mirror of
https://github.com/odriverobotics/ODrive.git
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start hw version define split
This commit is contained in:
Oskar Weigl
Vendored
-19
@@ -1,22 +1,3 @@
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{
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"files.associations": {
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"stm32f4xx_hal.h": "c",
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"spi.h": "c",
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"gpio.h": "c",
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"type_traits": "cpp",
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"utility": "c",
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"low_level.h": "cpp",
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"motor.h": "cpp",
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"math.h": "c",
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"encoder.h": "cpp",
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"xutility": "c",
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"usb_commands.h": "cpp",
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"sensorless.h": "cpp",
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"usbd_cdc_if.h": "c",
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"drv8301.h": "c",
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"adc.h": "c",
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"configuration.h": "cpp",
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"utils.h": "cpp"
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},
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"C_Cpp.clang_format_style": "{ BasedOnStyle: Google, IndentWidth: 4, ColumnLimit: 0 }"
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}
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@@ -52,6 +52,9 @@
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/* USER CODE BEGIN Includes */
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#define HW_VERSION_MAJOR 3
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#define HW_VERSION_MINOR 3
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/* USER CODE END Includes */
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/* Private define ------------------------------------------------------------*/
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@@ -86,6 +86,7 @@ ASM_SOURCES = \
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# binaries
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#######################################
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CC = arm-none-eabi-gcc
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CXX = arm-none-eabi-g++
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AS = arm-none-eabi-gcc -x assembler-with-cpp
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CP = arm-none-eabi-objcopy
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AR = arm-none-eabi-ar
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@@ -116,11 +117,14 @@ C_INCLUDES += -IMotorControl
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# compile gcc flags
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ASFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(AS_DEFS) $(AS_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
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CFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
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CXXFLAGS = -mthumb -mcpu=cortex-m4 -mfpu=fpv4-sp-d16 -mfloat-abi=hard $(C_DEFS) $(C_INCLUDES) $(OPT) -Wall -fdata-sections -ffunction-sections
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ifeq ($(DEBUG), 1)
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CFLAGS += -g -gdwarf-2
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CXXFLAGS += -g -gdwarf-2
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endif
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# Generate dependency information
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CFLAGS += -std=c99 -MD -MP -MF .dep/$(@F).d
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CXXFLAGS += -std=c++14 -MD -MP -MF .dep/$(@F).d
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#######################################
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# LDFLAGS
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@@ -141,6 +145,9 @@ all: $(BUILD_DIR)/$(TARGET).elf $(BUILD_DIR)/$(TARGET).hex $(BUILD_DIR)/$(TARGET
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# list of objects
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OBJECTS = $(addprefix $(BUILD_DIR)/,$(notdir $(C_SOURCES:.c=.o)))
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vpath %.c $(sort $(dir $(C_SOURCES)))
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# list of C++ objects
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OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(CPP_SOURCES:.cpp=.o)))
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vpath %.cpp $(sort $(dir $(CPP_SOURCES)))
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# list of ASM program objects
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OBJECTS += $(addprefix $(BUILD_DIR)/,$(notdir $(ASM_SOURCES:.s=.o)))
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vpath %.s $(sort $(dir $(ASM_SOURCES)))
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+18
-15
@@ -41,20 +41,20 @@ static float elec_rad_per_enc = POLE_PAIRS * 2 * M_PI * (1.0f / (float)ENCODER_C
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// TODO: For nice encapsulation, consider not having the motor objects public
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Motor_t motors[] = {
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{ // M0
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.control_mode = CTRL_MODE_VELOCITY_CONTROL, //see: Motor_control_mode_t
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.control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
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.enable_step_dir = false, //auto enabled after calibration
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.counts_per_step = 2.0f,
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.error = ERROR_NO_ERROR,
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.pos_setpoint = 0.0f,
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.pos_gain = 20.0f, // [(counts/s) / counts]
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// .vel_setpoint = 40000.0f,
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.vel_setpoint = 800.0f,
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// .vel_gain = 15.0f / 10000.0f, // [A/(counts/s)]
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.vel_gain = 15.0f / 200.0f, // [A/(rad/s)]
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// .vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)]
