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Status of limit switches updated independent of movement direction. #36

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merged 1 commit into from
Jun 26, 2018
Merged

Status of limit switches updated independent of movement direction. #36

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24 changes: 16 additions & 8 deletions motorApp/MotorSrc/motorRecord.cc
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Original file line number Diff line number Diff line change
Expand Up @@ -965,7 +965,12 @@ that it will happen when we return.
******************************************************************************/
static void maybeRetry(motorRecord * pmr)
{
if ((fabs(pmr->diff) >= pmr->rdbd) && !pmr->hls && !pmr->lls)
bool user_cdir;

/* Commanded direction in user coordinates. */
user_cdir = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->cdir : !pmr->cdir;

if ((fabs(pmr->diff) >= pmr->rdbd) && !(pmr->hls && user_cdir) && !(pmr->lls && !user_cdir))
{
/* No, we're not close enough. Try again. */
Debug(1, "maybeRetry: not close enough; diff = %f\n", pmr->diff);
Expand Down Expand Up @@ -1274,7 +1279,7 @@ static long process(dbCommon *arg)
}

/* Do another update after LS error. */
if (pmr->mip != MIP_DONE && (pmr->rhls || pmr->rlls))
if (pmr->mip != MIP_DONE && ((pmr->rhls && pmr->cdir) || (pmr->rlls && !pmr->cdir)))
{
/* Restore DMOV to false and UNMARK it so it is not posted. */
pmr->dmov = FALSE;
Expand Down Expand Up @@ -1303,7 +1308,8 @@ static long process(dbCommon *arg)
status = postProcess(pmr);
}

if ((pmr->rhls || pmr->rlls) || (pmr->mip == MIP_LOAD_P)) /* Should we test for a retry? */
/* Should we test for a retry? Consider limit only if in direction of move.*/
if (((pmr->rhls && pmr->cdir) || (pmr->rlls && !pmr->cdir)) || (pmr->mip == MIP_LOAD_P))
{
pmr->mip = MIP_DONE;
MARK(M_MIP);
Expand Down Expand Up @@ -3271,7 +3277,8 @@ static void alarm_sub(motorRecord * pmr)
status = recGblSetSevr((dbCommon *) pmr, UDF_ALARM, INVALID_ALARM);
return;
}
/* limit-switch and soft-limit violations */
/* Limit-switch and soft-limit violations. Consider limit switches also if not in
* direction of move (limit hit by externally triggered move)*/
if (pmr->hlsv && (pmr->hls || (pmr->dval > pmr->dhlm)))
{
status = recGblSetSevr((dbCommon *) pmr, HIGH_ALARM, pmr->hlsv);
Expand Down Expand Up @@ -3600,11 +3607,12 @@ static void process_motor_info(motorRecord * pmr, bool initcall)
if (pmr->tdir != old_tdir)
MARK(M_TDIR);

/* Get states of high, low limit switches. */
pmr->rhls = (msta.Bits.RA_PLUS_LS) && pmr->cdir;
pmr->rlls = (msta.Bits.RA_MINUS_LS) && !pmr->cdir;
/* Get states of high, low limit switches. State is independent of direction. */
pmr->rhls = (msta.Bits.RA_PLUS_LS);
pmr->rlls = (msta.Bits.RA_MINUS_LS);

ls_active = (pmr->rhls || pmr->rlls) ? true : false;
/* Treat limit switch active only when it is pressed and in direction of movement. */
ls_active = ((pmr->rhls && pmr->cdir) || (pmr->rlls && !pmr->cdir)) ? true : false;

pmr->hls = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->rhls : pmr->rlls;
pmr->lls = ((pmr->dir == motorDIR_Pos) == (pmr->mres >= 0)) ? pmr->rlls : pmr->rhls;
Expand Down