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testing and cleanup

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This commit is contained in:
Oskar Weigl
2017-03-01 21:22:15 +01:00
parent 9ce886a258
commit 6bb0361479
3 changed files with 12 additions and 17 deletions
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MotorControl/low_level.c
+6 -10
View File
@@ -135,10 +135,6 @@ Motor_t motors[] = {
};
const int num_motors = sizeof(motors)/sizeof(motors[0]);
//Pending USB buffer
uint8_t pending_usb_buf[64];
osThreadId usb_mc_thread_id;
/* Private constant data -----------------------------------------------------*/
static const float one_by_sqrt3 = 0.57735026919f;
static const float sqrt3_by_2 = 0.86602540378;
@@ -193,27 +189,27 @@ void motor_parse_cmd(uint8_t* buffer, int len) {
buffer[len] = 0;
// check incoming packet type
if (pending_usb_buf[0] == 'p') {
if (buffer[0] == 'p') {
// position control
uint8_t motor_number;
float pos_setpoint, vel_feed_forward, current_feed_forward;
int numscan = sscanf(pending_usb_buf, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &current_feed_forward);
int numscan = sscanf(buffer, "p %u %f %f %f", &motor_number, &pos_setpoint, &vel_feed_forward, &current_feed_forward);
if (numscan == 4 && motor_number < num_motors) {
set_pos_setpoint(&motors[motor_number], pos_setpoint, vel_feed_forward, current_feed_forward);
}
} else if (pending_usb_buf[0] == 'v') {
} else if (buffer[0] == 'v') {
// velocity control
uint8_t motor_number;
float vel_feed_forward, current_feed_forward;
int numscan = sscanf(pending_usb_buf, "v %u %f %f", &motor_number, &vel_feed_forward, &current_feed_forward);
int numscan = sscanf(buffer, "v %u %f %f", &motor_number, &vel_feed_forward, &current_feed_forward);
if (numscan == 3 && motor_number < num_motors) {
set_vel_setpoint(&motors[motor_number], vel_feed_forward, current_feed_forward);
}
} else if (pending_usb_buf[0] == 'c') {
} else if (buffer[0] == 'c') {
// current control
uint8_t motor_number;
float current_feed_forward;
int numscan = sscanf(pending_usb_buf, "c %u %f ", &motor_number, &current_feed_forward);
int numscan = sscanf(buffer, "c %u %f ", &motor_number, &current_feed_forward);
if (numscan == 2 && motor_number < num_motors) {
set_current_setpoint(&motors[motor_number], current_feed_forward);
}
Src/freertos.c
+5 -4
View File
@@ -84,9 +84,10 @@ void MX_FREERTOS_Init(void) {
/* USER CODE END RTOS_MUTEX */
/* USER CODE BEGIN RTOS_SEMAPHORES */
// Init usb irq semaphore with 0 tolkens.
// Init usb irq binary semaphore, and start with no tolkens by removing the starting one.
osSemaphoreDef(sem_usb_irq);
sem_usb_irq = osSemaphoreCreate(osSemaphore(sem_usb_irq), 0);
sem_usb_irq = osSemaphoreCreate(osSemaphore(sem_usb_irq), 1);
osSemaphoreWait(sem_usb_irq, 0);
/* USER CODE END RTOS_SEMAPHORES */
/* USER CODE BEGIN RTOS_TIMERS */
@@ -143,9 +144,9 @@ void usb_cmd_thread(void const * argument) {
// Wait for signalling from USB interrupt (OTG_FS_IRQHandler)
osSemaphoreWait(sem_usb_irq, osWaitForever);
// Irq processing loop
while(HAL_NVIC_GetActive(OTG_FS_IRQn)) {
//while(HAL_NVIC_GetActive(OTG_FS_IRQn)) {
HAL_PCD_IRQHandler(&hpcd_USB_OTG_FS);
}
//}
// Let the irq (OTG_FS_IRQHandler) fire again.
HAL_NVIC_EnableIRQ(OTG_FS_IRQn);
}
Src/stm32f4xx_it.c
+1 -3
View File
@@ -203,9 +203,7 @@ void OTG_FS_IRQHandler(void)
// Mask interrupt, and signal processing of interrupt by usb_cmd_thread
// The thread will re-enable the interrupt when all pending irqs are clear.
HAL_NVIC_DisableIRQ(OTG_FS_IRQn);
if (sem_usb_irq) {
osSemaphoreRelease(sem_usb_irq);
}
osSemaphoreRelease(sem_usb_irq);
// Bypass interrupt processing here
return;