Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

fix(motor-control): only add a delay before disengaging motor if ebrake exists #734

Merged
merged 3 commits into from
Nov 28, 2023
Merged

fix(motor-control): only add a delay before disengaging motor if ebrake exists #734

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
3 commits
Select commit Hold shift + click to select a range
1ffb311
fix(head): engage head ebrake at boot (#732)
ahiuchingau Nov 8, 2023
f9f8885
fix(motor-control): z stage falls after being disengaged (#733)
ahiuchingau Nov 15, 2023
bf6121f
only adds delay if there is an ebrake
ahiuchingau Nov 27, 2023
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
4 changes: 1 addition & 3 deletions head/firmware/motor_hardware_rev1.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -20,9 +20,7 @@ void initialize_rev_specific_pins() {
HAL_GPIO_Init(GPIOC, // NOLINT(cppcoreguidelines-pro-type-cstyle-cast)
&GPIO_InitStruct);

// TODO: Handle brakes better, this just disengages
// them at boot
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5 | GPIO_PIN_0, GPIO_PIN_SET);
HAL_GPIO_WritePin(GPIOB, GPIO_PIN_5 | GPIO_PIN_0, GPIO_PIN_RESET);

HAL_GPIO_WritePin(GPIOB, GPIO_PIN_11, GPIO_PIN_RESET);
HAL_GPIO_WritePin(GPIOC, GPIO_PIN_4, GPIO_PIN_RESET);
Expand Down
1 change: 1 addition & 0 deletions include/motor-control/firmware/motor_control_hardware.h
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@ uint16_t motor_hardware_encoder_pulse_count(void* encoder_handle);
uint16_t motor_hardware_encoder_pulse_count_with_overflow(void* encoder_handle, int8_t *overflows);
void motor_hardware_reset_encoder_count(void* encoder_handle, uint16_t reset_value);
uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t clear);
void motor_hardware_delay(uint32_t delay);
#ifdef __cplusplus
} // extern "C"
#endif // __cplusplus
Expand Down
6 changes: 6 additions & 0 deletions motor-control/firmware/motor_control_hardware.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -7,6 +7,7 @@
#include "FreeRTOS.h"
#include "platform_specific_hal_conf.h"
#include "stm32g4xx_hal_tim.h"
#include "stm32g4xx_hal.h"
#include "task.h"

HAL_StatusTypeDef custom_stop_pwm_it(TIM_HandleTypeDef* htim,
Expand Down Expand Up @@ -131,3 +132,8 @@ uint16_t motor_hardware_get_stopwatch_pulses(void* stopwatch_handle, uint8_t cle
return count;
}

void motor_hardware_delay(uint32_t delay) {
HAL_Delay(delay);
}


1 change: 1 addition & 0 deletions motor-control/firmware/stepper_motor/motor_hardware.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@ void MotorHardware::activate_motor() {
void MotorHardware::deactivate_motor() {
if (pins.ebrake.has_value()) {
gpio::set(pins.ebrake.value());
motor_hardware_delay(10);
}
gpio::reset(pins.enable);
}
Expand Down
Loading