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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/encoder.cpp
+9 -9
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@@ -329,8 +329,8 @@ void Encoder::sample_now() {
} break;
case MODE_SINCOS: {
sincos_sample_s_ = (get_adc_voltage(get_gpio_port_by_pin(config_.sincos_gpio_pin_sin), get_gpio_pin_by_pin(config_.sincos_gpio_pin_sin)) / 3.3f) - 0.5f;
sincos_sample_c_ = (get_adc_voltage(get_gpio_port_by_pin(config_.sincos_gpio_pin_cos), get_gpio_pin_by_pin(config_.sincos_gpio_pin_cos)) / 3.3f) - 0.5f;
sincos_sample_s_ = (get_adc_voltage(get_gpio(config_.sincos_gpio_pin_sin)) / 3.3f) - 0.5f;
sincos_sample_c_ = (get_adc_voltage(get_gpio(config_.sincos_gpio_pin_cos)) / 3.3f) - 0.5f;
} break;
case MODE_SPI_ABS_AMS:
@@ -374,7 +374,7 @@ bool Encoder::abs_spi_start_transaction(){
return false;
}
spi_task_.ncs_gpio = {abs_spi_cs_port_, abs_spi_cs_pin_};
spi_task_.ncs_gpio = abs_spi_cs_gpio_;
spi_task_.tx_buf = (uint8_t*)abs_spi_dma_tx_;
spi_task_.rx_buf = (uint8_t*)abs_spi_dma_rx_;
spi_task_.length = 1;
@@ -445,20 +445,20 @@ void Encoder::abs_spi_cb() {
void Encoder::abs_spi_cs_pin_init(){
// Decode cs pin
abs_spi_cs_port_ = get_gpio_port_by_pin(config_.abs_spi_cs_gpio_pin);
abs_spi_cs_pin_ = get_gpio_pin_by_pin(config_.abs_spi_cs_gpio_pin);
abs_spi_cs_gpio_ = get_gpio(config_.abs_spi_cs_gpio_pin);
// Init cs pin
HAL_GPIO_DeInit(abs_spi_cs_port_, abs_spi_cs_pin_);
// TODO: absorb into Stm32Gpio class
HAL_GPIO_DeInit(abs_spi_cs_gpio_.port_, abs_spi_cs_gpio_.pin_mask_);
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = abs_spi_cs_pin_;
GPIO_InitStruct.Pin = abs_spi_cs_gpio_.pin_mask_;
GPIO_InitStruct.Mode = GPIO_MODE_OUTPUT_PP;
GPIO_InitStruct.Pull = GPIO_PULLUP;
GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_LOW;
HAL_GPIO_Init(abs_spi_cs_port_, &GPIO_InitStruct);
HAL_GPIO_Init(abs_spi_cs_gpio_.port_, &GPIO_InitStruct);
// Write pin high
HAL_GPIO_WritePin(abs_spi_cs_port_, abs_spi_cs_pin_, GPIO_PIN_SET);
abs_spi_cs_gpio_.write(true);
}
bool Encoder::update() {