matei/lemon-pepper-stepper
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Add some debug prints

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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
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23
firmware/src/main.cpp
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@@ -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;