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some code fixes, start to draw new schematic

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This commit is contained in:
Edward Emelianov
2024-03-19 23:42:48 +03:00
parent ad92546f82
commit e92a5c4234
22 changed files with 156780 additions and 20670 deletions
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22
F3:F303/CANbus4BTA/encoder.c
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@@ -38,9 +38,24 @@ void encoder_setup(){
// read encoder value into buffer `outbuf`
// return TRUE if all OK
int read_encoder(uint8_t outbuf[4]){
if(!FLAG(ENC_IS_SSI)) return FALSE;
*((uint32_t*)outbuf) = 0;
return spi_writeread(ENCODER_SPI, outbuf, 4);
if(FLAG(ENC_IS_SSI)){
int r = spi_read(ENCODER_SPI, outbuf, 4);
return r;
}
usart_rstbuf();
// just send some trash over USART1 if encoder is RS-422
usart_send("teststring\n");
char *x;
uint32_t Tl = Tms;
while(Tms - Tl < 10){
int l = usart_getline(&x);
if(l){
for(int i = 0; i < l && i < 4; ++i) outbuf[i] = x[i];
return TRUE;
}
}
return FALSE;
}
// send encoder data
@@ -57,7 +72,6 @@ void CANsendEnc(){
// send limit-switches data
void CANsendLim(){
CAN_message msg = {.data = {0}, .ID = the_conf.limitsID, .length = 8};
msg.data[2] = getESW(0);
msg.data[3] = getESW(1);
msg.data[2] = getESW(1);
CAN_send(&msg);
}