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define gpios as array of Stm32Gpio objects

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This commit is contained in:
Samuel Sadok
2020-07-21 12:31:03 +02:00
parent 56427ef9eb
commit c745983f95
16 changed files with 132 additions and 192 deletions
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Firmware/MotorControl/axis.cpp
+8 -11
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@@ -5,7 +5,6 @@
#include "odrive_main.h"
#include "utils.hpp"
#include "gpio_utils.hpp"
#include "communication/interface_can.hpp"
Axis::Axis(int axis_num,
@@ -119,8 +118,8 @@ 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;
bool dir_pin = dir_gpio_.read();
float dir = dir_pin ? 1.0f : -1.0f;
controller_.input_pos_ += dir * config_.counts_per_step;
controller_.input_pos_updated();
}
@@ -137,21 +136,19 @@ void Axis::load_default_can_id(const int& id, Config_t& config){
}
void Axis::decode_step_dir_pins() {
step_port_ = get_gpio_port_by_pin(config_.step_gpio_pin);
step_pin_ = get_gpio_pin_by_pin(config_.step_gpio_pin);
dir_port_ = get_gpio_port_by_pin(config_.dir_gpio_pin);
dir_pin_ = get_gpio_pin_by_pin(config_.dir_gpio_pin);
step_gpio_ = get_gpio(config_.step_gpio_pin);
dir_gpio_ = get_gpio(config_.dir_gpio_pin);
}
// @brief (de)activates step/dir input
void Axis::set_step_dir_active(bool active) {
if (active) {
// Set up the step/direction GPIOs as input
Stm32Gpio{dir_port_, dir_pin_}.config(GPIO_MODE_INPUT, GPIO_NOPULL);
Stm32Gpio{step_port_, step_pin_}.config(GPIO_MODE_INPUT, GPIO_PULLDOWN);
dir_gpio_.config(GPIO_MODE_INPUT, GPIO_NOPULL);
step_gpio_.config(GPIO_MODE_INPUT, GPIO_PULLDOWN);
// Subscribe to rising edges of the step GPIO
Stm32Gpio{step_port_, step_pin_}.subscribe(true, false, step_cb_wrapper, this);
step_gpio_.subscribe(true, false, step_cb_wrapper, this);
step_dir_active_ = true;
} else {
@@ -160,7 +157,7 @@ void Axis::set_step_dir_active(bool active) {
// Unsubscribe from step GPIO
// TODO: if we change the GPIO while the subscription is active and then
// unsubscribe then the unsubscribe is for the wrong pin.
Stm32Gpio{step_port_, step_pin_}.unsubscribe();
step_gpio_.unsubscribe();
}
}