From e94230275eae8865b0aea40bdf16347297f4552c Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Mon, 18 Mar 2019 21:09:46 -0700
Subject: [PATCH] add python side enum, fix instant timout on 1st iteration

---
 Firmware/MotorControl/axis.cpp | 3 +++
 tools/odrive/enums.py          | 1 +
 2 files changed, 4 insertions(+)

diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp
index d20f292a..80987c00 100644
--- a/Firmware/MotorControl/axis.cpp
+++ b/Firmware/MotorControl/axis.cpp
@@ -99,6 +99,9 @@ void Axis::update_watchdog_settings() {
     } 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
diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
index fc5439bd..d4425a21 100644
--- a/tools/odrive/enums.py
+++ b/tools/odrive/enums.py
@@ -27,6 +27,7 @@ class errors:
         ERROR_ENCODER_FAILED = 0x100 # Go to encoder.hpp for information, check odrvX.axisX.encoder.error for error value
         ERROR_CONTROLLER_FAILED = 0x200
         ERROR_POS_CTRL_DURING_SENSORLESS = 0x400
+        ERROR_WATCHDOG_TIMER_EXPIRED = 0x800
 
     class motor:
         ERROR_NONE = 0