encoder can now be precalibrated without offset when using ACIM

Firmware/MotorControl/encoder.cpp

@@ -3,14 +3,17 @@
 
 
 Encoder::Encoder(const EncoderHardwareConfig_t& hw_config,
-                Config_t& config) :
+                Config_t& config, Motor::Config_t motor_config) :
         hw_config_(hw_config),
         config_(config)
 {
     update_pll_gains();
 
-    if (config.pre_calibrated && (config.mode == Encoder::MODE_HALL || config.mode == Encoder::MODE_SINCOS)) {
-        is_ready_ = true;
+    if (config.pre_calibrated) {
+        if (config.mode == Encoder::MODE_HALL || config.mode == Encoder::MODE_SINCOS)
+            is_ready_ = true;
+        if (motor_config.motor_type == Motor::MOTOR_TYPE_ACIM)
+            is_ready_ = true;
     }
 }
 
@@ -79,9 +82,8 @@ void Encoder::update_pll_gains() {
 }
 
 void Encoder::check_pre_calibrated() {
-    if (!is_ready_)
-        config_.pre_calibrated = false;
-    if (config_.mode == MODE_INCREMENTAL && !index_found_)
+    // TODO: restoring config from python backup is fragile here (ACIM motor type must be set first)
+    if (!is_ready_ && axis_->motor_.config_.motor_type != Motor::MOTOR_TYPE_ACIM)
         config_.pre_calibrated = false;
 }
 

Firmware/MotorControl/encoder.hpp

@@ -46,7 +46,7 @@ public:
     };
 
     Encoder(const EncoderHardwareConfig_t& hw_config,
-                     Config_t& config);
+            Config_t& config, Motor::Config_t motor_config);
     
     void setup();
     void set_error(Error_t error);
@@ -116,11 +116,11 @@ public:
                     [](void* ctx) { static_cast<Encoder*>(ctx)->set_idx_subscribe(); }, this),
                 make_protocol_property("find_idx_on_lockin_only", &config_.find_idx_on_lockin_only,
                     [](void* ctx) { static_cast<Encoder*>(ctx)->set_idx_subscribe(); }, this),
-                make_protocol_property("pre_calibrated", &config_.pre_calibrated,
-                    [](void* ctx) { static_cast<Encoder*>(ctx)->check_pre_calibrated(); }, this),
                 make_protocol_property("zero_count_on_find_idx", &config_.zero_count_on_find_idx),
                 make_protocol_property("cpr", &config_.cpr),
                 make_protocol_property("offset", &config_.offset),
+                make_protocol_property("pre_calibrated", &config_.pre_calibrated,
+                    [](void* ctx) { static_cast<Encoder*>(ctx)->check_pre_calibrated(); }, this),
                 make_protocol_property("offset_float", &config_.offset_float),
                 make_protocol_property("enable_phase_interpolation", &config_.enable_phase_interpolation),
                 make_protocol_property("bandwidth", &config_.bandwidth,

Firmware/MotorControl/main.cpp

@@ -162,7 +162,7 @@ int odrive_main(void) {
     // Construct all objects.
     for (size_t i = 0; i < AXIS_COUNT; ++i) {
         Encoder *encoder = new Encoder(hw_configs[i].encoder_config,
-                                       encoder_configs[i]);
+                                       encoder_configs[i], motor_configs[i]);
         SensorlessEstimator *sensorless_estimator = new SensorlessEstimator(sensorless_configs[i]);
         Controller *controller = new Controller(controller_configs[i]);
         Motor *motor = new Motor(hw_configs[i].motor_config,

Firmware/MotorControl/odrive_main.h

@@ -113,10 +113,10 @@ inline ENUMTYPE operator ~ (ENUMTYPE a) { return static_cast<ENUMTYPE>(~static_c
 // ODrive specific includes
 #include <utils.h>
 #include <low_level.h>
+#include <motor.hpp>
 #include <encoder.hpp>
 #include <sensorless_estimator.hpp>
 #include <controller.hpp>
-#include <motor.hpp>
 #include <trapTraj.hpp>
 #include <axis.hpp>
 #include <communication/communication.h>