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Only do the rotary_bits if the previous counts is valid

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This saves decrementing it the first time through because it is in
the fourth quadrant and the initial value (zero) is in the first.
This commit is contained in:
Douglas Clowes
2014-07-10 13:13:57 +10:00
parent f05bf2e7db
commit cd80f567fe
1 changed files with 3 additions and 1 deletions
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4
site_ansto/motor_dmc2280.c
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@ -270,6 +270,7 @@ struct __MoDriv {
int rotary_count; /**< count of rotations */ int rotary_count; /**< count of rotations */
char ao_id[256]; char ao_id[256];
bool legacy_fsm; /**< flag for legacy_fsm new code */ bool legacy_fsm; /**< flag for legacy_fsm new code */
bool status_valid; /**< flag for status has been set from controller */
bool doStats; /**< flag to request stats collection */ bool doStats; /**< flag to request stats collection */
double S_x; double S_x;
double S_y; double S_y;
@ -1800,7 +1801,7 @@ static int rspStatus(pDMC2280Driv self, const char* text) {
self->currSteps = iSteps; self->currSteps = iSteps;
if (self->bias_bits > 0) if (self->bias_bits > 0)
iCounts = (iCounts + self->bias_bias) & ((1 << self->bias_bits) - 1); iCounts = (iCounts + self->bias_bias) & ((1 << self->bias_bits) - 1);
if (self->rotary_bits > 0) { if (self->rotary_bits > 0 && self->status_valid) {
int shift = 2; int shift = 2;
int mask = (1 << shift) - 1; int mask = (1 << shift) - 1;
int old_bits = (self->currCounts >> (self->rotary_bits - shift)) & mask; int old_bits = (self->currCounts >> (self->rotary_bits - shift)) & mask;
@ -1848,6 +1849,7 @@ static int rspStatus(pDMC2280Driv self, const char* text) {
else else
self->stopCode = 1; self->stopCode = 1;
} }
self->status_valid = true;
return 1; return 1;
} }