Mirrors_Framework/ODrive
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Merge branch 'pr/kalvdans/243' into devel

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This commit is contained in:
Oskar Weigl
2018-12-17 13:54:32 -08:00
parent 44152147d7 cc0f083bf0
commit df2067c544
5 changed files with 39 additions and 3 deletions
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Firmware/MotorControl/low_level.cpp
+30 -1
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@@ -713,4 +713,33 @@ void pwm_in_cb(int channel, uint32_t timestamp) {
last_timestamp[gpio_num - 1] = timestamp;
last_pin_state[gpio_num - 1] = current_pin_state;
last_sample_valid[gpio_num - 1] = true;
}
}
/* Analog speed control input */
static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
{
float fraction = get_adc_voltage(get_gpio_port_by_pin(gpio), get_gpio_pin_by_pin(gpio)) / 3.3f;
float value = map->min + (fraction * (map->max - map->min));
get_endpoint(map->endpoint)->set_from_float(value);
}
static void analog_polling_thread(void *)
{
while (true) {
for (int i = 0; i < GPIO_COUNT; i++) {
struct PWMMapping_t *map = &board_config.analog_mappings[i];
if (is_endpoint_ref_valid(map->endpoint))
update_analog_endpoint(map, i + 1);
}
osDelay(200);
}
}
void start_analog_thread()
{
osThreadDef(thread_def, analog_polling_thread, osPriorityLow, 0, 4*512);
osThreadCreate(osThread(thread_def), NULL);
}
Firmware/MotorControl/low_level.h
+1
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@@ -51,6 +51,7 @@ void sync_timers(TIM_HandleTypeDef* htim_a, TIM_HandleTypeDef* htim_b,
void start_general_purpose_adc();
float get_adc_voltage(GPIO_TypeDef* GPIO_port, uint16_t GPIO_pin);
void pwm_in_init();
void start_analog_thread();
void update_brake_current();
Firmware/MotorControl/main.cpp
+2
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@@ -214,6 +214,8 @@ int odrive_main(void) {
axes[i]->start_thread();
}
start_analog_thread();
system_stats_.fully_booted = true;
return 0;
}
Firmware/MotorControl/odrive_main.h
+1
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@@ -82,6 +82,7 @@ struct BoardConfig_t {
//<! the brake power if the brake resistor is disabled.
//<! The default is 26V for the 24V board version and 52V for the 48V board version.
PWMMapping_t pwm_mappings[GPIO_COUNT];
PWMMapping_t analog_mappings[GPIO_COUNT];
};
extern BoardConfig_t board_config;
extern bool user_config_loaded_;
Firmware/communication/communication.cpp
+5 -2
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@@ -163,8 +163,11 @@ static inline auto make_obj_tree() {
make_protocol_object("gpio2_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[1])),
make_protocol_object("gpio3_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[2])),
#endif
make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3]))
),
make_protocol_object("gpio4_pwm_mapping", make_protocol_definitions(board_config.pwm_mappings[3])),
make_protocol_object("gpio3_analog_mapping", make_protocol_definitions(board_config.analog_mappings[2])),
make_protocol_object("gpio4_analog_mapping", make_protocol_definitions(board_config.analog_mappings[3]))
),
make_protocol_object("axis0", axes[0]->make_protocol_definitions()),
make_protocol_object("axis1", axes[1]->make_protocol_definitions()),
make_protocol_object("can", can1_ctx.make_protocol_definitions()),