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Some cleanup, run encoder-routine in thread instead of isr

This commit is contained in:
Benjamin Vedder 2022-11-16 11:49:47 +01:00
parent f053aab9a6
commit 1f2568bd8c
10 changed files with 129 additions and 166 deletions
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1
CHANGELOG
View File

@ -24,6 +24,7 @@
* APP ADC button bitfield and CC disable support. * APP ADC button bitfield and CC disable support.
* BissC encoder support: https://github.com/vedderb/bldc/pull/536 * BissC encoder support: https://github.com/vedderb/bldc/pull/536
* Better detection failt handling and reporting: https://github.com/vedderb/bldc/pull/533 * Better detection failt handling and reporting: https://github.com/vedderb/bldc/pull/533
* TLE5012-support: https://github.com/vedderb/bldc/pull/551
=== FW 5.03 === === FW 5.03 ===
* Fixed inductance measurement bug. * Fixed inductance measurement bug.

2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 6 #define FW_VERSION_MAJOR 6
#define FW_VERSION_MINOR 00 #define FW_VERSION_MINOR 00
// Set to 0 for building a release and iterate during beta test builds // Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 76 #define FW_TEST_VERSION_NUMBER 77
#include "datatypes.h" #include "datatypes.h"

12
driver/spi_bb.c
View File

@ -34,9 +34,6 @@ void spi_bb_init(spi_bb_state *s) {
palSetPad(s->mosi_gpio, s->mosi_pin); palSetPad(s->mosi_gpio, s->mosi_pin);
palSetPad(s->nss_gpio, s->nss_pin); palSetPad(s->nss_gpio, s->nss_pin);
} }
s->has_started = false;
s->has_error = false;
} }
void spi_bb_deinit(spi_bb_state *s) { void spi_bb_deinit(spi_bb_state *s) {
@ -47,9 +44,6 @@ void spi_bb_deinit(spi_bb_state *s) {
if (s->mosi_gpio) { if (s->mosi_gpio) {
palSetPadMode(s->mosi_gpio, s->mosi_pin, PAL_MODE_INPUT_PULLUP); palSetPadMode(s->mosi_gpio, s->mosi_pin, PAL_MODE_INPUT_PULLUP);
} }
s->has_started = false;
s->has_error = false;
} }
void ssc_bb_init(spi_bb_state *s) { void ssc_bb_init(spi_bb_state *s) {
@ -65,9 +59,6 @@ void ssc_bb_init(spi_bb_state *s) {
palClearPad(s->sck_gpio, s->sck_pin); palClearPad(s->sck_gpio, s->sck_pin);
palSetPad(s->nss_gpio, s->nss_pin); palSetPad(s->nss_gpio, s->nss_pin);
s->has_started = false;
s->has_error = false;
} }
void ssc_bb_deinit(spi_bb_state *s) { void ssc_bb_deinit(spi_bb_state *s) {
@ -76,9 +67,6 @@ void ssc_bb_deinit(spi_bb_state *s) {
palSetPadMode(s->mosi_gpio, s->miso_pin, PAL_MODE_INPUT_PULLUP); palSetPadMode(s->mosi_gpio, s->miso_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(s->sck_gpio, s->sck_pin, PAL_MODE_INPUT_PULLUP); palSetPadMode(s->sck_gpio, s->sck_pin, PAL_MODE_INPUT_PULLUP);
palSetPadMode(s->nss_gpio, s->nss_pin, PAL_MODE_INPUT_PULLUP); palSetPadMode(s->nss_gpio, s->nss_pin, PAL_MODE_INPUT_PULLUP);
s->has_started = false;
s->has_error = false;
} }
uint8_t spi_bb_exchange_8(spi_bb_state *s, uint8_t x) { uint8_t spi_bb_exchange_8(spi_bb_state *s, uint8_t x) {

