From 2966b16920826c5c3f3a8143ea20e3a01aa77750 Mon Sep 17 00:00:00 2001
From: Jake Read <jake.read@cba.mit.edu>
Date: Tue, 1 Feb 2022 20:19:47 -0500
Subject: [PATCH] home in bus interrupt
---
firmware/stepper-drop/src/main.cpp | 10 ++++++----
firmware/stepper-drop/src/osape-d51 | 2 +-
2 files changed, 7 insertions(+), 5 deletions(-)
diff --git a/firmware/stepper-drop/src/main.cpp b/firmware/stepper-drop/src/main.cpp
index be9ee3b..706fc85 100644
--- a/firmware/stepper-drop/src/main.cpp
+++ b/firmware/stepper-drop/src/main.cpp
@@ -119,8 +119,6 @@ void loop() {
osapLoop();
stepper_hw->dacRefresh();
limitHit() ? ERRLIGHT_ON : ERRLIGHT_OFF;
- // home statemachine
- if(getHomeState() != HOMESTATE_NONE) runHomingRoutine();
} // end loop
// -------------------------------------------------------- BUS INTERRUPT / STEP
@@ -138,10 +136,14 @@ void ucBusDrop_onPacketARx(uint8_t* inBufferA, volatile uint16_t len){
}
void ucBusDrop_onRxISR(void){
+ // if we're currently homing the motor, bail
+ // home statemachine
+ if(getHomeState() != HOMESTATE_NONE){
+ runHomingRoutine();
+ return;
+ }
// if we dont' have valid steps, bail
if(!stepValid) return;
- // if we're currently homing the motor, bail
- if(getHomeState() != HOMESTATE_NONE) return;
// extract our step mask
stepMask = 0b00000011 & (stepCache[cachePtr] >> (axisPick * 2));
// mask -> step api:
diff --git a/firmware/stepper-drop/src/osape-d51 b/firmware/stepper-drop/src/osape-d51
index 53c513f..f33baa5 160000
--- a/firmware/stepper-drop/src/osape-d51
+++ b/firmware/stepper-drop/src/osape-d51
@@ -1 +1 @@
-Subproject commit 53c513f461e43ac61d13d0111127b3f174fef466
+Subproject commit f33baa5ff96067f3474518abdd5f7d44712c6121
--
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