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Merge branch 'devel' of https://github.com/madcowswe/ODrive into counts_to_rads

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Merge devel into counts_to_rads (turns) - conflict for the step input callback
This commit is contained in:
PAJohnson
2020-07-27 21:36:00 -04:00
parent be2d1037e3 24cbfc8dc3
commit 8fcd5e1b30
11 changed files with 53 additions and 45 deletions
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Firmware/MotorControl/axis.cpp
+4 -6
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@@ -118,12 +118,10 @@ bool Axis::wait_for_current_meas() {
// step/direction interface
void Axis::step_cb() {
if (step_dir_active_) {
GPIO_PinState dir_pin = HAL_GPIO_ReadPin(dir_port_, dir_pin_);
float dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
controller_.input_pos_ += dir * config_.turns_per_step;
controller_.input_pos_updated();
}
const bool dir_pin = dir_port_->IDR & dir_pin_;
const int32_t dir = (-1 + 2 * dir_pin) * step_dir_active_;
controller_.input_pos_ += dir * config_.counts_per_step;
controller_.input_pos_updated();
};
void Axis::load_default_step_dir_pin_config(