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working after merge

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This commit is contained in:
Oskar Weigl
2017-10-14 22:12:20 -07:00
parent bee1a9b6d3
commit 85f62f45b4
6 changed files with 21 additions and 23 deletions
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Makefile
+6 -6
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@@ -13,7 +13,7 @@ TARGET = ODriveFirmware
# debug build?
DEBUG = 1
# optimization
OPT = -Og -ffast-math
OPT = -O0 -ffast-math -u _printf_float -u _scanf_float
#######################################
# pathes
@@ -120,9 +120,9 @@ C_INCLUDES += -IDrivers/CMSIS/Include
C_INCLUDES += -IInc
C_INCLUDES += -IMotorControl
# compile gcc flags
ASFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -u _printf_float -u _scanf_float
CFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -u _printf_float -u _scanf_float
CXXFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections -u _printf_float -u _scanf_float
ASFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
CFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
CXXFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
ifeq ($(DEBUG), 1)
CFLAGS += -g -gdwarf-2
CXXFLAGS += -g -gdwarf-2
@@ -157,10 +157,10 @@ vpath %.cpp $(sort $(dir $(CPP_SOURCES)))
OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
vpath %.s $(sort $(dir $(ASM_SOURCES)))
$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
$(BUILD_DIR)/%.o: %.c Makefile | $(BUILD_DIR)
@$(CC) -c $(CFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.c=.lst)) $< -o $@
$(BUILD_DIR)/%.o: %.cpp Makefile | $(BUILD_DIR)
$(BUILD_DIR)/%.o: %.cpp Makefile | $(BUILD_DIR)
@$(CXX) -c $(CXXFLAGS) -Wa,-a,-ad,-alms=$(BUILD_DIR)/$(notdir $(<:.cpp=.lst)) $< -o $@
$(BUILD_DIR)/%.o: %.s Makefile | $(BUILD_DIR)
MotorControl/axis.cpp
+2 -1
View File
@@ -1,5 +1,6 @@
#include "axis.hpp"
#include "axis.h"
#include "commands.h"
//TODO: goal of refactor is to kick this out completely
extern "C" {
MotorControl/axis.hpp → MotorControl/axis.h
View File
MotorControl/commands.c
+8 -8
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@@ -1,9 +1,9 @@
/* Includes ------------------------------------------------------------------*/
#include <cmsis_os.h>
#include <commands.h>
#include <usart.h>
#include <gpio.h>
#include <freertos_vars.h>
#include "commands.h"
#include "usart.h"
#include "gpio.h"
#include "freertos_vars.h"
extern PCD_HandleTypeDef hpcd_USB_OTG_FS;
@@ -23,7 +23,7 @@ static const GpioMode_t gpio_mode = GPIO_MODE_UART; //GPIO 1,2 is UART Tx,Rx
// variables exposed to usb/serial interface via set/get/monitor
// Note: this will be depricated soon
float* const exposed_floats[] = {
float* exposed_floats[] = {
&vbus_voltage, // ro
NULL, //&elec_rad_per_enc, // ro
&motors[0].pos_setpoint, // rw
@@ -84,7 +84,7 @@ float* const exposed_floats[] = {
&motors[1].encoder.pll_ki, // rw
};
int* const exposed_ints[] = {
int* exposed_ints[] = {
(int*)&motors[0].control_mode, // rw
&motors[0].encoder.encoder_offset, // rw
&motors[0].encoder.encoder_state, // ro
@@ -95,7 +95,7 @@ int* const exposed_ints[] = {
&motors[1].error, // rw
};
bool* const exposed_bools[] = {
bool* exposed_bools[] = {
&motors[0].thread_ready, // ro
//For now these are written by Axis::SetupLegacyMappings
NULL, // &motors[0].enable_control, // rw
@@ -107,7 +107,7 @@ bool* const exposed_bools[] = {
NULL, // &motors[1].calibration_ok, // ro
};
uint16_t* const exposed_uint16[] = {
uint16_t* exposed_uint16[] = {
&motors[0].control_deadline, // rw
&motors[0].last_cpu_time, // ro
&motors[1].control_deadline, // rw
MotorControl/commands.h
+1 -1
View File
@@ -2,7 +2,7 @@
#define COMMANDS_H
/* Includes ------------------------------------------------------------------*/
#include <low_level.h>
#include "low_level.h"
/* Exported types ------------------------------------------------------------*/
typedef enum {
MotorControl/low_level.h
+4 -7
View File
@@ -169,9 +169,6 @@ void init_motor_control();
bool motor_calibration(Motor_t* motor);
// void motor_thread(void const * argument);
void motor_parse_cmd(uint8_t* buffer, int len);
//// Old private:
// Utility
@@ -194,10 +191,10 @@ void scan_motor_loop(Motor_t* motor, float omega, float voltage_magnitude);
void FOC_voltage_loop(Motor_t* motor, float v_d, float v_q);
// Main motor control
void update_rotor(Motor_t* motor);
bool using_encoder(Motor_t* motor)
bool using_sensorless(Motor_t* motor)
float get_rotor_phase(Motor_t* motor)
float get_pll_vel(Motor_t* motor)
bool using_encoder(Motor_t* motor);
bool using_sensorless(Motor_t* motor);
float get_rotor_phase(Motor_t* motor);
float get_pll_vel(Motor_t* motor);
bool spin_up_sensorless(Motor_t* motor);
void update_brake_current(float brake_current);
void queue_modulation_timings(Motor_t* motor, float mod_alpha, float mod_beta);