cleanup

Opentrons · Aug 12, 2024 · d441d2e · d441d2e
1 parent 884e576
commit d441d2e
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Showing 4 changed files with 10 additions and 20 deletions.
diff --git a/head/firmware/stm32g4xx_it.c b/head/firmware/stm32g4xx_it.c
@@ -178,14 +178,11 @@ void TIM2_IRQHandler(void) { HAL_TIM_IRQHandler(&htim2); }
 void TIM3_IRQHandler(void) { HAL_TIM_IRQHandler(&htim3); }
 
 void EXTI15_10_IRQHandler(void) {
-    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
-    HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_15);
-    /*if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_13)) {
+    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_13)) {
         HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_13);
-    }
-    if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_15)) {
+    } else if (__HAL_GPIO_EXTI_GET_IT(GPIO_PIN_15)) {
         HAL_GPIO_EXTI_IRQHandler(GPIO_PIN_15);
-    }*/
+    }
 }
 
 extern void xPortSysTickHandler(void);

diff --git a/include/motor-control/core/tasks/motion_controller_task.hpp b/include/motor-control/core/tasks/motion_controller_task.hpp
@@ -10,7 +10,7 @@
 #include "motor-control/core/tasks/messages.hpp"
 #include "motor-control/core/tasks/tmc_motor_driver_common.hpp"
 
-constexpr uint32_t DIAG0_DEBOUNCE_REPS = 0; // 9
+constexpr uint32_t DIAG0_DEBOUNCE_REPS = 9;
 constexpr uint32_t DIAG0_DEBOUNCE_DELAY = 100;
 
 namespace motion_controller_task {
@@ -205,16 +205,6 @@ class MotionControllerMessageHandler {
         const motor_control_task_messages::RouteMotorDriverInterrupt& m) {
         if (m.debounce_count > DIAG0_DEBOUNCE_REPS) {
             if (controller.read_tmc_diag0()) {
-                can_client.send_can_message(
-                    can::ids::NodeId::host,
-                    can::messages::ErrorMessage{
-                        .message_index = m.message_index,
-                        .severity = can::ids::ErrorSeverity::unrecoverable,
-                        .error_code = can::ids::ErrorCode::
-                            motor_driver_error_detected});
-                driver_client.send_motor_driver_queue(
-                    can::messages::ReadMotorDriverErrorStatusRequest{
-                        .message_index = m.message_index});
                 controller.stop(
                     can::ids::ErrorSeverity::unrecoverable,
                     can::ids::ErrorCode::motor_driver_error_detected);

diff --git a/include/pipettes/core/tasks/motion_controller_task.hpp b/include/pipettes/core/tasks/motion_controller_task.hpp
@@ -11,6 +11,9 @@
 #include "motor-control/core/tasks/usage_storage_task.hpp"
 #include "pipettes/core/tasks/messages.hpp"
 
+constexpr uint32_t DIAG0_DEBOUNCE_REPS = 9;
+constexpr uint32_t DIAG0_DEBOUNCE_DELAY = 100;
+
 namespace pipettes {
 
 namespace tasks {
@@ -156,7 +159,7 @@ class MotionControllerMessageHandler {
 
     void handle(const pipettes::task_messages::motor_control_task_messages::
                     RouteMotorDriverInterrupt& m) {
-        if (m.debounce_count > 9) {
+        if (m.debounce_count > DIAG0_DEBOUNCE_REPS) {
             if (controller.read_tmc_diag0()) {
                 controller.stop(
                     can::ids::ErrorSeverity::unrecoverable,
@@ -176,7 +179,7 @@ class MotionControllerMessageHandler {
             }
             diag0_debounced = false;
         } else {
-            vTaskDelay(pdMS_TO_TICKS(100));
+            vTaskDelay(pdMS_TO_TICKS(DIAG0_DEBOUNCE_DELAY));
             motion_client.send_motion_controller_queue(
                 increment_message_debounce_count(m));
         }

diff --git a/motor-control/firmware/stepper_motor/motor_hardware.cpp b/motor-control/firmware/stepper_motor/motor_hardware.cpp
@@ -24,7 +24,7 @@ void MotorHardware::activate_motor() {
 void MotorHardware::deactivate_motor() {
     if (pins.ebrake.has_value()) {
         gpio::set(pins.ebrake.value());
-        motor_hardware_delay(20); // need more time? How was this derived?
+        motor_hardware_delay(20);
     }
     gpio::reset(pins.enable);
 }