BaseCode for T-Motor_AK80
Dependencies: mbed-dev-f303 FastPWM3
Diff: main.cpp
- Revision:
- 57:d18e3d25ed8a
- Parent:
- 56:fe5056ac6740
diff -r fe5056ac6740 -r d18e3d25ed8a main.cpp --- a/main.cpp Thu Oct 10 15:03:12 2019 +0000 +++ b/main.cpp Wed Dec 09 06:33:30 2020 +0000 @@ -178,6 +178,7 @@ if (TIM1->SR & TIM_SR_UIF ) { //gpio.led->write(1); ///Sample current always /// + gpio.led->write(!gpio.led->read()); ADC1->CR2 |= 0x40000000; // Begin sample and conversion //volatile int delay; //for (delay = 0; delay < 55; delay++); @@ -447,6 +448,14 @@ wait_us(100); drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x0, 0x1, 0x1, 0x1, SEN_LVL_1_0); // calibrate shunt amplifiers wait_us(100); + + + drv.write_HSR(LOCK_OFF, IDRIVEP_HS_330MA, IDRIVEN_HS_660MA); + wait_us(100); + drv.write_LSR(0x1, TDRIVE_4000NS, IDRIVEP_LS_330MA, IDRIVEN_LS_660MA); + wait_us(100); + + zero_current(&controller.adc1_offset, &controller.adc2_offset); wait_us(100); drv.write_CSACR(0x0, 0x1, 0x0, CSA_GAIN_40, 0x1, 0x0, 0x0, 0x0, SEN_LVL_1_0); @@ -523,7 +532,7 @@ //drv.print_faults(); wait(.1); //printf("%.3f %.3f\n\r" , observer.temperature, observer.q_in); - if(controller.otw_flag){gpio.led->write(!gpio.led->read());} + //if(controller.otw_flag){gpio.led->write(!gpio.led->read());} /* if(state == MOTOR_MODE) {