mirror of https://github.com/rusefi/bldc.git
Some cleanup, run encoder-routine in thread instead of isr
This commit is contained in:
Benjamin Vedder
parent
f053aab9a6
commit
1f2568bd8c
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@ -24,6 +24,7 @@
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* APP ADC button bitfield and CC disable support.
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* BissC encoder support: https://github.com/vedderb/bldc/pull/536
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* Better detection failt handling and reporting: https://github.com/vedderb/bldc/pull/533
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* TLE5012-support: https://github.com/vedderb/bldc/pull/551
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=== FW 5.03 ===
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* Fixed inductance measurement bug.
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@ -24,7 +24,7 @@
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#define FW_VERSION_MAJOR 6
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#define FW_VERSION_MINOR 00
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// Set to 0 for building a release and iterate during beta test builds
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#define FW_TEST_VERSION_NUMBER 76
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#define FW_TEST_VERSION_NUMBER 77
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#include "datatypes.h"
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@ -34,9 +34,6 @@ void spi_bb_init(spi_bb_state *s) {
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palSetPad(s->mosi_gpio, s->mosi_pin);
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palSetPad(s->nss_gpio, s->nss_pin);
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}
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s->has_started = false;
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s->has_error = false;
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}
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void spi_bb_deinit(spi_bb_state *s) {
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@ -47,9 +44,6 @@ void spi_bb_deinit(spi_bb_state *s) {
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if (s->mosi_gpio) {
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palSetPadMode(s->mosi_gpio, s->mosi_pin, PAL_MODE_INPUT_PULLUP);
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}
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s->has_started = false;
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s->has_error = false;
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}
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void ssc_bb_init(spi_bb_state *s) {
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@ -65,9 +59,6 @@ void ssc_bb_init(spi_bb_state *s) {
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palClearPad(s->sck_gpio, s->sck_pin);
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palSetPad(s->nss_gpio, s->nss_pin);
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s->has_started = false;
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s->has_error = false;
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}
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void ssc_bb_deinit(spi_bb_state *s) {
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@ -76,9 +67,6 @@ void ssc_bb_deinit(spi_bb_state *s) {
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palSetPadMode(s->mosi_gpio, s->miso_pin, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(s->sck_gpio, s->sck_pin, PAL_MODE_INPUT_PULLUP);
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palSetPadMode(s->nss_gpio, s->nss_pin, PAL_MODE_INPUT_PULLUP);
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s->has_started = false;
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s->has_error = false;
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}
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uint8_t spi_bb_exchange_8(spi_bb_state *s, uint8_t x) {
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@ -25,13 +25,6 @@
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#include "stdint.h"
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#include "stdbool.h"
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enum spi_types{
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spi_type_sw, // spi = seperate mosi and miso wires, (hw = hw spi pins)
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spi_type_hw,
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ssc_type_sw, // ssc = one data wire using mosi pin
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ssc_type_hw,
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};
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typedef struct {
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stm32_gpio_t *nss_gpio;
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int nss_pin;
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@ -41,9 +34,6 @@ typedef struct {
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int mosi_pin;
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stm32_gpio_t *miso_gpio;
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int miso_pin;
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enum spi_types spi_type;
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bool has_started;
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bool has_error;
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mutex_t mutex;
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} spi_bb_state;
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@ -96,20 +96,6 @@ bool enc_tle5012_init_sw_ssc(TLE5012_config_t *cfg) {
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return enc_tle5012_setup(cfg);
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}
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bool enc_tle5012_init_hw_ssc(TLE5012_config_t *cfg) {
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// software ssc for now using hw spi pins
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memset(&cfg->state, 0, sizeof(TLE5012_state));
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spi_bb_init(&(cfg->sw_spi));
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cfg->state.last_status_error = 0;
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cfg->state.spi_error_rate = 0.0;
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cfg->state.encoder_no_magnet_error_rate = 0.0;
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return enc_tle5012_setup(cfg);
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}
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void enc_tle5012_deinit(TLE5012_config_t *cfg) {
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// sw spi
