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implement encoder reference position updates

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This commit is contained in:
Oskar Weigl
2021-06-26 20:11:45 -07:00
parent 904100a264
commit 4013ab3005
5 changed files with 20 additions and 1 deletions
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Firmware/MotorControl/encoder.cpp
+6
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@@ -845,3 +845,9 @@ bool Encoder::update() {
return true;
}
void Encoder::update_pos_offset(float ref_pos) {
float base_pos = pos_estimate_counts_ / (float)config_.cpr;
float pos_offset = ref_pos - base_pos;
pos_offset_target_ += config_.pos_offset_update_gain * (pos_offset - pos_offset_target_);
}
Firmware/MotorControl/encoder.hpp
+2
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@@ -23,6 +23,7 @@ public:
float calib_scan_omega = 4.0f * M_PI; // rad/s electrical
float bandwidth = 1000.0f;
float pos_offset_bandwidth = 1.0f;
float pos_offset_update_gain = 0.2f;
int32_t phase_offset = 0; // Offset between encoder count and rotor electrical phase
float phase_offset_float = 0.0f; // Sub-count phase alignment offset
int32_t cpr = (2048 * 4); // Default resolution of CUI-AMT102 encoder,
@@ -84,6 +85,7 @@ public:
void decode_hall_samples();
int32_t hall_model(float internal_pos);
bool update();
void update_pos_offset(float ref_pos);
TIM_HandleTypeDef* timer_;
Stm32Gpio index_gpio_;
Firmware/communication/can/can_simple.cpp
+7
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@@ -138,6 +138,9 @@ void CANSimple::do_command(Axis& axis, const can_Message_t& msg) {
if (msg.rtr)
get_vbus_voltage_callback(axis);
break;
case MSG_ENCODER_REF_UPDATE:
encoder_ref_update(axis, msg);
break;
case MSG_CLEAR_ERRORS:
clear_errors_callback(axis, msg);
break;
@@ -289,6 +292,10 @@ void CANSimple::set_linear_count_callback(Axis& axis, const can_Message_t& msg){
axis.encoder_.set_linear_count(can_getSignal<int32_t>(msg, 0, 32, true));
}
void CANSimple::encoder_ref_update(Axis& axis, const can_Message_t& msg){
axis.encoder_.update_pos_offset(can_getSignal<float>(msg, 0, 32, true));
}
bool CANSimple::get_iq_callback(const Axis& axis) {
can_Message_t txmsg;
txmsg.id = axis.config_.can.node_id << NUM_CMD_ID_BITS;
Firmware/communication/can/can_simple.hpp
+3
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@@ -32,6 +32,7 @@ class CANSimple {
MSG_RESET_ODRIVE,
MSG_GET_VBUS_VOLTAGE,
MSG_CLEAR_ERRORS,
MSG_ENCODER_REF_UPDATE,
MSG_CO_HEARTBEAT_CMD = 0x700, // CANOpen NMT Heartbeat SEND
};
@@ -73,6 +74,7 @@ class CANSimple {
static void set_traj_accel_limits_callback(Axis& axis, const can_Message_t& msg);
static void set_traj_inertia_callback(Axis& axis, const can_Message_t& msg);
static void set_linear_count_callback(Axis& axis, const can_Message_t& msg);
static void encoder_ref_update(Axis& axis, const can_Message_t& msg);
// Other functions
static void nmt_callback(const Axis& axis, const can_Message_t& msg);
@@ -80,6 +82,7 @@ class CANSimple {
static void clear_errors_callback(Axis& axis, const can_Message_t& msg);
static void start_anticogging_callback(const Axis& axis, const can_Message_t& msg);
static constexpr uint8_t NUM_NODE_ID_BITS = 6;
static constexpr uint8_t NUM_CMD_ID_BITS = 11 - NUM_NODE_ID_BITS;
Firmware/odrive-interface.yaml
+2 -1
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@@ -1073,7 +1073,6 @@ interfaces:
hall_state: readonly uint8
vel_estimate: {type: readonly float32, c_getter: vel_estimate_.any().value_or(0.0f)}
vel_estimate_counts: readonly float32
pos_offset_target: float32
pos_offset: float32
calib_scan_response: readonly float32
pos_abs: int32
@@ -1096,6 +1095,7 @@ interfaces:
enable_phase_interpolation: bool
bandwidth: {type: float32, c_setter: set_bandwidth}
pos_offset_bandwidth: float32
pos_offset_update_gain: float32
calib_range: float32
calib_scan_distance: float32
calib_scan_omega: float32
@@ -1110,6 +1110,7 @@ interfaces:
doc: Analog cosine signal of a sin/cos encoder. The corresponding GPIO must be in `GPIO_MODE_ANALOG_IN`.
functions:
set_linear_count: {in: {count: int32}}
update_pos_offset: {in: {ref_pos: float32}}
ODrive.SensorlessEstimator: