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motion: read the 64-bit axis jog-counts without truncating #4804

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Merged
BsAtHome merged 1 commit into from
Nov 9, 2026
Merged

motion: read the 64-bit axis jog-counts without truncating #4804

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2 changes: 1 addition & 1 deletion src/emc/motion/axis.c
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Original file line number Diff line number Diff line change
Expand Up @@ -447,7 +447,7 @@ void axis_handle_jogwheels(bool motion_teleop_flag, bool motion_enable_flag, boo
aaccel_limit = ajog_accel_fraction * axis->acc_limit;
}

new_ajog_counts = hal_get_si32(axis_data->ajog_counts);
new_ajog_counts = hal_get_sint(axis_data->ajog_counts);
delta = new_ajog_counts - axis->old_ajog_counts;
axis->old_ajog_counts = new_ajog_counts;
if ( first_pass ) { continue; }
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21 changes: 21 additions & 0 deletions tests/motion/jogwheel-axis/test-ui.py
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Original file line number Diff line number Diff line change
Expand Up @@ -53,6 +53,23 @@ def jog_axis(axis_letter, counts=1, scale=0.001):
sys.exit(1)


def preset_counts(axis_letter, counts):
# with jog-enable off motion takes the new counts without moving
h['axis-%c-jog-enable' % axis_letter] = 0
h['axis-%c-jog-counts' % axis_letter] = counts

timeout = 5.0
start_time = time.time()
s.poll()
start_beat = s.heartbeat
while s.heartbeat - start_beat < 2:
if time.time() - start_time > timeout:
print("motion heartbeat did not advance")
sys.exit(1)
time.sleep(0.010)
s.poll()


#
# set up pins
# shell out to halcmd to make nets to halui and motion
Expand Down Expand Up @@ -115,5 +132,9 @@ def jog_axis(axis_letter, counts=1, scale=0.001):
jog_axis('y', counts=10, scale=-0.025)
jog_axis('z', counts=-100, scale=0.100)

# counts crossing 2^31 jog by the count difference
preset_counts('x', 2**31 - 2)
jog_axis('x', counts=4, scale=0.001)

sys.exit(0)

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