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ABI integrated

This commit is contained in:
Jakub Tomczak 2021-12-15 13:42:29 +01:00
parent ce7b3f7805
commit 612f7a5090
2 changed files with 4 additions and 2 deletions
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3
mc_interface.c
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@ -212,7 +212,8 @@ void mc_interface_init(void) {
switch (motor_now()->m_conf.m_sensor_port_mode) { switch (motor_now()->m_conf.m_sensor_port_mode) {
case SENSOR_PORT_MODE_ABI: case SENSOR_PORT_MODE_ABI:
//TODO: integrate with encoder/encoders //TODO: integrate with encoder/encoders
encoder_init_abi(motor_now()->m_conf.m_encoder_counts); conf_ABI.counts = motor_now()->m_conf.m_encoder_counts;
encoders_init(&conf_ABI);
break; break;
case SENSOR_PORT_MODE_AS5047_SPI: case SENSOR_PORT_MODE_AS5047_SPI:

3
virtual_motor.c
View File

@ -277,7 +277,8 @@ static void disconnect_virtual_motor( void ){
if(m_conf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER){ if(m_conf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER){
switch (m_conf->m_sensor_port_mode) { switch (m_conf->m_sensor_port_mode) {
case SENSOR_PORT_MODE_ABI: case SENSOR_PORT_MODE_ABI:
encoder_init_abi(m_conf->m_encoder_counts); conf_ABI.counts = m_conf->m_encoder_counts;
encoders_init(&conf_ABI);
break; break;
case SENSOR_PORT_MODE_AS5047_SPI: case SENSOR_PORT_MODE_AS5047_SPI: