mirror of https://github.com/rusefi/bldc.git
457 lines
14 KiB
C
457 lines
14 KiB
C
/*
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Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
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Copyright 2022 Jakub Tomczak
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "encoder.h"
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#include "encoder_datatype.h"
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#include "encoder_cfg.h"
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#include "utils.h"
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#include "commands.h"
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#include "mcpwm_foc.h"
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#include "mc_interface.h"
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#include "mempools.h"
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#include "terminal.h"
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#include "app.h"
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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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// 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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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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encoder_deinit();
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}
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nvicDisableVector(HW_ENC_EXTI_CH);
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nvicDisableVector(HW_ENC_TIM_ISR_CH);
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TIM_DeInit(HW_ENC_TIM);
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switch (conf->m_sensor_port_mode) {
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case SENSOR_PORT_MODE_ABI: {
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SENSOR_PORT_5V();
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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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return false;
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}
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encoder_type_now = ENCODER_TYPE_ABI;
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res = true;
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} break;
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case SENSOR_PORT_MODE_AS5047_SPI: {
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SENSOR_PORT_3V3();
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if (!enc_as504x_init(&encoder_cfg_as504x)) {
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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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res = true;
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} break;
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case SENSOR_PORT_MODE_MT6816_SPI: {
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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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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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res = true;
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} break;
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case SENSOR_PORT_MODE_AD2S1205: {
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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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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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res = true;
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} break;
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case SENSOR_PORT_MODE_SINCOS: {
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SENSOR_PORT_5V();
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encoder_cfg_sincos.s_gain = conf->foc_encoder_sin_gain;
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encoder_cfg_sincos.s_offset = conf->foc_encoder_sin_offset;
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encoder_cfg_sincos.c_gain = conf->foc_encoder_cos_gain;
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encoder_cfg_sincos.c_offset = conf->foc_encoder_cos_offset;
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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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return false;
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}
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encoder_type_now = ENCODER_TYPE_SINCOS;
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res = true;
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} break;
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case SENSOR_PORT_MODE_TS5700N8501:
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case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
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SENSOR_PORT_5V();
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app_configuration *appconf = mempools_alloc_appconf();
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conf_general_read_app_configuration(appconf);
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if (appconf->app_to_use == APP_ADC ||
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appconf->app_to_use == APP_UART ||
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appconf->app_to_use == APP_PPM_UART ||
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appconf->app_to_use == APP_ADC_UART) {
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appconf->app_to_use = APP_NONE;
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app_set_configuration(appconf);
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conf_general_store_app_configuration(appconf);
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}
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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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return false;
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}
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encoder_type_now = ENCODER_TYPE_TS5700N8501;
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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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break;
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}
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terminal_register_command_callback(
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"encoder",
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"Prints the status of the AS5047, AD2S1205, or TS5700N8501 encoder.",
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0,
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terminal_encoder);
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terminal_register_command_callback(
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"encoder_clear_errors",
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"Clear error of the TS5700N8501 encoder.",
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0,
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terminal_encoder_clear_errors);
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terminal_register_command_callback(
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"encoder_clear_multiturn",
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"Clear multiturn counter of the TS5700N8501 encoder.",
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0,
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terminal_encoder_clear_multiturn);
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return res;
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}
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void encoder_deinit(void) {
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nvicDisableVector(HW_ENC_EXTI_CH);
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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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enc_as504x_deinit(&encoder_cfg_as504x);
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} else if (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_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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enc_abi_deinit(&encoder_cfg_ABI);
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} else if (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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enc_ts5700n8501_deinit(&encoder_cfg_TS5700N8501);
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}
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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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return AS504x_LAST_ANGLE(&encoder_cfg_as504x);
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} else if (encoder_type_now == ENCODER_TYPE_MT6816) {
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return MT6816_LAST_ANGLE(&encoder_cfg_mt6816);
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} else if (encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
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return AD2S1205_LAST_ANGLE(&encoder_cfg_ad2s1205);
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} else if (encoder_type_now == ENCODER_TYPE_ABI) {
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return enc_abi_read_deg(&encoder_cfg_ABI);
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} else if (encoder_type_now == ENCODER_TYPE_SINCOS) {
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return enc_sincos_read_deg(&encoder_cfg_sincos);
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} else if (encoder_type_now == ENCODER_TYPE_TS5700N8501) {
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return enc_ts5700n8501_read_deg(&encoder_cfg_TS5700N8501);
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}
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return 0.0;
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}
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float encoder_read_deg_multiturn(void) {
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if (encoder_type_now == ENCODER_TYPE_TS5700N8501) {
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float ts_mt = (float)enc_ts5700n8501_get_abm(&encoder_cfg_TS5700N8501);
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if (fabsf(ts_mt) > 5000.0) {
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ts_mt = 0;
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encoder_reset_multiturn();
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}
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ts_mt += 5000;
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return encoder_read_deg() / 10000.0 + (360 * ts_mt) / 10000.0;
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} else {
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return encoder_read_deg();
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}
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}
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encoder_type_t encoder_is_configured(void) {
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return encoder_type_now;
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}
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bool encoder_index_found(void) {
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if (encoder_type_now == ENCODER_TYPE_ABI) {
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return encoder_cfg_ABI.state.index_found;
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} else {
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return true;
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}
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}
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void encoder_reset_multiturn(void) {
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if (encoder_type_now == ENCODER_TYPE_TS5700N8501) {
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return enc_ts5700n8501_reset_multiturn(&encoder_cfg_TS5700N8501);
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}
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}
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void encoder_reset_errors(void) {
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if (encoder_type_now == ENCODER_TYPE_TS5700N8501) {
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enc_ts5700n8501_reset_errors(&encoder_cfg_TS5700N8501);
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}
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}
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// Check for encoder faults that should stop the motor with a fault code.
