From d67981728965d0e6d26ae47eac9b4a0d772bb33a Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 25 Sep 2018 19:51:06 -0700 Subject: [PATCH 01/14] add written hook ptr to protcol properties --- Firmware/fibre/cpp/include/fibre/protocol.hpp | 29 ++++++++++++------- 1 file changed, 18 insertions(+), 11 deletions(-) diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp index ed174dd9..4eeb8d77 100644 --- a/Firmware/fibre/cpp/include/fibre/protocol.hpp +++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp @@ -804,8 +804,8 @@ public: static constexpr const char * json_modifier = get_default_json_modifier(); static constexpr size_t endpoint_count = 1; - ProtocolProperty(const char * name, TProperty* property) - : name_(name), property_(property) + ProtocolProperty(const char * name, TProperty* property, void (*written_hook)(void)) + : name_(name), property_(property), written_hook_(written_hook) {} /* TODO: find out why the move constructor is not used when it could be @@ -887,32 +887,39 @@ public: handle(input, input_length, output); }*/ - const char * name_; + const char* name_; TProperty* property_; + void (*written_hook_)(void); }; // Non-const non-enum types template::value)> -ProtocolProperty make_protocol_property(const char * name, TProperty* property) { - return ProtocolProperty(name, property); +ProtocolProperty make_protocol_property( + const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { + return ProtocolProperty(name, property, written_hook); }; // Const non-enum types template::value)> -ProtocolProperty make_protocol_ro_property(const char * name, const TProperty* property) { - return ProtocolProperty(name, property); +ProtocolProperty make_protocol_ro_property( + const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { + return ProtocolProperty(name, property, written_hook); }; // Non-const enum types template::value)> -ProtocolProperty> make_protocol_property(const char * name, TProperty* property) { - return ProtocolProperty>(name, reinterpret_cast*>(property)); +ProtocolProperty> make_protocol_property( + const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { + return ProtocolProperty>( + name, reinterpret_cast*>(property), written_hook); }; // Const enum types template::value)> -ProtocolProperty> make_protocol_ro_property(const char * name, const TProperty* property) { - return ProtocolProperty>(name, reinterpret_cast*>(property)); +ProtocolProperty> make_protocol_ro_property( + const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { + return ProtocolProperty>( + name, reinterpret_cast*>(property), written_hook); }; From 66a717f929044af9f90bd008f169c1d16afa8df9 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 25 Sep 2018 20:23:03 -0700 Subject: [PATCH 02/14] add ctx, hook current controller bandwidth --- Firmware/MotorControl/motor.hpp | 11 ++++--- Firmware/fibre/cpp/include/fibre/protocol.hpp | 32 ++++++++++--------- 2 files changed, 24 insertions(+), 19 deletions(-) diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp index 07820726..89ed74e2 100644 --- a/Firmware/MotorControl/motor.hpp +++ b/Firmware/MotorControl/motor.hpp @@ -211,10 +211,13 @@ public: make_protocol_property("motor_type", &config_.motor_type), make_protocol_property("current_lim", &config_.current_lim), make_protocol_property("requested_current_range", &config_.requested_current_range), - make_protocol_ro_property("current_control_bandwidth", &config_.current_control_bandwidth) - ), - make_protocol_function("set_current_control_bandwidth", *this, &Motor::set_current_control_bandwidth, - "current_control_bandwidth") + // make_protocol_ro_property("current_control_bandwidth", &config_.current_control_bandwidth) + make_protocol_property("current_control_bandwidth", &config_.current_control_bandwidth, + [](void* ctx) { static_cast(ctx)->update_current_controller_gains(); }, this) + ) + // ), + // make_protocol_function("set_current_control_bandwidth", *this, &Motor::set_current_control_bandwidth, + // "current_control_bandwidth") ); } }; diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp index 4eeb8d77..0bbc43e7 100644 --- a/Firmware/fibre/cpp/include/fibre/protocol.hpp +++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp @@ -804,8 +804,9 @@ public: static constexpr const char * json_modifier = get_default_json_modifier(); static constexpr size_t endpoint_count = 1; - ProtocolProperty(const char * name, TProperty* property, void (*written_hook)(void)) - : name_(name), property_(property), written_hook_(written_hook) + ProtocolProperty(const char * name, TProperty* property, + void (*written_hook)(void*), void* ctx) + : name_(name), property_(property), written_hook_(written_hook), ctx_(ctx) {} /* TODO: find out why the move constructor is not used when it could be @@ -889,37 +890,38 @@ public: const char* name_; TProperty* property_; - void (*written_hook_)(void); + void (*written_hook_)(void*); + void* ctx_; }; // Non-const non-enum types template::value)> -ProtocolProperty make_protocol_property( - const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { - return ProtocolProperty(name, property, written_hook); +ProtocolProperty make_protocol_property(const char * name, TProperty* property, + void (*written_hook)(void*) = nullptr, void* ctx = nullptr) { + return ProtocolProperty(name, property, written_hook, ctx); }; // Const non-enum types template::value)> -ProtocolProperty make_protocol_ro_property( - const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { - return