Merge branch 'devel' into input-filter

Firmware/MotorControl/encoder.cpp

@@ -271,8 +271,10 @@ bool Encoder::update() {
                 if (delta_enc > 3)
                     delta_enc -= 6;
             } else {
-                set_error(ERROR_ILLEGAL_HALL_STATE);
-                return false;
+                if (!config_.ignore_illegal_hall_state) {
+                    set_error(ERROR_ILLEGAL_HALL_STATE);
+                    return false;
+                }
             }
         } break;
         

Firmware/MotorControl/encoder.hpp

@@ -37,6 +37,7 @@ public:
         float offset_float = 0.0f; // Sub-count phase alignment offset
         float calib_range = 0.02f;
         float bandwidth = 1000.0f;
+        bool ignore_illegal_hall_state = false;
     };
 
     Encoder(const EncoderHardwareConfig_t& hw_config,
@@ -106,7 +107,8 @@ public:
                 make_protocol_property("offset_float", &config_.offset_float),
                 make_protocol_property("bandwidth", &config_.bandwidth,
                     [](void* ctx) { static_cast<Encoder*>(ctx)->update_pll_gains(); }, this),
-                make_protocol_property("calib_range", &config_.calib_range)
+                make_protocol_property("calib_range", &config_.calib_range),
+                make_protocol_property("ignore_illegal_hall_state", &config_.ignore_illegal_hall_state)
             )
         );
     }

Firmware/MotorControl/low_level.cpp

@@ -713,4 +713,33 @@ void pwm_in_cb(int channel, uint32_t timestamp) {
     last_timestamp[gpio_num - 1] = timestamp;
     last_pin_state[gpio_num - 1] = current_pin_state;
     last_sample_valid[gpio_num - 1] = true;
-}
+}
+
+
+/* Analog speed control input */
+
+static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
+{
+    float fraction = get_adc_voltage(get_gpio_port_by_pin(gpio), get_gpio_pin_by_pin(gpio)) / 3.3f;
+    float value = map->min + (fraction * (map->max - map->min));
+    get_endpoint(map->endpoint)->set_from_float(value);
+}
+
+static void analog_polling_thread(void *)
+{
+    while (true) {
+        for (int i = 0; i < GPIO_COUNT; i++) {
+            struct PWMMapping_t *map = &board_config.analog_mappings[i];
+
+            if (is_endpoint_ref_valid(map->endpoint))
+                update_analog_endpoint(map, i + 1);
+        }
+        osDelay(10);
+    }
+}
+
+void start_analog_thread()
+{
+    osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 4*512);
+    osThreadCreate(osThread(thread_def), NULL);
+}

Firmware/MotorControl/low_level.h

@@ -51,6 +51,7 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
 void start_general_purpose_adc();
 float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin);
 void pwm_in_init();
+void start_analog_thread();
 
 void update_brake_current();
 

Firmware/MotorControl/main.cpp

@@ -214,6 +214,8 @@ int odrive_main(void) {
         axes[i]->start_thread();
     }
 
+    start_analog_thread();
+
     system_stats_.fully_booted = true;
     return 0;
 }

Firmware/MotorControl/odrive_main.h

@@ -82,6 +82,7 @@ struct BoardConfig_t {
                                                                         //<! the brake power if the brake resistor is disabled.
                                                                         //<! The default is 26V for the 24V board version and 52V for the 48V board version.
     PWMMapping_t pwm_mappings[GPIO_COUNT];
+    PWMMapping_t analog_mappings[GPIO_COUNT];
 };
 extern BoardConfig_t board_config;
 extern bool user_config_loaded_;