10
driver/spi_bb.h
View File

@ -25,13 +25,6 @@
#include "stdint.h" #include "stdint.h"
#include "stdbool.h" #include "stdbool.h"
enum spi_types{
spi_type_sw, // spi = seperate mosi and miso wires, (hw = hw spi pins)
spi_type_hw,
ssc_type_sw, // ssc = one data wire using mosi pin
ssc_type_hw,
};
typedef struct { typedef struct {
stm32_gpio_t *nss_gpio; stm32_gpio_t *nss_gpio;
int nss_pin; int nss_pin;
@ -41,9 +34,6 @@ typedef struct {
int mosi_pin; int mosi_pin;
stm32_gpio_t *miso_gpio; stm32_gpio_t *miso_gpio;
int miso_pin; int miso_pin;
enum spi_types spi_type;
bool has_started;
bool has_error;
mutex_t mutex; mutex_t mutex;
} spi_bb_state; } spi_bb_state;

29
encoder/enc_tle5012.c
View File

@ -96,20 +96,6 @@ bool enc_tle5012_init_sw_ssc(TLE5012_config_t *cfg) {
return enc_tle5012_setup(cfg); return enc_tle5012_setup(cfg);
} }
bool enc_tle5012_init_hw_ssc(TLE5012_config_t *cfg) {
// software ssc for now using hw spi pins
memset(&cfg->state, 0, sizeof(TLE5012_state));
spi_bb_init(&(cfg->sw_spi));
cfg->state.last_status_error = 0;
cfg->state.spi_error_rate = 0.0;
cfg->state.encoder_no_magnet_error_rate = 0.0;
return enc_tle5012_setup(cfg);
}
void enc_tle5012_deinit(TLE5012_config_t *cfg) { void enc_tle5012_deinit(TLE5012_config_t *cfg) {
// sw spi // sw spi
spi_bb_deinit(&(cfg->sw_spi)); spi_bb_deinit(&(cfg->sw_spi));
@ -179,7 +165,7 @@ bool enc_tle5012_setup(TLE5012_config_t *cfg) {
// set up control registers to be identical across tle5012 variants using above settings // set up control registers to be identical across tle5012 variants using above settings
tle5012_errortypes errorCheck = 0; tle5012_errortypes errorCheck = 0;
uint16_t tleregister; uint16_t tleregister = 0;
// Interface Mode1 // Interface Mode1
errorCheck = errorCheck && enc_tle5012_transfer(cfg, 0x06, &tleregister, SSC_READ, true); errorCheck = errorCheck && enc_tle5012_transfer(cfg, 0x06, &tleregister, SSC_READ, true);
tleregister = tleregister & ~0b110000000010111; // mask (1 = cleared) tleregister = tleregister & ~0b110000000010111; // mask (1 = cleared)
@ -315,19 +301,15 @@ tle5012_errortypes enc_tle5012_transfer(TLE5012_config_t *cfg, uint8_t address,
* @param length length of data * @param length length of data
* @return returns 8bit CRC * @return returns 8bit CRC
*/ */
uint8_t crc8(uint8_t *data, uint8_t length) uint8_t crc8(uint8_t *data, uint8_t length) {
{
uint32_t crc; uint32_t crc;
int16_t i, bit; int16_t i, bit;
crc = TLE5012_CRC_SEED; crc = TLE5012_CRC_SEED;
for (i = 0; i < length; i++) for (i = 0; i < length; i++) {
{
crc ^= data[i]; crc ^= data[i];
for (bit = 0; bit < 8; bit++) for (bit = 0; bit < 8; bit++) {
{ if ((crc & 0x80) != 0) {
if ((crc & 0x80) != 0)
{
crc <<= 1; crc <<= 1;
crc ^= TLE5012_CRC_POLYNOMIAL; crc ^= TLE5012_CRC_POLYNOMIAL;
} else { } else {
@ -335,6 +317,7 @@ uint8_t crc8(uint8_t *data, uint8_t length)
} }
} }
} }
return ((~crc) & TLE5012_CRC_SEED); return ((~crc) & TLE5012_CRC_SEED);
} }

1
encoder/enc_tle5012.h
View File

@ -26,7 +26,6 @@
#include "encoder/encoder_datatype.h" #include "encoder/encoder_datatype.h"
bool enc_tle5012_init_sw_ssc(TLE5012_config_t *cfg); bool enc_tle5012_init_sw_ssc(TLE5012_config_t *cfg);
bool enc_tle5012_init_hw_ssc(TLE5012_config_t *cfg);
void enc_tle5012_deinit(TLE5012_config_t *cfg); void enc_tle5012_deinit(TLE5012_config_t *cfg);
void enc_tle5012_routine(TLE5012_config_t *cfg); void enc_tle5012_routine(TLE5012_config_t *cfg);
tle5012_errortypes enc_tle5012_get_temperature(TLE5012_config_t *cfg, double *temperature); tle5012_errortypes enc_tle5012_get_temperature(TLE5012_config_t *cfg, double *temperature);

