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Add bootloader

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This commit is contained in:
Valentin Dabstep 2025-05-22 18:03:43 +03:00
parent 4f42094b0e
commit 6844ca9a8d
35 changed files with 27266 additions and 13 deletions
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42
controller/fw/bootloader/lib/DRV8313/DRV8313.cpp Normal file
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#include "DRV8313.h"
DRV8313Driver::DRV8313Driver(int phA, int phB, int phC, int en1, int en2, int en3, int slp, int rst,
int flt) : BLDCDriver3PWM(phA, phB, phC, en1, en2, en3), slp_pin(slp), rst_pin(rst),
flt_pin(flt) {
}
int DRV8313Driver::init() {
// Get state from flt pin
if (_isset(flt_pin)) {
pinMode(flt_pin, INPUT);
if (digitalRead(flt_pin) == HIGH) {
// if the fault pin is high the driver is in fault state
// reset the driver
if (_isset(rst_pin)) {
pinMode(rst_pin, OUTPUT);
digitalWrite(rst_pin, LOW);
delay(1);
digitalWrite(rst_pin, HIGH);
delay(1);
}
}
}
return BLDCDriver3PWM::init();
}
void DRV8313Driver::enable() {
// Enable the driver
if (_isset(slp_pin)) {
pinMode(slp_pin, OUTPUT);
digitalWrite(slp_pin, HIGH);
}
BLDCDriver3PWM::enable();
}
void DRV8313Driver::disable() {
if (_isset(slp_pin)) {
pinMode(slp_pin, OUTPUT);
digitalWrite(slp_pin, LOW);
}
BLDCDriver3PWM::disable();
}