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Merge branch 'timing' into devel

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This commit is contained in:
Paul Guenette
2020-10-30 21:29:15 -04:00
parent 284fa6797a f9fa06c86f
commit a0e64183dd
13 changed files with 192 additions and 17 deletions
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Firmware/MotorControl/axis.cpp
+23
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@@ -186,12 +186,30 @@ bool Axis::do_checks() {
// @brief Update all esitmators
bool Axis::do_updates() {
// Sub-components should use set_error which will propegate to this error_
task_times_.thermistor_update.beginTimer();
for (ThermistorCurrentLimiter* thermistor : thermistors_) {
thermistor->update();
}
task_times_.thermistor_update.stopTimer();
task_times_.encoder_update.beginTimer();
encoder_.update();
task_times_.encoder_update.stopTimer();
task_times_.sensorless_update.beginTimer();
sensorless_estimator_.update();
task_times_.sensorless_update.stopTimer();
task_times_.min_endstop_update.beginTimer();
motor_.fet_thermistor_.update();
motor_.motor_thermistor_.update();
min_endstop_.update();
task_times_.min_endstop_update.stopTimer();
task_times_.max_endstop_update.beginTimer();
max_endstop_.update();
task_times_.max_endstop_update.stopTimer();
bool ret = check_for_errors();
odCAN->send_cyclic(*this);
return ret;
@@ -331,13 +349,18 @@ bool Axis::run_closed_loop_control_loop() {
set_step_dir_active(config_.enable_step_dir);
run_control_loop([this](){
// Note that all estimators are updated in the loop prefix in run_control_loop
task_times_.controller_update.beginTimer();
float torque_setpoint;
if (!controller_.update(&torque_setpoint))
return error_ |= ERROR_CONTROLLER_FAILED, false;
task_times_.controller_update.stopTimer();
task_times_.motor_update.beginTimer();
float phase_vel = (2*M_PI) * encoder_.vel_estimate_ * motor_.config_.pole_pairs;
if (!motor_.update(torque_setpoint, encoder_.phase_, phase_vel))
return false; // set_error should update axis.error_
task_times_.motor_update.stopTimer();
return true;
});