Bugs item #2985881, was opened at 2010-04-12 15:19
Message generated for change (Tracker Item Submitted) made by alex_joni
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Category: HAL
Group: None
Status: Open
Resolution: None
Priority: 7
Private: No
Submitted By: Alex Joni (alex_joni)
Assigned to: Sebastian Kuzminsky (seb_kuzminsky)
Summary: stepgen bug in hostmot2
Initial Comment:
Issue:
with the stepgen going at high vel, push estop.
Problem:
after enabling, the stepgen tries to go on with the previous velocity
prescription, tripping an emc2 ferror
tech. issue:
while the HM2 stepgen is disabled, it doesn't track the current pos cmd.
velocity doesn't get reset to 0 during disable
fix:
void hm2_stepgen_prepare_tram_write(hostmot2_t *hm2, long l_period_ns) {
int i;
for (i = 0; i < hm2->stepgen.num_instances; i ++) {
if (*(hm2->stepgen.instance[i].hal.pin.enable) == 0) {
hm2->stepgen.step_rate_reg[i] = 0;
-> hm2->stepgen.instance[i].old_position_cmd =
*(hm2->stepgen.instance[i].hal.pin.position_cmd);
-> *(hm2->stepgen.instance[i].hal.pin.velocity_fb) = 0;
} else {
hm2_stepgen_instance_prepare_tram_write(hm2, l_period_ns, i);
}
}
}
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