matei/lemon-pepper-stepper
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

Add some debug prints

Browse Source 
fix function def for init ADC, so it overrides the weak generic version

fix caps in mt6835 include so gcc is happy
This commit is contained in:
copper280z
2023-11-10 22:44:04 -05:00
parent 5125602875
commit d691329e86
5 changed files with 28 additions and 12 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
firmware/lib/Arduino-FOC/src/current_sense/hardware_specific/generic_mcu.cpp
View File

@@ -1,4 +1,6 @@
#include "../hardware_api.h"
#include "communication/SimpleFOCDebug.h"
// function reading an ADC value and returning the read voltage
__attribute__((weak)) float _readADCVoltageInline(const int pinA, const void* cs_params){

1
firmware/lib/currentsense/InlineCurrentSenseSync.cpp
View File

@@ -37,6 +37,7 @@ InlineCurrentSenseSync::InlineCurrentSenseSync(float _mVpA, int _pinA, int _pinB
// Inline sensor init function
int InlineCurrentSenseSync::init(){
SIMPLEFOC_DEBUG("CS:Init Current Sense Inline Sync");
// if no linked driver its fine in this case
// at least for init()
void* drv_params = driver ? driver->params : nullptr;

5
firmware/lib/currentsense/utils.cpp
View File

@@ -24,8 +24,9 @@ void MX_GPIO_Init(void)
__HAL_RCC_ADC12_CLK_ENABLE();
}
float _readVoltageInline(const uint8_t pin, const void *cs_params)
float _readADCVoltageInline(const int pin, const void *cs_params)
{
// SIMPLEFOC_DEBUG("READ ADC VOLTAGE");
uint32_t rawResult;
switch (pin)
{
@@ -60,6 +61,7 @@ float _readVoltageLowSide(const int pinA, const void *cs_params)
void *_configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC)
{
SIMPLEFOC_DEBUG("Configure Utils ADCInline");
_UNUSED(driver_params);
HAL_Init();
@@ -106,6 +108,7 @@ void *_configureADCLowSide(const void *driver_params, const int pinA, const int
void _driverSyncLowSide(void *_driver_params, void *_cs_params)
{
SIMPLEFOC_DEBUG("CS: Sync CS to driver");
STM32DriverParams* driver_params = (STM32DriverParams*)_driver_params;
Stm32CurrentSenseParams* cs_params = (Stm32CurrentSenseParams*)_cs_params;

9
firmware/lib/currentsense/utils.h
View File

@@ -6,9 +6,16 @@
#include "stm32g4xx_hal.h"
#include "communication/SimpleFOCDebug.h"
#include "current_sense/hardware_api.h"
// #include "current_sense/hardware_api.h"
#include "current_sense/hardware_specific/stm32/stm32_mcu.h"
#include "drivers/hardware_specific/stm32/stm32_mcu.h"
float _readADCVoltageInline(const int pinA, const void* cs_params);
// float _readADCVoltageInline(const uint8_t pin, const void *cs_params);
float _readVoltageLowSide(const int pinA, const void *cs_params);
void *_configureADCInline(const void *driver_params, const int pinA, const int pinB, const int pinC);
void *_configureADCLowSide(const void *driver_params, const int pinA, const int pinB, const int pinC);
void _driverSyncLowSide(void *_driver_params, void *_cs_params);
#endif
#endif

23
firmware/src/main.cpp
View File

@@ -3,8 +3,8 @@
#include <SPI.h>
#include <SimpleFOC.h>
#include <SimpleFOCDrivers.h>
#include "encoders/MT6835/MagneticSensorMT6835.h"
#include "SimpleFOCDrivers.h"
#include "encoders/mt6835/MagneticSensorMT6835.h"
#include "encoders/stm32hwencoder/STM32HWEncoder.h"
#include "stm32g4xx_hal_conf.h"
@@ -45,7 +45,9 @@ extern uint8_t RxData[8];
#define MOTORKV 40
#define ENC_PPR 16383 // max 16383 (zero index) -> *4 for CPR, -1 is done in init to prevent rollover on 16 bit timer
#define SERIALPORT SerialUSB
#define SERIALPORT Serial3
HardwareSerial Serial3 = HardwareSerial(PB8, PB9);
/**
* SPI clockdiv of 16 gives ~10.5MHz clock. May still be stable with lower divisor.
@@ -86,11 +88,12 @@ void setup()
digitalWrite(MOT_EN, HIGH);
digitalWrite(CAL_EN, LOW);
uint8_t ret = configureCAN();
if (!ret){
SIMPLEFOC_DEBUG("CAN init failed.");
digitalWrite(LED_FAULT, HIGH);
}
uint8_t ret;
// ret = configureCAN();
// if (!ret){
// SIMPLEFOC_DEBUG("CAN init failed.");
// digitalWrite(LED_FAULT, HIGH);
// }
ret = configureFOC();
if (!ret){
SIMPLEFOC_DEBUG("FOC init failed.");
@@ -254,8 +257,8 @@ uint8_t configureFOC(void)
motor.linkDriver(&driver);
currentsense.linkDriver(&driver);
currentsense.init();
int ret = currentsense.init();
SERIALPORT.printf("Current Sense init result: %i\n", ret);
motor.linkCurrentSense(&currentsense);
motor.target = 10;