Include DBG 1/2 in the aux2 port to get 2 more pins

mjbots · Jun 27, 2022 · 0490246 · 0490246
1 parent 7919ebf
commit 0490246
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Showing 3 changed files with 26 additions and 6 deletions.
diff --git a/docs/reference.md b/docs/reference.md
@@ -244,20 +244,33 @@ Nothing is supported here yet, but soon!
 
 The following table shows which pins can be used for the unique capabilities:
 
+#### AUX1 / ENC ####
+
 | moteus r4.5/8/11 | Con | Aux | SPI  | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
 |------------------|-----|-----|------|-------------|-----|---------|------|-----|
-| Aux1 / ENC       |     |     |      |             |     |         |      |     |
 | 3.3V  (3)        | 1   |     |      |             |     |         |      |     |
 | C                | 2   | 0   | X    |             |     |         |      | X   |
 | GND (G)          | 3   |     |      |             |     |         |      |     |
 | K                | 4   | 1   | CLK  | X           |     |         |      |     |
 | I                | 5   | 2   | MISO | X           |     |         |      |     |
 | O                | 6   | 3   | MOSI | X           |     |         |      |     |
-| Aux2 / ABS       |     |     |      |             |     |         |      |     |
+
+
+#### AUX2 / ABS ####
+
+| moteus r4.5/8/11 | Con | Aux | SPI  | ADC/Sin/Cos | I2C | HW Quad | UART | 5VT |
+|------------------|-----|-----|------|-------------|-----|---------|------|-----|
 | 3.3V (3)         | 1   |     |      |             |     |         |      |     |
 |                  | 2   | 0   |      |             | SCL |         | RX   | X   |
 |                  | 3   | 1   |      |             | SDA |         | TX   | X   |
 | GND (G)          | 4   |     |      |             |     |         |      |     |
+| DBG 1            |     | 2   |      |             |     |         |      | X   |
+| DBG 2            |     | 3   |      |             |     |         |      | X   |
+
+NOTE: For moteus r4.5/8/11, DBG 1/2 are not present on the ABS
+connector, but are exposed pads on the circuit board.
+
+#### Pin Configuration ####
 
 Auxiliary port configuration is achieved in two steps.  First, the
 `aux[12].pins.X.mode` value is set to the proper capability for each

diff --git a/fw/bldc_servo.cc b/fw/bldc_servo.cc
@@ -311,8 +311,9 @@ class BldcServo::Impl {
         msense_(options.msense),
         msense_sqr_(FindSqr(options.msense)),
         debug_dac_(options.debug_dac),
+#ifdef MOTEUS_DEBUG_OUT
         debug_out_(options.debug_out),
-        debug_out2_(options.debug_out2),
+#endif
         debug_serial_([&]() {
             Stm32Serial::Options d_options;
             d_options.tx = options.debug_uart_out;
@@ -855,18 +856,23 @@ class BldcServo::Impl {
         (pwm_counts_ - cnt) :
         (pwm_counts_ + cnt);
     status_.total_timer = 2 * pwm_counts_ * rate_config_.interrupt_divisor;
+
+#ifdef MOTEUS_DEBUG_OUT
     debug_out_ = 0;
+#endif
   }
 
   void ISR_DoSenseCritical() __attribute__((always_inline)) MOTEUS_CCM_ATTRIBUTE {
     // Wait for sampling to complete.
     while ((ADC3->ISR & ADC_ISR_EOS) == 0);
 
+#ifdef MOTEUS_DEBUG_OUT
     // We would like to set this debug pin as soon as possible.
     // However, if we flip it while the current ADCs are sampling,
     // they can get a lot more noise in some situations.  Thus just
     // wait until now.
     debug_out_ = 1;
+#endif
 
     // We are now out of the most time critical portion of the ISR,
     // although it is still all pretty time critical since it runs
@@ -2143,9 +2149,10 @@ class BldcServo::Impl {
 
   AnalogOut debug_dac_;
 
+#ifdef MOTEUS_DEBUG_OUT
   // This is just for debugging.
   DigitalOut debug_out_;
-  DigitalOut debug_out2_;
+#endif
 
   RateConfig rate_config_;
 

diff --git a/fw/moteus_controller.cc b/fw/moteus_controller.cc
@@ -328,8 +328,8 @@ constexpr aux::AuxHardwareConfig kAux2PortHardwareConfig = {
   {{
       { MOTEUS_ABS_SCL, -1, 0,  aux::kScl },
       { MOTEUS_ABS_SDA, -1, 0,  aux::kSda },
-      { NC,             -1, 0,  aux::kNoI2c },
-      { NC,             -1, 0,  aux::kNoI2c },
+      { MOTEUS_DEBUG1,  -1, 0,  aux::kNoI2c },
+      { MOTEUS_DEBUG2,  -1, 0,  aux::kNoI2c },
       { NC,             -1, 0,  aux::kNoI2c },
     }},
   {{