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also find direction during hall calib

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This commit is contained in:
Oskar Weigl
2020-11-08 22:00:38 -08:00
parent 7ad508990d
commit 34f55f02c1
1 changed files with 7 additions and 1 deletions
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Firmware/MotorControl/encoder.cpp
+7 -1
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@@ -290,9 +290,13 @@ bool Encoder::run_hall_phase_calibration() {
delta_phase += wrap_pm_pi(config_.hall_edge_phase[next_i] - config_.hall_edge_phase[i]);
}
// Correct reverse rotation
if (delta_phase < 0.0f)
if (delta_phase < 0.0f) {
config_.direction = -1;
for (int i = 0; i < 6; i++)
config_.hall_edge_phase[i] = wrap_pm_pi(-config_.hall_edge_phase[i]);
} else {
config_.direction = 1;
}
// Normalize edge timing to 1st edge in sequence
float offset = config_.hall_edge_phase[0];
for (int i = 0; i < 6; i++)
@@ -721,6 +725,8 @@ bool Encoder::update() {
// Predict current pos
pos_estimate_counts_ += current_meas_period * vel_estimate_counts_;
pos_cpr_counts_ += current_meas_period * vel_estimate_counts_;
// Encoder model
// discrete phase detector
float delta_pos_counts = (float)(shadow_count_ - (int32_t)std::floor(pos_estimate_counts_));
float delta_pos_cpr_counts = (float)(count_in_cpr_ - (int32_t)std::floor(pos_cpr_counts_));