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Merge branch 'rls_spi' into rc-v0.5.0

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2020-07-31 15:35:11 -04:00
parent d996f02df1 4787ca52bb
commit 78bd5fa6e6
2 changed files with 8 additions and 0 deletions
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Firmware/MotorControl/encoder.cpp
+7
View File
@@ -311,6 +311,7 @@ void Encoder::sample_now() {
case MODE_SPI_ABS_AMS:
case MODE_SPI_ABS_CUI:
case MODE_SPI_ABS_AEAT:
case MODE_SPI_ABS_RLS:
{
axis_->motor_.log_timing(Motor::TIMING_LOG_SAMPLE_NOW);
// Do nothing
@@ -400,6 +401,11 @@ void Encoder::abs_spi_cb(){
pos = rawVal & 0x3fff;
} break;
case MODE_SPI_ABS_RLS: {
uint16_t rawVal = abs_spi_dma_rx_[0];
pos = (rawVal >> 2) & 0x3fff;
} break;
default: {
set_error(ERROR_UNSUPPORTED_ENCODER_MODE);
return;
@@ -470,6 +476,7 @@ bool Encoder::update() {
delta_enc -= 6283;
} break;
case MODE_SPI_ABS_RLS:
case MODE_SPI_ABS_AMS:
case MODE_SPI_ABS_CUI:
case MODE_SPI_ABS_AEAT: {
Firmware/MotorControl/encoder.hpp
+1
View File
@@ -27,6 +27,7 @@ public:
MODE_SPI_ABS_CUI = 0x100, //!< compatible with CUI AMT23xx
MODE_SPI_ABS_AMS = 0x101, //!< compatible with AMS AS5047P, AS5048A/AS5048B (no daisy chain support)
MODE_SPI_ABS_AEAT = 0x102, //!< not yet implemented
MODE_SPI_ABS_RLS = 0x103,
};
const uint32_t MODE_FLAG_ABS = 0x100;