From 8ab73b0baa16be65ce91c5e0d9c23375e137105c Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Fri, 26 Jan 2018 17:51:32 -0800 Subject: [PATCH] turn off control at start for enc idx testing --- Firmware/MotorControl/axis.h | 4 ++-- Firmware/MotorControl/low_level.c | 1 + Firmware/Src/gpio.c | 3 +++ 3 files changed, 6 insertions(+), 2 deletions(-) diff --git a/Firmware/MotorControl/axis.h b/Firmware/MotorControl/axis.h index b3cdf543..8be98a22 100644 --- a/Firmware/MotorControl/axis.h +++ b/Firmware/MotorControl/axis.h @@ -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 { diff --git a/Firmware/MotorControl/low_level.c b/Firmware/MotorControl/low_level.c index 1d4f43ee..73fea597 100644 --- a/Firmware/MotorControl/low_level.c +++ b/Firmware/MotorControl/low_level.c @@ -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 { diff --git a/Firmware/Src/gpio.c b/Firmware/Src/gpio.c index 369c2c2e..98876c3a 100644 --- a/Firmware/Src/gpio.c +++ b/Firmware/Src/gpio.c @@ -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); }