From 4d7c3b92e30650bdf698a6586f7dc24a2353d539 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Fri, 26 Jan 2018 20:18:41 -0800
Subject: [PATCH] fix setEncoderCount wrong TIM bug

---
 Firmware/.vscode/c_cpp_properties.json | 10 +++++-----
 Firmware/MotorControl/low_level.c      | 13 ++++++++-----
 Firmware/Src/gpio.c                    |  4 ++--
 3 files changed, 15 insertions(+), 12 deletions(-)

diff --git a/Firmware/.vscode/c_cpp_properties.json b/Firmware/.vscode/c_cpp_properties.json
index f732a2df..691314ac 100644
--- a/Firmware/.vscode/c_cpp_properties.json
+++ b/Firmware/.vscode/c_cpp_properties.json
@@ -16,16 +16,16 @@
                 "${workspaceRoot}/Drivers/CMSIS/Include",
                 "${workspaceRoot}/Inc",
                 "${workspaceRoot}/MotorControl",
-                "C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/arm-none-eabi/include",
                 "C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1",
                 "C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/arm-none-eabi/include/c++/6.3.1/arm-none-eabi",
-                "C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/lib/gcc/arm-none-eabi/6.3.1/include"
+                "C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/lib/gcc/arm-none-eabi/6.3.1/include",
+                "C:/Program Files (x86)/GNU Tools ARM Embedded/6 2017-q1-update/arm-none-eabi/include"
             ],
             "defines": [
                 "_DEBUG",
                 "UNICODE"
             ],
-            "intelliSenseMode": "msvc-x64",
+            "intelliSenseMode": "clang-x64",
             "browse": {
                 "path": [
                     "${workspaceRoot}",
@@ -69,7 +69,7 @@
                 "_DEBUG",
                 "UNICODE"
             ],
-            "intelliSenseMode": "msvc-x64",
+            "intelliSenseMode": "clang-x64",
             "browse": {
                 "path": [
                     "${workspaceRoot}",
@@ -115,7 +115,7 @@
                 "_DEBUG",
                 "UNICODE"
             ],
-            "intelliSenseMode": "msvc-x64",
+            "intelliSenseMode": "clang-x64",
             "browse": {
                 "path": [
                     "${workspaceRoot}",
diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c
index 73fea597..55373716 100644
--- a/Firmware/MotorControl/low_level.c
+++ b/Firmware/MotorControl/low_level.c
@@ -350,7 +350,9 @@ void init_motor_control() {
     // Start Encoders
     HAL_TIM_Encoder_Start(&htim3, TIM_CHANNEL_ALL);
     HAL_TIM_Encoder_Start(&htim4, TIM_CHANNEL_ALL);
-    SetupENCIndexGPIO();
+    if (ENC_USE_INDEX_PIN) {
+        SetupENCIndexGPIO();
+    }
 
     // Wait for current sense calibration to converge
     // TODO make timing a function of calibration filter tau
@@ -533,9 +535,10 @@ void step_cb(uint16_t GPIO_Pin) {
 
 // Triggered when an encoder passes over the "Index" pin
 void enc_index_cb(uint16_t GPIO_Pin, uint8_t motor_index) {
-    if (!motors[motor_index].encoder.index_found) {
-        setEncoderCount(&motors[motor_index], 0);
-        motors[motor_index].encoder.index_found = true;
+    Motor_t* motor = &motors[motor_index];
+    if (!motor->encoder.index_found) {
+        setEncoderCount(motor, 0);
+        motor->encoder.index_found = true;
     }
     //TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
     if(GPIO_Pin == M0_ENC_Z_Pin){
@@ -1072,7 +1075,7 @@ void setEncoderCount(Motor_t* motor, uint32_t count) {
     uint32_t prim = __get_PRIMASK();
     __disable_irq();
     motor->encoder.encoder_state = count;
-    motor->motor_timer->Instance->CNT = count;
+    motor->encoder.encoder_timer->Instance->CNT = count;
     motor->encoder.pll_pos = (float)count;
     __set_PRIMASK(prim);
 }
diff --git a/Firmware/Src/gpio.c b/Firmware/Src/gpio.c
index 98876c3a..7893e703 100644
--- a/Firmware/Src/gpio.c
+++ b/Firmware/Src/gpio.c
@@ -203,7 +203,7 @@ void SetupENCIndexGPIO(){
   GPIO_InitStruct.Pin = M0_ENC_Z_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
+  HAL_GPIO_Init(M0_ENC_Z_GPIO_Port, &GPIO_InitStruct);
 
   //TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
   HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
@@ -213,7 +213,7 @@ void SetupENCIndexGPIO(){
   GPIO_InitStruct.Pin = M1_ENC_Z_Pin;
   GPIO_InitStruct.Mode = GPIO_MODE_IT_RISING;
   GPIO_InitStruct.Pull = GPIO_NOPULL;
-  HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
+  HAL_GPIO_Init(M1_ENC_Z_GPIO_Port, &GPIO_InitStruct);
 
   //TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
   HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);