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Update encoder config when needed

This commit is contained in:
Benjamin Vedder 2022-12-07 11:55:55 +01:00
parent 4cab6544e6
commit eade5ce18b
3 changed files with 19 additions and 0 deletions
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16
encoder/encoder.c
View File

@ -283,6 +283,22 @@ bool encoder_init(volatile mc_configuration *conf) {
return res;
}
void encoder_update_config(volatile mc_configuration *conf) {
switch (conf->m_sensor_port_mode) {
case SENSOR_PORT_MODE_SINCOS: {
encoder_cfg_sincos.s_gain = 1.0 / conf->m_encoder_sin_amp;
encoder_cfg_sincos.s_offset = conf->m_encoder_sin_offset;
encoder_cfg_sincos.c_gain = 1.0 /conf->m_encoder_cos_amp;
encoder_cfg_sincos.c_offset = conf->m_encoder_cos_offset;
encoder_cfg_sincos.filter_constant = conf->m_encoder_sincos_filter_constant;
sincosf(DEG2RAD_f(conf->m_encoder_sincos_phase_correction), &encoder_cfg_sincos.sph, &encoder_cfg_sincos.cph);
} break;
default:
break;
}
}
void encoder_deinit(void) {
nvicDisableVector(HW_ENC_EXTI_CH);
nvicDisableVector(HW_ENC_TIM_ISR_CH);

1
encoder/encoder.h
View File

@ -36,6 +36,7 @@
// Functions
bool encoder_init(volatile mc_configuration *conf);
void encoder_update_config(volatile mc_configuration *conf);
void encoder_deinit(void);
void encoder_set_custom_callbacks (

2
motor/mc_interface.c
View File

@ -309,6 +309,8 @@ void mc_interface_set_configuration(mc_configuration *configuration) {
if (motor->m_conf.m_sensor_port_mode != configuration->m_sensor_port_mode) {
encoder_deinit();
encoder_init(configuration);
} else {
encoder_update_config(configuration);
}
#ifdef HW_HAS_DRV8301