Attempt various fixes to the MCMCU commands that check if a certain m…

…otor

has stopped moving.

These fixes don't seem to fix the error in the final position where the
motor is left by the hard home routine, which is probably due to the
clearing of the motor position register after the hard home. Other
approaches should be tried.

delay.h

@@ -10,4 +10,14 @@ void delay_us(unsigned int duration)
 	for (count = 0; count < limit; ++count);
 }
 
+void delay_ms(unsigned int duration)
+{
+	delay_us(duration * 1000);
+}
+
+void delay_s(unsigned int duration)
+{
+	delay_us(duration * 1000000);
+}
+
 #endif

motorctl/gpcorecom.c

@@ -1965,9 +1965,14 @@ inline void check_halt_motor_a(void)
 	int count, prev_steps = motor_steps[MOTOR_A], curr_steps;
 	for (count = HALT_COUNT; count > 0;)
 	{
-		delay_us(5);
+		// QEA and QEB change at a rate of 2 KHz (0.5 ms) at maximum velocity.
+		// Thus, in order to detect changes in the position, we must wait around
+		// 1 second for greater safety.
+		delay_s(1);
+		// Compare the previous and current state of the motor step counter
+		// register to see if there have been any changes in motor position.
 		curr_steps = motor_steps[MOTOR_A];
-		count -= 1 - (curr_steps - prev_steps > 0);
+		count -= 1 - (curr_steps == prev_steps);
 	}
 	mcuicom_send(CMDEND);
 }
@@ -1977,9 +1982,14 @@ inline void check_halt_motor_b(void)
 	int count, prev_steps = motor_steps[MOTOR_B], curr_steps;
 	for (count = HALT_COUNT; count > 0;)
 	{
-		delay_us(5);
+		// QEA and QEB change at a rate of 2 KHz (0.5 ms) at maximum velocity.
+		// Thus, in order to detect changes in the position, we must wait around
+		// 1 second for greater safety.
+		delay_s(1);
+		// Compare the previous and current state of the motor step counter
+		// register to see if there have been any changes in motor position.
 		curr_steps = motor_steps[MOTOR_B];
-		count -= 1 - (curr_steps - prev_steps > 0);
+		count -= 1 - (curr_steps == prev_steps);
 	}
 	mcuicom_send(CMDEND);
 }
@@ -1989,9 +1999,14 @@ inline void check_halt_motor_c(void)
 	int count, prev_steps = motor_steps[MOTOR_C], curr_steps;
 	for (count = HALT_COUNT; count > 0;)
 	{
-		delay_us(5);
+		// QEA and QEB change at a rate of 2 KHz (0.5 ms) at maximum velocity.
+		// Thus, in order to detect changes in the position, we must wait around
+		// 1 second for greater safety.
+		delay_s(1);
+		// Compare the previous and current state of the motor step counter
+		// register to see if there have been any changes in motor position.
 		curr_steps = motor_steps[MOTOR_C];
-		count -= 1 - (curr_steps - prev_steps > 0);
+		count -= 1 - (curr_steps == prev_steps);
 	}
 	mcuicom_send(CMDEND);
 }
@@ -2001,9 +2016,14 @@ inline void check_halt_motor_d(void)
 	int count, prev_steps = motor_steps[MOTOR_D], curr_steps;
 	for (count = HALT_COUNT; count > 0;)
 	{
-		delay_us(5);
+		// QEA and QEB change at a rate of 2 KHz (0.5 ms) at maximum velocity.
+		// Thus, in order to detect changes in the position, we must wait around
+		// 1 second for greater safety.
+		delay_s(1);
+		// Compare the previous and current state of the motor step counter
+		// register to see if there have been any changes in motor position.
 		curr_steps = motor_steps[MOTOR_D];
-		count -= 1 - (curr_steps - prev_steps > 0);
+		count -= 1 - (curr_steps == prev_steps);
 	}
 	mcuicom_send(CMDEND);
 }
@@ -2013,9 +2033,14 @@ inline void check_halt_motor_e(void)
 	int count, prev_steps = motor_steps[MOTOR_E], curr_steps;
 	for (count = HALT_COUNT; count > 0;)
 	{
-		delay_us(5);
+		// QEA and QEB change at a rate of 2 KHz (0.5 ms) at maximum velocity.
+		// Thus, in order to detect changes in the position, we must wait around
+		// 1 second for greater safety.
+		delay_s(1);
+		// Compare the previous and current state of the motor step counter
+		// register to see if there have been any changes in motor position.
 		curr_steps = motor_steps[MOTOR_E];
-		count -= 1 - (curr_steps - prev_steps > 0);
+		count -= 1 - (curr_steps == prev_steps);
 	}
 	mcuicom_send(CMDEND);
 }
@@ -2025,9 +2050,14 @@ inline void check_halt_motor_f(void)
 	int count, prev_steps = motor_steps[MOTOR_F], curr_steps;
 	for (count = HALT_COUNT; count > 0;)
 	{
-		delay_us(5);
+		// QEA and QEB change at a rate of 2 KHz (0.5 ms) at maximum velocity.
+		// Thus, in order to detect changes in the position, we must wait around
+		// 1 second for greater safety.
+		delay_s(1);
+		// Compare the previous and current state of the motor step counter
+		// register to see if there have been any changes in motor position.
 		curr_steps = motor_steps[MOTOR_F];
-		count -= 1 - (curr_steps - prev_steps > 0);
+		count -= 1 - (curr_steps == prev_steps);
 	}
 	mcuicom_send(CMDEND);
 }