ((pDMC2280Driv)self)->home);
   SCWrite(pCon, buffer, eStatus);
-  snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, ((pDMC2280Driv)self)->units); 
+  snprintf(buffer, BUFFLEN, "%s.units = %s\n", name, ((pDMC2280Driv)self)->units);
   SCWrite(pCon, buffer, eStatus);
   snprintf(buffer, BUFFLEN, "%s.speed = %f\n", name, ((pDMC2280Driv)self)->speed);
   SCWrite(pCon, buffer, eStatus);