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Merge branch 'bugfix/watchdog_fix' into RazorsEdge

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This commit is contained in:
Paul Guenette
2019-05-25 14:15:24 +02:00
parent 286de38376 2abae9034b
commit 820fd72ae8
2 changed files with 11 additions and 24 deletions
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Firmware/MotorControl/axis.cpp
+6 -21
View File
@@ -32,7 +32,7 @@ Axis::Axis(const AxisHardwareConfig_t& hw_config,
motor_.axis_ = this;
trap_.axis_ = this;
decode_step_dir_pins();
update_watchdog_settings();
watchdog_feed();
min_endstop_.axis_ = this;
max_endstop_.axis_ = this;
}
@@ -100,21 +100,6 @@ void Axis::decode_step_dir_pins() {
dir_pin_ = get_gpio_pin_by_pin(config_.dir_gpio_pin);
}
// @brief: Setup the watchdog reset value from the configuration watchdog timeout interval.
void Axis::update_watchdog_settings() {
if(config_.watchdog_timeout <= 0.0f) { // watchdog disabled
watchdog_reset_value_ = 0;
} else if(config_.watchdog_timeout >= UINT32_MAX / (current_meas_hz+1)) { //overflow!
watchdog_reset_value_ = UINT32_MAX;
} else {
watchdog_reset_value_ = static_cast<uint32_t>(config_.watchdog_timeout * current_meas_hz);
}
// Do a feed to avoid instant timeout
watchdog_feed();
}
// @brief (de)activates step/dir input
void Axis::set_step_dir_active(bool active) {
if (active) {
@@ -187,16 +172,16 @@ bool Axis::do_updates() {
// @brief Feed the watchdog to prevent watchdog timeouts.
void Axis::watchdog_feed() {
watchdog_current_value_ = watchdog_reset_value_;
watchdog_current_value_ = get_watchdog_reset();
}
// @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
// @brief Check the watchdog timer for expiration. Also sets the watchdog error bit if expired.
bool Axis::watchdog_check() {
// reset value = 0 means watchdog disabled.
if(watchdog_reset_value_ == 0) return true;
// reset value = 0 means watchdog disabled.
if (get_watchdog_reset() == 0) return true;
// explicit check here to ensure that we don't underflow back to UINT32_MAX
if(watchdog_current_value_ > 0) {
if (watchdog_current_value_ > 0) {
watchdog_current_value_--;
return true;
} else {
Firmware/MotorControl/axis.hpp
+5 -3
View File
@@ -199,6 +199,10 @@ public:
bool run_closed_loop_control_loop();
bool run_idle_loop();
constexpr uint32_t get_watchdog_reset() {
return static_cast<uint32_t>(std::clamp<float>(config_.watchdog_timeout, 0, UINT32_MAX / (current_meas_hz + 1)) * current_meas_hz);
}
void run_state_machine_loop();
const AxisHardwareConfig_t& hw_config_;
@@ -234,7 +238,6 @@ public:
uint32_t last_heartbeat_ = 0;
// watchdog
uint32_t watchdog_reset_value_ = 0; //computed from config_.watchdog_timeout in update_watchdog_settings()
uint32_t watchdog_current_value_= 0;
// Communication protocol definitions
@@ -256,8 +259,7 @@ public:
make_protocol_property("startup_homing", &config_.startup_homing),
make_protocol_property("enable_step_dir", &config_.enable_step_dir),
make_protocol_property("counts_per_step", &config_.counts_per_step),
make_protocol_property("watchdog_timeout", &config_.watchdog_timeout,
[](void* ctx) { static_cast<Axis*>(ctx)->update_watchdog_settings(); }, this),
make_protocol_property("watchdog_timeout", &config_.watchdog_timeout),
make_protocol_property("step_gpio_pin", &config_.step_gpio_pin,
[](void* ctx) { static_cast<Axis*>(ctx)->decode_step_dir_pins(); }, this),
make_protocol_property("dir_gpio_pin", &config_.dir_gpio_pin,