ProtocolProperty(name, property, written_hook); +ProtocolProperty make_protocol_ro_property(const char * name, TProperty* property, + void (*written_hook)(void*) = nullptr, void* ctx = nullptr) { + return ProtocolProperty(name, property, written_hook, ctx); }; // Non-const enum types template::value)> -ProtocolProperty> make_protocol_property( - const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { +ProtocolProperty> make_protocol_property(const char * name, TProperty* property, + void (*written_hook)(void*) = nullptr, void* ctx = nullptr) { return ProtocolProperty>( - name, reinterpret_cast*>(property), written_hook); + name, reinterpret_cast*>(property), written_hook, ctx); }; // Const enum types template::value)> -ProtocolProperty> make_protocol_ro_property( - const char * name, TProperty* property, void (*written_hook)(void) = nullptr) { +ProtocolProperty> make_protocol_ro_property(const char * name, TProperty* property, + void (*written_hook)(void*) = nullptr, void* ctx = nullptr) { return ProtocolProperty>( - name, reinterpret_cast*>(property), written_hook); + name, reinterpret_cast*>(property), written_hook, ctx); }; From a897054d345dad33633ad25b675547a989add2ee Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 25 Sep 2018 20:50:35 -0700 Subject: [PATCH 03/14] actually call the hook lol --- Firmware/fibre/cpp/include/fibre/protocol.hpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp index 0bbc43e7..8b5e9c71 100644 --- a/Firmware/fibre/cpp/include/fibre/protocol.hpp +++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp @@ -883,6 +883,9 @@ public: } void handle(const uint8_t* input, size_t input_length, StreamSink* output) final { default_readwrite_endpoint_handler(property_, input, input_length, output); + if (written_hook_ != nullptr) { + written_hook_(ctx_); + } } /*void handle(const uint8_t* input, size_t input_length, StreamSink* output) { handle(input, input_length, output); From 95d5c615502efdc151831b754c1d6d3dc0e1358b Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 25 Sep 2018 21:05:35 -0700 Subject: [PATCH 04/14] only call hook when written --- Firmware/fibre/cpp/include/fibre/protocol.hpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp index 8b5e9c71..ccf225c5 100644 --- a/Firmware/fibre/cpp/include/fibre/protocol.hpp +++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp @@ -883,7 +883,7 @@ public: } void handle(const uint8_t* input, size_t input_length, StreamSink* output) final { default_readwrite_endpoint_handler(property_, input, input_length, output); - if (written_hook_ != nullptr) { + if (written_hook_ != nullptr && input_length >= sizeof(TProperty)) { written_hook_(ctx_); } } From d2e2c3a1a80733ade5c6888fdf5152408d75ae33 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 25 Sep 2018 21:34:16 -0700 Subject: [PATCH 05/14] use new hooks for encoder and current control bandwidth --- CHANGELOG.md | 9 +++++++++ Firmware/MotorControl/encoder.cpp | 22 ++++++++++++---------- Firmware/MotorControl/encoder.hpp | 9 ++++++--- Firmware/MotorControl/motor.cpp | 13 ++++--------- Firmware/MotorControl/motor.hpp | 6 ------ docs/hoverboard.md | 2 +- 6 files changed, 32 insertions(+), 29 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index baaf20c1..4ff031fb 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -3,6 +3,15 @@ Please add a note of your changes below this heading if you make a Pull Request. # Unreleased +### Added +* Hook to execute protocol property written callback + +### Changed +* Using new hooks to calculate: + * `motor.config.current_control_bandwidth` + * This depricates `motor.set_current_control_bandwidth()` + * `encoder.config.bandwidth` + # Releases ## [0.4.4] - 2018-09-18 ### Fixed diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp index 5b80ed8d..13fac4bb 100644 --- a/Firmware/MotorControl/encoder.cpp +++ b/Firmware/MotorControl/encoder.cpp @@ -7,6 +7,8 @@ Encoder::Encoder(const EncoderHardwareConfig_t& hw_config, hw_config_(hw_config), config_(config) { + update_pll_gains(); + if (config.pre_calibrated && (config.mode == Encoder::MODE_HALL)) { is_ready_ = true; } @@ -241,17 +243,17 @@ static bool decode_hall(uint8_t hall_state, int32_t* hall_cnt) { } } -bool Encoder::update() { - // Calculate encoder pll gains - float pll_kp = 2.0f * config_.bandwidth; // basic conversion to discrete time - float pll_ki = 0.25f * (pll_kp * pll_kp); // Critically damped +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)) { + if (!(current_meas_period * pll_kp_ < 1.0f)) { set_error(ERROR_UNSTABLE_GAIN); - return false; } +} +bool Encoder::update() { // update internal encoder state. int32_t delta_enc = 0; switch (config_.mode) { @@ -294,12 +296,12 @@ bool Encoder::update() { float delta_pos_cpr = (float)(count_in_cpr_ - (int32_t)floorf(pos_cpr_)); delta_pos_cpr = wrap_pm(delta_pos_cpr, 0.5f * (float)(config_.cpr)); // pll feedback - pos_estimate_ += current_meas_period * pll_kp * delta_pos; - pos_cpr_ += current_meas_period * pll_kp * delta_pos_cpr; + pos_estimate_ += current_meas_period * pll_kp_ * delta_pos; + pos_cpr_ += current_meas_period * pll_kp_ * delta_pos_cpr; pos_cpr_ = fmodf_pos(pos_cpr_, (float)(config_.cpr)); - vel_estimate_ += current_meas_period * pll_ki * delta_pos_cpr; + vel_estimate_ += current_meas_period * pll_ki_ * delta_pos_cpr; bool snap_to_zero_vel = false; - if (fabsf(vel_estimate_) < 0.5f * current_meas_period * pll_ki) { + if (fabsf(vel_estimate_) < 0.5f * current_meas_period * pll_ki_) { vel_estimate_ = 0.0f; //align delta-sigma on zero to prevent jitter