From a0533926dab20f2d9ac5548d8740ed4166eaacb9 Mon Sep 17 00:00:00 2001 From: copper280z Date: Tue, 5 Mar 2024 20:55:03 -0500 Subject: [PATCH] add firmware control of current sense gain pins add commented call to initialize current sense object --- firmware/src/main.cpp | 7 ++++++- 1 file changed, 6 insertions(+), 1 deletion(-) diff --git a/firmware/src/main.cpp b/firmware/src/main.cpp index 11e1540..fbc2786 100644 --- a/firmware/src/main.cpp +++ b/firmware/src/main.cpp @@ -60,7 +60,8 @@ STM32HWEncoder enc = STM32HWEncoder(ENC_PPR, ENC_A, ENC_B, ENC_Z); /** * TODO: Change the current sense code to reflect the new inline current sense amplifier choice with sense resistor. */ -// InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(90, ISENSE_U, ISENSE_V, ISENSE_W); +// InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(90, ISENSE_U, ISENSE_V, ISENSE_W); // ACS711 current sensors +// InlineCurrentSenseSync currentsense = InlineCurrentSenseSync(0.02, 50, ISENSE_U, ISENSE_V, ISENSE_W); // max49925 StepperDriver4PWM driver = StepperDriver4PWM(MOT_A1, MOT_A2, MOT_B1, MOT_B2); // StepperMotor motor = StepperMotor(POLEPAIRS, RPHASE, MOTORKV, 0.0045); @@ -90,6 +91,8 @@ void setup() pinMode(CAL_EN, OUTPUT); pinMode(MOT_EN, OUTPUT); pinMode(USER_BUTTON, INPUT); + pinMode(ISENSEGAIN_0, OUTPUT); + pinMode(ISENSEGAIN_1, OUTPUT); attachInterrupt(USER_BUTTON, userButton, RISING); @@ -100,6 +103,8 @@ void setup() digitalWrite(MOT_EN, HIGH); digitalWrite(CAL_EN, LOW); + digitalWrite(ISENSEGAIN_0, LOW); + digitalWrite(ISENSEGAIN_1, HIGH); uint8_t ret; // ret = configureCAN(); // if (!ret){