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change how default configs are done for now

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This commit is contained in:
Oskar Weigl
2018-02-23 23:36:46 -08:00
parent c200bf495e
commit 12c72cf284
6 changed files with 175 additions and 110 deletions
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Firmware/MotorControl/config.cpp
+50 -71
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@@ -14,57 +14,30 @@
/* Private defines -----------------------------------------------------------*/
#define CRC16_INIT 0xabcd
#if HW_VERSION_MAJOR == 3
#if HW_VERSION_MINOR <= 3
#define SHUNT_RESISTANCE (675e-6f)
#else
#define SHUNT_RESISTANCE (500e-6f)
#endif
#endif
/* Private macros ------------------------------------------------------------*/
/* Private typedef -----------------------------------------------------------*/
typedef struct {
Motor_control_mode_t control_mode = CTRL_MODE_POSITION_CONTROL; //see: Motor_control_mode_t
bool enable_step_dir = false; //auto enabled after calibration
float counts_per_step = 2.0f;
float pos_setpoint = 0.0f;
float pos_gain = 20.0f; // [(counts/s) / counts]
float vel_setpoint = 0.0f;
//float vel_setpoint = 800.0f; <sensorless example>
float vel_gain = 5.0f / 10000.0f; // [A/(counts/s)]
//float vel_gain = 15.0f / 200.0f; // [A/(rad/s)] <sensorless example>
float vel_integrator_gain = 10.0f / 10000.0f; // [A/(counts/s * s)]
//float vel_integrator_gain = 0.0f; // [A/(rad/s * s)] <sensorless example>
float vel_integrator_current = 0.0f; // [A]
float vel_limit = 20000.0f; // [counts/s]
float current_setpoint = 0.0f; // [A]
float calibration_current = 10.0f; // [A]
float resistance_calib_max_voltage = 1.0f; // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor.
float phase_inductance = 0.0f; // to be set by measure_phase_inductance
float phase_resistance = 0.0f; // to be set by measure_phase_resistance
Motor_type_t motor_type = MOTOR_TYPE_HIGH_CURRENT;
//Motor_type_t motor_type = MOTOR_TYPE_GIMBAL;
float shunt_conductance = 1.0f / SHUNT_RESISTANCE; //[S]
float phase_current_rev_gain = 0.0f; // to be set by DRV8301_setup
Current_control_t current_control = {
// Read out max_allowed_current to see max supported value for current_lim.
// You can change DRV8301_ShuntAmpGain to get a different range.
// .current_lim = 75.0f, //[A]
.current_lim = 10.0f, //[A]
.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
.v_current_control_integral_d = 0.0f,
.v_current_control_integral_q = 0.0f,
.Ibus = 0.0f,
.final_v_alpha = 0.0f,
.final_v_beta = 0.0f,
.Iq_setpoint = 0.0f,
.Iq_measured = 0.0f,
.max_allowed_current = 0.0f,
};
Rotor_mode_t rotor_mode = ROTOR_MODE_ENCODER;
Motor_control_mode_t control_mode;
float counts_per_step;
int32_t pole_pairs;
float pos_gain;
float vel_gain;
float vel_integrator_gain;
float vel_limit;
float calibration_current;
float resistance_calib_max_voltage;
float phase_inductance;
float phase_resistance;
Motor_type_t motor_type;
Rotor_mode_t rotor_mode;
float current_control_current_lim;
bool encoder_use_index;
bool encoder_calibrated;
float encoder_idx_search_speed;
int32_t encoder_cpr;
int32_t encoder_offset;
int32_t motor_dir;
} MotorConfig_t;
/* Global constant data ------------------------------------------------------*/
@@ -108,7 +81,7 @@ struct Config<T, Ts...> {
return 0;
}
static int store_config(size_t offset, uint16_t* crc16, T* val0, Ts* ... vals) {
static int store_config(size_t offset, uint16_t* crc16, const T* val0, const Ts* ... vals) {
size_t size = sizeof(T);
if (NVM_write(offset, (uint8_t *)val0, size))
return -1;
@@ -132,7 +105,7 @@ struct Config<T, Ts...> {
return 0;
}
static int store_config(T* val0, Ts* ... vals) {
static int store_config(const T* val0, const Ts* ... vals) {
size_t size = Config<T, Ts...>::get_size() + 2;
//printf("config is %d bytes\r\n", size); osDelay(5);
if (size > NVM_get_max_write_length())
@@ -152,52 +125,56 @@ struct Config<T, Ts...> {
// This function is obviously stupid and should go away (make MotorConfig_t a member of Motor_t)
