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Only configure encoder SPI at startup

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2020-01-01 21:37:55 -05:00
parent 7277592198
commit 4ee55aaed4
2 changed files with 14 additions and 30 deletions
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Firmware/MotorControl/encoder.cpp
+12 -28
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@@ -22,7 +22,8 @@ void Encoder::setup() {
HAL_TIM_Encoder_Start(hw_config_.timer, TIM_CHANNEL_ALL);
set_idx_subscribe();
if(config_.mode & MODE_FLAG_ABS){
mode_ = config_.mode;
if(mode_ & MODE_FLAG_ABS){
abs_spi_cs_pin_init();
abs_spi_init();
if (axis_->controller_.config_.anticogging.pre_calibrated) {
@@ -94,7 +95,7 @@ void Encoder::update_pll_gains() {
void Encoder::check_pre_calibrated() {
if (!is_ready_)
config_.pre_calibrated = false;
if (config_.mode == MODE_INCREMENTAL && !index_found_)
if (mode_ == MODE_INCREMENTAL && !index_found_)
config_.pre_calibrated = false;
}
@@ -286,7 +287,7 @@ static bool decode_hall(uint8_t hall_state, int32_t* hall_cnt) {
}
void Encoder::sample_now() {
switch (config_.mode) {
switch (mode_) {
case MODE_INCREMENTAL: {
tim_cnt_sample_ = (int16_t)hw_config_.timer->Instance->CNT;
} break;
@@ -313,13 +314,9 @@ void Encoder::sample_now() {
}
bool Encoder::abs_spi_init(){
if ((config_.mode & MODE_FLAG_ABS) == 0x0)
if ((mode_ & MODE_FLAG_ABS) == 0x0)
return false;
uint32_t cr1,cr2;
cr1 = hw_config_.spi->Instance->CR1;
cr2 = hw_config_.spi->Instance->CR2;
SPI_HandleTypeDef * spi = hw_config_.spi;
spi->Init.Mode = SPI_MODE_MASTER;
spi->Init.Direction = SPI_DIRECTION_2LINES;
@@ -332,29 +329,20 @@ bool Encoder::abs_spi_init(){
spi->Init.TIMode = SPI_TIMODE_DISABLE;
spi->Init.CRCCalculation = SPI_CRCCALCULATION_DISABLE;
spi->Init.CRCPolynomial = 10;
if (config_.mode == MODE_SPI_ABS_AEAT) {
if (mode_ == MODE_SPI_ABS_AEAT) {
spi->Init.CLKPolarity = SPI_POLARITY_HIGH;
}
HAL_SPI_DeInit(spi);
HAL_SPI_Init(spi);
//stash our configuration
abs_spi_cr1 = hw_config_.spi->Instance->CR1;
abs_spi_cr2 = hw_config_.spi->Instance->CR2;
hw_config_.spi->Instance->CR1 = cr1;
hw_config_.spi->Instance->CR2 = cr2;
return true;
}
bool Encoder::abs_spi_start_transaction(){
if (config_.mode & MODE_FLAG_ABS){
if (mode_ & MODE_FLAG_ABS){
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;
HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_RESET);
HAL_SPI_TransmitReceive_DMA(hw_config_.spi,(uint8_t*)abs_spi_dma_tx_,(uint8_t*)abs_spi_dma_rx_,1);
}
@@ -371,20 +359,16 @@ uint8_t parity(uint16_t v){
void Encoder::abs_spi_cb(){
HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
switch (config_.mode) {
switch (mode_) {
case MODE_SPI_ABS_AMS: {
uint8_t parity_calc, parity_bit;
auto rawVal = abs_spi_dma_rx_[0];
parity_calc = parity(rawVal & 0x7FFF);
parity_bit = rawVal >>15;
parity_bit = rawVal >> 15;
if (parity_calc == parity_bit) {
pos_abs_ = rawVal & 0x3FFF;
// We are going to ignore values all high or low
// This might happen in normal operation, but its unlikely
// The filter will handle these cases
if (pos_abs_ != 0 && pos_abs_ != 0x3FFF)
abs_spi_pos_updated_ = true;
abs_spi_pos_updated_ = true;
}
} break;
case MODE_SPI_ABS_AEAT: {
@@ -420,7 +404,7 @@ bool Encoder::update() {
// update internal encoder state.
int32_t delta_enc = 0;
switch (config_.mode) {
switch (mode_) {
case MODE_INCREMENTAL: {
//TODO: use count_in_cpr_ instead as shadow_count_ can overflow
//or use 64 bit
@@ -488,7 +472,7 @@ bool Encoder::update() {
count_in_cpr_ += delta_enc;
count_in_cpr_ = mod(count_in_cpr_, config_.cpr);
if(config_.mode & MODE_FLAG_ABS)
if(mode_ & MODE_FLAG_ABS)
count_in_cpr_ = pos_abs_;
//// run pll (for now pll is in units of encoder counts)