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add encoder support (LIR-OM158A)

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This commit is contained in:
Edward Emelianov
2024-03-23 17:43:38 +03:00
parent 7de5819361
commit b89b548e0a
11 changed files with 108 additions and 56 deletions
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29
F3:F303/CANbus4BTA/encoder.c
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@@ -24,6 +24,21 @@
#include "usart.h"
#include <string.h>
#include <strings.h>
static int rdy = 0;
void encoder_process(){
if(!FLAG(ENC_IS_SSI)) return;
static uint32_t lastT = 0;
if(!rdy){
encoder_setup();
return;
}
if(Tms - lastT > ENCODER_RD_INTERVAL){
if(spi_start_enc()) lastT = Tms; // start rd process
}
}
void encoder_setup(){
if(FLAG(ENC_IS_SSI)){
@@ -33,15 +48,16 @@ void encoder_setup(){
spi_deinit(ENCODER_SPI);
usart_setup();
}
rdy = 1;
}
// read encoder value into buffer `outbuf`
// return TRUE if all OK
int read_encoder(uint8_t outbuf[4]){
*((uint32_t*)outbuf) = 0;
int read_encoder(uint8_t outbuf[8]){
bzero(outbuf, 8);
if(FLAG(ENC_IS_SSI)){
int r = spi_read(ENCODER_SPI, outbuf, 4);
return r;
spi_read_enc(outbuf);
return TRUE;
}
usart_rstbuf();
// just send some trash over USART1 if encoder is RS-422
@@ -62,11 +78,6 @@ int read_encoder(uint8_t outbuf[4]){
void CANsendEnc(){
CAN_message msg = {.data = {0}, .ID = the_conf.encoderID, .length = 8};
if(!read_encoder(msg.data)) return;
uint32_t ctr = TIM2->CNT;
//msg.data[4] = 0;
msg.data[5] = (ctr >> 16) & 0xff;
msg.data[6] = (ctr >> 8 ) & 0xff;
msg.data[7] = (ctr >> 0 ) & 0xff;
CAN_send(&msg);
}
// send limit-switches data