mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 11:07:16 +08:00
79 lines
2.5 KiB
C++
79 lines
2.5 KiB
C++
|
|
#include "axis.h"
|
|
#include "commands.h"
|
|
|
|
//TODO: goal of refactor is to kick this out completely
|
|
extern "C" {
|
|
#include "low_level.h"
|
|
}
|
|
|
|
// C interface
|
|
extern "C" {
|
|
void axis_thread_entry(void const* temp_motor_ptr) {
|
|
Motor_t* motor = (Motor_t*)temp_motor_ptr;
|
|
|
|
//TODO: explicit axis number assignment
|
|
//for now we search for it
|
|
uint8_t ax_number = 0;
|
|
while (&motors[ax_number] != motor)
|
|
++ax_number;
|
|
|
|
static const AxisConfig default_config;
|
|
|
|
Axis axis(default_config, ax_number, motor);
|
|
axis.StateMachineLoop();
|
|
}
|
|
} // extern "C"
|
|
|
|
void Axis::SetupLegacyMappings() {
|
|
// Legacy reachability from C
|
|
legacy_motor_ref_->axis_legacy.enable_control = &enable_control_;
|
|
|
|
// override for compatibility with legacy comms paradigm
|
|
// TODO next gen comms
|
|
exposed_bools[4 * axis_number_ + 1] = &enable_control_;
|
|
exposed_bools[4 * axis_number_ + 2] = &do_calibration_;
|
|
}
|
|
|
|
Axis::Axis(const AxisConfig& config, uint8_t axis_number, Motor_t* legacy_motor_ref)
|
|
: axis_number_(axis_number),
|
|
enable_control_(config.enable_control_at_start),
|
|
do_calibration_(config.do_calibration_at_start),
|
|
legacy_motor_ref_(legacy_motor_ref) {
|
|
SetupLegacyMappings();
|
|
}
|
|
|
|
void Axis::StateMachineLoop() {
|
|
legacy_motor_ref_->motor_thread = osThreadGetId();
|
|
legacy_motor_ref_->thread_ready = true;
|
|
bool calibration_ok = false;
|
|
for (;;) {
|
|
if (do_calibration_) {
|
|
do_calibration_ = false;
|
|
|
|
__HAL_TIM_MOE_ENABLE(legacy_motor_ref_->motor_timer); // enable pwm outputs
|
|
calibration_ok = motor_calibration(legacy_motor_ref_);
|
|
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(legacy_motor_ref_->motor_timer); // disables pwm outputs
|
|
}
|
|
|
|
if (calibration_ok && enable_control_) {
|
|
legacy_motor_ref_->enable_step_dir = true;
|
|
__HAL_TIM_MOE_ENABLE(legacy_motor_ref_->motor_timer);
|
|
|
|
bool spin_up_ok = true;
|
|
if (legacy_motor_ref_->rotor_mode == ROTOR_MODE_SENSORLESS)
|
|
spin_up_ok = spin_up_sensorless(legacy_motor_ref_);
|
|
if (spin_up_ok)
|
|
control_motor_loop(legacy_motor_ref_);
|
|
|
|
__HAL_TIM_MOE_DISABLE_UNCONDITIONALLY(legacy_motor_ref_->motor_timer);
|
|
legacy_motor_ref_->enable_step_dir = false;
|
|
|
|
if (enable_control_) { // if control is still enabled, we exited because of error
|
|
calibration_ok = false;
|
|
enable_control_ = false;
|
|
}
|
|
}
|
|
}
|
|
legacy_motor_ref_->thread_ready = false;
|
|
} |