217
encoder/encoder.c
View File

@ -32,18 +32,30 @@
#include <math.h> #include <math.h>
static encoder_type_t encoder_type_now = ENCODER_TYPE_NONE; // These rates turn into even multiples of systicks
typedef enum {
routine_rate_1k = 0,
routine_rate_2k,
routine_rate_5k,
routine_rate_10k
} routine_rate_t;
volatile routine_rate_t m_routine_rate = routine_rate_1k;
static encoder_type_t m_encoder_type_now = ENCODER_TYPE_NONE;
static THD_WORKING_AREA(routine_thread_wa, 256);
static THD_FUNCTION(routine_thread, arg);
// Private functions // Private functions
static void terminal_encoder(int argc, const char **argv); static void terminal_encoder(int argc, const char **argv);
static void terminal_encoder_clear_errors(int argc, const char **argv); static void terminal_encoder_clear_errors(int argc, const char **argv);
static void terminal_encoder_clear_multiturn(int argc, const char **argv); static void terminal_encoder_clear_multiturn(int argc, const char **argv);
static void timer_start(float rate); static void timer_start(routine_rate_t rate);
bool encoder_init(volatile mc_configuration *conf) { bool encoder_init(volatile mc_configuration *conf) {
bool res = false; bool res = false;
if (encoder_type_now != ENCODER_TYPE_NONE) { if (m_encoder_type_now != ENCODER_TYPE_NONE) {
encoder_deinit(); encoder_deinit();
} }
@ -58,11 +70,11 @@ bool encoder_init(volatile mc_configuration *conf) {
encoder_cfg_ABI.counts = conf->m_encoder_counts; encoder_cfg_ABI.counts = conf->m_encoder_counts;
if (!enc_abi_init(&encoder_cfg_ABI)) { if (!enc_abi_init(&encoder_cfg_ABI)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_ABI; m_encoder_type_now = ENCODER_TYPE_ABI;
res = true; res = true;
} break; } break;
@ -73,8 +85,8 @@ bool encoder_init(volatile mc_configuration *conf) {
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_AS504x; m_encoder_type_now = ENCODER_TYPE_AS504x;
timer_start(10000); timer_start(routine_rate_10k);
res = true; res = true;
} break; } break;
@ -83,12 +95,12 @@ bool encoder_init(volatile mc_configuration *conf) {
SENSOR_PORT_5V(); SENSOR_PORT_5V();
if (!enc_mt6816_init(&encoder_cfg_mt6816)) { if (!enc_mt6816_init(&encoder_cfg_mt6816)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_MT6816; m_encoder_type_now = ENCODER_TYPE_MT6816;
timer_start(10000); timer_start(routine_rate_10k);
res = true; res = true;
} break; } break;
@ -103,20 +115,17 @@ bool encoder_init(volatile mc_configuration *conf) {
HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, // sck HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, // sck
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // mosi HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // mosi
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // miso HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // miso
ssc_type_sw,
0, // has_started
0, // has_error
{{NULL, NULL}, NULL, NULL} // Mutex {{NULL, NULL}, NULL, NULL} // Mutex
}; };
encoder_cfg_tle5012.sw_spi = sw_ssc; encoder_cfg_tle5012.sw_spi = sw_ssc;
if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) { if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_TLE5012; m_encoder_type_now = ENCODER_TYPE_TLE5012;
timer_start(4000); // slow down sw spi as transactions long timer_start(routine_rate_5k); // slow down sw spi as transactions long
res = true; res = true;
} break; } break;
@ -131,21 +140,18 @@ bool encoder_init(volatile mc_configuration *conf) {
HW_SPI_PORT_SCK, HW_SPI_PIN_SCK, // sck HW_SPI_PORT_SCK, HW_SPI_PIN_SCK, // sck
HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // mosi HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // mosi
HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // miso (shared dat line) HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // miso (shared dat line)
ssc_type_sw,
0, // has_started
0, // has_error
{{NULL, NULL}, NULL, NULL} // Mutex {{NULL, NULL}, NULL, NULL} // Mutex
}; };
encoder_cfg_tle5012.sw_spi = sw_ssc; encoder_cfg_tle5012.sw_spi = sw_ssc;
if (!enc_tle5012_init_hw_ssc(&encoder_cfg_tle5012)) { if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_TLE5012; m_encoder_type_now = ENCODER_TYPE_TLE5012;
// timer_start(10000); // timer_start(10000);
timer_start(4000); timer_start(routine_rate_10k);
res = true; res = true;
} break; } break;
@ -154,12 +160,12 @@ bool encoder_init(volatile mc_configuration *conf) {
SENSOR_PORT_5V(); SENSOR_PORT_5V();
if (!enc_ad2s1205_init(&encoder_cfg_ad2s1205)) { if (!enc_ad2s1205_init(&encoder_cfg_ad2s1205)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_AD2S1205_SPI; m_encoder_type_now = ENCODER_TYPE_AD2S1205_SPI;
timer_start(10000); timer_start(routine_rate_10k);
res = true; res = true;
} break; } break;
@ -174,11 +180,11 @@ bool encoder_init(volatile mc_configuration *conf) {
encoder_cfg_sincos.filter_constant = conf->foc_encoder_sincos_filter_constant; encoder_cfg_sincos.filter_constant = conf->foc_encoder_sincos_filter_constant;
if (!enc_sincos_init(&encoder_cfg_sincos)) { if (!enc_sincos_init(&encoder_cfg_sincos)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_SINCOS; m_encoder_type_now = ENCODER_TYPE_SINCOS;
res = true; res = true;
} break; } break;
@ -198,11 +204,11 @@ bool encoder_init(volatile mc_configuration *conf) {
mempools_free_appconf(appconf); mempools_free_appconf(appconf);
if (!enc_ts5700n8501_init(&encoder_cfg_TS5700N8501)) { if (!enc_ts5700n8501_init(&encoder_cfg_TS5700N8501)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_TS5700N8501; m_encoder_type_now = ENCODER_TYPE_TS5700N8501;
res = true; res = true;
} break; } break;
@ -213,8 +219,8 @@ bool encoder_init(volatile mc_configuration *conf) {
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_AS5x47U; m_encoder_type_now = ENCODER_TYPE_AS5x47U;
timer_start(10000); timer_start(routine_rate_10k);
res = true; res = true;
} break; } break;
@ -225,19 +231,19 @@ bool encoder_init(volatile mc_configuration *conf) {
encoder_cfg_bissc.enc_res = conf->m_encoder_counts; encoder_cfg_bissc.enc_res = conf->m_encoder_counts;
if (!enc_bissc_init(&encoder_cfg_bissc)) { if (!enc_bissc_init(&encoder_cfg_bissc)) {
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
return false; return false;
} }
encoder_type_now = ENCODER_TYPE_BISSC; m_encoder_type_now = ENCODER_TYPE_BISSC;
timer_start(10000); timer_start(routine_rate_10k);
res = true; res = true;
} break; } break;
default: default:
SENSOR_PORT_5V(); SENSOR_PORT_5V();
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
break; break;
} }
@ -267,54 +273,54 @@ void encoder_deinit(void) {
nvicDisableVector(HW_ENC_TIM_ISR_CH); nvicDisableVector(HW_ENC_TIM_ISR_CH);
TIM_DeInit(HW_ENC_TIM); TIM_DeInit(HW_ENC_TIM);
if (encoder_type_now == ENCODER_TYPE_AS504x) { if (m_encoder_type_now == ENCODER_TYPE_AS504x) {
enc_as504x_deinit(&encoder_cfg_as504x); enc_as504x_deinit(&encoder_cfg_as504x);
} else if (encoder_type_now == ENCODER_TYPE_MT6816) { } else if (m_encoder_type_now == ENCODER_TYPE_MT6816) {
enc_mt6816_deinit(&encoder_cfg_mt6816); enc_mt6816_deinit(&encoder_cfg_mt6816);
} else if (encoder_type_now == ENCODER_TYPE_TLE5012) { } else if (m_encoder_type_now == ENCODER_TYPE_TLE5012) {
enc_tle5012_deinit(&encoder_cfg_tle5012); enc_tle5012_deinit(&encoder_cfg_tle5012);
} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) { } else if (m_encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
enc_ad2s1205_deinit(&encoder_cfg_ad2s1205); enc_ad2s1205_deinit(&encoder_cfg_ad2s1205);
