Mirrors_Framework/ODrive
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Merge branch 'devel' into Endstops

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This commit is contained in:
Paul Guenette
2019-04-23 21:48:43 +02:00
parent d90793b788 7eb4f2a584
commit 1e5b82ca8b
52 changed files with 1008 additions and 371 deletions
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Firmware/MotorControl/main.cpp
+5 -4
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@@ -51,7 +51,7 @@ void save_configuration(void) {
}
}
void load_configuration(void) {
extern "C" int load_configuration(void) {
// Try to load configs
if (NVM_init() ||
ConfigFormat::safe_load_config(
@@ -81,6 +81,7 @@ void load_configuration(void) {
} else {
user_config_loaded_ = true;
}
return user_config_loaded_;
}
void erase_configuration(void) {
@@ -107,7 +108,7 @@ void enter_dfu_mode() {
extern "C" {
int odrive_main(void);
void vApplicationStackOverflowHook(void) {
void vApplicationStackOverflowHook(xTaskHandle *pxTask, signed portCHAR *pcTaskName) {
for (;;); // TODO: safe action
}
void vApplicationIdleHook(void) {
@@ -126,8 +127,6 @@ void vApplicationIdleHook(void) {
}
int odrive_main(void) {
// Load persistent configuration (or defaults)
load_configuration();
#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
if (board_config.enable_i2c_instead_of_can) {
@@ -226,6 +225,8 @@ int odrive_main(void) {
axes[i]->start_thread();
}
start_analog_thread();
system_stats_.fully_booted = true;
return 0;
}