fix homing bug

CHANGELOG.md

@@ -7,6 +7,7 @@ Please add a note of your changes below this heading if you make a Pull Request.
 ### Fixed
 * ASCII protocol commands with multiline responses (`i`, `h`) now return the expected response (in v0.5.2 the response was corrupted)
 * odrivetool no longer shows the message `<Task pending coro=... running at ...>` when closing
+* Homing used to erroneously complete with `is_homed == True` even if it failed for some reason
 
 ### Added
 * `brake_resistor_current` added to interface for reading the commanded brake resistor current

Firmware/MotorControl/axis.cpp

@@ -386,10 +386,14 @@ bool Axis::run_homing() {
 
     homing_.is_homed = false;
 
+    error_ &= ~ERROR_MIN_ENDSTOP_PRESSED;
+
+    bool done = false;
+
     start_closed_loop_control();
 
     // Driving toward the endstop
-    while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !min_endstop_.get_state()) {
+    while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !(done = min_endstop_.get_state())) {
         osDelay(1);
     }
 
@@ -397,6 +401,10 @@ bool Axis::run_homing() {
     
     controller_.input_vel_ = 0.0f;
 
+    if (!done) {
+        return false;
+    }
+
     error_ &= ~ERROR_MIN_ENDSTOP_PRESSED; // clear this error since we deliberately drove into the endstop
 
     std::optional<float> pos_estimate_local = encoder_.pos_estimate_.any();
@@ -415,12 +423,16 @@ bool Axis::run_homing() {
     controller_.vel_setpoint_ = 0.0f;
     controller_.input_pos_updated();
     
-    while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !controller_.trajectory_done_) {
+    while ((requested_state_ == AXIS_STATE_UNDEFINED) && motor_.is_armed_ && !(done = controller_.trajectory_done_)) {
         osDelay(1);
     }
 
     stop_closed_loop_control();
 
+    if (!done) {
+        return false;
+    }
+
     // Set the current position to 0.
     encoder_.set_linear_count(0);
     controller_.input_pos_ = 0;