snap_to_zero_vel = true; } diff --git a/Firmware/MotorControl/encoder.hpp b/Firmware/MotorControl/encoder.hpp index 2162d10b..6eca0536 100644 --- a/Firmware/MotorControl/encoder.hpp +++ b/Firmware/MotorControl/encoder.hpp @@ -56,6 +56,8 @@ public: bool run_offset_calibration(); bool update(); + void update_pll_gains(); + const EncoderHardwareConfig_t& hw_config_; Config_t& config_; Axis* axis_ = nullptr; // set by Axis constructor @@ -70,8 +72,8 @@ public: float pos_estimate_ = 0.0f; // [rad] float pos_cpr_ = 0.0f; // [rad] float vel_estimate_ = 0.0f; // [rad/s] - // float pll_kp_ = 0.0f; // [rad/s / rad] - // float pll_ki_ = 0.0f; // [(rad/s^2) / rad] + float pll_kp_ = 0.0f; // [rad/s / rad] + float pll_ki_ = 0.0f; // [(rad/s^2) / rad] // Updated by low_level pwm_adc_cb uint8_t hall_state_ = 0x0; // bit[0] = HallA, .., bit[2] = HallC @@ -100,7 +102,8 @@ public: make_protocol_property("cpr", &config_.cpr), make_protocol_property("offset", &config_.offset), make_protocol_property("offset_float", &config_.offset_float), - make_protocol_property("bandwidth", &config_.bandwidth), + make_protocol_property("bandwidth", &config_.bandwidth, + [](void* ctx) { static_cast(ctx)->update_pll_gains(); }, this), make_protocol_property("calib_range", &config_.calib_range) ) ); diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp index 56817ee8..dc379f0c 100644 --- a/Firmware/MotorControl/motor.cpp +++ b/Firmware/MotorControl/motor.cpp @@ -6,8 +6,8 @@ Motor::Motor(const MotorHardwareConfig_t& hw_config, - const GateDriverHardwareConfig_t& gate_driver_config, - MotorConfig_t& config) : + const GateDriverHardwareConfig_t& gate_driver_config, + MotorConfig_t& config) : hw_config_(hw_config), gate_driver_config_(gate_driver_config), config_(config), @@ -17,8 +17,8 @@ Motor::Motor(const MotorHardwareConfig_t& hw_config, .EngpioNumber = gate_driver_config_.enable_pin, .nCSgpioHandle = gate_driver_config_.nCS_port, .nCSgpioNumber = gate_driver_config_.nCS_pin, - }) -{ + }) { + update_current_controller_gains(); } // @brief Arms the PWM outputs that belong to this motor. @@ -62,11 +62,6 @@ void Motor::update_current_controller_gains() { current_control_.i_gain = plant_pole * current_control_.p_gain; } -void Motor::set_current_control_bandwidth(float current_control_bandwidth) { - config_.current_control_bandwidth = current_control_bandwidth; - update_current_controller_gains(); -} - // @brief Set up the gate drivers void Motor::DRV8301_setup() { // for reference: diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp index 89ed74e2..386b0e95 100644 --- a/Firmware/MotorControl/motor.hpp +++ b/Firmware/MotorControl/motor.hpp @@ -95,13 +95,11 @@ public: bool arm(); void disarm(); void setup() { - update_current_controller_gains(); DRV8301_setup(); } void reset_current_control(); void update_current_controller_gains(); - void set_current_control_bandwidth(float current_control_bandwidth); void DRV8301_setup(); bool check_DRV_fault(); void set_error(Error_t error); @@ -211,13 +209,9 @@ public: make_protocol_property("motor_type", &config_.motor_type), make_protocol_property("current_lim", &config_.current_lim), make_protocol_property("requested_current_range", &config_.requested_current_range), - // make_protocol_ro_property("current_control_bandwidth", &config_.current_control_bandwidth) make_protocol_property("current_control_bandwidth", &config_.current_control_bandwidth, [](void* ctx) { static_cast(ctx)->update_current_controller_gains(); }, this) ) - // ), - // make_protocol_function("set_current_control_bandwidth", *this, &Motor::set_current_control_bandwidth, - // "current_control_bandwidth") ); } }; diff --git a/docs/hoverboard.md b/docs/hoverboard.md index 5cf64332..76695be4 100644 --- a/docs/hoverboard.md +++ b/docs/hoverboard.md @@ -16,7 +16,7 @@ The motors are also fairly high inductance, so we need to reduce the bandwidth o ```txt odrv0.axis0.motor.config.resistance_calib_max_voltage = 4 odrv0.axis0.motor.config.requested_current_range = 25 #Requires config save and reboot -odrv0.axis0.motor.set_current_control_bandwidth(100) +odrv0.axis0.motor.config.current_control_bandwidth = 100 ``` Set the encoder to hall mode (instead of incremental). See the [pinout](interfaces.md#hall-feedback-pinout) for instructions on how to plug in the hall feedback. From ece29213166581d6018106405dda55a9270db898 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Thu, 27 Sep 2018 21:18:38 -0700 Subject: [PATCH 06/14] add and rename our own copy of arm_sin_f32 and arm_cos_f32 --- Firmware/MotorControl/arm_cos_f32.c | 116 ++++++++++++++++++++++++++ Firmware/MotorControl/arm_sin_f32.c | 123 ++++++++++++++++++++++++++++ Firmware/MotorControl/encoder.cpp | 12 +-- Firmware/MotorControl/motor.cpp | 8 +- Firmware/MotorControl/utils.h | 5 +- Firmware/Tupfile.lua | 3 + ODrive_Workspace.code-workspace | 3 +- 7 files changed, 257 insertions(+), 13 deletions(-) create mode 100644 Firmware/MotorControl/arm_cos_f32.c create mode 100644 Firmware/MotorControl/arm_sin_f32.c diff --git a/Firmware/MotorControl/arm_cos_f32.c b/Firmware/MotorControl/arm_cos_f32.c new file mode 100644 index 00000000..559153e8 --- /dev/null +++ b/Firmware/MotorControl/arm_cos_f32.c @@ -0,0 +1,116 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_cos_f32.c + * Description: Fast cosine calculation for floating-point values + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ +#include // Sets up the correct chip specifc defines required by arm_math +#define ARM_MATH_CM4 // TODO: might change