h8eurobot: workaround to design bugs in h8eurobot boards and to burnt HAL sensor.

The equivalent of PWMA:0 and PWMB:0 is issued after PXMC
initialization. This allows to invoke align of motor
phase tables according to IRC index by turning
of axes by hand.

Signed-off-by: Pavel Pisa <pisa@cmp.felk.cvut.cz>

diff --git a/src/motor-control/brushless.c b/src/motor-control/brushless.c
index 4af5dc05ae3c58633c469f5f6b881ee34b39785a..f00c0ebf0bcdb7968356f98dee73d182cbccabed 100644 (file)
--- a/src/motor-control/brushless.c
+++ b/src/motor-control/brushless.c
@@ -870,6 +870,9 @@ int main()
     printf("PXMC initialized (motor: %s)", pxmc_variant);
     printf("\n");
 
+    pxmc_set_const_out(&mcs_left,0);
+    pxmc_set_const_out(&mcs_right,0);
+
     int32_t receive_id[] = { CAN_MOTION_CMD, CAN_MOTION_RESET, -1 };
     canInit(0, 1000000, receive_id);
     printf("CAN initialized\n");

diff --git a/src/pxmc b/src/pxmc
index 1a040b0f1560eb1926dc506d0d4c2d811b7c4fde..dbf5745c67d46b5f6df45eae32615e8c94d5398c 160000 (submodule)
--- a/src/pxmc
+++ b/src/pxmc
@@ -1 +1 @@
-Subproject commit 1a040b0f1560eb1926dc506d0d4c2d811b7c4fde
+Subproject commit dbf5745c67d46b5f6df45eae32615e8c94d5398c