Fix transient encoder error when error checking enabled

pcw-mesa · pcw-mesa · commit f3753247820b · 2024-01-23T08:32:36.000-08:00
diff --git a/src/hal/drivers/mesa-hostmot2/encoder.c b/src/hal/drivers/mesa-hostmot2/encoder.c
@@ -138,7 +138,7 @@ static void hm2_encoder_read_control_register(hostmot2_t *hm2) {
                 e->reset_quadrature_error = 1;
                 hm2_encoder_force_write(hm2);
             }
-            int state = (hm2->encoder.read_control_reg[i] & HM2_ENCODER_CONTROL_MASK) & HM2_ENCODER_QUADRATURE_ERROR;
+            int state = ((hm2->encoder.read_control_reg[i] & HM2_ENCODER_CONTROL_MASK) & HM2_ENCODER_QUADRATURE_ERROR) && e->prev_quadrature_error_enable;
             if ((*e->hal.pin.quadrature_error == 0) && state) {
                 HM2_ERR("Encoder %d: quadrature count error\n", i);
             }

Original file line number	Diff line number	Diff line change
`@@ -138,7 +138,7 @@ static void hm2_encoder_read_control_register(hostmot2_t *hm2) {`
`138`	`138`	`e->reset_quadrature_error = 1;`
`139`	`139`	`hm2_encoder_force_write(hm2);`
`140`	`140`	`}`
`141`		`- int state = (hm2->encoder.read_control_reg[i] & HM2_ENCODER_CONTROL_MASK) & HM2_ENCODER_QUADRATURE_ERROR;`
	`141`	`+ int state = ((hm2->encoder.read_control_reg[i] & HM2_ENCODER_CONTROL_MASK) & HM2_ENCODER_QUADRATURE_ERROR) && e->prev_quadrature_error_enable;`
`142`	`142`	`if ((*e->hal.pin.quadrature_error == 0) && state) {`
`143`	`143`	`HM2_ERR("Encoder %d: quadrature count error\n", i);`
`144`	`144`	`}`