in future board versions +#include "arm_math.h" +#include "arm_common_tables.h" +/** + * @ingroup groupFastMath + */ + +/** + * @defgroup cos Cosine + * + * Computes the trigonometric cosine function using a combination of table lookup + * and linear interpolation. There are separate functions for + * Q15, Q31, and floating-point data types. + * The input to the floating-point version is in radians and in the range [0 2*pi) while the + * fixed-point Q15 and Q31 have a scaled input with the range + * [0 +0.9999] mapping to [0 2*pi). The fixed-point range is chosen so that a + * value of 2*pi wraps around to 0. + * + * The implementation is based on table lookup using 256 values together with linear interpolation. + * The steps used are: + * -# Calculation of the nearest integer table index + * -# Compute the fractional portion (fract) of the table index. + * -# The final result equals (1.0f-fract)*a + fract*b; + * + * where + * 
+ *    b=Table[index+0];
+ *    c=Table[index+1];
+ *
+ */ + + /** + * @addtogroup cos + * @{ + */ + +/** + * @brief Fast approximation to the trigonometric cosine function for floating-point data. + * @param[in] x input value in radians. + * @return cos(x). + */ + +float32_t our_arm_cos_f32( + float32_t x) +{ + float32_t cosVal, fract, in; /* Temporary variables for input, output */ + uint16_t index; /* Index variable */ + float32_t a, b; /* Two nearest output values */ + int32_t n; + float32_t findex; + + /* input x is in radians */ + /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi, add 0.25 (pi/2) to read sine table */ + in = x * 0.159154943092f + 0.25f; + + /* Calculation of floor value of input */ + n = (int32_t) in; + + /* Make negative values towards -infinity */ + if (in < 0.0f) + { + n--; + } + + /* Map input value to [0 1] */ + in = in - (float32_t) n; + + /* Calculation of index of the table */ + findex = (float32_t) FAST_MATH_TABLE_SIZE * in; + index = ((uint16_t)findex) & 0x1ff; + + /* fractional value calculation */ + fract = findex - (float32_t) index; + + /* Read two nearest values of input value from the cos table */ + a = sinTable_f32[index]; + b = sinTable_f32[index+1]; + + /* Linear interpolation process */ + cosVal = (1.0f-fract)*a + fract*b; + + /* Return the output value */ + return (cosVal); +} + +/** + * @} end of cos group + */ diff --git a/Firmware/MotorControl/arm_sin_f32.c b/Firmware/MotorControl/arm_sin_f32.c new file mode 100644 index 00000000..33d436e6 --- /dev/null +++ b/Firmware/MotorControl/arm_sin_f32.c @@ -0,0 +1,123 @@ +/* ---------------------------------------------------------------------- + * Project: CMSIS DSP Library + * Title: arm_sin_f32.c + * Description: Fast sine calculation for floating-point values + * + * $Date: 27. January 2017 + * $Revision: V.1.5.1 + * + * Target Processor: Cortex-M cores + * -------------------------------------------------------------------- */ +/* + * Copyright (C) 2010-2017 ARM Limited or its affiliates. All rights reserved. + * + * SPDX-License-Identifier: Apache-2.0 + * + * Licensed under the Apache License, Version 2.0 (the License); you may + * not use this file except in compliance with the License. + * You may obtain a copy of the License at + * + * www.apache.org/licenses/LICENSE-2.0 + * + * Unless required by applicable law or agreed to in writing, software + * distributed under the License is distributed on an AS IS BASIS, WITHOUT + * WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied. + * See the License for the specific language governing permissions and + * limitations under the License. + */ + +#include // Sets up the correct chip specifc defines required by arm_math +#define ARM_MATH_CM4 // TODO: might change in future board versions +#include "arm_math.h" +#include "arm_common_tables.h" + +/** + * @ingroup groupFastMath + */ + +/** + * @defgroup sin Sine + * + * Computes the trigonometric sine function using a combination of table lookup + * and linear interpolation. There are separate functions for + * Q15, Q31, and floating-point data types. + * The input to the floating-point version is in radians and in the range [0 2*pi) while the + * fixed-point Q15 and Q31 have a scaled input with the range + * [0 +0.9999] mapping to [0 2*pi). The fixed-point range is chosen so that a + * value of 2*pi wraps around to 0. + * + * The implementation is based on table lookup using 256 values together with linear interpolation. + * The steps used are: + * -# Calculation of the nearest integer table index + * -# Compute the fractional portion (fract) of the table index. + * -# The final result equals (1.0f-fract)*a + fract*b; + * + * where + * 
+ *    b=Table[index+0];
+ *    c=Table[index+1];
+ *
+ */ + +/** + * @addtogroup sin + * @{ + */ + +/** + * @brief Fast approximation to the trigonometric sine function for floating-point data. + * @param[in] x input value in radians. + * @return sin(x). + */ + +float32_t our_arm_sin_f32( + float32_t x) +{ + float32_t sinVal, fract, in; /* Temporary variables for input, output */ + uint16_t index; /* Index variable */ + float32_t a, b; /* Two nearest output values */ + int32_t n; + float32_t findex; + + /* Special case for small negative inputs */ + if ((x < 0.0f) && (x >= -1.9e-7f)) { + return x; + } + + /* input x is in radians */ + /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */ + in = x * 0.159154943092f; + + /* Calculation of floor value of input */ + n = (int32_t) in; + + /* Make negative values towards -infinity */ + if (x < 0.0f) + { + n--; + } + + /* Map input value to [0 1] */ + in = in - (float32_t) n; + + /* Calculation of index of the table */ + findex = (float32_t) FAST_MATH_TABLE_SIZE * in; + index = ((uint16_t)findex) & 0x1ff; + + /* fractional value calculation */ + fract = findex - (float32_t) index; + + /* Read two nearest values of input value from the sin table */ + a = sinTable_f32[index]; + b = sinTable_f32[index+1]; + + /* Linear interpolation process */ + sinVal = (1.0f-fract)*a + fract*b; + + /* Return the output value */ + return (sinVal); +} + +/** + * @} end of sin group + */ diff --git a/Firmware/MotorControl/encoder.cpp b/Firmware/MotorControl/encoder.cpp index 5b80ed8d..9cf2b5f9 100644 --- a/Firmware/MotorControl/encoder.cpp +++ b/Firmware/MotorControl/encoder.cpp @@ -109,8 +109,8 @@ bool Encoder::run_index_search() { axis_->run_control_loop([&](){ phase = wrap_pm_pi(phase + omega * current_meas_period); - float v_alpha = voltage_magnitude * arm_cos_f32(phase); - float v_beta = voltage_magnitude * arm_sin_f32(phase); + float v_alpha = voltage_magnitude * our_arm_cos_f32(phase); + float v_beta = voltage_magnitude * our_arm_sin_f32(phase); if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta)) return false; // error set inside enqueue_voltage_timings axis_->motor_.log_timing(Motor::TIMING_LOG_IDX_SEARCH); @@ -167,8 +167,8 @@ bool Encoder::run_offset_calibration() { i = 0; axis_->run_control_loop([&](){ float phase = wrap_pm_pi(scan_distance * (float)i / (float)num_steps - scan_distance / 2.0f); - float v_alpha = voltage_magnitude * arm_cos_f32(phase); - float v_beta = voltage_magnitude * arm_sin_f32(phase); + float v_alpha = voltage_magnitude * our_arm_cos_f32(phase); + float v_beta = voltage_magnitude * our_arm_sin_f32(phase); if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta)) return false; // error set inside enqueue_voltage_timings axis_->motor_.log_timing(Motor::TIMING_LOG_ENC_CALIB); @@ -208,8 +208,8 @@ bool Encoder::run_offset_calibration() { i = 0; axis_->run_control_loop([&](){ float phase = wrap_pm_pi(-scan_distance * (float)i / (float)num_steps + scan_distance / 2.0f); - float v_alpha = voltage_magnitude * arm_cos_f32(phase); - float v_beta = voltage_magnitude * arm_sin_f32(phase); + float v_alpha = voltage_magnitude * our_arm_cos_f32(phase); + float v_beta = voltage_magnitude * our_arm_sin_f32(phase); if (!axis_->motor_.enqueue_voltage_timings(v_alpha, v_beta)) return false; // error set inside enqueue_voltage_timings axis_->motor_.log_timing(Motor::TIMING_LOG_ENC_CALIB); diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp index 56817ee8..24982146 100644 --- a/Firmware/MotorControl/motor.cpp +++ b/Firmware/MotorControl/motor.cpp @@ -290,8 +290,8 @@ bool Motor::enqueue_voltage_timings(float v_alpha, float v_beta) { // TODO: This doesn't update brake current // We should probably make FOC Current call FOC Voltage to avoid duplication. bool Motor::FOC_voltage(float v_d, float v_q, float phase) { - float c = arm_cos_f32(phase); - float s = arm_sin_f32(phase); + float c = our_arm_cos_f32(phase); + float s = our_arm_sin_f32(phase); float v_alpha = c*v_d - s*v_q; float v_beta = c*v_q + s*v_d; return enqueue_voltage_timings(v_alpha, v_beta); @@ -308,8 +308,8 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float phase) { float Ibeta = one_by_sqrt3 * (current_meas_.phB - current_meas_.phC); // Park transform - float c = arm_cos_f32(phase); - float s = arm_sin_f32(phase); + float c = our_arm_cos_f32(phase); + float s = our_arm_sin_f32(phase); float Id = c * Ialpha + s * Ibeta; float Iq = c * Ibeta - s * Ialpha; ictrl->Iq_measured = Iq; diff --git a/Firmware/MotorControl/utils.h b/Firmware/MotorControl/utils.h index 1cd63327..e1ef74be 100644 --- a/Firmware/MotorControl/utils.h +++ b/Firmware/MotorControl/utils.h @@ -99,13 +99,14 @@ int mod(int dividend, int divisor); uint32_t deadline_to_timeout(uint32_t deadline_ms); uint32_t timeout_to_deadline(uint32_t timeout_ms); - int is_in_the_future(uint32_t time_ms); uint32_t micros(void); - void delay_us(uint32_t us); +float our_arm_sin_f32(float x); +float our_arm_cos_f32(float x); + #ifdef __cplusplus } #endif diff --git a/Firmware/Tupfile.lua b/Firmware/Tupfile.lua index fe59828d..6f3ef34c 100644 --- a/Firmware/Tupfile.lua +++ b/Firmware/Tupfile.lua @@ -105,6 +105,7 @@ LDFLAGS += '-Wl,--undefined=uxTopUsedPriority' -- common flags for ASM, C and C++ OPT += '-Og' +-- OPT += '-O0' OPT += '-ffast-math -fno-finite-math-only' tup.append_table(FLAGS, OPT) tup.append_table(LDFLAGS, OPT) @@ -148,6 +149,8 @@ build{ sources={ 'Drivers/DRV8301/drv8301.c', 'MotorControl/utils.c', + 'MotorControl/arm_sin_f32.c', + 'MotorControl/arm_cos_f32.c', 'MotorControl/low_level.cpp', 'MotorControl/nvm.c', 'MotorControl/axis.cpp', diff --git a/ODrive_Workspace.code-workspace b/ODrive_Workspace.code-workspace index 250eb601..d858dcc3 100644 --- a/ODrive_Workspace.code-workspace +++ b/ODrive_Workspace.code-workspace @@ -44,7 +44,8 @@ "algorithm": "cpp", "chrono": "cpp", "condition_variable": "cpp", - "future": "cpp" + "future": "cpp", + "arm_math.h": "c" } } } From e4f506265278d079cb5578b71e3e9b363fdc237a Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Thu, 27 Sep 2018 21:29:21 -0700 Subject: [PATCH 07/14] fix float rounding issue in sincos index calculation --- Firmware/MotorControl/arm_cos_f32.c | 10 ++++++++-- Firmware/MotorControl/arm_sin_f32.c | 15 ++++++++------- 2 files changed, 16 insertions(+), 9 deletions(-) diff --git a/Firmware/MotorControl/arm_cos_f32.c b/Firmware/MotorControl/arm_cos_f32.c