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prevent motor arming if an error is set

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This commit is contained in:
Samuel Sadok
2020-11-16 21:03:41 +01:00
parent c32cbec58c
commit 5a19799613
1 changed files with 18 additions and 0 deletions
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Firmware/MotorControl/axis.cpp
+18
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@@ -481,10 +481,18 @@ void Axis::run_state_machine_loop() {
bool status;
switch (current_state_) {
case AXIS_STATE_MOTOR_CALIBRATION: {
// These error checks are a hacky way to force legacy behavior
// when an error is raised. TODO: remove this when we overhaul
// the error architecture
// (https://github.com/madcowswe/ODrive/issues/526).
if (odrv.any_error())
goto invalid_state_label;
status = motor_.run_calibration();
} break;
case AXIS_STATE_ENCODER_INDEX_SEARCH: {
if (odrv.any_error())
goto invalid_state_label;
if (!motor_.is_calibrated_)
goto invalid_state_label;
@@ -492,6 +500,8 @@ void Axis::run_state_machine_loop() {
} break;
case AXIS_STATE_ENCODER_DIR_FIND: {
if (odrv.any_error())
goto invalid_state_label;
if (!motor_.is_calibrated_)
goto invalid_state_label;
@@ -499,22 +509,30 @@ void Axis::run_state_machine_loop() {
} break;
case AXIS_STATE_HOMING: {
if (odrv.any_error())
goto invalid_state_label;
status = run_homing();
} break;
case AXIS_STATE_ENCODER_OFFSET_CALIBRATION: {
if (odrv.any_error())
goto invalid_state_label;
if (!motor_.is_calibrated_)
goto invalid_state_label;
status = encoder_.run_offset_calibration();
} break;
case AXIS_STATE_LOCKIN_SPIN: {
if (odrv.any_error())
goto invalid_state_label;
if (!motor_.is_calibrated_ || encoder_.config_.direction==0)
goto invalid_state_label;
status = run_lockin_spin(config_.general_lockin, false);
} break;
case AXIS_STATE_CLOSED_LOOP_CONTROL: {
if (odrv.any_error())
goto invalid_state_label;
if (!motor_.is_calibrated_ || (encoder_.config_.direction==0 && !config_.enable_sensorless_mode))
goto invalid_state_label;
watchdog_feed();