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move startup delay to fix race condition

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This commit is contained in:
Samuel Sadok
2020-11-19 12:19:02 +01:00
parent df83782bd4
commit 287dd47b8f
2 changed files with 19 additions and 16 deletions
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Firmware/MotorControl/axis.cpp
-14
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@@ -428,20 +428,6 @@ bool Axis::run_idle_loop() {
// Infinite loop that does calibration and enters main control loop as appropriate
void Axis::run_state_machine_loop() {
// Wait for up to 2s for motor to become ready to allow for error-free
// startup. This delay gives the current sensor calibration time to
// converge. If the DRV chip is unpowered, the motor will not become ready
// but we still enter idle state.
for (size_t i = 0; i < 2000; ++i) {
if (motor_.current_meas_.has_value()) {
break;
}
osDelay(1);
}
sensorless_estimator_.error_ &= ~SensorlessEstimator::ERROR_UNKNOWN_CURRENT_MEASUREMENT;
for (;;) {
// Load the task chain if a specific request is pending
if (requested_state_ != AXIS_STATE_UNDEFINED) {