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Firmware Version 1.0.4

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This commit is contained in:
0x23 2026-03-13 09:10:45 +01:00
parent 18313cc6ae
commit e13cbda4cc
26 changed files with 794 additions and 256 deletions
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39
firmware/MotionControllerRP/src/hardware/MT6835_encoder.cpp
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@ -7,6 +7,7 @@
#include "hardware/spi.h"
#include "hardware/gpio.h"
#include "pico/stdlib.h"
#include "utilities/logging.h"
void MT6835Encoder::setup_spi(spi_inst_t* spi, uint pin_sck, uint pin_mosi, uint pin_miso, int32_t baudrate_hz) {
// Set GPIO functions to SPI
@ -17,22 +18,27 @@ void MT6835Encoder::setup_spi(spi_inst_t* spi, uint pin_sck, uint pin_mosi, uint
// SPI format: 8 bits, mode 3 (CPOL=1, CPHA=1)
spi_init(spi, baudrate_hz);
spi_set_format(spi, 8, SPI_CPOL_1, SPI_CPHA_1, SPI_MSB_FIRST);
sleep_ms(10);
}
MT6835Encoder::MT6835Encoder(spi_inst_t* spi, uint cs_pin) : spi(spi), cs_pin(cs_pin) {
// nop
if (cs_pin >= 0) {
gpio_init(cs_pin);
gpio_set_dir(cs_pin, GPIO_OUT);
gpio_put(cs_pin, 1); // CS high
}
}
MT6835Encoder::~MT6835Encoder() {
// nop
}
void MT6835Encoder::init(uint8_t bandwidth, uint8_t hysteresis) {
if (cs_pin >= 0) {
gpio_init(cs_pin);
gpio_set_dir(cs_pin, GPIO_OUT);
gpio_put(cs_pin, 1); // CS high
}
bool MT6835Encoder::init(uint8_t bandwidth, uint8_t hysteresis) {
sleep_ms(100);
if(is_connected() == false)
return false;
set_rotation_direction(0); // needs to be set, otherwise might be random
set_bandwidth(bandwidth);
@ -40,6 +46,25 @@ void MT6835Encoder::init(uint8_t bandwidth, uint8_t hysteresis) {
last_raw_angle = 0;
abs_raw_angle = 0;
initialized = true;
return true;
}
bool MT6835Encoder::is_connected() {
uint8_t check_bytes[] = {37, 109, 179, 251, 1};
for(int i=0; i<sizeof(check_bytes); i++) {
write_register(MT6835_REG_USERID, check_bytes[i]);
uint8_t user_id = read_register(MT6835_REG_USERID);
if(user_id != check_bytes[i])
return false;
}
return true;
}
bool MT6835Encoder::is_initialized() {
return initialized;
}
void MT6835Encoder::reset_abs_angle(int32_t abs_raw_angle) {