Revert "add back subcomponent error flags"

This reverts commit cc7bbd4.
odriverobotics · Apr 7, 2022 · 4ec5a01 · 4ec5a01
1 parent 58a6567
commit 4ec5a01
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Showing 7 changed files with 2 additions and 24 deletions.
diff --git a/Arduino/ODriveArduino/ODriveEnums.h b/Arduino/ODriveArduino/ODriveEnums.h
@@ -120,10 +120,6 @@ enum CanError {
 enum AxisError {
     AXIS_ERROR_NONE                          = 0x00000000,
     AXIS_ERROR_INVALID_STATE                 = 0x00000001,
-    AXIS_ERROR_MOTOR_FAILED                  = 0x00000040,
-    AXIS_ERROR_SENSORLESS_ESTIMATOR_FAILED   = 0x00000080,
-    AXIS_ERROR_ENCODER_FAILED                = 0x00000100,
-    AXIS_ERROR_CONTROLLER_FAILED             = 0x00000200,
     AXIS_ERROR_WATCHDOG_TIMER_EXPIRED        = 0x00000800,
     AXIS_ERROR_MIN_ENDSTOP_PRESSED           = 0x00001000,
     AXIS_ERROR_MAX_ENDSTOP_PRESSED           = 0x00002000,

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
@@ -70,7 +70,6 @@ void Encoder::set_error(Error error) {
     vel_estimate_valid_ = false;
     pos_estimate_valid_ = false;
     error_ |= error;
-    axis_->error_ |= Axis::ERROR_ENCODER_FAILED;
 }
 
 bool Encoder::do_checks(){

diff --git a/Firmware/MotorControl/main.cpp b/Firmware/MotorControl/main.cpp
@@ -439,11 +439,8 @@ void ODrive::control_loop_cb(uint32_t timestamp) {
         MEASURE_TIME(axis.task_times_.sensorless_estimator_update)
             axis.sensorless_estimator_.update();
 
-        MEASURE_TIME(axis.task_times_.controller_update) {
-            if (!axis.controller_.update()) { // uses position and velocity from encoder
-                axis.error_ |= Axis::ERROR_CONTROLLER_FAILED;
-            }
-        }
+        MEASURE_TIME(axis.task_times_.controller_update)
+            axis.controller_.update(); // uses position and velocity from encoder
 
         MEASURE_TIME(axis.task_times_.open_loop_controller_update)
             axis.open_loop_controller_.update(timestamp);

diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp
@@ -339,7 +339,6 @@ bool Motor::setup() {
 
 void Motor::disarm_with_error(Motor::Error error){
     error_ |= error;
-    axis_->error_ |= Axis::ERROR_MOTOR_FAILED;
     last_error_time_ = odrv.n_evt_control_loop_ * current_meas_period;
     disarm();
 }

diff --git a/Firmware/MotorControl/sensorless_estimator.cpp b/Firmware/MotorControl/sensorless_estimator.cpp
@@ -29,7 +29,6 @@ bool SensorlessEstimator::update() {
     // Check that we don't get problems with discrete time approximation
     if (!(current_meas_period * pll_kp < 1.0f)) {
         error_ |= ERROR_UNSTABLE_GAIN;
-        axis_->error_ |= Axis::ERROR_SENSORLESS_ESTIMATOR_FAILED;
         reset(); // Reset state for when the next valid current measurement comes in.
         return false;
     }
@@ -44,7 +43,6 @@ bool SensorlessEstimator::update() {
     }
     if (!current_meas.has_value()) {
         error_ |= ERROR_UNKNOWN_CURRENT_MEASUREMENT;
-        axis_->error_ |= Axis::ERROR_SENSORLESS_ESTIMATOR_FAILED;
         reset(); // Reset state for when the next valid current measurement comes in.
         return false;
     }

diff --git a/Firmware/odrive-interface.yaml b/Firmware/odrive-interface.yaml
@@ -446,13 +446,6 @@ interfaces:
               tried to run encoder calibration or closed loop control before the
               motor was calibrated, or you tried to run closed loop control
               before the encoder was calibrated.
-          MOTOR_FAILED:
-            bit: 6
-            doc: Check `motor.error` for more information.
-          SENSORLESS_ESTIMATOR_FAILED:
-          ENCODER_FAILED:
-            doc: Check `encoder.error` for more information.
-          CONTROLLER_FAILED:
           WATCHDOG_TIMER_EXPIRED:
             bit: 11
             brief: The axis watchdog timer expired.

diff --git a/tools/odrive/enums.py b/tools/odrive/enums.py
@@ -95,10 +95,6 @@
 # ODrive.Axis.Error
 AXIS_ERROR_NONE                          = 0x00000000
 AXIS_ERROR_INVALID_STATE                 = 0x00000001
-AXIS_ERROR_MOTOR_FAILED                  = 0x00000040
-AXIS_ERROR_SENSORLESS_ESTIMATOR_FAILED   = 0x00000080
-AXIS_ERROR_ENCODER_FAILED                = 0x00000100
-AXIS_ERROR_CONTROLLER_FAILED             = 0x00000200
 AXIS_ERROR_WATCHDOG_TIMER_EXPIRED        = 0x00000800
 AXIS_ERROR_MIN_ENDSTOP_PRESSED           = 0x00001000
 AXIS_ERROR_MAX_ENDSTOP_PRESSED           = 0x00002000