Add ability to enable/disable hardware limits

motorapp · Nov 13, 2017 · c29b02b · c29b02b
1 parent 6006eac
commit c29b02b
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Showing 6 changed files with 98 additions and 10 deletions.
diff --git a/3-5/GalilSup/Db/galil_motor_extras.req b/3-5/GalilSup/Db/galil_motor_extras.req
@@ -26,6 +26,7 @@ $(P)$(M)_BRAKEPORT_SP
 $(P)$(M)_BRAKE_CMD
 $(P)$(M)_AUTOBRAKE_CMD
 $(P)$(M)_BRAKEONDELAY_SP
+$(P)$(M)_LIMITDISABLE_CMD
 $(P)$(M)_HOMEALLOWED_CMD
 $(P)$(M)_STOPDELAY_SP
 $(P)$(M)_AMPGAIN_CMD

diff --git a/3-5/GalilSup/Db/galil_motor_extras.template b/3-5/GalilSup/Db/galil_motor_extras.template
@@ -1018,8 +1018,8 @@ record(mbbo,"$(P)$(M)_LIMITDISABLE_CMD")
 	field(TWVL, "2")
 	field(THVL, "3")
 	field(ZRST, "Off")
-	field(ONST, "Only Fwd Disabled")
-	field(TWST, "Only Rev Disabled")
+	field(ONST, "Fwd Disabled")
+	field(TWST, "Rev Disabled")
 	field(THST, "Both Disabled")
 	field(VAL,  "0")
 	field(OUT,  "@asyn($(PORT),$(ADDR))MOTOR_LIMIT_DISABLE")
@@ -1036,8 +1036,8 @@ record(mbbi,"$(P)$(M)_LIMITDISABLE_STATUS")
 	field(TWVL, "2")
 	field(THVL, "3")
 	field(ZRST, "Off")
-	field(ONST, "Only Fwd Disabled")
-	field(TWST, "Only Rev Disabled")
+	field(ONST, "Fwd Disabled")
+	field(TWST, "Rev Disabled")
 	field(THST, "Both Disabled")
    	field(INP,  "@asyn($(PORT),$(ADDR))MOTOR_LIMIT_DISABLE")
 }

diff --git a/3-5/GalilSup/op/ui/galil_motor_extras.ui b/3-5/GalilSup/op/ui/galil_motor_extras.ui
@@ -19,7 +19,7 @@
   <property name="windowTitle">
    <string>EFrame</string>
   </property>
-  <layout class="QVBoxLayout" name="verticalLayout" stretch="2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,3,3">
+  <layout class="QVBoxLayout" name="verticalLayout" stretch="2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,2,3,3">
    <property name="spacing">
     <number>1</number>
    </property>
@@ -1972,6 +1972,91 @@
      </item>
     </layout>
    </item>
+   <item>
+    <layout class="QHBoxLayout" name="horizontalLayout_30">
+     <property name="spacing">
+      <number>0</number>
+     </property>
+     <item>
+      <widget class="QLabel" name="label_37">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>125</width>
+         <height>0</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Abyssinica SIL</family>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
+       <property name="text">
+        <string>Limit disable</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QEComboBox" name="qecombobox_14">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Fixed" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="minimumSize">
+        <size>
+         <width>120</width>
+         <height>1</height>
+        </size>
+       </property>
+       <property name="font">
+        <font>
+         <family>Abyssinica SIL</family>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
+       <property name="variable" stdset="0">
+        <string>$(DMC)$(M)_LIMITDISABLE_CMD</string>
+       </property>
+      </widget>
+     </item>
+     <item>
+      <widget class="QELabel" name="qelabel_37">
+       <property name="sizePolicy">
+        <sizepolicy hsizetype="Minimum" vsizetype="Preferred">
+         <horstretch>0</horstretch>
+         <verstretch>0</verstretch>
+        </sizepolicy>
+       </property>
+       <property name="font">
+        <font>
+         <family>Abyssinica SIL</family>
+         <pointsize>8</pointsize>
+        </font>
+       </property>
+       <property name="layoutDirection">
+        <enum>Qt::LeftToRight</enum>
+       </property>
+       <property name="alignment">
+        <set>Qt::AlignLeading|Qt::AlignLeft|Qt::AlignVCenter</set>
+       </property>
+       <property name="variable" stdset="0">
+        <string>$(DMC)$(M)_LIMITDISABLE_STATUS</string>
+       </property>
+       <property name="text">
+        <string>type</string>
+       </property>
+      </widget>
+     </item>
+    </layout>
+   </item>
    <item>
     <layout class="QHBoxLayout" name="horizontalLayout_15">
      <property name="spacing">

diff --git a/3-5/GalilSup/src/GalilAxis.cpp b/3-5/GalilSup/src/GalilAxis.cpp
@@ -1398,8 +1398,11 @@ asynStatus GalilAxis::getStatus(void)
 		home_ = (bool)(pC_->sourceValue(pC_->recdata_, src) == 1) ? 0 : 1;
 		//motor connected status
 		pC_->getIntegerParam(axisNo_, pC_->GalilMotorConnected_, &connectedlast);
-		connected = (rev_ && fwd_) ? 0 : 1;
-		if (connectedlast != connected)
+		if (limitDisable == 0)
+			connected = (rev_ && fwd_) ? 0 : 1;
+		else
+			connected = 1;
+		if (connectedlast != connected || !axisReady_)
 			pC_->setIntegerParam(axisNo_, pC_->GalilMotorConnected_, connected);
 		//If motor just connected, then limits are not
 		//confirmed consistent with motor direction yet

diff --git a/3-5/GalilSup/src/GalilController.cpp b/3-5/GalilSup/src/GalilController.cpp
@@ -286,8 +286,7 @@
 // 18/09/17 M. Pearson
 //                  Fix GalilAxis and GalilCSAXis destructors to remove compiler warnings on gcc 4.8.5 and above
 // 09/11/17 M. Pearson
-//                  Add ability to use LD command to enable/disable hardware limits. 
-//                  Required for axes that have unconnected limits.
+//                  Add ability to enable/disable hardware limits
 
 #include <stdio.h>
 #include <math.h>

diff --git a/3-5/iocBoot/iocGalilTest/st.cmd b/3-5/iocBoot/iocGalilTest/st.cmd
@@ -1,4 +1,4 @@
-#!../../bin/linux-x86/GalilTest
+#!../../bin/linux-x86_64/GalilTest
 
 < envPaths