Mirrors_Framework/ODrive
1
0
Fork 0
mirror of https://github.com/odriverobotics/ODrive.git synced 2026-09-21 15:34:33 +08:00
Code Issues Actions Packages Projects Releases Wiki Activity

enable/disable motor channel easier to do

Browse Source
This commit is contained in:
Oskar Weigl
2017-07-21 20:43:00 -07:00
parent b0910c71b9
commit f4515bd494
1 changed files with 6 additions and 29 deletions
Download Patch File Download Diff File Expand all files Collapse all files
MotorControl/low_level.c
+6 -29
View File
@@ -45,7 +45,7 @@ static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_C
// TODO: For nice encapsulation, consider not having the motor objects public
Motor_t motors[] = {
{ // M0
.control_mode = CTRL_MODE_CURRENT_CONTROL,
.control_mode = CTRL_MODE_POSITION_CONTROL,
.enable_step_dir = false, //auto enabled after calibration
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
@@ -62,8 +62,8 @@ Motor_t motors[] = {
.phase_resistance = 0.0f, // to be set by measure_phase_resistance
.motor_thread = 0,
.thread_ready = false,
.enable_control = false,
.do_calibration = false,
.enable_control = true,
.do_calibration = true,
.calibration_ok = false,
.motor_timer = &htim1,
.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
@@ -108,7 +108,7 @@ Motor_t motors[] = {
.timing_log = {0}
},
{ // M1
.control_mode = CTRL_MODE_CURRENT_CONTROL,
.control_mode = CTRL_MODE_POSITION_CONTROL,
.enable_step_dir = false, //auto enabled after calibration
.counts_per_step = 2.0f,
.error = ERROR_NO_ERROR,
@@ -125,8 +125,8 @@ Motor_t motors[] = {
.phase_resistance = 0.0f, // to be set by measure_phase_resistance
.motor_thread = 0,
.thread_ready = false,
.enable_control = false,
.do_calibration = false,
.enable_control = true,
.do_calibration = true,
.calibration_ok = false,
.motor_timer = &htim8,
.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
@@ -590,10 +590,6 @@ static void start_adc_pwm(){
__HAL_DBGMCU_FREEZE_TIM1();
__HAL_DBGMCU_FREEZE_TIM8();
// Turn off the regular conversion trigger for the inital phase
// hadc2.Instance->CR2 &= ~ADC_CR2_EXTEN;
// hadc3.Instance->CR2 &= ~ADC_CR2_EXTEN;
start_pwm(&htim1);
start_pwm(&htim8);
// TODO: explain why this offset
@@ -1257,25 +1253,6 @@ void motor_thread(void const * argument) {
motor->motor_thread = osThreadGetId();
motor->thread_ready = true;
#ifdef STANDALONE_MODE
//Only run tests on M0 for now
if (motor == &motors[0]) {
for(;;)
osDelay(2);
// TODO: figure out why M1 MOE must be enabled to run M0 correctly
// osDelay(10);
__HAL_TIM_MOE_ENABLE(motor->motor_timer);
FOC_voltage_loop(motor, 0.0f, 0.0f);
}
motor->do_calibration = true;
motor->enable_control = true;
//Turn on position control by default.
//NOTE: This may not be the preffered behaviour in your application.
set_pos_setpoint(motor, 0.0f, 0.0f, 0.0f);
#endif
for (;;) {
if (motor->do_calibration) {
__HAL_TIM_MOE_ENABLE(motor->motor_timer);// enable pwm outputs