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configurable search speed and dir, check for already flashed calibration

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This commit is contained in:
Oskar Weigl
2018-01-26 22:34:34 -08:00
parent 1f8bba475e
commit aaa5f802de
2 changed files with 12 additions and 5 deletions
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Firmware/MotorControl/low_level.c
+11 -5
View File
@@ -122,10 +122,11 @@ Motor_t motors[] = {
.use_index = true,
.index_found = false,
.calibrated = false,
.idx_search_speed = 10.0f,
.encoder_cpr = ENCODER_CPR,
.encoder_offset = 0,
.encoder_state = 0,
.motor_dir = 0, // set by calib_enc_offset
.motor_dir = 1, // 1 or -1
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
@@ -220,10 +221,11 @@ Motor_t motors[] = {
.use_index = true,
.index_found = false,
.calibrated = false,
.idx_search_speed = 10.0f,
.encoder_cpr = ENCODER_CPR,
.encoder_offset = 0,
.encoder_state = 0,
.motor_dir = 0, // set by calib_enc_offset
.motor_dir = 1, // 1 or -1
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
@@ -809,6 +811,7 @@ bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
int offset = encvaluesum / (num_steps * 2);
motor->encoder.encoder_offset = offset;
motor->encoder.calibrated = true;
return true;
}
@@ -832,10 +835,13 @@ bool motor_calibration(Motor_t* motor) {
if (motor->rotor_mode == ROTOR_MODE_ENCODER ||
motor->rotor_mode == ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS) {
if (motor->encoder.use_index && !motor->encoder.index_found)
if (!scan_for_enc_idx(motor, 10.0f, calibration_voltage))
if (!scan_for_enc_idx(motor,
(float)(motor->encoder.motor_dir) * motor->encoder.idx_search_speed,
calibration_voltage))
return false;
if (!motor->encoder.calibrated)
if (!calib_enc_offset(motor, calibration_voltage))
return false;
if (!calib_enc_offset(motor, calibration_voltage))
return false;
}
// Calculate current control gains
Firmware/MotorControl/low_level.h
+1
View File
@@ -113,6 +113,7 @@ typedef struct {
bool use_index;
bool index_found;
bool calibrated;
float idx_search_speed;
int encoder_cpr;
int32_t encoder_offset;
int32_t encoder_state;