AS5048A encoder issue

[Zhaotianzheng]

1.When I am using the SPI, I find that it will make drv8301 can not be configured and hault in motor configuration stage. I am currently make the cs pin to be high before moter configuration but I don't think this is a good idea. So I want to know if there is a better way to use SPI?
2. After it can use, I find I have to configure the cpr to 2^14 - 1 to make it work, otherwise it will give a strange vel_esitimate and get the overspeed error. So I think maybe the cpr should be 2^14 -1 or just something I did is not right.

Thank you for your helping.

[ionelanton]

Hi!
I have the same problem. When I run requested_state = AXIS_STATE_FULL_CALIBRATION_SEQUENCE nothing happens.
I followed the instructions here: https://github.com/madcowswe/ODrive/blob/rc-v0.5.1/docs/encoders.md

How do you make the CS pin to be high?

[Zhaotianzheng]

In the Axis::setup() function I add the CS pin configuration code to make it to high. Just configure the GPIO and write high to it.

[PAJohnson]

Hi Zhaotianzheng. Which firmware branch are you using? Devel, Master, rc-v0.5.1?

[Wetmelon]

A hotfix has been applied to devel and rc-v0.5.1 branches. There is a setup procedure required:

• Disconnect absolute encoders
• Configure encoders in odrivetool with correct CS pins & mode
• Save config
• Turn off power to the ODrive
• Plug in absolute encoders
• Turn power on

This should only be necessary for the first time, because we don't drive the GPIOs high unless the axis is configured for absolute SPI.

[Zhaotianzheng]

Hi Zhaotianzheng. Which firmware branch are you using? Devel, Master, rc-v0.5.1?

I used the old version, now with the rc-v0.5.1 I have no problem. Thanks.

[Zhaotianzheng]

A hotfix has been applied to devel and rc-v0.5.1 branches. There is a setup procedure required:

Disconnect absolute encoders
Configure encoders in odrivetool with correct CS pins & mode
Save config
Turn off power to the ODrive
Plug in absolute encoders
Turn power on

This should only be necessary for the first time, because we don't drive the GPIOs high unless the axis is configured for absolute SPI.

Thank you, I didn't use the rc-v0.5.1. Now I have no lock up problem with the new version.