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spi_bb_deinit(&(cfg->sw_spi));
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@ -179,7 +165,7 @@ bool enc_tle5012_setup(TLE5012_config_t *cfg) {
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// set up control registers to be identical across tle5012 variants using above settings
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tle5012_errortypes errorCheck = 0;
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uint16_t tleregister;
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uint16_t tleregister = 0;
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// Interface Mode1
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errorCheck = errorCheck && enc_tle5012_transfer(cfg, 0x06, &tleregister, SSC_READ, true);
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tleregister = tleregister & ~0b110000000010111; // mask (1 = cleared)
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@ -315,19 +301,15 @@ tle5012_errortypes enc_tle5012_transfer(TLE5012_config_t *cfg, uint8_t address,
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* @param length length of data
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* @return returns 8bit CRC
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*/
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uint8_t crc8(uint8_t *data, uint8_t length)
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{
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uint8_t crc8(uint8_t *data, uint8_t length) {
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uint32_t crc;
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int16_t i, bit;
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crc = TLE5012_CRC_SEED;
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for (i = 0; i < length; i++)
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{
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for (i = 0; i < length; i++) {
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crc ^= data[i];
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for (bit = 0; bit < 8; bit++)
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{
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if ((crc & 0x80) != 0)
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{
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for (bit = 0; bit < 8; bit++) {
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if ((crc & 0x80) != 0) {
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crc <<= 1;
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crc ^= TLE5012_CRC_POLYNOMIAL;
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} else {
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@ -335,6 +317,7 @@ uint8_t crc8(uint8_t *data, uint8_t length)
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}
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}
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}
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return ((~crc) & TLE5012_CRC_SEED);
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}
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@ -26,7 +26,6 @@
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#include "encoder/encoder_datatype.h"
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bool enc_tle5012_init_sw_ssc(TLE5012_config_t *cfg);
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bool enc_tle5012_init_hw_ssc(TLE5012_config_t *cfg);
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void enc_tle5012_deinit(TLE5012_config_t *cfg);
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void enc_tle5012_routine(TLE5012_config_t *cfg);
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tle5012_errortypes enc_tle5012_get_temperature(TLE5012_config_t *cfg, double *temperature);
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@ -32,18 +32,30 @@
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#include <math.h>
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static encoder_type_t encoder_type_now = ENCODER_TYPE_NONE;
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// These rates turn into even multiples of systicks
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typedef enum {
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routine_rate_1k = 0,
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routine_rate_2k,
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routine_rate_5k,
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routine_rate_10k
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} routine_rate_t;
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volatile routine_rate_t m_routine_rate = routine_rate_1k;
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static encoder_type_t m_encoder_type_now = ENCODER_TYPE_NONE;
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static THD_WORKING_AREA(routine_thread_wa, 256);
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static THD_FUNCTION(routine_thread, arg);
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// Private functions
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static void terminal_encoder(int argc, const char **argv);
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static void terminal_encoder_clear_errors(int argc, const char **argv);
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static void terminal_encoder_clear_multiturn(int argc, const char **argv);
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static void timer_start(float rate);
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static void timer_start(routine_rate_t rate);
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bool encoder_init(volatile mc_configuration *conf) {
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bool res = false;
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if (encoder_type_now != ENCODER_TYPE_NONE) {
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if (m_encoder_type_now != ENCODER_TYPE_NONE) {
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encoder_deinit();
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}
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@ -58,11 +70,11 @@ bool encoder_init(volatile mc_configuration *conf) {
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encoder_cfg_ABI.counts = conf->m_encoder_counts;
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if (!enc_abi_init(&encoder_cfg_ABI)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_ABI;
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m_encoder_type_now = ENCODER_TYPE_ABI;
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res = true;
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} break;
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@ -73,8 +85,8 @@ bool encoder_init(volatile mc_configuration *conf) {
