From f4515bd4941c1a62900db37b80d4dac81dece218 Mon Sep 17 00:00:00 2001
From: Oskar Weigl <oskar.weigl@gmail.com>
Date: Fri, 21 Jul 2017 20:32:07 -0700
Subject: [PATCH] enable/disable motor channel easier to do

---
 MotorControl/low_level.c | 35 ++++++-----------------------------
 1 file changed, 6 insertions(+), 29 deletions(-)

diff --git a/MotorControl/low_level.c b/MotorControl/low_level.c
index 3f61d893..14adaf6a 100755
--- a/MotorControl/low_level.c
+++ b/MotorControl/low_level.c
@@ -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