__assert_func has to be non-returning,

Otherwise undefined behavior. Replaced with a debug_assert. Now calibration returns correctly after debug_assert Changed calibration return error reporting.
dzid26 · Jul 21, 2023 · 909aeeb · 909aeeb
1 parent a7e0ff7
commit 909aeeb
Show file tree

Hide file tree

Showing 3 changed files with 22 additions and 8 deletions.
diff --git a/firmware/src/APP/main.c b/firmware/src/APP/main.c
@@ -37,12 +37,12 @@
 
 extern void initialise_monitor_handles(void); //semihosting
 
-//Newlib-nano redefine - assert without aborting
-void __assert_func(const char *file, int line, const char *func, const char *failedexpr) {
+//similar to assert() but continues after pause
+void debug_assert_func(const char *file, int line, const char *func, const char *failedexpr) {
 	(void) printf("\nAssertion \"%s\" failed: file \"%s\", line %d%s%s\n",
 		failedexpr, file, line,
 		func ? ", function: " : "", func ? func : "");
-		__ASM volatile("BKPT #02"); //debug on error and return, instead of newlib's abort
+		__ASM ("BKPT #02"); //debug on error and return, instead of newlib's abort
 }
 #endif //DEBUG
 
@@ -91,7 +91,7 @@ static void RunCalibration(void){
 
 		//assert errors
 		err1 = !CalibrationTable_calValid();
-		err2 = max_error > CALIBRATION_MAX_ERROR;
+		err2 = max_error >= CALIBRATION_MAX_ERROR;
 
 	}while(err1 || err2);
 	Set_Error_LED(false);

diff --git a/firmware/src/APP/main.h b/firmware/src/APP/main.h
@@ -2,6 +2,17 @@
 #define __MAIN_H
 
 #include <stdbool.h>
+#include <assert.h>
+
+#ifdef DEBUG
+# define debug_assert(__e) ((__e) ? (void)0 : debug_assert_func(__FILE__, __LINE__, \
+						       __ASSERT_FUNC, #__e))
+
+void debug_assert_func(const char *file, int line, const char *func, const char *failedexpr);
+#else
+# define debug_assert(__e) ((void)0)
+#endif /* DEBUG */
+
 
 extern volatile bool runCalibration; //calibration running
 

diff --git a/firmware/src/BSP/calibration.c b/firmware/src/BSP/calibration.c
@@ -25,7 +25,7 @@
 #include "encoder.h"
 #include "delay.h"
 #include "actuator_config.h"
-#include <assert.h>
+#include "main.h"
 
 static volatile CalData_t calData[CALIBRATION_TABLE_SIZE];
 
@@ -244,12 +244,15 @@ static uint16_t CalibrationMove(int8_t dir, bool verifyOnly, bool firstPass){
 				//sampled - cal uses unsigned int wrap around math, then casts to signed to halve the distance,
 				//then casts back to unsigned to allow wrap around math again
 				volatile int16_t deltaCal = (int16_t)(uint16_t)(sampled - cal);
-				if((deltaCal > CALIBRATION_MAX_HYSTERESIS) || (deltaCal < -CALIBRATION_MAX_HYSTERESIS)){//should not happen if magnet is stationary
-					assert(0); //stop in debugger
+				if((deltaCal > CALIBRATION_MAX_HYSTERESIS) || (deltaCal < -CALIBRATION_MAX_HYSTERESIS)){
+					debug_assert(0); //stop in debugger
 					if (deltaCal < 0){ //abs
 						deltaCal = -deltaCal;
 					}
-					return (ANGLE_STEPS/2U) + (uint16_t)deltaCal; //add half rotation to the error to make sure it fails due to large error
+					if(deltaCal < CALIBRATION_MAX_ERROR){
+						deltaCal = CALIBRATION_MAX_ERROR; //make sure it fails down the stream
+					}
+					return (ANGLE_STEPS/2U) + (uint16_t)deltaCal; 
 				}
 				anglePass = cal + (uint16_t)(int16_t)(deltaCal/2);
 			}