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return false;
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}
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encoder_type_now = ENCODER_TYPE_AS504x;
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timer_start(10000);
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m_encoder_type_now = ENCODER_TYPE_AS504x;
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timer_start(routine_rate_10k);
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res = true;
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} break;
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@ -83,12 +95,12 @@ bool encoder_init(volatile mc_configuration *conf) {
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SENSOR_PORT_5V();
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if (!enc_mt6816_init(&encoder_cfg_mt6816)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_MT6816;
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timer_start(10000);
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m_encoder_type_now = ENCODER_TYPE_MT6816;
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timer_start(routine_rate_10k);
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res = true;
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} break;
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@ -103,20 +115,17 @@ bool encoder_init(volatile mc_configuration *conf) {
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HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, // sck
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HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // mosi
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HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // miso
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ssc_type_sw,
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0, // has_started
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0, // has_error
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{{NULL, NULL}, NULL, NULL} // Mutex
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};
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encoder_cfg_tle5012.sw_spi = sw_ssc;
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if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_TLE5012;
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timer_start(4000); // slow down sw spi as transactions long
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m_encoder_type_now = ENCODER_TYPE_TLE5012;
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timer_start(routine_rate_5k); // slow down sw spi as transactions long
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res = true;
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} break;
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@ -131,21 +140,18 @@ bool encoder_init(volatile mc_configuration *conf) {
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HW_SPI_PORT_SCK, HW_SPI_PIN_SCK, // sck
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HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // mosi
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HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // miso (shared dat line)
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ssc_type_sw,
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0, // has_started
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0, // has_error
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{{NULL, NULL}, NULL, NULL} // Mutex
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};
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encoder_cfg_tle5012.sw_spi = sw_ssc;
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if (!enc_tle5012_init_hw_ssc(&encoder_cfg_tle5012)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) {
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_TLE5012;
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m_encoder_type_now = ENCODER_TYPE_TLE5012;
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// timer_start(10000);
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timer_start(4000);
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timer_start(routine_rate_10k);
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res = true;
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} break;
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@ -154,12 +160,12 @@ bool encoder_init(volatile mc_configuration *conf) {
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SENSOR_PORT_5V();
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if (!enc_ad2s1205_init(&encoder_cfg_ad2s1205)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_AD2S1205_SPI;
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timer_start(10000);
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m_encoder_type_now = ENCODER_TYPE_AD2S1205_SPI;
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timer_start(routine_rate_10k);
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res = true;
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} break;
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@ -174,11 +180,11 @@ bool encoder_init(volatile mc_configuration *conf) {
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encoder_cfg_sincos.filter_constant = conf->foc_encoder_sincos_filter_constant;
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if (!enc_sincos_init(&encoder_cfg_sincos)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_SINCOS;
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m_encoder_type_now = ENCODER_TYPE_SINCOS;
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res = true;
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} break;
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@ -198,11 +204,11 @@ bool encoder_init(volatile mc_configuration *conf) {
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mempools_free_appconf(appconf);
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if (!enc_ts5700n8501_init(&encoder_cfg_TS5700N8501)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_TS5700N8501;
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m_encoder_type_now = ENCODER_TYPE_TS5700N8501;
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res = true;
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} break;
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@ -213,8 +219,8 @@ bool encoder_init(volatile mc_configuration *conf) {
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return false;
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}
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encoder_type_now = ENCODER_TYPE_AS5x47U;
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timer_start(10000);
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m_encoder_type_now = ENCODER_TYPE_AS5x47U;