} else if (encoder_type_now == ENCODER_TYPE_ABI) { } else if (m_encoder_type_now == ENCODER_TYPE_ABI) {
enc_abi_deinit(&encoder_cfg_ABI); enc_abi_deinit(&encoder_cfg_ABI);
} else if (encoder_type_now == ENCODER_TYPE_SINCOS) { } else if (m_encoder_type_now == ENCODER_TYPE_SINCOS) {
enc_sincos_deinit(&encoder_cfg_sincos); enc_sincos_deinit(&encoder_cfg_sincos);
} else if (encoder_type_now == ENCODER_TYPE_TS5700N8501) { } else if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
enc_ts5700n8501_deinit(&encoder_cfg_TS5700N8501); enc_ts5700n8501_deinit(&encoder_cfg_TS5700N8501);
} else if (encoder_type_now == ENCODER_TYPE_AS5x47U) { } else if (m_encoder_type_now == ENCODER_TYPE_AS5x47U) {
enc_as5x47u_deinit(&encoder_cfg_as5x47u); enc_as5x47u_deinit(&encoder_cfg_as5x47u);
} else if (encoder_type_now == ENCODER_TYPE_BISSC) { } else if (m_encoder_type_now == ENCODER_TYPE_BISSC) {
enc_bissc_deinit(&encoder_cfg_bissc); enc_bissc_deinit(&encoder_cfg_bissc);
} }
encoder_type_now = ENCODER_TYPE_NONE; m_encoder_type_now = ENCODER_TYPE_NONE;
} }
float encoder_read_deg(void) { float encoder_read_deg(void) {
if (encoder_type_now == ENCODER_TYPE_AS504x) { if (m_encoder_type_now == ENCODER_TYPE_AS504x) {
return AS504x_LAST_ANGLE(&encoder_cfg_as504x); return AS504x_LAST_ANGLE(&encoder_cfg_as504x);
} else if (encoder_type_now == ENCODER_TYPE_MT6816) { } else if (m_encoder_type_now == ENCODER_TYPE_MT6816) {
return MT6816_LAST_ANGLE(&encoder_cfg_mt6816); return MT6816_LAST_ANGLE(&encoder_cfg_mt6816);
} else if (encoder_type_now == ENCODER_TYPE_TLE5012) { } else if (m_encoder_type_now == ENCODER_TYPE_TLE5012) {
return TLE5012_LAST_ANGLE(&encoder_cfg_tle5012); return TLE5012_LAST_ANGLE(&encoder_cfg_tle5012);
} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) { } else if (m_encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
return AD2S1205_LAST_ANGLE(&encoder_cfg_ad2s1205); return AD2S1205_LAST_ANGLE(&encoder_cfg_ad2s1205);
} else if (encoder_type_now == ENCODER_TYPE_ABI) { } else if (m_encoder_type_now == ENCODER_TYPE_ABI) {
return enc_abi_read_deg(&encoder_cfg_ABI); return enc_abi_read_deg(&encoder_cfg_ABI);
} else if (encoder_type_now == ENCODER_TYPE_SINCOS) { } else if (m_encoder_type_now == ENCODER_TYPE_SINCOS) {
return enc_sincos_read_deg(&encoder_cfg_sincos); return enc_sincos_read_deg(&encoder_cfg_sincos);
} else if (encoder_type_now == ENCODER_TYPE_TS5700N8501) { } else if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
return enc_ts5700n8501_read_deg(&encoder_cfg_TS5700N8501); return enc_ts5700n8501_read_deg(&encoder_cfg_TS5700N8501);
} else if (encoder_type_now == ENCODER_TYPE_AS5x47U) { } else if (m_encoder_type_now == ENCODER_TYPE_AS5x47U) {
return AS5x47U_LAST_ANGLE(&encoder_cfg_as5x47u); return AS5x47U_LAST_ANGLE(&encoder_cfg_as5x47u);
} else if (encoder_type_now == ENCODER_TYPE_BISSC) { } else if (m_encoder_type_now == ENCODER_TYPE_BISSC) {
return BISSC_LAST_ANGLE(&encoder_cfg_bissc); return BISSC_LAST_ANGLE(&encoder_cfg_bissc);
} }
return 0.0; return 0.0;
} }
float encoder_read_deg_multiturn(void) { float encoder_read_deg_multiturn(void) {
if (encoder_type_now == ENCODER_TYPE_TS5700N8501) { if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
float ts_mt = (float)enc_ts5700n8501_get_abm(&encoder_cfg_TS5700N8501); float ts_mt = (float)enc_ts5700n8501_get_abm(&encoder_cfg_TS5700N8501);
if (fabsf(ts_mt) > 5000.0) { if (fabsf(ts_mt) > 5000.0) {
ts_mt = 0; ts_mt = 0;
@ -330,11 +336,11 @@ float encoder_read_deg_multiturn(void) {
} }
encoder_type_t encoder_is_configured(void) { encoder_type_t encoder_is_configured(void) {
return encoder_type_now; return m_encoder_type_now;
} }
