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refactor drv8301 driver

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This commit is contained in:
Samuel Sadok
2020-07-21 12:31:03 +02:00
parent 8b3a290522
commit 856455077d
34 changed files with 1330 additions and 1887 deletions
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Firmware/MotorControl/low_level.cpp
+9 -8
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@@ -4,7 +4,7 @@
// otherwise chip specific defines are ommited
#include <stm32f405xx.h>
#include <stm32f4xx_hal.h> // Sets up the correct chip specifc defines required by arm_math
#define ARM_MATH_CM4
#include <Drivers/STM32/stm32_system.h>
#include <arm_math.h>
#include <cmsis_os.h>
@@ -114,7 +114,7 @@ bool safety_critical_disarm_motor_pwm(Motor& motor) {
uint32_t mask = cpu_enter_critical();
bool was_armed = motor.armed_state_ != Motor::ARMED_STATE_DISARMED;
motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor.hw_config_.timer);
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor.timer_);
cpu_exit_critical(mask);
return was_armed;
}
@@ -130,9 +130,9 @@ void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3])
motor.armed_state_ = Motor::ARMED_STATE_DISARMED;
}
motor.hw_config_.timer->Instance->CCR1 = timings[0];
motor.hw_config_.timer->Instance->CCR2 = timings[1];
motor.hw_config_.timer->Instance->CCR3 = timings[2];
motor.timer_->Instance->CCR1 = timings[0];
motor.timer_->Instance->CCR2 = timings[1];
motor.timer_->Instance->CCR3 = timings[2];
if (motor.armed_state_ == Motor::ARMED_STATE_WAITING_FOR_TIMINGS) {
// timings were just loaded into the timer registers
@@ -144,7 +144,7 @@ void safety_critical_apply_motor_pwm_timings(Motor& motor, uint16_t timings[3])
// now we waited long enough. Enter armed state and
// enable the actual PWM outputs.
motor.armed_state_ = Motor::ARMED_STATE_ARMED;
__HAL_TIM_MOE_ENABLE(motor.hw_config_.timer); // enable pwm outputs
__HAL_TIM_MOE_ENABLE(motor.timer_); // enable pwm outputs
} else if (motor.armed_state_ == Motor::ARMED_STATE_ARMED) {
// nothing to do, PWM is running, all good
} else {
@@ -508,7 +508,7 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
Axis& axis = injected ? *axes[0] : *axes[1];
int axis_num = injected ? 0 : 1;
Axis& other_axis = injected ? *axes[1] : *axes[0];
bool counting_down = axis.motor_.hw_config_.timer->Instance->CR1 & TIM_CR1_DIR;
bool counting_down = axis.motor_.timer_->Instance->CR1 & TIM_CR1_DIR;
bool current_meas_not_DC_CAL = !counting_down;
// Check the timing of the sequencing
@@ -812,7 +812,7 @@ void start_analog_thread() {
osThreadCreate(osThread(thread_def), NULL);
}
/*
void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
{
if(hspi->pRxBuffPtr == (uint8_t*)axes[0]->encoder_.abs_spi_dma_rx_)
@@ -820,3 +820,4 @@ void HAL_SPI_TxRxCpltCallback(SPI_HandleTypeDef *hspi)
else if (hspi->pRxBuffPtr == (uint8_t*)axes[1]->encoder_.abs_spi_dma_rx_)
axes[1]->encoder_.abs_spi_cb();
}
*/