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void encoder_check_faults(volatile mc_configuration *m_conf, bool is_second_motor) {
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// Only generate fault code when the encoder is being used. Note that encoder faults
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// that occur above the sensorless ERPM won't stop the motor.
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bool is_foc_encoder = m_conf->motor_type == MOTOR_TYPE_FOC &&
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m_conf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
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mcpwm_foc_is_using_encoder();
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if (is_foc_encoder) {
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switch (m_conf->m_sensor_port_mode) {
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case SENSOR_PORT_MODE_AS5047_SPI:
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if (encoder_cfg_as504x.state.spi_error_rate > 0.05) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
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}
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if (encoder_cfg_as504x.sw_spi.mosi_gpio != NULL) {
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AS504x_diag diag = encoder_cfg_as504x.state.sensor_diag;
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if (!diag.is_connected) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
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}
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if (diag.is_Comp_high) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, is_second_motor, false);
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} else if(diag.is_Comp_low) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_MAGNET_TOO_STRONG, is_second_motor, false);
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}
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}
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break;
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case SENSOR_PORT_MODE_MT6816_SPI:
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if (encoder_cfg_mt6816.state.encoder_no_magnet_error_rate > 0.05) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, is_second_motor, false);
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}
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break;
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case SENSOR_PORT_MODE_SINCOS:
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if (encoder_cfg_sincos.state.signal_low_error_rate > 0.05) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE, is_second_motor, false);
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}
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if (encoder_cfg_sincos.state.signal_above_max_error_rate > 0.05) {
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mc_interface_fault_stop(FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE, is_second_motor, false);
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}
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break;
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case SENSOR_PORT_MODE_AD2S1205:
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if (encoder_cfg_ad2s1205.state.resolver_loss_of_tracking_error_rate > 0.05) {
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mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOT, is_second_motor, false);
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}
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if (encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_rate > 0.05) {
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mc_interface_fault_stop(FAULT_CODE_RESOLVER_DOS, is_second_motor, false);
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}
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if (encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate > 0.04) {
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mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOS, is_second_motor, false);
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}
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break;
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default:
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break;
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}
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}
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}
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void encoder_pin_isr(void) {
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enc_abi_pin_isr(&encoder_cfg_ABI);
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}
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void encoder_tim_isr(void) {
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switch (encoder_type_now) {
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case ENCODER_TYPE_AS504x:
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enc_as504x_routine(&encoder_cfg_as504x);
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break;
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case ENCODER_TYPE_MT6816:
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enc_mt6816_routine(&encoder_cfg_mt6816);
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break;
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case ENCODER_TYPE_AD2S1205_SPI:
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enc_ad2s1205_routine(&encoder_cfg_ad2s1205);
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break;
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default:
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break;
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}
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}
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static void terminal_encoder(int argc, const char **argv) {
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(void)argc; (void)argv;
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const volatile mc_configuration *mcconf = mc_interface_get_configuration();
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switch (mcconf->m_sensor_port_mode) {
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case SENSOR_PORT_MODE_AS5047_SPI:
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commands_printf("SPI encoder value: %d, errors: %d, error rate: %.3f %%",
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encoder_cfg_as504x.state.spi_val, encoder_cfg_as504x.state.spi_communication_error_count,
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(double)(encoder_cfg_as504x.state.spi_error_rate * 100.0));
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if (encoder_cfg_as504x.sw_spi.mosi_gpio != NULL) {
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commands_printf("\nAS5047 DIAGNOSTICS:\n"
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"Connected : %u\n"
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"AGC : %u\n"
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"Magnitude : %u\n"
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"COF : %u\n"
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"OCF : %u\n"
