use error code instead of new error msg

Opentrons · Mar 4, 2024 · 5b838f3 · 5b838f3
1 parent f004401
commit 5b838f3
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Showing 5 changed files with 12 additions and 16 deletions.
diff --git a/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/errors.hpp b/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/errors.hpp
@@ -61,6 +61,7 @@ enum class ErrorCode {
     SEAL_MOTOR_STALL = 506,
     LID_CLOSED = 507,
     SEAL_MOTOR_SWITCH = 508,
+    UNEXPECTED_LID_STATE = 509,
 };
 
 auto errorstring(ErrorCode code) -> const char*;

diff --git a/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp b/stm32-modules/include/thermocycler-gen2/thermocycler-gen2/motor_task.hpp
@@ -26,7 +26,7 @@ namespace motor_task {
 /*
  * The MotorExecutionPolicy is how the portable task interacts
  * with the hardware. It is defined as a concept so it can be
- * passed as a reference paramter to run_once(), which means the
+ * passed as a reference parameter to run_once(), which means the
  * type of policy in actual use does not have to be part of the class's
  * type signature (which is used all over the place), just run_once's
  * type signature, which is used just by the rtos task and the test
@@ -1289,8 +1289,10 @@ class MotorTask {
                     motor_util::LidStepper::Position::CLOSED;
                 // The overall lid state machine can advance now
                 error = handle_lid_state_end(policy);
-                // TODO(Frank, Mar-7-2022) check if the lid didn't make it in
-                // all the way
+                // if the lid isn't actually closed, overwrite error status
+                if (!policy.lid_read_closed_switch()) {
+                    error = errors::ErrorCode::UNEXPECTED_LID_STATE;
+                }
                 break;
             case LidStepperState::Status::LIFT_NUDGE:
                 policy.lid_stepper_start(

diff --git a/stm32-modules/thermocycler-gen2/firmware/motor_task/freertos_motor_task.cpp b/stm32-modules/thermocycler-gen2/firmware/motor_task/freertos_motor_task.cpp
@@ -47,12 +47,7 @@ static MotorPolicy _policy(false);
  * @brief This function is called after the lid stepper has stepped the
  * requested number of steps.
  */
-static void handle_lid_stepper(bool lid_stepper_error) {
-    if (error) {
-        static_cast<void>(_task.get_message_queue().try_send_from_isr(
-            messages::MotorMessage(messages::LidStepperError{})));
-    }
-
+static void handle_lid_stepper() {
     static_cast<void>(_task.get_message_queue().try_send_from_isr(
         messages::MotorMessage(messages::LidStepperComplete{})));
 }

diff --git a/stm32-modules/thermocycler-gen2/firmware/motor_task/motor_hardware.c b/stm32-modules/thermocycler-gen2/firmware/motor_task/motor_hardware.c
@@ -248,21 +248,18 @@ void motor_hardware_lid_stepper_stop() {
 
 void motor_hardware_lid_increment() {
     bool done = false;
-    bool sensor_triggered = false;
     _motor_hardware.lid_stepper.step_count++;
     // Only check stop switches if this is NOT an overdrive
     if(!_motor_hardware.lid_stepper.overdrive) {
         if(_motor_hardware.lid_stepper.direction) {
             // Check if lid is open
             if(motor_hardware_lid_read_open()) {
                 done = true;
-                sensor_triggered = true;
             }
         } else {
             // Check if lid is closed
             if(motor_hardware_lid_read_closed()) {
                 done = true;
-                sensor_triggered = true;
             }
         }
     }
@@ -272,10 +269,8 @@ void motor_hardware_lid_increment() {
         done = true;
     }
 
-    if (done) {
-        bool error = !sensor_triggered;
-        // throw an error if stepping is finished but neither sensor is triggered
-        motor_hardware_lid_stepper_stop(error);
+    if(done) {
+        motor_hardware_lid_stepper_stop();
         _motor_hardware.callbacks.lid_stepper_complete();
     }
 }

diff --git a/stm32-modules/thermocycler-gen2/src/errors.cpp b/stm32-modules/thermocycler-gen2/src/errors.cpp
@@ -87,6 +87,8 @@ const char* const SEAL_MOTOR_SWITCH =
     "ERR508:seal:Seal switch should not be engaged OK\n";
 
 const char* const UNKNOWN_ERROR = "ERR-1:unknown error code OK\n";
+const char* const UNEXPECTED_LID_STATE =
+    "ERR509:lid:Lid status does not match expected open/closed status";
 
 // NOLINTNEXTLINE(cppcoreguidelines-macro-usage)
 #define HANDLE_CASE(errname) \
@@ -144,6 +146,7 @@ auto errors::errorstring(ErrorCode code) -> const char* {
         HANDLE_CASE(SEAL_MOTOR_STALL);
         HANDLE_CASE(LID_CLOSED);
         HANDLE_CASE(SEAL_MOTOR_SWITCH);
+        HANDLE_CASE(UNEXPECTED_LID_STATE);
     }
     return UNKNOWN_ERROR;
 }