From 0c270eaa615cee358e7ef68695f7504682708da3 Mon Sep 17 00:00:00 2001 From: Paul Guenette Date: Sat, 25 May 2019 21:22:07 +0200 Subject: [PATCH] Remove SPI_COM_FAIL error, add spi_error_rate_ to protocol --- Firmware/MotorControl/encoder.cpp | 4 ++-- Firmware/MotorControl/encoder.hpp | 4 ++-- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp index 316032da..d79d2b2e 100644 --- a/Firmware/MotorControl/encoder.cpp +++ b/Firmware/MotorControl/encoder.cpp @@ -445,8 +445,8 @@ bool Encoder::update() { if(abs_spi_pos_updated_ == false && abs_spi_pos_init_once_){ // Low pass filter the error spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_); - if (spi_error_rate_ > 0.005f) - set_error(ERROR_ABS_SPI_COM_FAIL); + // if (spi_error_rate_ > 0.005f) + // set_error(ERROR_ABS_SPI_COM_FAIL); } else // Low pass filter the error diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp index acc0abc3..c93c08d8 100644 --- a/Firmware/MotorControl/encoder.hpp +++ b/Firmware/MotorControl/encoder.hpp @@ -133,8 +133,8 @@ public: make_protocol_ro_property("vel_estimate", &vel_estimate_), make_protocol_ro_property("calib_scan_response", &calib_scan_response_), make_protocol_property("pos_abs", &pos_abs_), - // make_protocol_property("pll_kp", &pll_kp_), - // make_protocol_property("pll_ki", &pll_ki_), + make_protocol_ro_property("spi_error_rate", &spi_error_rate_), + make_protocol_object("config", make_protocol_property("mode", &config_.mode, [](void* ctx) { static_cast(ctx)->abs_spi_init(); }, this),