Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-22 16:14:37 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

turn off control at start for enc idx testing

Browse Source
This commit is contained in:
Oskar Weigl
2018-01-26 18:39:37 -08:00
parent ec054a1216
commit 8ab73b0baa
3 changed files with 6 additions and 2 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/axis.h
+2 -2
View File
@@ -12,8 +12,8 @@ extern "C" {
// TODO: decide if we want to consolidate all default configs in one file for ease of use?
struct AxisConfig {
bool enable_control_at_start = true;
bool do_calibration_at_start = true;
bool enable_control_at_start = false;
bool do_calibration_at_start = false;
};
class Axis {
Firmware/MotorControl/low_level.c
+1
View File
@@ -537,6 +537,7 @@ void enc_index_cb(uint16_t GPIO_Pin, uint8_t motor_index) {
setEncoderCount(&motors[motor_index], 0);
motors[motor_index].encoder.index_found = true;
}
//TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
if(GPIO_Pin == M0_ENC_Z_Pin){
HAL_NVIC_DisableIRQ(EXTI3_IRQn);
} else {
Firmware/Src/gpio.c
+3
View File
@@ -191,6 +191,7 @@ void SetGPIO12toStepDir() {
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIO_2_GPIO_Port, &GPIO_InitStruct);
//TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
HAL_NVIC_SetPriority(EXTI0_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI0_IRQn);
}
@@ -204,6 +205,7 @@ void SetupENCIndexGPIO(){
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOA, &GPIO_InitStruct);
//TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
HAL_NVIC_SetPriority(EXTI15_10_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI15_10_IRQn);
@@ -213,6 +215,7 @@ void SetupENCIndexGPIO(){
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(GPIOB, &GPIO_InitStruct);
//TODO: Hardcoded EXTI line not portable. Get mapping out of Cubemx by setting EXTI default
HAL_NVIC_SetPriority(EXTI3_IRQn, 0, 0);
HAL_NVIC_EnableIRQ(EXTI3_IRQn);
}