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board detect before usage #6

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Sep 10, 2023
Merged

board detect before usage #6

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61 changes: 21 additions & 40 deletions src/isp_bldc_motor.spin2
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Original file line number Diff line number Diff line change
Expand Up @@ -104,27 +104,14 @@ PUB start(eMotorBasePin, eMotorVoltage, eDetectionMode) : ok | legalBase
'' Specify motor control board connect location for this motor and start the driver
' setup runtime constants
init(eMotorBasePin, eMotorVoltage, eDetectionMode)
params_ptr := @offset_fwd ' point to driver variables
setTargetAccel(0) ' do NOT move at startup

' ensure we only use legal values
legalBase := eMotorBasePin
CASE eMotorBasePin
PINS_P0_P15 :
PINS_P16_P31 :
PINS_P32_P47 :
OTHER :
legalBase := INVALID_PIN_BASE

' if legal base-pin then start cog
if legalBase <> INVALID_PIN_BASE
pinbase := legalBase ' record base pin number
params_ptr := @offset_fwd ' point to driver variables
setTargetAccel(0) ' do NOT move at startup

ok := motorCog := coginit(NEWCOG, @driver, @pinbase) + 1
if motorCog == 0 ' did fail?
debug("!! ERROR filed to start Motor Control task")
else
debug("* Motor COG #", sdec_(motorCog- 1))
ok := motorCog := coginit(NEWCOG, @driver, @pinbase) + 1
if motorCog == 0 ' did fail?
debug("!! ERROR filed to start Motor Control task")
else
debug("* Motor COG #", sdec_(motorCog- 1))

PUB stop()
'' Stop cogs and release pins assigned to this motor
Expand All @@ -145,18 +132,12 @@ PUB stop()
PUB testSetup(eMotorBasePin, eMotorVoltage, eDetectionMode) | legalBase
'' Specify motor control board connect location for this motor BUT DON'T start the driver
init(eMotorBasePin, eMotorVoltage, eDetectionMode)
' ensure we only use legal values
legalBase := eMotorBasePin
CASE eMotorBasePin
PINS_P0_P15 :
PINS_P16_P31 :
PINS_P32_P47 :
OTHER :
legalBase := INVALID_PIN_BASE

' if legal base-pin then start cog
if legalBase <> INVALID_PIN_BASE
pinbase := legalBase ' record base pin number
PRI validatePinBase(eMotorBasePin) : legalBase

legalBase := VALUE_NOT_SET
if lookdown(eMotorBasePin: PINS_P0_P15, PINS_P16_P31, PINS_P32_P47) <> 0
legalBase := eMotorBasePin

PRI init(eMotorBasePin, eMotorVoltage, eDetectionMode) | fwdDegrees, revDegrees
'' Specify motor control board connect location for this motor BUT DON'T start the driver
Expand All @@ -169,7 +150,12 @@ PRI init(eMotorBasePin, eMotorVoltage, eDetectionMode) | fwdDegrees, revDegrees
' set up debug variables
useDebug := FALSE
showHDMIDebug := FALSE
pinbase := VALUE_NOT_SET ' record base pin number
pinbase := validatePinBase(eMotorBasePin) ' record base pin number

eUserDetectionMode, bUserForced := getInternalDetectMode(eDetectionMode)

' set the mode now used by the driver to condition things (current-sense scaling, configpowerLimits, etc.)
eDetectedBoard := getBoardType()

bResetSenseData := FALSE

Expand Down Expand Up @@ -276,11 +262,6 @@ PRI init(eMotorBasePin, eMotorVoltage, eDetectionMode) | fwdDegrees, revDegrees

confgurePowerLimits(user.DRIVE_VOLTAGE)

eUserDetectionMode, bUserForced := getInternalDetectMode(eDetectionMode)

' set the mode now used by the driver to condition things (current-sense scaling, etc.)
eDetectedBoard := getBoardType()

rSenseForBoard := VALUE_NOT_SET
if eDetectedBoard == REV_A
rSenseForBoard := F_REV_A_RSENSE
Expand Down Expand Up @@ -903,8 +884,8 @@ PRI offsetsForMotor(eMotorType) : fwdDegrees, revDegrees | ofsDegr
}

' Chips values (orig driver)
' CHIP ORIG: offset_fwd long 280 frac 360 '280 frac 360 (Doug's motor) 20
' CHIP ORIG: offset_rev long 230 frac 360 '230 frac 360 (Doug's motor) 340
' CHIP ORIG: offset_fwd long 280 frac 360 '280 frac 360 (Doug's motor) 20
' CHIP ORIG: offset_rev long 230 frac 360 '230 frac 360 (Doug's motor) 340

' my values from characterization at 18v5:
ofsDegr := 43
Expand Down Expand Up @@ -2501,4 +2482,4 @@ CON { license }
OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE
SOFTWARE.
=================================================================================================
}}
}}