mirror of
https://github.com/odriverobotics/ODrive.git
synced 2026-08-19 02:43:27 +08:00
Samuel Sadok
b064800116
ADC1 is configured to sample channels 0 to 15 continuously at about 30kHz. Users can now set their GPIO of choice to analog mode (as long as it's wired to one of the analog channels) and then read the voltage at any time. The values can be read like this: GPIO_set_to_analog(GPIO_3_GPIO_Port, GPIO_3_Pin); my_voltage = get_adc_voltage(GPIO_3_GPIO_Port, GPIO_3_Pin);
124 lines
3.7 KiB
C++
124 lines
3.7 KiB
C++
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#define __MAIN_CPP__
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#include "odrive_main.h"
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#include "nvm_config.hpp"
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BoardConfig_t board_config;
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EncoderConfig_t encoder_configs[AXIS_COUNT];
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ControllerConfig_t controller_configs[AXIS_COUNT];
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MotorConfig_t motor_configs[AXIS_COUNT];
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AxisConfig_t axis_configs[AXIS_COUNT];
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bool user_config_loaded = false;
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Axis *axes[AXIS_COUNT];
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typedef Config<
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BoardConfig_t,
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EncoderConfig_t[AXIS_COUNT],
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ControllerConfig_t[AXIS_COUNT],
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MotorConfig_t[AXIS_COUNT],
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AxisConfig_t[AXIS_COUNT]> ConfigFormat;
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void save_configuration(void) {
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if (ConfigFormat::safe_store_config(
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&board_config,
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&encoder_configs,
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&controller_configs,
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&motor_configs,
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&axis_configs)) {
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//printf("saving configuration failed\r\n"); osDelay(5);
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}
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}
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void load_configuration(void) {
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if (NVM_init() ||
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ConfigFormat::safe_load_config(
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&board_config,
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&encoder_configs,
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&controller_configs,
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&motor_configs,
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&axis_configs)) {
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board_config = BoardConfig_t();
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for (size_t i = 0; i < AXIS_COUNT; ++i) {
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encoder_configs[i] = EncoderConfig_t();
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controller_configs[i] = ControllerConfig_t();
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motor_configs[i] = MotorConfig_t();
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axis_configs[i] = AxisConfig_t();
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}
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}
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}
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void erase_configuration(void) {
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NVM_erase();
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}
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void enter_dfu_mode(void) {
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__asm volatile ("CPSID I\n\t":::"memory"); // disable interrupts
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_reboot_cookie = 0xDEADBEEF;
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NVIC_SystemReset();
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}
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extern "C" {
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int odrive_main(void);
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void vApplicationStackOverflowHook(void) { for(;;); }
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}
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int odrive_main(void) {
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// Load persistent configuration (or defaults)
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load_configuration();
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// Construct all objects.
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for (size_t i = 0; i < AXIS_COUNT; ++i) {
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Encoder *encoder = new Encoder(hw_configs[i].encoder_config,
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encoder_configs[i]);
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SensorlessEstimator *sensorless_estimator = new SensorlessEstimator();
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Controller *controller = new Controller(controller_configs[i]);
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Motor *motor = new Motor(hw_configs[i].motor_config,
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hw_configs[i].gate_driver_config,
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motor_configs[i]);
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axes[i] = new Axis(hw_configs[i].axis_config, axis_configs[i],
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*encoder, *sensorless_estimator, *controller, *motor);
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}
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// Start ADC for temperature measurements and user measurements
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start_general_purpose_adc();
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// TODO: make dynamically reconfigurable
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#if HW_VERSION_MAJOR == 3 && HW_VERSION_MINOR >= 3
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if (board_config.enable_uart) {
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axes[0]->config_.enable_step_dir = false;
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axes[0]->set_step_dir_enabled(false);
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SetGPIO12toUART();
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}
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#endif
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//osDelay(100);
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// Init communications (this requires the axis objects to be constructed)
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init_communication();
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// Setup hardware for all components
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for (size_t i = 0; i < AXIS_COUNT; ++i) {
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axes[i]->setup();
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}
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// Start PWM and enable adc interrupts/callbacks
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start_adc_pwm();
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// This delay serves two purposes:
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// - Let the current sense calibration converge (the current
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// sense interrupts are firing in background by now)
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// - Allow a user to interrupt the code, e.g. by flashing a new code,
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// before it does anything crazy
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// TODO make timing a function of calibration filter tau
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osDelay(1500);
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// Start state machine threads. Each thread will go through various calibration
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// procedures and then run the actual controller loops.
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// TODO: generalize for AXIS_COUNT != 2
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for (size_t i = 0; i < AXIS_COUNT; ++i) {
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axes[i]->start_thread();
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}
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return 0;
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}
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