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timer_start(routine_rate_10k);
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res = true;
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} break;
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@ -225,19 +231,19 @@ bool encoder_init(volatile mc_configuration *conf) {
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encoder_cfg_bissc.enc_res = conf->m_encoder_counts;
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if (!enc_bissc_init(&encoder_cfg_bissc)) {
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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return false;
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}
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encoder_type_now = ENCODER_TYPE_BISSC;
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timer_start(10000);
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m_encoder_type_now = ENCODER_TYPE_BISSC;
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timer_start(routine_rate_10k);
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res = true;
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} break;
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default:
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SENSOR_PORT_5V();
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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break;
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}
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@ -267,54 +273,54 @@ void encoder_deinit(void) {
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nvicDisableVector(HW_ENC_TIM_ISR_CH);
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TIM_DeInit(HW_ENC_TIM);
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if (encoder_type_now == ENCODER_TYPE_AS504x) {
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if (m_encoder_type_now == ENCODER_TYPE_AS504x) {
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enc_as504x_deinit(&encoder_cfg_as504x);
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} else if (encoder_type_now == ENCODER_TYPE_MT6816) {
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} else if (m_encoder_type_now == ENCODER_TYPE_MT6816) {
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enc_mt6816_deinit(&encoder_cfg_mt6816);
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} else if (encoder_type_now == ENCODER_TYPE_TLE5012) {
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} else if (m_encoder_type_now == ENCODER_TYPE_TLE5012) {
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enc_tle5012_deinit(&encoder_cfg_tle5012);
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} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
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} else if (m_encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
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enc_ad2s1205_deinit(&encoder_cfg_ad2s1205);
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} else if (encoder_type_now == ENCODER_TYPE_ABI) {
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} else if (m_encoder_type_now == ENCODER_TYPE_ABI) {
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enc_abi_deinit(&encoder_cfg_ABI);
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} else if (encoder_type_now == ENCODER_TYPE_SINCOS) {
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} else if (m_encoder_type_now == ENCODER_TYPE_SINCOS) {
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enc_sincos_deinit(&encoder_cfg_sincos);
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} else if (encoder_type_now == ENCODER_TYPE_TS5700N8501) {
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} else if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
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enc_ts5700n8501_deinit(&encoder_cfg_TS5700N8501);
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} else if (encoder_type_now == ENCODER_TYPE_AS5x47U) {
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} else if (m_encoder_type_now == ENCODER_TYPE_AS5x47U) {
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enc_as5x47u_deinit(&encoder_cfg_as5x47u);
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} else if (encoder_type_now == ENCODER_TYPE_BISSC) {
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} else if (m_encoder_type_now == ENCODER_TYPE_BISSC) {
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enc_bissc_deinit(&encoder_cfg_bissc);
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}
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encoder_type_now = ENCODER_TYPE_NONE;
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m_encoder_type_now = ENCODER_TYPE_NONE;
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}
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float encoder_read_deg(void) {
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if (encoder_type_now == ENCODER_TYPE_AS504x) {
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if (m_encoder_type_now == ENCODER_TYPE_AS504x) {
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return AS504x_LAST_ANGLE(&encoder_cfg_as504x);
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} else if (encoder_type_now == ENCODER_TYPE_MT6816) {
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} else if (m_encoder_type_now == ENCODER_TYPE_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);
|
||||
} 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);
|
||||
} 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);
|
||||
} 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);
|
||||
} 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);
|
||||
} else if (encoder_type_now == ENCODER_TYPE_AS5x47U) {
|
||||
} else if (m_encoder_type_now == ENCODER_TYPE_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 0.0;
|
||||
}
|
||||
|
||||
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);
|
||||
if (fabsf(ts_mt) > 5000.0) {
|
||||
ts_mt = 0;
|
||||
|
|
@ -330,11 +336,11 @@ float encoder_read_deg_multiturn(void) {
|
|||
}
|
||||
|
||||
encoder_type_t encoder_is_configured(void) {
|
||||
return encoder_type_now;
|
||||
return m_encoder_type_now;
|
||||
}
|
||||
|
||||
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;
|
||||
} else {
|
||||
return true;
|
||||
|
|
@ -342,13 +348,13 @@ bool encoder_index_found(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);
|
||||
}
|
||||
}
|
||||
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
|
@ -461,33 +467,7 @@ void encoder_pin_isr(void) {
|
|||
}
|
||||
|
||||
void encoder_tim_isr(void) {
|
||||
switch (encoder_type_now) {
|
||||
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;
|
||||
}
|
||||
// Use thread. Maybe use this one for encoders with a higher rate.
