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Merge branch 'Wetmelon-feature/CPR_Check' into devel

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Oskar Weigl
2018-02-23 12:50:06 -08:00
parent d9a5ca8651 430e408875
commit af601e2186
3 changed files with 22 additions and 9 deletions
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Firmware/MotorControl/low_level.c
+18 -7
View File
@@ -71,7 +71,7 @@ Motor_t motors[] = {
.vel_limit = 20000.0f, // [counts/s]
.current_setpoint = 0.0f, // [A]
.calibration_current = 10.0f, // [A]
.resistance_calib_max_voltage = 1.0f, // [V]
.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.
.phase_inductance = 0.0f, // to be set by measure_phase_inductance
.phase_resistance = 0.0f, // to be set by measure_phase_resistance
.motor_thread = 0,
@@ -129,6 +129,7 @@ Motor_t motors[] = {
.encoder_offset = 0,
.encoder_state = 0,
.motor_dir = 1, // 1 or -1
.encoder_calib_range = 0.02,
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
@@ -176,7 +177,7 @@ Motor_t motors[] = {
.vel_limit = 20000.0f, // [counts/s]
.current_setpoint = 0.0f, // [A]
.calibration_current = 10.0f, // [A]
.resistance_calib_max_voltage = 1.0f, // [V]
.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.
.phase_inductance = 0.0f, // to be set by measure_phase_inductance
.phase_resistance = 0.0f, // to be set by measure_phase_resistance
.motor_thread = 0,
@@ -231,6 +232,7 @@ Motor_t motors[] = {
.encoder_offset = 0,
.encoder_state = 0,
.motor_dir = 1, // 1 or -1
.encoder_calib_range = 0.02,
.phase = 0.0f, // [rad]
.pll_pos = 0.0f, // [rad]
.pll_vel = 0.0f, // [rad/s]
@@ -760,14 +762,11 @@ bool measure_phase_inductance(Motor_t* motor, float voltage_low, float voltage_h
// TODO: add check_timing
bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
static const float start_lock_duration = 1.0f;
static const int num_steps = 1024;
static const int num_steps = 1024*2;
static const float dt_step = 1.0f / 500.0f;
static const float scan_range = 4.0f * M_PI;
static const float scan_range = 16.0f * M_PI;
const float step_size = scan_range / (float)num_steps; // TODO handle const expressions better (maybe switch to C++ ?)
int32_t init_enc_val = (int16_t)motor->encoder.encoder_timer->Instance->CNT;
int32_t encvaluesum = 0;
// go to motor zero phase for start_lock_duration to get ready to scan
for (int i = 0; i < start_lock_duration * current_meas_hz; ++i) {
if (osSignalWait(M_SIGNAL_PH_CURRENT_MEAS, PH_CURRENT_MEAS_TIMEOUT).status != osEventSignal) {
@@ -776,6 +775,10 @@ bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
}
queue_voltage_timings(motor, voltage_magnitude, 0.0f);
}
int32_t init_enc_val = (int16_t)motor->encoder.encoder_timer->Instance->CNT;
int32_t encvaluesum = 0;
// scan forwards
for (float ph = -scan_range / 2.0f; ph < scan_range / 2.0f; ph += step_size) {
for (int i = 0; i < dt_step * (float)current_meas_hz; ++i) {
@@ -789,6 +792,14 @@ bool calib_enc_offset(Motor_t* motor, float voltage_magnitude) {
}
encvaluesum += (int16_t)motor->encoder.encoder_timer->Instance->CNT;
}
float expected_encoder_delta = scan_range / elec_rad_per_enc;
float actual_encoder_delta_abs = fabsf((int16_t)motor->encoder.encoder_timer->Instance->CNT-init_enc_val);
if(fabsf(actual_encoder_delta_abs - expected_encoder_delta)/expected_encoder_delta > motor->encoder.encoder_calib_range)
{
motor->error = ERROR_ENCODER_CPR_OUT_OF_RANGE;
return false;
}
// check direction
if ((int16_t)motor->encoder.encoder_timer->Instance->CNT > init_enc_val + 8) {
// motor same dir as encoder
Firmware/MotorControl/low_level.h
+2
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@@ -50,6 +50,7 @@ typedef enum {
ERROR_SPIN_UP_TIMEOUT,
ERROR_DRV_FAULT,
ERROR_NOT_IMPLEMENTED_MOTOR_TYPE,
ERROR_ENCODER_CPR_OUT_OF_RANGE
} Error_t;
// Note: these should be sorted from lowest level of control to
@@ -119,6 +120,7 @@ typedef struct {
int32_t encoder_offset;
int32_t encoder_state;
int32_t motor_dir; // 1/-1 for fwd/rev alignment to encoder.
float encoder_calib_range;
float phase;
float pll_pos;
float pll_vel;
Firmware/protocol.md
+2 -2
View File
@@ -26,8 +26,8 @@ by default while UART runs the stream based variant.
## Packet format ##
We will call the ODrive "server" and the PC "client". A request is a message
from the PC to the ODrive and a response is a message from the PC to the
ODrive.
from the PC to the ODrive and a response is a message from the ODrive to the
PC.
Each request-response transaction corresponds to a single endpoint operation.