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added optional CRC check for debugging Encoder SPI communication

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0x23 2026-03-18 17:31:45 +01:00
parent 29e285dc15
commit 73fc46eb63
6 changed files with 58 additions and 13 deletions
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4
firmware/MotionControllerRP/src/hw_config.h
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@ -24,6 +24,10 @@ constexpr float ENCODER_MAGNET_PITCH = 3.0f; // [mm]
constexpr float ENCODER_MAGNET_RADIUS = 30.0f; // [mm]
constexpr float ENCODER_ANGLE_TO_ROTOR_ANGLE = (ENCODER_MAGNET_PITCH*2.0f) /
(ENCODER_MAGNET_RADIUS * Constants::TWO_PI_F);
// enables error checking for encoders (slow) - useful for debugging
// Note: some chips seem to return always a crc of 0 producing massiv false errors
constexpr bool ENABLE_ENCODER_CRC = false;
//--- HOMING ------------------------------------------------------------------