Mirrors_Framework/ODrive
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Merge branch 'devel' into Endstops

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2018-12-06 23:37:04 -05:00
parent a2ebb7085c 414f84a2ce
commit e6dfa54d00
68 changed files with 952 additions and 7419 deletions
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Firmware/MotorControl/axis.cpp
+30 -17
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@@ -30,6 +30,7 @@ Axis::Axis(const AxisHardwareConfig_t& hw_config,
controller_.axis_ = this;
motor_.axis_ = this;
trap_.axis_ = this;
decode_step_dir_pins();
min_endstop_.axis_ = this;
max_endstop_.axis_ = this;
}
@@ -73,33 +74,46 @@ bool Axis::wait_for_current_meas() {
// step/direction interface
void Axis::step_cb() {
if (enable_step_dir_) {
GPIO_PinState dir_pin = HAL_GPIO_ReadPin(hw_config_.dir_port, hw_config_.dir_pin);
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;
controller_.pos_setpoint_ += dir * config_.counts_per_step;
}
};
// @brief Enables or disables step/dir input
void Axis::set_step_dir_enabled(bool enable) {
if (enable) {
void Axis::load_default_step_dir_pin_config(
const AxisHardwareConfig_t& hw_config, Config_t* config) {
config->step_gpio_pin = hw_config.step_gpio_pin;
config->dir_gpio_pin = hw_config.dir_gpio_pin;
}
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);
}
// @brief (de)activates step/dir input
void Axis::set_step_dir_active(bool active) {
if (active) {
// Set up the direction GPIO as input
GPIO_InitTypeDef GPIO_InitStruct;
GPIO_InitStruct.Pin = hw_config_.dir_pin;
GPIO_InitStruct.Pin = dir_pin_;
GPIO_InitStruct.Mode = GPIO_MODE_INPUT;
GPIO_InitStruct.Pull = GPIO_NOPULL;
HAL_GPIO_Init(hw_config_.dir_port, &GPIO_InitStruct);
HAL_GPIO_Init(dir_port_, &GPIO_InitStruct);
// Subscribe to rising edges of the step GPIO
GPIO_subscribe(hw_config_.step_port, hw_config_.step_pin, GPIO_PULLDOWN,
GPIO_subscribe(step_port_, step_pin_, GPIO_PULLDOWN,
GPIO_MODE_IT_FALLING, step_cb_wrapper, this);
enable_step_dir_ = true;
step_dir_active_ = true;
} else {
enable_step_dir_ = false;
step_dir_active_ = false;
// Unsubscribe from step GPIO
GPIO_unsubscribe(hw_config_.step_port, hw_config_.step_pin);
GPIO_unsubscribe(step_port_, step_pin_);
}
}
@@ -176,8 +190,6 @@ bool Axis::run_sensorless_spin_up() {
// Note run_sensorless_control_loop and run_closed_loop_control_loop are very similar and differ only in where we get the estimate from.
bool Axis::run_sensorless_control_loop() {
set_step_dir_enabled(config_.enable_step_dir);
run_control_loop([this](){
if (controller_.config_.control_mode >= Controller::CTRL_MODE_POSITION_CONTROL)
return error_ |= ERROR_POS_CTRL_DURING_SENSORLESS, false;
@@ -190,13 +202,14 @@ bool Axis::run_sensorless_control_loop() {
return false; // set_error should update axis.error_
return true;
});
set_step_dir_enabled(false);
return check_for_errors();
}
bool Axis::run_closed_loop_control_loop() {
set_step_dir_enabled(config_.enable_step_dir);
run_control_loop([this]() {
// To avoid any transient on startup, we intialize the setpoint to be the current position
controller_.pos_setpoint_ = encoder_.pos_estimate_;
set_step_dir_active(config_.enable_step_dir);
run_control_loop([this](){
// Note that all estimators are updated in the loop prefix in run_control_loop
float current_setpoint;
if (!controller_.update(encoder_.pos_estimate_, encoder_.vel_estimate_, &current_setpoint))
@@ -225,7 +238,7 @@ bool Axis::run_closed_loop_control_loop() {
}
return true;
});
set_step_dir_enabled(false);
set_step_dir_active(false);
return check_for_errors();
}