Mirrors_Framework/ODrive
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Merge branch 'devel' into control-loop-refactor

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This commit is contained in:
Samuel Sadok
2020-11-03 18:34:08 +01:00
parent e1c7ddbafa 9594c477cb
commit 1f7815459f
180 changed files with 31544 additions and 4004 deletions
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Firmware/MotorControl/low_level.cpp
+18 -13
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@@ -3,7 +3,7 @@
#include <board.h>
#include <cmsis_os.h>
#include <math.h>
#include <cmath>
#include <stdint.h>
#include <stdlib.h>
@@ -217,7 +217,7 @@ void start_general_purpose_adc() {
// @brief Returns the ADC voltage associated with the specified pin.
// This only works if the GPIO was not used for anything else since bootup, otherwise
// it must be put to analog mode first.
// Returns NaN if the pin has no associated ADC1 channel.
// Returns -1.0f if the pin has no associated ADC1 channel.
//
// On ODrive 3.3 and 3.4 the following pins can be used with this function:
// GPIO_1, GPIO_2, GPIO_3, GPIO_4 and some pins that are connected to
@@ -232,8 +232,12 @@ void start_general_purpose_adc() {
// The true frequency is slightly lower because of the injected vbus
// measurements
float get_adc_voltage(Stm32Gpio gpio) {
return get_adc_relative_voltage(gpio) * adc_ref_voltage;
}
float get_adc_relative_voltage(Stm32Gpio gpio) {
const uint16_t channel = channel_from_gpio(gpio);
return get_adc_voltage_channel(channel);
return get_adc_relative_voltage_ch(channel);
}
// @brief Given a GPIO_port and pin return the associated adc_channel.
@@ -279,14 +283,13 @@ uint16_t channel_from_gpio(Stm32Gpio gpio) {
return channel;
}
// @brief Given an adc channel return the measured voltage.
// returns NaN if the channel is not valid.
float get_adc_voltage_channel(uint16_t channel)
{
// @brief Given an adc channel return the voltage as a ratio of adc_ref_voltage
// returns -1.0f if the channel is not valid.
float get_adc_relative_voltage_ch(uint16_t channel) {
if (channel < ADC_CHANNEL_COUNT)
return ((float)adc_measurements_[channel]) * (adc_ref_voltage / adc_full_scale);
return (float)adc_measurements_[channel] / adc_full_scale;
else
return 0.0f / 0.0f; // NaN
return -1.0f;
}
//--------------------------------
@@ -313,10 +316,10 @@ void update_brake_current() {
float brake_duty = brake_current * odrv.config_.brake_resistance / vbus_voltage;
if (odrv.config_.enable_dc_bus_overvoltage_ramp && (odrv.config_.brake_resistance > 0.0f) && (odrv.config_.dc_bus_overvoltage_ramp_start < odrv.config_.dc_bus_overvoltage_ramp_end)) {
brake_duty += std::fmax((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
brake_duty += std::max((vbus_voltage - odrv.config_.dc_bus_overvoltage_ramp_start) / (odrv.config_.dc_bus_overvoltage_ramp_end - odrv.config_.dc_bus_overvoltage_ramp_start), 0.0f);
}
if (std::isnan(brake_duty)) {
if (is_nan(brake_duty)) {
// Shuts off all motors AND brake resistor, sets error code on all motors.
odrv.disarm_with_error(ODrive::ERROR_BRAKE_DUTY_CYCLE_NAN);
return;
@@ -329,8 +332,10 @@ void update_brake_current() {
// Duty limit at 95% to allow bootstrap caps to charge
brake_duty = std::clamp(brake_duty, 0.0f, 0.95f);
// Special handling to avoid the case 0.0/0.0 == NaN.
Ibus_sum += brake_duty ? (brake_duty * vbus_voltage / odrv.config_.brake_resistance) : 0.0f;
// Special handling to avoid the case 0.0/0.0 == NaN, or divide by 0.
if (odrv.config_.brake_resistance > 0.0f) {
Ibus_sum += brake_duty * vbus_voltage / odrv.config_.brake_resistance;
}
ibus_ += odrv.ibus_report_filter_k_ * (Ibus_sum - ibus_);