|
||||
}
|
||||
|
||||
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");
|
||||
}
|
||||
|
||||
static void timer_start(float rate) {
|
||||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||
static THD_FUNCTION(routine_thread, arg) {
|
||||
(void)arg;
|
||||
chRegSetThreadName("Enc Routine");
|
||||
|
||||
// Enable timer clock
|
||||
HW_ENC_TIM_CLK_EN();
|
||||
for (;;) {
|
||||
switch (m_encoder_type_now) {
|
||||
case ENCODER_TYPE_AS504x:
|
||||
enc_as504x_routine(&encoder_cfg_as504x);
|
||||
break;
|
||||
|
||||
// Time Base configuration
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = 0;
|
||||
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||
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);
|
||||
case ENCODER_TYPE_MT6816:
|
||||
enc_mt6816_routine(&encoder_cfg_mt6816);
|
||||
break;
|
||||
|
||||
// Enable overflow interrupt
|
||||
TIM_ITConfig(HW_ENC_TIM, TIM_IT_Update, ENABLE);
|
||||
case ENCODER_TYPE_TLE5012:
|
||||
enc_tle5012_routine(&encoder_cfg_tle5012);
|
||||
break;
|
||||
|
||||
// Enable timer
|
||||
TIM_Cmd(HW_ENC_TIM, ENABLE);
|
||||
case ENCODER_TYPE_AD2S1205_SPI:
|
||||
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);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
|
|
@ -23,7 +23,7 @@
|
|||
#include "hal.h"
|
||||
|
||||
// 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_4 ((uint16_t)0x0008) // 21 MHz 10.5 MHz
|
||||
|
|
@ -46,9 +46,6 @@ AS504x_config_t encoder_cfg_as504x = {
|
|||
0, 0,
|
||||
#endif
|
||||
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
|
||||
spi_type_sw,
|
||||
0, // has_started
|
||||
0, // has_error
|
||||
{{NULL, NULL}, NULL, NULL} // Mutex
|
||||
},
|
||||
|
||||
|
|
@ -65,9 +62,6 @@ AD2S1205_config_t encoder_cfg_ad2s1205 = {
|
|||
0, 0,
|
||||
#endif
|
||||
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2,
|
||||
spi_type_sw,
|
||||
0, // has_started
|
||||
0, // has_error
|
||||
{{NULL, NULL}, NULL, NULL} // Mutex
|
||||
},
|
||||
{0},
|
||||
|
|
@ -105,9 +99,6 @@ TLE5012_config_t encoder_cfg_tle5012 = {
|
|||
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, // miso
|
||||
ssc_type_sw,
|
||||
0, // has_started
|
||||
0, // has_error
|
||||
{{NULL, NULL}, NULL, NULL} // Mutex
|
||||
}, //ssc
|
||||
{0, 0, 0, 0, 0, 0, 0, 0} // State
|
||||
|
|
|
|||
|
|
@ -64,7 +64,7 @@ endif
|
|||
# Stack size to be allocated to the Cortex-M process stack. This stack is
|
||||
# the stack used by the main() thread.
|
||||
ifeq ($(USE_PROCESS_STACKSIZE),)
|
||||
USE_PROCESS_STACKSIZE = 0x800
|
||||
USE_PROCESS_STACKSIZE = 0x400
|
||||
endif
|
||||
|
||||
# Stack size to the allocated to the Cortex-M main/exceptions stack. This
|
||||
|
|
|
|||
Loading…
Reference in New Issue