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status returns busy when motor controller still continues M.Z.

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cvs
2004-11-04 08:08:03 +00:00
parent 1b1ce73d1c
commit d96ee44d42
1 changed files with 13 additions and 5 deletions
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18
el734hp.c
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@ -146,7 +146,7 @@ static int EL734Run(void *pData,float fValue){
} }
/*-----------------------------------------------------------------------*/ /*-----------------------------------------------------------------------*/
static int decodeMSR(pEL734Driv self, int msr){ static int decodeMSR(pEL734Driv self, int msr){
if(msr == 0){ if (msr == 0){
/* /*
we are done: check ored_msr for troubles we are done: check ored_msr for troubles
*/ */
@ -162,7 +162,7 @@ static int decodeMSR(pEL734Driv self, int msr){
self->errorCode = RUNFAULT; self->errorCode = RUNFAULT;
return HWPosFault; return HWPosFault;
} else if(self->oredMsr & 0x200){ } else if(self->oredMsr & 0x200){
self->errorCode = RUNFAULT; self->errorCode = POSFAULT;
return HWPosFault; return HWPosFault;
} else if(self->oredMsr & 0x1000){ } else if(self->oredMsr & 0x1000){
self->errorCode = BADCUSHION; self->errorCode = BADCUSHION;
@ -179,11 +179,18 @@ static int decodeMSR(pEL734Driv self, int msr){
} else if(self->oredMsr & 0x400){ } else if(self->oredMsr & 0x400){
self->errorCode = POSFAULT; self->errorCode = POSFAULT;
return HWFault; return HWFault;
} } else {
self->errorCode = BADUNKNOWN;
return HWFault; /* should not happen */
}
} else { } else {
/* /*
we are still tugging along ............ we are still tugging along ............
*/ */
return HWBusy;
/* inserted above line and commented out lines below M.Zolliker Sep 2004
we do not stop when a minor error message occurs, but treat these with oredMsr
if(msr & 0x10){ if(msr & 0x10){
self->errorCode = LOWLIM; self->errorCode = LOWLIM;
return HWFault; return HWFault;
@ -193,8 +200,8 @@ static int decodeMSR(pEL734Driv self, int msr){
} else if(msr & 0x80){ } else if(msr & 0x80){
self->errorCode = RUNFAULT; self->errorCode = RUNFAULT;
return HWPosFault; return HWPosFault;
} else if(self->oredMsr & 0x200){ } else if(msr & 0x200){
self->errorCode = RUNFAULT; self->errorCode = POSFAULT;
return HWPosFault; return HWPosFault;
} else if(msr & 0x1000){ } else if(msr & 0x1000){
self->errorCode = BADCUSHION; self->errorCode = BADCUSHION;
@ -214,6 +221,7 @@ static int decodeMSR(pEL734Driv self, int msr){
} else { } else {
return HWBusy; return HWBusy;
} }
*/
} }
} }
/*------------------------------------------------------------------------*/ /*------------------------------------------------------------------------*/