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clean state machine level error writing

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This commit is contained in:
Oskar Weigl
2018-05-10 14:42:35 -07:00
parent 0d07c71f95
commit 7188e2a1c2
2 changed files with 27 additions and 34 deletions
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Firmware/MotorControl/axis.cpp
+26 -33
View File
@@ -38,6 +38,7 @@ void Axis::setup() {
static void run_state_machine_loop_wrapper(void* ctx) {
reinterpret_cast<Axis*>(ctx)->run_state_machine_loop();
reinterpret_cast<Axis*>(ctx)->thread_id_valid_ = false;
}
// @brief Starts run_state_machine_loop in a new thread
@@ -254,43 +255,37 @@ void Axis::run_state_machine_loop() {
// Handlers should exit if requested_state != AXIS_STATE_UNDEFINED
bool status;
switch (current_state_) {
case AXIS_STATE_MOTOR_CALIBRATION:
status = motor_.run_calibration();
if (!status)
error_ |= ERROR_MOTOR_FAILED;
break;
case AXIS_STATE_MOTOR_CALIBRATION:
status = motor_.run_calibration();
break;
case AXIS_STATE_ENCODER_INDEX_SEARCH:
status = encoder_.run_index_search();
if (!status)
error_ |= ERROR_ENCODER_FAILED;
break;
case AXIS_STATE_ENCODER_INDEX_SEARCH:
status = encoder_.run_index_search();
break;
case AXIS_STATE_ENCODER_OFFSET_CALIBRATION:
status = encoder_.run_offset_calibration();
if (!status)
error_ |= ERROR_ENCODER_FAILED;
break;
case AXIS_STATE_ENCODER_OFFSET_CALIBRATION:
status = encoder_.run_offset_calibration();
break;
case AXIS_STATE_SENSORLESS_CONTROL:
status = run_sensorless_spin_up(); // TODO: restart if desired
if (status)
status = run_sensorless_control_loop();
break;
case AXIS_STATE_SENSORLESS_CONTROL:
status = run_sensorless_spin_up(); // TODO: restart if desired
if (status)
status = run_sensorless_control_loop();
break;
case AXIS_STATE_CLOSED_LOOP_CONTROL:
status = run_closed_loop_control_loop();
break;
case AXIS_STATE_CLOSED_LOOP_CONTROL:
status = run_closed_loop_control_loop();
break;
case AXIS_STATE_IDLE:
run_idle_loop();
status = motor_.arm(); // done with idling - try to arm the motor
break;
case AXIS_STATE_IDLE:
run_idle_loop();
status = motor_.arm(); // done with idling - try to arm the motor
break;
default:
error_ |= ERROR_INVALID_STATE;
status = false; // this will set the state to idle
break;
default:
error_ |= ERROR_INVALID_STATE;
status = false; // this will set the state to idle
break;
}
// If the state failed, go to idle, else advance task chain
@@ -299,6 +294,4 @@ void Axis::run_state_machine_loop() {
else
memcpy(task_chain_, task_chain_ + 1, sizeof(task_chain_) - sizeof(task_chain_[0]));
}
thread_id_valid_ = false;
}
Firmware/MotorControl/encoder.cpp
+1 -1
View File
@@ -119,7 +119,7 @@ bool Encoder::run_index_search() {
// continue until the index is found
return !index_found_;
});
return axis_->error_ != Axis::ERROR_NONE;
return true;
}
// @brief Turns the motor in one direction for a bit and then in the other