index 559153e8..a63d14cb 100644 --- a/Firmware/MotorControl/arm_cos_f32.c +++ b/Firmware/MotorControl/arm_cos_f32.c @@ -94,8 +94,14 @@ float32_t our_arm_cos_f32( in = in - (float32_t) n; /* Calculation of index of the table */ - findex = (float32_t) FAST_MATH_TABLE_SIZE * in; - index = ((uint16_t)findex) & 0x1ff; + findex = (float32_t)FAST_MATH_TABLE_SIZE * in; + index = (uint16_t)findex; + + /* when "in" is exactly 1, we need to rotate the index down to 0 */ + if (index >= FAST_MATH_TABLE_SIZE) { + index = 0; + findex -= (float32_t)FAST_MATH_TABLE_SIZE; + } /* fractional value calculation */ fract = findex - (float32_t) index; diff --git a/Firmware/MotorControl/arm_sin_f32.c b/Firmware/MotorControl/arm_sin_f32.c index 33d436e6..f037248f 100644 --- a/Firmware/MotorControl/arm_sin_f32.c +++ b/Firmware/MotorControl/arm_sin_f32.c @@ -79,11 +79,6 @@ float32_t our_arm_sin_f32( int32_t n; float32_t findex; - /* Special case for small negative inputs */ - if ((x < 0.0f) && (x >= -1.9e-7f)) { - return x; - } - /* input x is in radians */ /* Scale the input to [0 1] range from [0 2*PI] , divide input by 2*pi */ in = x * 0.159154943092f; @@ -101,8 +96,14 @@ float32_t our_arm_sin_f32( in = in - (float32_t) n; /* Calculation of index of the table */ - findex = (float32_t) FAST_MATH_TABLE_SIZE * in; - index = ((uint16_t)findex) & 0x1ff; + findex = (float32_t)FAST_MATH_TABLE_SIZE * in; + index = (uint16_t)findex; + + /* when "in" is exactly 1, we need to rotate the index down to 0 */ + if (index >= FAST_MATH_TABLE_SIZE) { + index = 0; + findex -= (float32_t)FAST_MATH_TABLE_SIZE; + } /* fractional value calculation */ fract = findex - (float32_t) index; From 59a6d158c414b4a5154f1cff2aea6ea8a2dcf54b Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sun, 30 Sep 2018 19:10:37 -0700 Subject: [PATCH 08/14] add written return value to default_readwrite_endpoint_handler --- CHANGELOG.md | 2 +- Firmware/fibre/cpp/include/fibre/protocol.hpp | 24 ++++++++++++------- 2 files changed, 17 insertions(+), 9 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index aecc53f7..9a53fb02 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -16,7 +16,7 @@ Please add a note of your changes below this heading if you make a Pull Request. * Print function imported from future * Using new hooks to calculate: * `motor.config.current_control_bandwidth` - * This depricates `motor.set_current_control_bandwidth()` + * This deprecates `motor.set_current_control_bandwidth()` * `encoder.config.bandwidth` # Releases diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp index a2d15825..7f9aa992 100644 --- a/Firmware/fibre/cpp/include/fibre/protocol.hpp +++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp @@ -431,8 +431,9 @@ private: typedef std::function EndpointHandler; +// @brief Default endpoint handler for endpoint_ref_t types template -void default_readwrite_endpoint_handler(endpoint_ref_t* value, const uint8_t* input, size_t input_length, StreamSink* output) { +bool default_readwrite_endpoint_handler(endpoint_ref_t* value, const uint8_t* input, size_t input_length, StreamSink* output) { constexpr size_t size = sizeof(value->endpoint_id) + sizeof(value->json_crc); if (output) { // TODO: make buffer size dependent on the type @@ -447,13 +448,17 @@ void default_readwrite_endpoint_handler(endpoint_ref_t* value, const uint8_t* in if (input_length >= size) { read_leendpoint_id)>(&value->endpoint_id, input); read_lejson_crc)>(&value->json_crc, input + 2); + return true; + } else { + return false; } } // @brief Default endpoint handler for const types +// @return: True if endpoint was written to, False otherwise template -std::enable_if_t::value && std::is_const::value> +std::enable_if_t::value && std::is_const::value, bool> default_readwrite_endpoint_handler(T* value, const uint8_t* input, size_t input_length, StreamSink* output) { // If the old value was requested, call the corresponding little endian serialization function if (output) { @@ -463,23 +468,26 @@ default_readwrite_endpoint_handler(T* value, const uint8_t* input, size_t input_ if (cnt <= output->get_free_space()) output->process_bytes(buffer, cnt, nullptr); } + return false; // We don't ever write to const types } // @brief Default endpoint handler for non-const types template -std::enable_if_t::value && !std::is_const::value> +std::enable_if_t::value && !std::is_const::value, bool> default_readwrite_endpoint_handler(T* value, const uint8_t* input, size_t input_length, StreamSink* output) { // Read the endpoint value into output default_readwrite_endpoint_handler(const_cast(value), input, input_length, output); // If a new value was passed, call the corresponding little endian deserialization function uint8_t buffer[sizeof(T)] = { 0 }; // TODO: make buffer size dependent on the type - if (input_length >= sizeof(buffer)) + if (input_length >= sizeof(buffer)) { read_le(value, input); + return true; + } else { + return false; + } } - - template static inline const char* get_default_json_modifier(); @@ -893,8 +901,8 @@ public: list[id] = this; } void handle(const uint8_t* input, size_t input_length, StreamSink* output) final { - default_readwrite_endpoint_handler(property_, input, input_length, output); - if (written_hook_ != nullptr && input_length >= sizeof(TProperty)) { + bool wrote = default_readwrite_endpoint_handler(property_, input, input_length, output); + if (wrote && written_hook_ != nullptr) { written_hook_(ctx_); } } From 88d9eef36814e9315351e59713a82c53d8d247ab Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sun, 