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Fixing error code assignment. Adding SPI ready check.

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This commit is contained in:
Tobin Hall
2019-05-11 23:17:45 +02:00
committed by Paul Guenette
parent 7440d982e3
commit 31a143a500
2 changed files with 11 additions and 7 deletions
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Firmware/MotorControl/encoder.cpp
+8 -5
View File
@@ -13,8 +13,10 @@ Encoder::Encoder(const EncoderHardwareConfig_t& hw_config,
is_ready_ = true;
}
decode_abs_spi_cs_pin();
HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
if(config.mode & Encoder::MODE_FLAG_ABS){
decode_abs_spi_cs_pin();
HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
}
}
static void enc_index_cb_wrapper(void* ctx) {
@@ -340,8 +342,10 @@ bool Encoder::abs_spi_init(){
bool Encoder::abs_spi_start_transaction(){
if (config_.mode & MODE_FLAG_ABS){
//TODO semaphore take
if(hw_config_.spi->State != HAL_SPI_STATE_READY){
set_error(ERROR_ABS_SPI_NOT_READY);
return false;
}
//apply the stashed configuration
hw_config_.spi->Instance->CR1 = abs_spi_cr1;
hw_config_.spi->Instance->CR2 = abs_spi_cr2;
@@ -359,7 +363,6 @@ uint8_t parity(uint16_t v){
return v & 1;
}
void Encoder::abs_spi_cb(){
//TODO semaphore release
HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
switch (config_.mode) {
case MODE_SPI_ABS_AMS: {
Firmware/MotorControl/encoder.hpp
+3 -2
View File
@@ -15,8 +15,9 @@ public:
ERROR_UNSUPPORTED_ENCODER_MODE = 0x08,
ERROR_ILLEGAL_HALL_STATE = 0x10,
ERROR_INDEX_NOT_FOUND_YET = 0x20,
ERROR_ABS_SPI_TIMEOUT = 0x30,
ERROR_ABS_SPI_COM_FAIL = 0x40,
ERROR_ABS_SPI_TIMEOUT = 0x40,
ERROR_ABS_SPI_COM_FAIL = 0x80,
ERROR_ABS_SPI_NOT_READY = 0x100,
};
enum Mode_t {