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.vel_integrator_gain = 0.0f, // [A/(rad/s * s)]
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.vel_setpoint = 0.0f,
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// .vel_setpoint = 800.0f, <sensorless example>
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.vel_gain = 15.0f / 10000.0f, // [A/(counts/s)]
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// .vel_gain = 15.0f / 200.0f, // [A/(rad/s)] <sensorless example>
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.vel_integrator_gain = 10.0f / 10000.0f, // [A/(counts/s * s)]
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// .vel_integrator_gain = 0.0f, // [A/(rad/s * s)] <sensorless example>
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.vel_integrator_current = 0.0f, // [A]
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.vel_limit = 80000.0f, // [counts/s]
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.vel_limit = 20000.0f, // [counts/s]
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.current_setpoint = 0.0f, // [A]
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.calibration_current = 10.0f, // [A]
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.phase_inductance = 0.0f, // to be set by measure_phase_inductance
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@@ -84,7 +84,7 @@ Motor_t motors[] = {
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.shunt_conductance = 1.0f/0.0005f, //[S]
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.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
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.current_control = {
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// .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain
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// .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings
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.current_lim = 10.0f, //[A]
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.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
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.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
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@@ -94,9 +94,9 @@ Motor_t motors[] = {
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.final_v_alpha = 0.0f,
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.final_v_beta = 0.0f,
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},
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// .rotor_mode = ROTOR_MODE_ENCODER,
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// .rotor_mode = ROTOR_MODE_SENSORLESS,
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// .rotor_mode = ROTOR_MODE_RUN_ENCODER_TEST_SENSORLESS,
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.rotor_mode = ROTOR_MODE_SENSORLESS,
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.rotor_mode = ROTOR_MODE_ENCODER,
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.encoder = {
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.encoder_timer = &htim3,
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.encoder_offset = 0,
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@@ -127,7 +127,7 @@ Motor_t motors[] = {
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.timing_log = {0},
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},
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{ // M1
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.control_mode = CTRL_MODE_VELOCITY_CONTROL, //see: Motor_control_mode_t
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.control_mode = CTRL_MODE_POSITION_CONTROL, //see: Motor_control_mode_t
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.enable_step_dir = false, //auto enabled after calibration
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.counts_per_step = 2.0f,
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.error = ERROR_NO_ERROR,
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@@ -144,8 +144,8 @@ Motor_t motors[] = {
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.phase_resistance = 0.0f, // to be set by measure_phase_resistance
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.motor_thread = 0,
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.thread_ready = false,
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.enable_control = false,
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.do_calibration = false,
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.enable_control = true,
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.do_calibration = true,
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.calibration_ok = false,
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.motor_timer = &htim8,
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.next_timings = {TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2, TIM_1_8_PERIOD_CLOCKS/2},
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@@ -167,7 +167,7 @@ Motor_t motors[] = {
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.shunt_conductance = 1.0f/0.0005f, //[S]
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.phase_current_rev_gain = 0.0f, // to be set by DRV8301_setup
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.current_control = {
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// .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain
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// .current_lim = 75.0f, //[A] // Note: consistent with 40v/v gain, TODO: auto limit from gain settings
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.current_lim = 10.0f, //[A]
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.p_gain = 0.0f, // [V/A] should be auto set after resistance and inductance measurement
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.i_gain = 0.0f, // [V/As] should be auto set after resistance and inductance measurement
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@@ -200,6 +200,9 @@ Motor_t motors[] = {
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.V_alpha_beta_memory = {0.0f, 0.0f}, // [V]
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.pm_flux_linkage = 1.58e-3f, // [V / (rad/s)] { 5.51328895422 / (<pole pairs> * <rpm/v>) }
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.estimator_good = false,
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.spin_up_current = 10.0f, // [A]
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.spin_up_acceleration = 400.0f, // [rad/s^2]
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.spin_up_target_vel = 400.0f, // [rad/s]
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},
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.timing_log_index = 0,
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.timing_log = {0}
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