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rerun cube on trigger restructure

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This commit is contained in:
Oskar Weigl
2017-07-21 20:38:59 -07:00
parent 82e841d659
commit b0b4bc300f
3 changed files with 14 additions and 11 deletions
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MotorControl/low_level.c
+8 -5
View File
@@ -1296,11 +1296,14 @@ void motor_thread(void const * argument) {
#ifdef STANDALONE_MODE
//Only run tests on M0 for now
// if (motor == &motors[1]) {
// // TODO: figure out why M1 MOE must be enabled to run M0 correctly
// __HAL_TIM_MOE_ENABLE(motor->motor_timer);
// FOC_voltage_loop(motor, 0.0f, 0.0f);
// }
if (motor == &motors[0]) {
for(;;)
osDelay(2);
// TODO: figure out why M1 MOE must be enabled to run M0 correctly
// osDelay(10);
__HAL_TIM_MOE_ENABLE(motor->motor_timer);
FOC_voltage_loop(motor, 0.0f, 0.0f);
}
motor->do_calibration = true;
motor->enable_control = true;
Odrive.ioc
+3 -3
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@@ -10,7 +10,7 @@ ADC1.EOCSelection=ADC_EOC_SINGLE_CONV
ADC1.EnableAnalogWatchDog=false
ADC1.ExternalTrigConv=ADC_SOFTWARE_START
ADC1.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_NONE
ADC1.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
ADC1.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC1.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
ADC1.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,master,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,InjectedConvMode,ExternalTrigInjecConvEdge,ExternalTrigInjecConv,ExternalTrigConv
ADC1.InjNumberOfConversion=1
@@ -36,7 +36,7 @@ ADC2.EOCSelection=ADC_EOC_SINGLE_CONV
ADC2.EnableAnalogWatchDog=false
ADC2.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
ADC2.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
ADC2.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
ADC2.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC2.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
ADC2.IPParameters=Rank-0\#ChannelRegularConversion,Channel-0\#ChannelRegularConversion,SamplingTime-0\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,InjNumberOfConversion,EnableAnalogWatchDog,Rank-1\#ChannelInjectedConversion,Channel-1\#ChannelInjectedConversion,SamplingTime-1\#ChannelInjectedConversion,InjectedOffset-1\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,ExternalTrigConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
ADC2.InjNumberOfConversion=1
@@ -61,7 +61,7 @@ ADC3.EOCSelection=ADC_EOC_SINGLE_CONV
ADC3.EnableAnalogWatchDog=false
ADC3.ExternalTrigConv=ADC_EXTERNALTRIGCONV_T8_TRGO
ADC3.ExternalTrigConvEdge=ADC_EXTERNALTRIGCONVEDGE_RISING
ADC3.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_CC4
ADC3.ExternalTrigInjecConv=ADC_EXTERNALTRIGINJECCONV_T1_TRGO
ADC3.ExternalTrigInjecConvEdge=ADC_EXTERNALTRIGINJECCONVEDGE_RISING
ADC3.IPParameters=Rank-7\#ChannelRegularConversion,Channel-7\#ChannelRegularConversion,SamplingTime-7\#ChannelRegularConversion,NbrOfConversionFlag,ClockPrescaler,Resolution,DataAlign,ScanConvMode,ContinuousConvMode,DiscontinuousConvMode,DMAContinuousRequests,EOCSelection,NbrOfConversion,ExternalTrigConvEdge,InjNumberOfConversion,EnableAnalogWatchDog,Rank-8\#ChannelInjectedConversion,Channel-8\#ChannelInjectedConversion,SamplingTime-8\#ChannelInjectedConversion,InjectedOffset-8\#ChannelInjectedConversion,ExternalTrigInjecConvEdge,InjectedConvMode,ExternalTrigInjecConv,ExternalTrigConv
ADC3.InjNumberOfConversion=1
Src/adc.c
+3 -3
View File
@@ -102,7 +102,7 @@ void MX_ADC1_Init(void)
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
@@ -154,7 +154,7 @@ void MX_ADC2_Init(void)
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;
@@ -206,7 +206,7 @@ void MX_ADC3_Init(void)
sConfigInjected.InjectedNbrOfConversion = 1;
sConfigInjected.InjectedSamplingTime = ADC_SAMPLETIME_3CYCLES;
sConfigInjected.ExternalTrigInjecConvEdge = ADC_EXTERNALTRIGINJECCONVEDGE_RISING;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_CC4;
sConfigInjected.ExternalTrigInjecConv = ADC_EXTERNALTRIGINJECCONV_T1_TRGO;
sConfigInjected.AutoInjectedConv = DISABLE;
sConfigInjected.InjectedDiscontinuousConvMode = DISABLE;
sConfigInjected.InjectedOffset = 0;