motor_dmc2280.c

When a motor stops and power saving is enabled (ie motor left on) the driver should check for faults and then transition to the idle state.
r3134 | ffr | 2011-05-19 08:37:16 +1000 (Thu, 19 May 2011) | 2 lines

site_ansto/motor_dmc2280.c

@@ -2542,7 +2542,15 @@ static void DMCState_MotorStop(pDMC2280Driv self, pEvtEvent event) {
   switch (event->event_type) {
     case eStateEvent:
       self->run_flag = 0;
+      if (self->noPowerSave) {
+        if (self->faultPending) {
+          self->faultPending = false;
+          self->driver_status = HWFault;
+        }
+        change_state(self, DMCState_Idle);
+      } else {
         cmdOff(self);
+      }
       return;
     case eTimerEvent:
       cmdPoll(self);