bool encoder_index_found(void) { bool encoder_index_found(void) {
if (encoder_type_now == ENCODER_TYPE_ABI) { if (m_encoder_type_now == ENCODER_TYPE_ABI) {
return encoder_cfg_ABI.state.index_found; return encoder_cfg_ABI.state.index_found;
} else { } else {
return true; return true;
@ -342,13 +348,13 @@ bool encoder_index_found(void) {
} }
void encoder_reset_multiturn(void) { void encoder_reset_multiturn(void) {
if (encoder_type_now == ENCODER_TYPE_TS5700N8501) { if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
return enc_ts5700n8501_reset_multiturn(&encoder_cfg_TS5700N8501); return enc_ts5700n8501_reset_multiturn(&encoder_cfg_TS5700N8501);
} }
} }
void encoder_reset_errors(void) { void encoder_reset_errors(void) {
if (encoder_type_now == ENCODER_TYPE_TS5700N8501) { if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
enc_ts5700n8501_reset_errors(&encoder_cfg_TS5700N8501); enc_ts5700n8501_reset_errors(&encoder_cfg_TS5700N8501);
} }
} }
@ -461,33 +467,7 @@ void encoder_pin_isr(void) {
} }
void encoder_tim_isr(void) { void encoder_tim_isr(void) {
switch (encoder_type_now) { // Use thread. Maybe use this one for encoders with a higher rate.
case ENCODER_TYPE_AS504x:
enc_as504x_routine(&encoder_cfg_as504x);
break;
case ENCODER_TYPE_MT6816:
enc_mt6816_routine(&encoder_cfg_mt6816);
break;
case ENCODER_TYPE_TLE5012:
enc_tle5012_routine(&encoder_cfg_tle5012);
break;
case ENCODER_TYPE_AD2S1205_SPI:
enc_ad2s1205_routine(&encoder_cfg_ad2s1205);
break;
case ENCODER_TYPE_AS5x47U:
enc_as5x47u_routine(&encoder_cfg_as5x47u);
break;
case ENCODER_TYPE_BISSC:
enc_bissc_routine(&encoder_cfg_bissc);
default:
break;
}
} }
static void terminal_encoder(int argc, const char **argv) { static void terminal_encoder(int argc, const char **argv) {
@ -640,25 +620,56 @@ static void terminal_encoder_clear_multiturn(int argc, const char **argv) {
commands_printf("Done!\n"); commands_printf("Done!\n");
} }
static void timer_start(float rate) { static THD_FUNCTION(routine_thread, arg) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure; (void)arg;
chRegSetThreadName("Enc Routine");
// Enable timer clock for (;;) {
HW_ENC_TIM_CLK_EN(); switch (m_encoder_type_now) {
case ENCODER_TYPE_AS504x:
enc_as504x_routine(&encoder_cfg_as504x);
break;
// Time Base configuration case ENCODER_TYPE_MT6816:
TIM_TimeBaseStructure.TIM_Prescaler = 0; enc_mt6816_routine(&encoder_cfg_mt6816);
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up; break;
TIM_TimeBaseStructure.TIM_Period = ((168000000 / 2 / rate) - 1);
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(HW_ENC_TIM, &TIM_TimeBaseStructure);
// Enable overflow interrupt case ENCODER_TYPE_TLE5012:
TIM_ITConfig(HW_ENC_TIM, TIM_IT_Update, ENABLE); enc_tle5012_routine(&encoder_cfg_tle5012);
break;
// Enable timer case ENCODER_TYPE_AD2S1205_SPI:
TIM_Cmd(HW_ENC_TIM, ENABLE); enc_ad2s1205_routine(&encoder_cfg_ad2s1205);
break;
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6); case ENCODER_TYPE_AS5x47U:
enc_as5x47u_routine(&encoder_cfg_as5x47u);
break;
case ENCODER_TYPE_BISSC:
enc_bissc_routine(&encoder_cfg_bissc);
break;
default:
break;
}
switch (m_routine_rate) {
case routine_rate_1k: chThdSleep(CH_CFG_ST_FREQUENCY / 1000); break;
case routine_rate_2k: chThdSleep(CH_CFG_ST_FREQUENCY / 2000); break;
case routine_rate_5k: chThdSleep(CH_CFG_ST_FREQUENCY / 5000); break;
case routine_rate_10k: chThdSleep(CH_CFG_ST_FREQUENCY / 10000); break;
default: chThdSleep(5);
}
}
}
static void timer_start(routine_rate_t rate) {
m_routine_rate = rate;
static bool routine_running = false;
if (!routine_running) {
routine_running = true;
chThdCreateStatic(routine_thread_wa, sizeof(routine_thread_wa), NORMALPRIO + 5, routine_thread, NULL);
}
} }