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"COMP_low : %u\n"
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"COMP_high : %u",
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encoder_cfg_as504x.state.sensor_diag.is_connected,
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encoder_cfg_as504x.state.sensor_diag.AGC_value,
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encoder_cfg_as504x.state.sensor_diag.magnitude,
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encoder_cfg_as504x.state.sensor_diag.is_COF,
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encoder_cfg_as504x.state.sensor_diag.is_OCF,
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encoder_cfg_as504x.state.sensor_diag.is_Comp_low,
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encoder_cfg_as504x.state.sensor_diag.is_Comp_high);
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}
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break;
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case SENSOR_PORT_MODE_MT6816_SPI:
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commands_printf("Low flux error (no magnet): errors: %d, error rate: %.3f %%",
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encoder_cfg_mt6816.state.encoder_no_magnet_error_cnt,
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(double)(encoder_cfg_mt6816.state.encoder_no_magnet_error_rate * 100.0));
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break;
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case SENSOR_PORT_MODE_TS5700N8501:
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case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
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char sf[9];
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char almc[9];
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utils_byte_to_binary(enc_ts5700n8501_get_raw_status(&encoder_cfg_TS5700N8501)[0], sf);
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utils_byte_to_binary(enc_ts5700n8501_get_raw_status(&encoder_cfg_TS5700N8501)[7], almc);
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commands_printf("TS5700N8501 ABM: %d, SF: %s, ALMC: %s", enc_ts5700n8501_get_abm(&encoder_cfg_TS5700N8501), sf, almc);
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} break;
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case SENSOR_PORT_MODE_SINCOS:
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commands_printf("Sin/Cos encoder signal below minimum amplitude: errors: %d, error rate: %.3f %%",
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encoder_cfg_sincos.state.signal_below_min_error_cnt,
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(double)(encoder_cfg_sincos.state.signal_low_error_rate * 100.0));
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commands_printf("Sin/Cos encoder signal above maximum amplitude: errors: %d, error rate: %.3f %%",
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encoder_cfg_sincos.state.signal_above_max_error_cnt,
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(double)(encoder_cfg_sincos.state.signal_above_max_error_rate * 100.0));
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break;
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case SENSOR_PORT_MODE_AD2S1205:
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commands_printf("Resolver Loss Of Tracking (>5%c error): errors: %d, error rate: %.3f %%", 0xB0,
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encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_cnt,
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(double)(encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate * 100.0));
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commands_printf("Resolver Degradation Of Signal (>33%c error): errors: %d, error rate: %.3f %%", 0xB0,
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encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_cnt,
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(double)(encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_rate * 100.0));
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commands_printf("Resolver Loss Of Signal (>57%c error): errors: %d, error rate: %.3f %%", 0xB0,
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encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_cnt,
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(double)(encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate * 100.0));
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break;
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case SENSOR_PORT_MODE_ABI:
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commands_printf("Index found: %d", encoder_index_found());
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break;
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default:
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commands_printf("No encoder debug info available.");
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break;
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}
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commands_printf(" ");
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}
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static void terminal_encoder_clear_errors(int argc, const char **argv) {
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(void)argc; (void)argv;
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encoder_reset_errors();
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commands_printf("Done!\n");
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}
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static void terminal_encoder_clear_multiturn(int argc, const char **argv) {
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(void)argc; (void)argv;
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encoder_reset_multiturn();
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commands_printf("Done!\n");
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}
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static void timer_start(float rate) {
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TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
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// Enable timer clock
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HW_ENC_TIM_CLK_EN();
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// Time Base configuration
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TIM_TimeBaseStructure.TIM_Prescaler = 0;
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TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
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TIM_TimeBaseStructure.TIM_Period = ((168000000 / 2 / rate) - 1);
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TIM_TimeBaseStructure.TIM_ClockDivision = 0;
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TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
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TIM_TimeBaseInit(HW_ENC_TIM, &TIM_TimeBaseStructure);
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// Enable overflow interrupt
|
|
TIM_ITConfig(HW_ENC_TIM, TIM_IT_Update, ENABLE);
|
|
|
|
// Enable timer
|
|
TIM_Cmd(HW_ENC_TIM, ENABLE);
|
|
|
|
nvicEnableVector(HW_ENC_TIM_ISR_CH, 6);
|
|
}
|