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Merge remote-tracking branch 'origin/pwm-in' into powerwheels

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This commit is contained in:
Oskar Weigl
2018-05-15 16:55:46 -07:00
parent aefd331488 5159aca1bd
commit c13bee09ed
7 changed files with 151 additions and 57 deletions
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Firmware/MotorControl/low_level.cpp
+2 -6
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@@ -646,7 +646,7 @@ void pwm_in_init() {
GPIO_InitStruct.Alternate = GPIO_AF2_TIM5;
for (int i = 1; i <= 4; ++i) {
if (board_config.pwm_mappings[i].endpoint) {
if (is_endpoint_ref_valid(board_config.pwm_mappings[i].endpoint)) {
GPIO_InitStruct.Pin = get_gpio_pin_by_pin(i);
HAL_GPIO_Init(get_gpio_port_by_pin(i), &GPIO_InitStruct);
HAL_TIM_IC_Start_IT(&htim5, gpio_num_to_tim_2_5_channel(i));
@@ -673,11 +673,7 @@ void handle_pulse(int gpio_num, uint32_t high_time) {
float value = board_config.pwm_mappings[gpio_num].min +
(fraction * (board_config.pwm_mappings[gpio_num].max - board_config.pwm_mappings[gpio_num].min));
uint32_t endpoint_id = board_config.pwm_mappings[gpio_num].endpoint;
if (endpoint_id >= n_endpoints_)
return;
Endpoint* endpoint = endpoints_[endpoint_id];
Endpoint* endpoint = get_endpoint(board_config.pwm_mappings[gpio_num].endpoint);
if (!endpoint)
return;