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sensor_ldc1612: Halt homing if sensor reports a warning

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Explicitly check for sensor warnings during homing and report an error
code back to the host.

Signed-off-by: Kevin O'Connor <kevin@koconnor.net>
This commit is contained in:
Kevin O'Connor 2024-05-01 21:10:17 -04:00
parent 37482178b5
commit 4a92727eab
3 changed files with 20 additions and 9 deletions
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11
src/sensor_ldc1612.c
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@ -31,7 +31,7 @@ struct ldc1612 {
// homing
struct trsync *ts;
uint8_t homing_flags;
uint8_t trigger_reason;
uint8_t trigger_reason, error_reason;
uint32_t trigger_threshold;
uint32_t homing_clock;
};
@ -95,11 +95,12 @@ command_ldc1612_setup_home(uint32_t *args)
ld->homing_clock = args[1];
ld->ts = trsync_oid_lookup(args[3]);
ld->trigger_reason = args[4];
ld->error_reason = args[5];
ld->homing_flags = LH_AWAIT_HOMING | LH_CAN_TRIGGER;
}
DECL_COMMAND(command_ldc1612_setup_home,
"ldc1612_setup_home oid=%c clock=%u threshold=%u"
" trsync_oid=%c trigger_reason=%c");
" trsync_oid=%c trigger_reason=%c error_reason=%c");
void
command_query_ldc1612_home_state(uint32_t *args)
@ -118,6 +119,12 @@ check_home(struct ldc1612 *ld, uint32_t data)
uint8_t homing_flags = ld->homing_flags;
if (!(homing_flags & LH_CAN_TRIGGER))
return;
if (data > 0x0fffffff) {
// Sensor reports an issue - cancel homing
ld->homing_flags = 0;
trsync_do_trigger(ld->ts, ld->error_reason);
return;
}
uint32_t time = timer_read_time();
if ((homing_flags & LH_AWAIT_HOMING)
&& timer_is_before(time, ld->homing_clock))