30 Sep 2018 19:10:55 -0700 Subject: [PATCH 09/14] reorder for clarity --- Firmware/fibre/cpp/include/fibre/protocol.hpp | 47 +++++++++---------- 1 file changed, 23 insertions(+), 24 deletions(-) diff --git a/Firmware/fibre/cpp/include/fibre/protocol.hpp b/Firmware/fibre/cpp/include/fibre/protocol.hpp index 7f9aa992..e599c0d9 100644 --- a/Firmware/fibre/cpp/include/fibre/protocol.hpp +++ b/Firmware/fibre/cpp/include/fibre/protocol.hpp @@ -431,30 +431,6 @@ private: typedef std::function EndpointHandler; -// @brief Default endpoint handler for endpoint_ref_t types -template -bool default_readwrite_endpoint_handler(endpoint_ref_t* value, const uint8_t* input, size_t input_length, StreamSink* output) { - constexpr size_t size = sizeof(value->endpoint_id) + sizeof(value->json_crc); - if (output) { - // TODO: make buffer size dependent on the type - uint8_t buffer[size]; - size_t cnt = write_leendpoint_id)>(value->endpoint_id, buffer); - cnt += write_lejson_crc)>(value->json_crc, buffer + cnt); - if (cnt <= output->get_free_space()) - output->process_bytes(buffer, cnt, nullptr); - } - - // If a new value was passed, call the corresponding little endian deserialization function - if (input_length >= size) { - read_leendpoint_id)>(&value->endpoint_id, input); - read_lejson_crc)>(&value->json_crc, input + 2); - return true; - } else { - return false; - } -} - - // @brief Default endpoint handler for const types // @return: True if endpoint was written to, False otherwise template @@ -488,6 +464,29 @@ default_readwrite_endpoint_handler(T* value, const uint8_t* input, size_t input_ } } +// @brief Default endpoint handler for endpoint_ref_t types +template +bool default_readwrite_endpoint_handler(endpoint_ref_t* value, const uint8_t* input, size_t input_length, StreamSink* output) { + constexpr size_t size = sizeof(value->endpoint_id) + sizeof(value->json_crc); + if (output) { + // TODO: make buffer size dependent on the type + uint8_t buffer[size]; + size_t cnt = write_leendpoint_id)>(value->endpoint_id, buffer); + cnt += write_lejson_crc)>(value->json_crc, buffer + cnt); + if (cnt <= output->get_free_space()) + output->process_bytes(buffer, cnt, nullptr); + } + + // If a new value was passed, call the corresponding little endian deserialization function + if (input_length >= size) { + read_leendpoint_id)>(&value->endpoint_id, input); + read_lejson_crc)>(&value->json_crc, input + 2); + return true; + } else { + return false; + } +} + template static inline const char* get_default_json_modifier(); From 9832855a9697c3e837f920fa444f694c89062b60 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sun, 30 Sep 2018 19:16:18 -0700 Subject: [PATCH 10/14] update Chnagelog --- CHANGELOG.md | 3 +++ 1 file changed, 3 insertions(+) diff --git a/CHANGELOG.md b/CHANGELOG.md index a5c1a4f5..a8b1bbba 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -14,6 +14,9 @@ Please add a note of your changes below this heading if you make a Pull Request. * `ModuleNotFoundError` is replaced by the older ImportError. * Print function imported from future +### Fixed +* There is a [bug](https://github.com/ARM-software/CMSIS_5/issues/267) in the arm fast math library, which gives spikes in the output of arm_cos_f32 for input values close to -pi/2. We fixed the bug locally, and hence are using "our_arm_cos_f32". + # Releases ## [0.4.4] - 2018-09-18 ### Fixed From 183998d64c7a818d2c111bd086ec17c9dc28b1ac Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Fri, 5 Oct 2018 23:00:57 -0700 Subject: [PATCH 11/14] odrive_main.h include scheme note --- Firmware/MotorControl/odrive_main.h | 7 +++++++ 1 file changed, 7 insertions(+) diff --git a/Firmware/MotorControl/odrive_main.h b/Firmware/MotorControl/odrive_main.h index 0165c673..776f1590 100644 --- a/Firmware/MotorControl/odrive_main.h +++ b/Firmware/MotorControl/odrive_main.h @@ -1,6 +1,13 @@ #ifndef __ODRIVE_MAIN_H #define __ODRIVE_MAIN_H +// Note on central include scheme by Samuel: +// there are circular dependencies between some of the header files, +// e.g. the Motor header needs a forward declaration of Axis and vice versa +// so I figured I'd make one main header that takes care of +// the forward declarations and right ordering +// btw this pattern is not so uncommon, for instance IIRC the stdlib uses it too + #ifdef __cplusplus #include extern "C" { From 85540cb1ab14498fe3994670ab0f71a7620a2270 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Tue, 2 Oct 2018 00:44:42 -0700 Subject: [PATCH 12/14] move check_for_errors to inline --- Firmware/MotorControl/axis.cpp | 13 ------------- Firmware/MotorControl/axis.hpp | 14 +++++++++++++- Firmware/MotorControl/motor.cpp | 2 +- 3 files changed, 14 insertions(+), 15 deletions(-) diff --git a/Firmware/MotorControl/axis.cpp b/Firmware/MotorControl/axis.cpp index 4ff660fd..01892af1 100644 --- a/Firmware/MotorControl/axis.cpp +++ b/Firmware/MotorControl/axis.cpp @@ -96,19 +96,6 @@ void Axis::set_step_dir_enabled(bool enable) { } } -bool Axis::check_for_errors() { - // Maybe we should update this to only trigger on new errors? - // The danger with that is we could fail to bail on uncleared errors that still prevent - // correct opreation. - - // For now: we treat ERROR_INVALID_STATE in idle loop special, or we could never stay - // in idle after this kind of error. - if (current_state_ == AXIS_STATE_IDLE) - return (error_ & ~ERROR_INVALID_STATE) == ERROR_NONE; - else - return error_ == ERROR_NONE; -} - // @brief Do axis level checks and call