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Handle the case where motion control is not enabled on the panel. This is regarded as a hardware fault for all DMC2280 motors.

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r1563 | dcl | 2007-03-01 09:09:32 +1100 (Thu, 01 Mar 2007) | 2 lines
This commit is contained in:
Douglas Clowes
2007-03-01 09:09:32 +11:00
parent 349831f603
commit 992c9c4902
1 changed files with 19 additions and 0 deletions
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19
site_ansto/motor_dmc2280.c
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@@ -118,6 +118,9 @@ typedef struct __MoDriv {
pNWTimer motor_timer;
int debug;
} DMC2280Driv, *pDMC2280Driv;
int DMC2280MotionControl = 1; /* defaults to enabled */
#define AIRPADS_DOWN 0
#define AIRPADS_RAISE 1
#define AIRPADS_UP 2
@@ -138,6 +141,7 @@ typedef struct __MoDriv {
#define IMPOSSIBLE_LIM_SW -14
#define BGFAIL -15 // NOT SET
#define BLOCKED -16
#define MOTIONCONTROL -17
/*--------------------------------------------------------------------*/
#define STATUSMOVING 128 /* Motor is moving */
#define STATUSERRORLIMIT 64 /* Number of errorss exceed limit */
@@ -599,6 +603,12 @@ static int DMC2280Run(void *pData,float fValue){
self = (pDMC2280Driv)pData;
assert(self != NULL);
/* If Motion Control is off, report HWFault */
if (!DMC2280MotionControl) {
self->errorCode = MOTIONCONTROL;
return HWFault;
}
if (self->motor_timer)
NetWatchRemoveTimer(self->motor_timer);
self->motor_timer = NULL;
@@ -812,6 +822,11 @@ static int DMC2280Status(void *pData){
}
if (moving) {
int iRet;
/* If Motion Control is off, report HWFault */
if (!DMC2280MotionControl) {
self->errorCode = MOTIONCONTROL;
return HWFault;
}
/* If pos hasn't changed since last
* check then stop and scream */
#if 0
@@ -1004,6 +1019,9 @@ 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);
break;
default:
/* FIXME What's the default */
break;
@@ -1034,6 +1052,7 @@ static int DMC2280Fix(void *pData, int iCode,/*@unused@*/ float fValue){
//case TIMEOUT:
case BADPAR:
case BLOCKED:
case MOTIONCONTROL:
return MOTFAIL;
case POSFAULT:
case BADSEND: