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reject precalibration unless encoder is ready

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This commit is contained in:
Oskar Weigl
2019-03-11 14:41:52 -07:00
parent f8d930438b
commit 412f7962f4
2 changed files with 25 additions and 16 deletions
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Firmware/MotorControl/encoder.cpp
+18 -12
View File
@@ -39,9 +39,8 @@ bool Encoder::do_checks(){
// Triggered when an encoder passes over the "Index" pin
// TODO: only arm index edge interrupt when we know encoder has powered up
// (maybe by attaching the interrupt on start search, synergistic with following)
// TODO: disable interrupt once we found the index
void Encoder::enc_index_cb() {
if (config_.use_index && !index_found_) {
if (config_.use_index) {
set_circular_count(0, false);
if (config_.zero_count_on_find_idx)
set_linear_count(0); // Avoid position control transient after search
@@ -71,6 +70,23 @@ void Encoder::set_idx_subscribe(bool override_enable) {
}
}
void Encoder::update_pll_gains() {
pll_kp_ = 2.0f * config_.bandwidth; // basic conversion to discrete time
pll_ki_ = 0.25f * (pll_kp_ * pll_kp_); // Critically damped
// Check that we don't get problems with discrete time approximation
if (!(current_meas_period * pll_kp_ < 1.0f)) {
set_error(ERROR_UNSTABLE_GAIN);
}
}
void Encoder::check_pre_calibrated() {
if (!is_ready_)
config_.pre_calibrated = false;
if (config_.mode == MODE_INCREMENTAL && !index_found_)
config_.pre_calibrated = false;
}
// Function that sets the current encoder count to a desired 32-bit value.
void Encoder::set_linear_count(int32_t count) {
// Disable interrupts to make a critical section to avoid race condition
@@ -261,16 +277,6 @@ static bool decode_hall(uint8_t hall_state, int32_t* hall_cnt) {
}
}
void Encoder::update_pll_gains() {
pll_kp_ = 2.0f * config_.bandwidth; // basic conversion to discrete time
pll_ki_ = 0.25f * (pll_kp_ * pll_kp_); // Critically damped
// Check that we don't get problems with discrete time approximation
if (!(current_meas_period * pll_kp_ < 1.0f)) {
set_error(ERROR_UNSTABLE_GAIN);
}
}
void Encoder::sample_now() {
switch (config_.mode) {
case MODE_INCREMENTAL: {
Firmware/MotorControl/encoder.hpp
+7 -4
View File
@@ -52,6 +52,8 @@ public:
void enc_index_cb();
void set_idx_subscribe(bool override_enable = false);
void update_pll_gains();
void check_pre_calibrated();
void set_linear_count(int32_t count);
void set_circular_count(int32_t count, bool update_offset);
@@ -63,7 +65,7 @@ public:
void sample_now();
bool update();
void update_pll_gains();
const EncoderHardwareConfig_t& hw_config_;
Config_t& config_;
@@ -92,8 +94,8 @@ public:
auto make_protocol_definitions() {
return make_protocol_member_list(
make_protocol_property("error", &error_),
make_protocol_ro_property("is_ready", &is_ready_),
make_protocol_ro_property("index_found", const_cast<bool*>(&index_found_)),
make_protocol_property("is_ready", &is_ready_),
make_protocol_property("index_found", const_cast<bool*>(&index_found_)),
make_protocol_property("shadow_count", &shadow_count_),
make_protocol_property("count_in_cpr", &count_in_cpr_),
make_protocol_property("interpolation", &interpolation_),
@@ -110,7 +112,8 @@ 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),
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),