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mask step/dir during calibration

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This commit is contained in:
Oskar Weigl
2017-07-18 16:06:22 -07:00
parent 218b5b7f62
commit ee29070078
2 changed files with 17 additions and 8 deletions
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MotorControl/low_level.c
+16 -8
View File
@@ -46,6 +46,7 @@ static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_C
Motor_t motors[] = {
{ // M0
.control_mode = CTRL_MODE_CURRENT_CONTROL,
.enable_step_dir = false, //auto enabled after calibration
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
.pos_setpoint = 0.0f,
@@ -108,6 +109,7 @@ Motor_t motors[] = {
},
{ // M1
.control_mode = CTRL_MODE_CURRENT_CONTROL,
.enable_step_dir = false, //auto enabled after calibration
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
.pos_setpoint = 0.0f,
@@ -686,15 +688,19 @@ void step_cb(uint16_t GPIO_Pin) {
switch (GPIO_Pin) {
case GPIO_1_Pin:
//M0 stepped
dir_pin = HAL_GPIO_ReadPin(GPIO_2_GPIO_Port, GPIO_2_Pin);
dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
motors[0].pos_setpoint += dir * motors[0].counts_per_step;
if (motors[0].enable_step_dir) {
dir_pin = HAL_GPIO_ReadPin(GPIO_2_GPIO_Port, GPIO_2_Pin);
dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
motors[0].pos_setpoint += dir * motors[0].counts_per_step;
}
break;
case GPIO_3_Pin:
//M1 stepped
dir_pin = HAL_GPIO_ReadPin(GPIO_4_GPIO_Port, GPIO_4_Pin);
dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
motors[1].pos_setpoint += dir * motors[1].counts_per_step;
if (motors[1].enable_step_dir) {
dir_pin = HAL_GPIO_ReadPin(GPIO_4_GPIO_Port, GPIO_4_Pin);
dir = (dir_pin == GPIO_PIN_SET) ? 1.0f : -1.0f;
motors[1].pos_setpoint += dir * motors[1].counts_per_step;
}
break;
default:
global_fault(ERROR_UNEXPECTED_STEP_SRC);
@@ -1305,8 +1311,8 @@ void motor_thread(void const * argument) {
for (;;) {
if (motor->do_calibration) {
__HAL_TIM_MOE_ENABLE(motor->motor_timer);// enable pwm outputs
osDelay(10);
__HAL_TIM_MOE_ENABLE(motor->motor_timer);// enable pwm outputs
motor_calibration(motor);
if(!motor->calibration_ok){
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor->motor_timer);// disables pwm outputs
@@ -1315,10 +1321,12 @@ void motor_thread(void const * argument) {
}
if (motor->calibration_ok && motor->enable_control) {
__HAL_TIM_MOE_ENABLE(motor->motor_timer);
osDelay(10);
motor->enable_step_dir = true;
__HAL_TIM_MOE_ENABLE(motor->motor_timer);
control_motor_loop(motor);
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(motor->motor_timer);
motor->enable_step_dir = false;
if(motor->enable_control){ // if control is still enabled, we exited because of error
motor->calibration_ok = false;
motor->enable_control = false;
MotorControl/low_level.h
+1
View File
@@ -73,6 +73,7 @@ typedef struct {
#define TIMING_LOG_SIZE 16
typedef struct {
Motor_control_mode_t control_mode;
bool enable_step_dir;
float counts_per_step;
int error;
float pos_setpoint;