// TODO: make this go away as part of the C++ refactoring
void set_motor_config(MotorConfig_t *config, Motor_t *motor) {
void set_motor_config(const MotorConfig_t* config, Motor_t* motor) {
motor->control_mode = config->control_mode;
motor->enable_step_dir = config->enable_step_dir;
motor->counts_per_step = config->counts_per_step;
motor->pos_setpoint = config->pos_setpoint;
motor->pole_pairs = config->pole_pairs;
motor->pos_gain = config->pos_gain;
motor->vel_setpoint = config->vel_setpoint;
motor->vel_gain = config->vel_gain;
motor->vel_integrator_gain = config->vel_integrator_gain;
motor->vel_integrator_current = config->vel_integrator_current;
motor->vel_limit = config->vel_limit;
motor->current_setpoint = config->current_setpoint;
motor->calibration_current = config->calibration_current;
motor->resistance_calib_max_voltage = config->resistance_calib_max_voltage;
motor->phase_inductance = config->phase_inductance;
motor->phase_resistance = config->phase_resistance;
motor->motor_type = config->motor_type;
motor->shunt_conductance = config->shunt_conductance;
motor->phase_current_rev_gain = config->phase_current_rev_gain;
motor->current_control = config->current_control;
motor->rotor_mode = config->rotor_mode;
motor->current_control.current_lim = config->current_control_current_lim;
motor->encoder.use_index = config->encoder_use_index;
motor->encoder.calibrated = config->encoder_calibrated;
motor->encoder.idx_search_speed = config->encoder_idx_search_speed;
motor->encoder.encoder_cpr = config->encoder_cpr;
motor->encoder.encoder_offset = config->encoder_offset;
motor->encoder.motor_dir = config->motor_dir;
}
// This function is obviously stupid and should go away (make MotorConfig_t a member of Motor_t)
// TODO: make this go away as part of the C++ refactoring
void get_motor_config(Motor_t *motor, MotorConfig_t *config) {
void get_motor_config(const Motor_t* motor, MotorConfig_t* config) {
config->control_mode = motor->control_mode;
config->enable_step_dir = motor->enable_step_dir;
config->counts_per_step = motor->counts_per_step;
config->pos_setpoint = motor->pos_setpoint;
config->pole_pairs = motor->pole_pairs;
config->pos_gain = motor->pos_gain;
config->vel_setpoint = motor->vel_setpoint;
config->vel_gain = motor->vel_gain;
config->vel_integrator_gain = motor->vel_integrator_gain;
config->vel_integrator_current = motor->vel_integrator_current;
config->vel_limit = motor->vel_limit;
config->current_setpoint = motor->current_setpoint;
config->calibration_current = motor->calibration_current;
config->resistance_calib_max_voltage = motor->resistance_calib_max_voltage;
config->phase_inductance = motor->phase_inductance;
config->phase_resistance = motor->phase_resistance;
config->motor_type = motor->motor_type;
config->shunt_conductance = motor->shunt_conductance;
config->phase_current_rev_gain = motor->phase_current_rev_gain;
config->current_control = motor->current_control;
config->rotor_mode = motor->rotor_mode;
config->current_control_current_lim = motor->current_control.current_lim;
config->encoder_use_index = motor->encoder.use_index;
config->encoder_calibrated = motor->encoder.calibrated;
config->encoder_idx_search_speed = motor->encoder.idx_search_speed;
config->encoder_cpr = motor->encoder.encoder_cpr;
config->encoder_offset = motor->encoder.encoder_offset;
config->motor_dir = motor->encoder.motor_dir;
}
@@ -206,8 +183,11 @@ void init_configuration(void) {
if (NVM_init() || Config<MotorConfig_t, MotorConfig_t>::load_config(&motor_config[0], &motor_config[1])) {
//printf("no config found\r\n"); osDelay(5);
// load default config
motor_config[0] = MotorConfig_t();
motor_config[1] = MotorConfig_t();
// motor_config[0] = MotorConfig_t();
// motor_config[1] = MotorConfig_t();
// Default config coming from flashed Motor_t
return;
} else {
//printf("load config successful\r\n"); osDelay(5);
}
@@ -225,7 +205,6 @@ void save_configuration(void) {
}
}
void reset(void) {
void erase_configuration(void) {
NVM_erase();
NVIC_SystemReset();
}