Increased error printer memory

Author: Ultrawipf

Firmware/FFBoard/Src/CommandInterface.cpp

@@ -218,6 +218,7 @@ void CDC_CommandInterface::sendReplies(std::vector<CommandResult>& results,Comma
 		return;
 	}
 	std::string replystr;
+	replystr.reserve(100);
 	StringCommandInterface::formatReply(replystr,results, originalInterface != this && originalInterface != nullptr);
 	if(!replystr.empty())
 		CDCcomm::cdcSend(&replystr, 0);

Firmware/FFBoard/Src/ErrorHandler.cpp

@@ -9,6 +9,7 @@
 #include "global_callbacks.h"
 #include "FFBoardMain.h"
 #include "cppmain.h"
+#include "critical.hpp"
 
 std::vector<ErrorHandler*> ErrorHandler::errorHandlers;
 std::vector<Error> ErrorHandler::errors;
@@ -71,9 +72,11 @@ void ErrorHandler::addError(Error error){
 	errors.push_back(error);
 
 	// Call all error handler with this error
+	//cpp_freertos::CriticalSection::SuspendScheduler();
 	for(ErrorHandler* e : errorHandlers){
 		e->errorCallback(error, false);
 	}
+	//cpp_freertos::CriticalSection::ResumeScheduler();
 }
 
 void ErrorHandler::clearError(Error error){
@@ -122,7 +125,7 @@ void ErrorHandler::errorCallback(Error &error, bool cleared){
 //	return info;
 //}
 
-ErrorPrinter::ErrorPrinter() : Thread("errprint",256,17){ // Higher than default task but low.
+ErrorPrinter::ErrorPrinter() : Thread("errprint",512,19){ // Higher than default task but low.
 	this->Start();
 }
 

Firmware/FFBoard/UserExtensions/Inc/TMC4671.h

@@ -438,7 +438,8 @@ class TMC4671 : public MotorDriver, public PersistentStorage, public Encoder, pu
 	OutputPin enablePin = OutputPin(*DRV_ENABLE_GPIO_Port,DRV_ENABLE_Pin);
 
 
-	Error lowVoltageError = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage");
+	const Error lowVoltageError = Error(ErrorCode::undervoltage,ErrorType::warning,"Low motor voltage");
+	const Error communicationError = Error(ErrorCode::tmcCommunicationError, ErrorType::warning, "TMC not responding");
 	ENC_InitState encstate = ENC_InitState::uninitialized;
 	TMC_ControlState state = TMC_ControlState::uninitialized;
 	TMC_ControlState laststate = TMC_ControlState::uninitialized;

Firmware/FFBoard/UserExtensions/Inc/eeprom_addresses.h

@@ -48,6 +48,7 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) will return 1 if
 #define ADR_SPI_BTN_1_CONF_2            0x206
 #define ADR_SPI_BTN_2_CONF_2            0x207
 
+// Local encoder
 #define ADR_ENCLOCAL_CPR				0x210
 
 // PWM
@@ -150,6 +151,6 @@ uint16_t EE_ReadVariable(uint16_t VirtAddress, uint16_t* Data) will return 1 if
 #define ADR_VESC_OFFSET					0x3E1
 
 //MT Encoder
-#define ADR_MTENC_CONF1					0x3F0
+#define ADR_MTENC_CONF1					0x401
 
 #endif /* EEPROM_ADDRESSES_H_ */

Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp

@@ -29,7 +29,7 @@ bool TMC_1::isCreatable() {
 
 ClassIdentifier TMC_2::info = {
 	.name = "TMC4671 (CS 2)" ,
-	.id=CLSID_MOT_TMC0, // 2
+	.id=CLSID_MOT_TMC1,
 };
 
 
@@ -42,7 +42,7 @@ bool TMC_2::isCreatable() {
 
 ClassIdentifier TMC4671::info = {
 	.name = "TMC4671" ,
-	.id=CLSID_MOT_TMC0, // 3
+	.id=CLSID_MOT_TMC0,
 };
 
 
@@ -188,7 +188,7 @@ bool TMC4671::initialize(){
 //	}
 	// Check if a TMC4671 is active and replies correctly
 	if(!pingDriver()){
-		ErrorHandler::addError(Error(ErrorCode::tmcCommunicationError, ErrorType::warning, std::string(this->getInfo().name) + " " + std::to_string(this->getCommandHandlerInfo()->instance) + " not responding"));
+		ErrorHandler::addError(communicationError);
 		return false;
 	}
 
@@ -1157,8 +1157,10 @@ void TMC4671::stopMotor(){
 void TMC4671::startMotor(){
 	active = true;
 	if(!initialized || emergency){
-		initialize();
+		//initialize();
 		emergency = false;
+		if(state != TMC_ControlState::Init_wait)
+			changeState(TMC_ControlState::Init_wait);
 	}
 
 	if(state == TMC_ControlState::Shutdown && initialized && encstate == ENC_InitState::OK){