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Merge branch 'RazorsFrozenTesting' into RazorsEdge

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2020-05-08 11:41:18 -04:00
parent fb1f3e3948 f635ee85cf
commit a8e3220cd6
4 changed files with 13 additions and 25 deletions
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CHANGELOG.md
+3 -3
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@@ -18,17 +18,17 @@ Please add a note of your changes below this heading if you make a Pull Request.
* [CAN Communication with CANSimple stack](can-protocol.md)
* Gain scheduling for anti-hunt when close to 0 position error
* Velocity Limiting in Current Control mode according to `vel_limit` and `vel_gain`
* Regen current limiting according to `max_regen_limit`, in Amps
* Regen current limiting according to `max_regen_current`, in Amps
* DC Bus hard current limiting according to `dc_max_negative_current` and `dc_max_positive_current`
* Brake resistor logic now attempts to clamp voltage according to `odrv.config.dc_bus_overvoltage_ramp_start` and `odrv.config.dc_bus_overvoltage_ramp_end`
* Unit Testing with Doctest has been started for select algorithms, see [Firmware/Tests/test_runner.cpp](Firmware/Tests/test_runner.cpp)
* Added support for Flylint VSCode Extension for static code analysis
* Using an STM32F405 .svd file allows CortexDebug to view registers during debugging
* Added scripts for building via docker.
* Brake resistor logic now attempts to clamp voltage according to `odrv.config.dc_bus_overvoltage_ramp_start` and `odrv.config.dc_bus_overvoltage_ramp_end`
### Changed
* Changed ratiometric `motor.config.current_lim_tolerance` to absolute `motor.config.current_lim_margin`
* Moved `controller.vel_ramp_enable` into `controller.config`.
* Moved `controller.vel_ramp_enable` to INPUT_MODE_VEL_RAMP.
* Anticogging map is temporarily forced to 0.1 deg precision, but saves with the config
* Some Encoder settings have been made read-only
* Cleaned up VSCode C/C++ Configuration settings on Windows with recursive includePath
Firmware/MotorControl/controller.cpp
+1 -2
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@@ -256,8 +256,7 @@ bool Controller::update(float* current_setpoint_output) {
// Velocity limiting
float vel_lim = config_.vel_limit;
if (config_.enable_vel_limit) {
if (vel_des > vel_lim) vel_des = vel_lim;
if (vel_des < -vel_lim) vel_des = -vel_lim;
vel_des = std::clamp(vel_des, -vel_lim, vel_lim);
}
// Check for overspeed fault (done in this module (controller) for cohesion with vel_lim)
Firmware/MotorControl/low_level.cpp
+1
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@@ -214,6 +214,7 @@ void start_adc_pwm() {
// Ensure that debug halting of the core doesn't leave the motor PWM running
__HAL_DBGMCU_FREEZE_TIM1();
__HAL_DBGMCU_FREEZE_TIM8();
__HAL_DBGMCU_FREEZE_TIM13();
start_pwm(&htim1);
start_pwm(&htim8);
Firmware/MotorControl/motor.cpp
+8 -20
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@@ -447,9 +447,8 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
// TODO: 2-norm vs independent clamping (current could be sqrt(2) bigger)
float ilim = effective_current_lim();
// TODO: use std::clamp (C++17)
float id = MACRO_MIN(MACRO_MAX(current_control_.Id_setpoint, -ilim), ilim);
float iq = MACRO_MIN(MACRO_MAX(current_setpoint, -ilim), ilim);
float id = std::clamp(current_control_.Id_setpoint, -ilim, ilim);
float iq = std::clamp(current_setpoint, -ilim, ilim);
if (config_.motor_type == MOTOR_TYPE_ACIM) {
// Note that the effect of the current commands on the real currents is actually 1.5 PWM cycles later
@@ -460,7 +459,7 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
float abs_iq = fabsf(iq);
float gain = abs_iq > id ? config_.acim_autoflux_attack_gain : config_.acim_autoflux_decay_gain;
id += gain * (abs_iq - id) * current_meas_period;
id = MACRO_MIN(MACRO_MAX(id, config_.acim_autoflux_min_Id), ilim);
id = std::clamp(id, config_.acim_autoflux_min_Id, ilim);
current_control_.Id_setpoint = id;
}
@@ -485,22 +484,11 @@ bool Motor::update(float current_setpoint, float phase, float phase_vel) {
float pwm_phase = phase + 1.5f * current_meas_period * phase_vel;
// Execute current command
// TODO: move this into the mot
if (config_.motor_type == MOTOR_TYPE_HIGH_CURRENT) {
if(!FOC_current(id, iq, phase, pwm_phase)){
return false;
}
} else if (config_.motor_type == MOTOR_TYPE_ACIM) {
if(!FOC_current(id, iq, phase, pwm_phase)){
return false;
}
} else if (config_.motor_type == MOTOR_TYPE_GIMBAL) {
//In gimbal motor mode, current is reinterptreted as voltage.
if(!FOC_voltage(id, iq, pwm_phase))
return false;
} else {
set_error(ERROR_NOT_IMPLEMENTED_MOTOR_TYPE);
return false;
switch(config_.motor_type){
case MOTOR_TYPE_HIGH_CURRENT: return FOC_current(id, iq, phase, pwm_phase); break;
case MOTOR_TYPE_ACIM: return FOC_current(id, iq, phase, pwm_phase); break;
case MOTOR_TYPE_GIMBAL: return FOC_voltage(id, iq, pwm_phase); break;
default: set_error(ERROR_NOT_IMPLEMENTED_MOTOR_TYPE); return false; break;
}
return true;
}