From e7ef78bccafb41efa53907df2d3825ad9c342d8e Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Wed, 25 Nov 2020 22:52:38 -0800
Subject: [PATCH] Sample DRV fault when going to idle. Update Vds setting on
 DRV

---
 Firmware/.vscode/c_cpp_properties.json | 9 +++++----
 Firmware/MotorControl/axis.cpp         | 1 +
 Firmware/MotorControl/axis.hpp         | 1 +
 Firmware/Private                       | 2 +-
 Firmware/odrive-interface.yaml         | 1 +
 tools/.vscode/launch.json              | 2 +-
 6 files changed, 10 insertions(+), 6 deletions(-)

diff --git a/Firmware/.vscode/c_cpp_properties.json b/Firmware/.vscode/c_cpp_properties.json
index 33d6b37a..9d93f425 100644
--- a/Firmware/.vscode/c_cpp_properties.json
+++ b/Firmware/.vscode/c_cpp_properties.json
@@ -3,12 +3,13 @@
         {
             "name": "Win32",
             "includePath": [
+                "${workspaceFolder}/Private/**",
                 "${workspaceFolder}/**"
             ],
             "defines": [
                 "__arm__",
-                "STM32F405xx",
-                "FPU_FPV4",
+                "STM32F722xx",
+                "FPU_FPV5",
                 "USE_HAL_DRIVER",
                 "HW_VERSION_MAJOR=4",
                 "HW_VERSION_MINOR=1",
@@ -21,8 +22,8 @@
             "compilerPath": "arm-none-eabi-g++.exe",
             "compilerArgs": [
                 "-mthumb",
-                "-mcpu=cortex-m4",
-                "-mfpu=fpv4-sp-d16",
+                "-mcpu=cortex-m7",
+                "-mfpu=fpv5-sp-d16",
                 "-mfloat-abi=hard",
                 "-specs=nosys.specs",
                 "-specs=nano.specs",
diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index 90cd80b5..25af856d 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -417,6 +417,7 @@ bool Axis::run_homing() {
 }
 
 bool Axis::run_idle_loop() {
+    last_drv_fault_ = motor_.gate_driver_.get_error();
     mechanical_brake_.engage();
     set_step_dir_active(config_.enable_step_dir && config_.step_dir_always_on);
     while (requested_state_ == AXIS_STATE_UNDEFINED) {
diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp
index 0682ed54..be42a7c6 100644
--- a/Firmware/MotorControl/axis.hpp
+++ b/Firmware/MotorControl/axis.hpp
@@ -177,6 +177,7 @@ public:
     // variables exposed on protocol
     Error error_ = ERROR_NONE;
     bool step_dir_active_ = false; // auto enabled after calibration, based on config.enable_step_dir
+    uint32_t last_drv_fault_ = 0;
 
     // updated from config in constructor, and on protocol hook
     Stm32Gpio step_gpio_;
diff --git a/Firmware/Private b/Firmware/Private
index d9b3887e..11c72c40 160000
--- a/Firmware/Private
+++ b/Firmware/Private
@@ -1 +1 @@
-Subproject commit d9b3887e5f15a21672cbe059898a3715fa483482
+Subproject commit 11c72c408f49cdace46a3b78da1231c439f2eda9
diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
index 859fd328..e5980558 100644
--- a/Firmware/odrive-interface.yaml
+++ b/Firmware/odrive-interface.yaml
@@ -406,6 +406,7 @@ interfaces:
             # unused
             doc: Check `motor.error` for more details.
       step_dir_active: readonly bool
+      last_drv_fault: readonly uint32
       current_state: readonly AxisState
       requested_state: AxisState
       loop_counter: readonly uint32
diff --git a/tools/.vscode/launch.json b/tools/.vscode/launch.json
index 9a36a076..5247bf4a 100644
--- a/tools/.vscode/launch.json
+++ b/tools/.vscode/launch.json
@@ -9,7 +9,7 @@
             "type": "python",
             "request": "launch",
             "stopOnEntry": true,
-            "pythonPath": "${command:python.pythonPath}",
+            "python": "${command:python.pythonPath}",
             "program": "${file}",
             "cwd": "${workspaceRoot}",
             "env": {},