From 31a143a500e5b421b0888af9e2bd48c76a332053 Mon Sep 17 00:00:00 2001
From: Tobin Hall <tobin@greentechrobotics.com>
Date: Mon, 28 Jan 2019 12:10:43 +1300
Subject: [PATCH] Fixing error code assignment. Adding SPI ready check.

---
 Firmware/MotorControl/encoder.cpp | 13 ++++++++-----
 Firmware/MotorControl/encoder.hpp |  5 +++--
 2 files changed, 11 insertions(+), 7 deletions(-)

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
index 7896cf0b..b6c9bc3b 100644
--- a/Firmware/MotorControl/encoder.cpp
+++ b/Firmware/MotorControl/encoder.cpp
@@ -13,8 +13,10 @@ Encoder::Encoder(const EncoderHardwareConfig_t& hw_config,
         is_ready_ = true;
     }
 
-    decode_abs_spi_cs_pin();
-    HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
+    if(config.mode & Encoder::MODE_FLAG_ABS){
+        decode_abs_spi_cs_pin();
+        HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
+    }
 }
 
 static void enc_index_cb_wrapper(void* ctx) {
@@ -340,8 +342,10 @@ bool Encoder::abs_spi_init(){
 
 bool Encoder::abs_spi_start_transaction(){
     if (config_.mode & MODE_FLAG_ABS){
-        //TODO semaphore take
-
+        if(hw_config_.spi->State != HAL_SPI_STATE_READY){
+            set_error(ERROR_ABS_SPI_NOT_READY);
+            return false;
+        }
         //apply the stashed configuration
         hw_config_.spi->Instance->CR1 = abs_spi_cr1;
         hw_config_.spi->Instance->CR2 = abs_spi_cr2;
@@ -359,7 +363,6 @@ uint8_t parity(uint16_t v){
     return v & 1;
 }
 void Encoder::abs_spi_cb(){
-    //TODO semaphore release
     HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
     switch (config_.mode) {
         case MODE_SPI_ABS_AMS: {
diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp
index 482ba111..39d4f48e 100644
--- a/Firmware/MotorControl/encoder.hpp
+++ b/Firmware/MotorControl/encoder.hpp
@@ -15,8 +15,9 @@ public:
         ERROR_UNSUPPORTED_ENCODER_MODE = 0x08,
         ERROR_ILLEGAL_HALL_STATE = 0x10,
         ERROR_INDEX_NOT_FOUND_YET = 0x20,
-        ERROR_ABS_SPI_TIMEOUT = 0x30,
-        ERROR_ABS_SPI_COM_FAIL = 0x40,
+        ERROR_ABS_SPI_TIMEOUT = 0x40,
+        ERROR_ABS_SPI_COM_FAIL = 0x80,
+        ERROR_ABS_SPI_NOT_READY = 0x100,
     };
 
     enum Mode_t {