subcomponent do_checks // Returns true if everything is ok. bool Axis::do_checks() { diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp index 6063ee3a..8306d1f5 100644 --- a/Firmware/MotorControl/axis.hpp +++ b/Firmware/MotorControl/axis.hpp @@ -80,9 +80,21 @@ public: bool check_PSU_brownout(); bool do_checks(); bool do_updates(); - bool check_for_errors(); float get_temp(); + bool inline check_for_errors() { + // Maybe we should update this to only trigger on new errors? + // The danger with that is we could fail to bail on uncleared errors that still prevent + // correct opreation. + + // For now: we treat ERROR_INVALID_STATE in idle loop special, or we could never stay + // in idle after this kind of error. + if (current_state_ == AXIS_STATE_IDLE) + return (error_ & ~ERROR_INVALID_STATE) == ERROR_NONE; + else + return error_ == ERROR_NONE; + } + // @brief Runs the specified update handler at the frequency of the current measurements. // // The loop runs until one of the following conditions: diff --git a/Firmware/MotorControl/motor.cpp b/Firmware/MotorControl/motor.cpp index 5f518adb..ee71c98a 100644 --- a/Firmware/MotorControl/motor.cpp +++ b/Firmware/MotorControl/motor.cpp @@ -343,7 +343,7 @@ bool Motor::FOC_current(float Id_des, float Iq_des, float phase) { // Inverse park transform float mod_alpha = c * mod_d - s * mod_q; - float mod_beta = c * mod_q + s * mod_d; + float mod_beta = c * mod_q + s * mod_d; // Report final applied voltage in stationary frame (for sensorles estimator) ictrl.final_v_alpha = mod_to_V * mod_alpha; From d29697255a599dba1ce5cba8c8dbc96d32346c1f Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sat, 6 Oct 2018 01:47:36 -0700 Subject: [PATCH 13/14] fix axis state machine jumping out of idle when there is an error --- CHANGELOG.md | 1 + Firmware/MotorControl/axis.hpp | 21 +++++++++------------ 2 files changed, 10 insertions(+), 12 deletions(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 1257724b..9cef2851 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -20,6 +20,7 @@ Please add a note of your changes below this heading if you make a Pull Request. * `encoder.config.bandwidth` ### Fixed +* An issue where the axis state machine would jump in and out of idle when there is an error * There is a [bug](https://github.com/ARM-software/CMSIS_5/issues/267) in the arm fast math library, which gives spikes in the output of arm_cos_f32 for input values close to -pi/2. We fixed the bug locally, and hence are using "our_arm_cos_f32". # Releases diff --git a/Firmware/MotorControl/axis.hpp b/Firmware/MotorControl/axis.hpp index 8306d1f5..5d4d0dd8 100644 --- a/Firmware/MotorControl/axis.hpp +++ b/Firmware/MotorControl/axis.hpp @@ -82,17 +82,10 @@ public: bool do_updates(); float get_temp(); - bool inline check_for_errors() { - // Maybe we should update this to only trigger on new errors? - // The danger with that is we could fail to bail on uncleared errors that still prevent - // correct opreation. - // For now: we treat ERROR_INVALID_STATE in idle loop special, or we could never stay - // in idle after this kind of error. - if (current_state_ == AXIS_STATE_IDLE) - return (error_ & ~ERROR_INVALID_STATE) == ERROR_NONE; - else - return error_ == ERROR_NONE; + // True if there are no errors + bool inline check_for_errors() { + return error_ == ERROR_NONE; } // @brief Runs the specified update handler at the frequency of the current measurements. @@ -124,8 +117,12 @@ public: // Note: updates run even if checks fail bool updates_ok = do_updates(); - if (!checks_ok || !updates_ok) - break; + if (!checks_ok || !updates_ok) { + // It's not useful to quit idle since that is the safe action + // Also leaving idle would rearm the motors + if (current_state_ != AXIS_STATE_IDLE) + break; + } // Run main loop function, defer quitting for after wait // TODO: change arming logic to arm after waiting From 6dccfb28e0253833f546121790dab4fda2635378 Mon Sep 17 00:00:00 2001 From: Oskar Weigl Date: Sat, 6 Oct 2018 01:52:08 -0700 Subject: [PATCH 14/14] update motor.resistance_calib_max_voltage to 2 --- CHANGELOG.md | 1 + Firmware/MotorControl/motor.hpp | 2 +- 2 files changed, 2 insertions(+), 1 deletion(-) diff --git a/CHANGELOG.md b/CHANGELOG.md index 9cef2851..efa2966c 100644 --- a/CHANGELOG.md +++ b/CHANGELOG.md @@ -18,6 +18,7 @@ Please add a note of your changes below this heading if you make a Pull Request. * `motor.config.current_control_bandwidth` * This deprecates `motor.set_current_control_bandwidth()` * `encoder.config.bandwidth` +* Default value for `motor.resistance_calib_max_voltage` changed to 2.0 ### Fixed * An issue where the axis state machine would jump in and out of idle when there is an error diff --git a/Firmware/MotorControl/motor.hpp b/Firmware/MotorControl/motor.hpp index 051c0228..ebfd3a12 100644 --- a/Firmware/MotorControl/motor.hpp +++ b/Firmware/MotorControl/motor.hpp @@ -55,7 +55,7 @@ public: bool pre_calibrated = false; // can be set to true to indicate that all values here are valid int32_t pole_pairs = 7; float calibration_current = 10.0f; // [A] - float resistance_calib_max_voltage = 1.0f; // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor. + float resistance_calib_max_voltage = 2.0f; // [V] - You may need to increase this if this voltage isn't sufficient to drive calibration_current through the motor. float phase_inductance = 0.0f; // to be set by measure_phase_inductance float phase_resistance = 0.0f; // to be set by measure_phase_resistance int32_t direction = 1; // 1 or -1