From 7a8dbfeed10132df303f88824a97dad3c1c0d1a9 Mon Sep 17 00:00:00 2001
From: pmoegenburg <pbm53@cornell.edu>
Date: Thu, 25 Jan 2024 16:49:25 -0500
Subject: [PATCH] fixed tests and HAL_GPIO_EXTI_Callback

---
 gripper/firmware/motor_hardware_shared.c                 | 6 +-----
 include/motor-control/tests/mock_motor_driver_client.hpp | 4 ++++
 2 files changed, 5 insertions(+), 5 deletions(-)

diff --git a/gripper/firmware/motor_hardware_shared.c b/gripper/firmware/motor_hardware_shared.c
index 2017fd2e3..f6118af8b 100644
--- 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
index ac760bc14..d9651bb69 100644
--- 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{};
 };