Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-24 01:23:52 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

make axis allocation static

Browse Source
This commit is contained in:
Samuel Sadok
2020-07-21 13:02:03 +02:00
parent b3ddadb360
commit 938f088fc2
20 changed files with 184 additions and 206 deletions
Download Patch File Download Diff File Expand all files Collapse all files
Firmware/MotorControl/low_level.cpp
+10 -10
View File
@@ -76,8 +76,8 @@ bool brake_resistor_saturated = false;
void low_level_fault(Motor::Error error) {
// Disable all motors NOW!
for (size_t i = 0; i < AXIS_COUNT; ++i) {
safety_critical_disarm_motor_pwm(axes[i]->motor_);
axes[i]->motor_.error_ |= error;
safety_critical_disarm_motor_pwm(axes[i].motor_);
axes[i].motor_.error_ |= error;
}
safety_critical_disarm_brake_resistor();
@@ -162,7 +162,7 @@ void safety_critical_disarm_brake_resistor() {
htim2.Instance->CCR3 = 0;
htim2.Instance->CCR4 = TIM_APB1_PERIOD_CLOCKS + 1;
for (size_t i = 0; i < AXIS_COUNT; ++i) {
safety_critical_disarm_motor_pwm(axes[i]->motor_);
safety_critical_disarm_motor_pwm(axes[i].motor_);
}
cpu_exit_critical(mask);
}
@@ -190,7 +190,7 @@ void safety_critical_apply_brake_resistor_timings(uint32_t low_off, uint32_t hig
void start_adc_pwm() {
// Disarm motors
for (size_t i = 0; i < AXIS_COUNT; ++i) {
safety_critical_disarm_motor_pwm(axes[i]->motor_);
safety_critical_disarm_motor_pwm(axes[i].motor_);
}
for (Motor& motor: motors) {
@@ -395,9 +395,9 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
// Motor 1 is on Timer 8, which triggers ADC 2 and 3 on a regular conversion
// If the corresponding timer is counting up, we just sampled in SVM vector 0, i.e. real current
// If we are counting down, we just sampled in SVM vector 7, with zero current
Axis& axis = injected ? *axes[0] : *axes[1];
Axis& axis = injected ? axes[0] : axes[1];
int axis_num = injected ? 0 : 1;
Axis& other_axis = injected ? *axes[1] : *axes[0];
Axis& other_axis = injected ? axes[1] : axes[0];
bool counting_down = axis.motor_.timer_->Instance->CR1 & TIM_CR1_DIR;
bool current_meas_not_DC_CAL = !counting_down;
@@ -409,9 +409,9 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
bool update_timings = false;
if (hadc == &hadc2) {
if (&axis == axes[1] && counting_down)
if (&axis == &axes[1] && counting_down)
update_timings = true; // update timings of M0
else if (&axis == axes[0] && !counting_down)
else if (&axis == &axes[0] && !counting_down)
update_timings = true; // update timings of M1
// TODO: this is out of place here. However when moving it somewhere
@@ -484,8 +484,8 @@ void pwm_trig_adc_cb(ADC_HandleTypeDef* hadc, bool injected) {
void update_brake_current() {
float Ibus_sum = 0.0f;
for (size_t i = 0; i < AXIS_COUNT; ++i) {
if (axes[i]->motor_.armed_state_ == Motor::ARMED_STATE_ARMED) {
Ibus_sum += axes[i]->motor_.current_control_.Ibus;
if (axes[i].motor_.armed_state_ == Motor::ARMED_STATE_ARMED) {
Ibus_sum += axes[i].motor_.current_control_.Ibus;
}
}