Merge pull request #661 from odriverobotics/feature/spi_fixes

Implement minor fixes for SPI encoders
odriverobotics · Feb 4, 2022 · a90ee65 · a90ee65
2 parents 8691e88 + 0aca491
commit a90ee65
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Showing 2 changed files with 3 additions and 3 deletions.
diff --git a/Firmware/Board/v3/Src/spi.c b/Firmware/Board/v3/Src/spi.c
@@ -104,7 +104,7 @@ void HAL_SPI_MspInit(SPI_HandleTypeDef* spiHandle)
     GPIO_InitStruct.Pin = GPIO_PIN_10|GPIO_PIN_12;
     GPIO_InitStruct.Mode = GPIO_MODE_AF_PP;
     GPIO_InitStruct.Pull = GPIO_PULLDOWN; // Idle clock and MOSI low.
-    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_VERY_HIGH;
+    GPIO_InitStruct.Speed = GPIO_SPEED_FREQ_MEDIUM;
     GPIO_InitStruct.Alternate = GPIO_AF6_SPI3;
     HAL_GPIO_Init(GPIOC, &GPIO_InitStruct);
 

diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp
@@ -46,7 +46,7 @@ void Encoder::setup() {
         .CLKPolarity = (mode_ == MODE_SPI_ABS_AEAT || mode_ == MODE_SPI_ABS_MA732) ? SPI_POLARITY_HIGH : SPI_POLARITY_LOW,
         .CLKPhase = SPI_PHASE_2EDGE,
         .NSS = SPI_NSS_SOFT,
-        .BaudRatePrescaler = SPI_BAUDRATEPRESCALER_32,
+        .BaudRatePrescaler = SPI_BAUDRATEPRESCALER_16,
         .FirstBit = SPI_FIRSTBIT_MSB,
         .TIMode = SPI_TIMODE_DISABLE,
         .CRCCalculation = SPI_CRCCALCULATION_DISABLE,
@@ -735,7 +735,7 @@ bool Encoder::update() {
             if (abs_spi_pos_updated_ == false) {
                 // Low pass filter the error
                 spi_error_rate_ += current_meas_period * (1.0f - spi_error_rate_);
-                if (spi_error_rate_ > 0.005f) {
+                if (spi_error_rate_ > 0.05f) {
                     set_error(ERROR_ABS_SPI_COM_FAIL);
                     return false;
                 }