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Add microsecond delay functions.

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Add DRV register/fault status reporting.
This commit is contained in:
Quincy Jones
2018-02-21 13:41:42 -06:00
parent f6cb9585ba
commit ef0f8dbf85
8 changed files with 98 additions and 10 deletions
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Firmware/MotorControl/commands.cpp
+14
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@@ -131,6 +131,13 @@ const Endpoint endpoints[] = {
Endpoint::make_property("Iq_measured", &motors[0].current_control.Iq_measured),
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[0].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("gate_driver"),
Endpoint::make_property("drv_error", reinterpret_cast<int32_t*>(&motors[0].drv_fault)),
Endpoint::make_property("status_reg_1", (&motors[0].gate_driver_regs.Stat_Reg_1_Value)),
Endpoint::make_property("status_reg_2", (&motors[0].gate_driver_regs.Stat_Reg_2_Value)),
Endpoint::make_property("ctrl_reg_1", (&motors[0].gate_driver_regs.Ctrl_Reg_1_Value)),
Endpoint::make_property("ctrl_reg_2", (&motors[0].gate_driver_regs.Ctrl_Reg_2_Value)),
Endpoint::close_tree(),
Endpoint::make_object("encoder"),
Endpoint::make_property("phase", const_cast<const float*>(&motors[0].encoder.phase)),
Endpoint::make_property("pll_pos", &motors[0].encoder.pll_pos),
@@ -188,6 +195,13 @@ const Endpoint endpoints[] = {
Endpoint::make_property("Iq_measured", &motors[1].current_control.Iq_measured),
Endpoint::make_property("Ibus", const_cast<const float*>(&motors[1].current_control.Ibus)),
Endpoint::close_tree(),
Endpoint::make_object("gate_driver"),
Endpoint::make_property("drv_error", reinterpret_cast<int32_t*>(&motors[1].drv_fault)),
Endpoint::make_property("status_reg_1", (&motors[1].gate_driver_regs.Stat_Reg_1_Value)),
Endpoint::make_property("status_reg_2", (&motors[1].gate_driver_regs.Stat_Reg_2_Value)),
Endpoint::make_property("ctrl_reg_1", (&motors[1].gate_driver_regs.Ctrl_Reg_1_Value)),
Endpoint::make_property("ctrl_reg_2", (&motors[1].gate_driver_regs.Ctrl_Reg_2_Value)),
Endpoint::close_tree(),
Endpoint::make_object("encoder"),
Endpoint::make_property("phase", const_cast<const float*>(&motors[1].encoder.phase)),
Endpoint::make_property("pll_pos", &motors[1].encoder.pll_pos),