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Added GPIO_MODE_MECH_BRAKE, removed pull-ups for outputs, updated docs, added check for GPIO_MODE_MECH_BRAKE to startup in main

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This commit is contained in:
Shaun Meehan
2020-08-27 18:28:33 -07:00
parent 87ea4a423f
commit 89bf879ff9
7 changed files with 47 additions and 32 deletions
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Firmware/MotorControl/main.cpp
+7 -1
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@@ -411,7 +411,8 @@ extern "C" int main(void) {
GPIO_InitStruct.Pin = get_gpio(i).pin_mask_;
// Set Alternate Function setting for this GPIO mode
if (mode == ODriveIntf::GPIO_MODE_DIGITAL || mode == ODriveIntf::GPIO_MODE_ANALOG_IN) {
if (mode == ODriveIntf::GPIO_MODE_DIGITAL || mode == ODriveIntf::GPIO_MODE_ANALOG_IN
|| mode == ODriveIntf::GPIO_MODE_MECH_BRAKE) {
GPIO_InitStruct.Alternate = 0;
} else {
auto it = std::find_if(
@@ -497,6 +498,11 @@ extern "C" int main(void) {
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
} break;
case ODriveIntf::GPIO_MODE_MECH_BRAKE: {
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_NOPULL;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
} break;
default: {
odrv.misconfigured_ = true;
continue;