Diff: main.cpp

Revision:

4:d04afc466198

Parent:

3:4f215646a42b

Child:

5:e9bb800a3742

--- a/main.cpp	Sun Aug 08 14:47:14 2021 +0000
+++ b/main.cpp	Sun Aug 08 14:59:54 2021 +0000
@@ -12,9 +12,7 @@
 
 /*
 Open issues:
-- need to figure out how to handle transitions to error states
-- Need to test how breaking is performed. 
-- ensure that motor speed is truely zero before exiting.
+- Test how breaking is performed. 
 - Test onboard current limitation
 */
 
@@ -248,7 +246,7 @@
         double currentSpeed_RPM = 0.3*speed_RPM + 0.7*lastSpeedRPM;//filter speed
         
         mut1.lock();//update global variables 
-        _demandSpeed_RPM = demandSpeedRPM;
+        _demandSpeed_RPM = demandSpeed_RPM;
         _currentSpeed_RPM = currentSpeed_RPM;
         mut1.unlock();//end of global variable write
         
@@ -280,7 +278,20 @@
         
         //exit when test has completed
         if ((Tnow >= SPIN_T[5]) || (localState == STATE_ERROR)){ //either if test time has expired, or if system has gone into an error state
-            if(deltaPulses == 0){//check if motor has come to a complete stop
+            Timer timerMotorStopTimeout;
+            bool isTimeout;
+            timerMotorStopTimeout.start();
+            if(timerMotorStopTimeout.read() > MOTOR_STOP_TIMEOUT){
+                isTimeout = 1;
+            }
+            else{
+                isTimeout = 0;
+            }
+            
+                
+            if((deltaPulses == 0) || isTimeout){//check if motor has come to a complete stop or if timeout has occured
+                timerMotorStopTimeout.stop();
+                timerMotorStopTimeout.reset();
                 tickerPrint.detach();//stop the print thread from firing
                 PrintThread.terminate();//terminate print thread???
                 EN_FAULTA.write(0);//disable motor
@@ -299,7 +310,10 @@
                     printf("Test complete\r\n");//Test completed cleanly
                 }
                 else{
-                    switch (errorId){
+                    mut1.lock();
+                    localErrorId = _errorId;
+                    mut1.unlock();
+                    switch (localErrorId){
                         case ERROR_ACCEL://accelerometer detected excess vibration
                             printf("Test terminated.\r\n Please check holder and restart system.\r\n");
                             break;
@@ -310,7 +324,7 @@
                             break;
                     }
                 }
-                mut1.lock()
+                mut1.lock();
                 _state = STATE_READY;//change state
                 mut1.unlock();
                 demandSpeed_RPM = 0.0;//update variables
@@ -325,7 +339,7 @@
                 //encoderTimer.reset();
                 
     
-                printf("state = %d\r\n",state);
+                //printf("state = %d\r\n",state);
                 TestCompleteNotification();//send notification
                 //deactivate motor
                 //CentrifugeTestThread.terminate();//terminate threads
@@ -450,8 +464,9 @@
     pinButton.rise(ISR_Button_Rise);
     pinButton.fall(ISR_Button_Fall);
 */
-    
-    state = STATE_READY;//set state to READY
+    mut1.lock();
+    _state = STATE_READY;//set state to READY
+    mut1.unlock();
     //start all threads
     MotorControlThread.start(MotorControl);