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Make subcomponent errors to always set relevant axis error; use do_checks and set_error

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This commit is contained in:
Oskar Weigl
2018-05-10 06:56:13 -07:00
parent 08758c848d
commit a94096b64d
11 changed files with 68 additions and 53 deletions
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Firmware/MotorControl/encoder.cpp
+18 -9
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@@ -31,6 +31,15 @@ void Encoder::setup() {
enc_index_cb_wrapper, this);
}
void Encoder::set_error(Encoder::Error_t error) {
error_ |= error;
axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
}
bool Encoder::do_checks(){
return error_ == ERROR_NONE;
}
//--------------------
// Hardware Dependent
//--------------------
@@ -112,7 +121,7 @@ bool Encoder::run_index_search() {
// continue until the index is found
return !index_found_;
});
return axis_->error_ != Axis::ERROR_NO_ERROR;
return axis_->error_ != Axis::ERROR_NONE;
}
// @brief Turns the motor in one direction for a bit and then in the other
@@ -148,7 +157,7 @@ bool Encoder::run_offset_calibration() {
axis_->motor_.log_timing(Motor::TIMING_LOG_ENC_CALIB);
return ++i < start_lock_duration * current_meas_hz;
});
if (axis_->error_ != Axis::ERROR_NO_ERROR)
if (axis_->error_ != Axis::ERROR_NONE)
return false;
int32_t init_enc_val = shadow_count_;
@@ -170,7 +179,7 @@ bool Encoder::run_offset_calibration() {
return ++i < num_steps;
});
if (axis_->error_ != Axis::ERROR_NO_ERROR)
if (axis_->error_ != Axis::ERROR_NONE)
return false;
//TODO avoid recomputing elec_rad_per_enc every time
@@ -179,7 +188,7 @@ bool Encoder::run_offset_calibration() {
float actual_encoder_delta_abs = fabsf(shadow_count_-init_enc_val);
if(fabsf(actual_encoder_delta_abs - expected_encoder_delta)/expected_encoder_delta > config_.calib_range)
{
error_ |= ERROR_CPR_OUT_OF_RANGE;
set_error(ERROR_CPR_OUT_OF_RANGE);
return false;
}
// check direction
@@ -191,7 +200,7 @@ bool Encoder::run_offset_calibration() {
axis_->motor_.config_.direction = -1;
} else {
// Encoder response error
error_ |= ERROR_RESPONSE;
set_error(ERROR_RESPONSE);
return false;
}
@@ -211,7 +220,7 @@ bool Encoder::run_offset_calibration() {
return ++i < num_steps;
});
if (axis_->error_ != Axis::ERROR_NO_ERROR)
if (axis_->error_ != Axis::ERROR_NONE)
return false;
offset_ = encvaluesum / (num_steps * 2);
@@ -238,7 +247,7 @@ static bool decode_hall(uint8_t hall_state, int32_t* hall_cnt) {
bool Encoder::update(float* pos_estimate, float* vel_estimate, float* phase_output) {
// Check that we don't get problems with discrete time approximation
if (!(current_meas_period * pll_kp_ < 1.0f)) {
error_ |= ERROR_NUMERICAL;
set_error(ERROR_NUMERICAL);
return false;
}
@@ -260,13 +269,13 @@ bool Encoder::update(float* pos_estimate, float* vel_estimate, float* phase_outp
if (delta_enc > 3)
delta_enc -= 6;
} else {
error_ |= ERROR_ILLEGAL_HALL_STATE;
set_error(ERROR_ILLEGAL_HALL_STATE);
return false;
}
} break;
default: {
error_ |= ERROR_UNSUPPORTED_ENCODER_MODE;
set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
return 0;
} break;
}