11
encoder/encoder_cfg.c
View File

@ -23,7 +23,7 @@
#include "hal.h" #include "hal.h"
// Stack area for the running encoder // Stack area for the running encoder
static THD_WORKING_AREA(encoder_thread_wa, 512); static THD_WORKING_AREA(encoder_thread_wa, 256);
#define SPI_BaudRatePrescaler_2 ((uint16_t)0x0000) // 42 MHz 21 MHZ #define SPI_BaudRatePrescaler_2 ((uint16_t)0x0000) // 42 MHz 21 MHZ
#define SPI_BaudRatePrescaler_4 ((uint16_t)0x0008) // 21 MHz 10.5 MHz #define SPI_BaudRatePrescaler_4 ((uint16_t)0x0008) // 21 MHz 10.5 MHz
@ -46,9 +46,6 @@ AS504x_config_t encoder_cfg_as504x = {
0, 0, 0, 0,
#endif #endif
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
spi_type_sw,
0, // has_started
0, // has_error
{{NULL, NULL}, NULL, NULL} // Mutex {{NULL, NULL}, NULL, NULL} // Mutex
}, },
@ -65,9 +62,6 @@ AD2S1205_config_t encoder_cfg_ad2s1205 = {
0, 0, 0, 0,
#endif #endif
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
spi_type_sw,
0, // has_started
0, // has_error
{{NULL, NULL}, NULL, NULL} // Mutex {{NULL, NULL}, NULL, NULL} // Mutex
}, },
{0}, {0},
@ -105,9 +99,6 @@ TLE5012_config_t encoder_cfg_tle5012 = {
HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, // sck HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, // sck
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // mosi HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // mosi
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // miso HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // miso
ssc_type_sw,
0, // has_started
0, // has_error
{{NULL, NULL}, NULL, NULL} // Mutex {{NULL, NULL}, NULL, NULL} // Mutex
}, //ssc }, //ssc
{0, 0, 0, 0, 0, 0, 0, 0} // State {0, 0, 0, 0, 0, 0, 0, 0} // State

2
make/fw.mk
View File

@ -64,7 +64,7 @@ endif
# Stack size to be allocated to the Cortex-M process stack. This stack is # Stack size to be allocated to the Cortex-M process stack. This stack is
# the stack used by the main() thread. # the stack used by the main() thread.
ifeq ($(USE_PROCESS_STACKSIZE),) ifeq ($(USE_PROCESS_STACKSIZE),)
USE_PROCESS_STACKSIZE = 0x800 USE_PROCESS_STACKSIZE = 0x400
endif endif
# Stack size to the allocated to the Cortex-M main/exceptions stack. This # Stack size to the allocated to the Cortex-M main/exceptions stack. This