PXMC: new function pxmc_axis_release added to distinguish between set zero output...

When DQ current control mode is used then set zero value leaves
current controller component running and in the result output
voltage is not zero when pxmc_set_const_out(mcs,0) is called
and voltage can even increase in case of problem in current
ADC or winding connection.

Signed-off-by: Pavel Pisa <ppisa@pikron.com>

diff --git a/submodule/pxmc b/submodule/pxmc
index ca73319f32096bcb98ce40cb695100862a2fa813..fbf262cea3268619e269cdfe1119cdce04c8bc5b 160000 (submodule)
--- a/submodule/pxmc
+++ b/submodule/pxmc
@@ -1 +1 @@
-Subproject commit ca73319f32096bcb98ce40cb695100862a2fa813
+Subproject commit fbf262cea3268619e269cdfe1119cdce04c8bc5b

diff --git a/sw/app/rocon/appl_cmds.c b/sw/app/rocon/appl_cmds.c
index c944c11802e570e19644ca7f8830a5d479ae4756..7923cb86f497867874e5bb070a80bec626666144 100644 (file)
--- a/sw/app/rocon/appl_cmds.c
+++ b/sw/app/rocon/appl_cmds.c
@@ -201,7 +201,7 @@ int cmd_do_axes_outmap(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[
       continue;
     if(mcs->pxms_flg & PXMS_BSY_m)
       return -CMDERR_BSYREG;
-    pxmc_set_const_out(mcs,0);
+    pxmc_axis_release(mcs);
     val = pxmc_axis_mode(mcs, PXMC_AXIS_MODE_NOCHANGE);
     if (val < 0)
       return -CMDERR_EIO;

diff --git a/sw/app/rocon/appl_pxmc.c b/sw/app/rocon/appl_pxmc.c
index c46c0d4c435a4de3cab65a746e939bee0066fcba..8d583a0025dfcdd90bd0cdc322ebae638cb69449 100644 (file)
--- a/sw/app/rocon/appl_pxmc.c
+++ b/sw/app/rocon/appl_pxmc.c
@@ -2364,7 +2364,7 @@ pxmc_axis_mode(pxmc_state_t *mcs, int mode)
   int res;
   int prev_mode;
 
-  pxmc_set_const_out(mcs, 0);
+  pxmc_axis_release(mcs);
   pxmc_clear_flag(mcs, PXMS_ENI_b);
   pxmc_clear_flags(mcs,PXMS_ENO_m);
   /* Clear possible stall index flags from hardware */
@@ -2511,7 +2511,7 @@ int pxmc_done(void)
 
   pxmc_for_each_mcs(var, mcs)
   {
-    pxmc_set_const_out(mcs,0);
+    pxmc_axis_release(mcs);
   }
 
   pxmc_main_list.pxml_cnt = 0;

diff --git a/sw/app/rocon/appl_tests.c b/sw/app/rocon/appl_tests.c
index 42b0334e44d5f143c719f135b284d62de6b72f4d..81e366e3039f01553eaee632ef16d6d1601db6f1 100644 (file)
--- a/sw/app/rocon/appl_tests.c
+++ b/sw/app/rocon/appl_tests.c
@@ -569,8 +569,7 @@ int cmd_do_testcuradc(cmd_io_t *cmd_io, const struct cmd_des *des, char *param[]
     pxmc_for_each_mcs(i, mcs) {
       /* PXMS_ENI_m - check if input (IRC) update is enabled */
       if (mcs->pxms_flg & (PXMS_ENR_m | PXMS_ENO_m)) {
-        pxmc_set_const_out(mcs,0);
-        pxmc_clear_flag(mcs, PXMS_ENO_b);
+        pxmc_axis_release(mcs);
       }
     }