fixed tests and HAL_GPIO_EXTI_Callback

Opentrons · Jan 25, 2024 · 7a8dbfe · 7a8dbfe
1 parent 2b2b89a
commit 7a8dbfe
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Showing 2 changed files with 5 additions and 5 deletions.
diff --git a/gripper/firmware/motor_hardware_shared.c b/gripper/firmware/motor_hardware_shared.c
@@ -228,11 +228,7 @@ void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
                 (*diag0_callback)();
             }
         }
-    }
-}
-
-void HAL_GPIO_EXTI_Callback(uint16_t GPIO_Pin) {
-    if (GPIO_Pin == ESTOP_IN_PIN) {
+    } else if (GPIO_Pin == ESTOP_IN_PIN) {
         #if PCBA_PRIMARY_REVISION != 'b' && PCBA_PRIMARY_REVISION != 'a'
             HAL_GPIO_WritePin(EBRAKE_PORT, EBRAKE_PIN, GPIO_PIN_RESET);
         #endif

diff --git a/include/motor-control/tests/mock_motor_driver_client.hpp b/include/motor-control/tests/mock_motor_driver_client.hpp
@@ -11,6 +11,10 @@ struct MockMotorDriverClient {
         messages.push_back(m);
     }
 
+    void send_motor_driver_queue_isr(const tmc::tasks::TaskMessage& m) {
+        messages.push_back(m);
+    }
+
     std::vector<tmc::tasks::TaskMessage> messages{};
 };