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Merge branch 'Endstops' into develop

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This commit is contained in:
Paul Guenette
2019-05-25 13:53:38 +02:00
parent 41c23b0376 0126595154
commit 687cf5b877
15 changed files with 275 additions and 17 deletions
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Firmware/MotorControl/main.cpp
+14 -2
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@@ -17,6 +17,8 @@ Controller::Config_t controller_configs[AXIS_COUNT];
Motor::Config_t motor_configs[AXIS_COUNT];
Axis::Config_t axis_configs[AXIS_COUNT];
TrapezoidalTrajectory::Config_t trap_configs[AXIS_COUNT];
Endstop::Config_t min_endstop_configs[AXIS_COUNT];
Endstop::Config_t max_endstop_configs[AXIS_COUNT];
bool user_config_loaded_;
SystemStats_t system_stats_ = { 0 };
@@ -32,6 +34,8 @@ typedef Config<
Controller::Config_t[AXIS_COUNT],
Motor::Config_t[AXIS_COUNT],
TrapezoidalTrajectory::Config_t[AXIS_COUNT],
Endstop::Config_t[AXIS_COUNT],
Endstop::Config_t[AXIS_COUNT],
Axis::Config_t[AXIS_COUNT]> ConfigFormat;
void save_configuration(void) {
@@ -43,8 +47,10 @@ void save_configuration(void) {
&controller_configs,
&motor_configs,
&trap_configs,
&min_endstop_configs,
&max_endstop_configs,
&axis_configs)) {
//printf("saving configuration failed\r\n"); osDelay(5);
printf("saving configuration failed\r\n"); osDelay(5);
} else {
user_config_loaded_ = true;
}
@@ -61,6 +67,8 @@ extern "C" int load_configuration(void) {
&controller_configs,
&motor_configs,
&trap_configs,
&min_endstop_configs,
&max_endstop_configs,
&axis_configs)) {
//If loading failed, restore defaults
board_config = BoardConfig_t();
@@ -75,6 +83,8 @@ extern "C" int load_configuration(void) {
// Default step/dir pins are different, so we need to explicitly load them
Axis::load_default_step_dir_pin_config(hw_configs[i].axis_config, &axis_configs[i]);
Axis::load_default_can_id(i, axis_configs[i]);
min_endstop_configs[i] = Endstop::Config_t();
max_endstop_configs[i] = Endstop::Config_t();
}
} else {
user_config_loaded_ = true;
@@ -180,8 +190,10 @@ int odrive_main(void) {
hw_configs[i].gate_driver_config,
motor_configs[i]);
TrapezoidalTrajectory *trap = new TrapezoidalTrajectory(trap_configs[i]);
Endstop *min_endstop = new Endstop(min_endstop_configs[i]);
Endstop *max_endstop = new Endstop(max_endstop_configs[i]);
axes[i] = new Axis(hw_configs[i].axis_config, axis_configs[i],
*encoder, *sensorless_estimator, *controller, *motor, *trap);
*encoder, *sensorless_estimator, *controller, *motor, *trap, *min_endstop, *max_endstop);
}
// Start ADC for temperature measurements and user measurements