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Merge branch 'devel' into can_improvements

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This commit is contained in:
Paul Guenette
2020-09-22 22:17:10 -04:00
parent 0e438bd3cd b089573fea
commit ea84694ccb
20 changed files with 235 additions and 45 deletions
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Firmware/MotorControl/axis.cpp
+15 -9
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@@ -19,7 +19,8 @@ Axis::Axis(int axis_num,
Motor& motor,
TrapezoidalTrajectory& trap,
Endstop& min_endstop,
Endstop& max_endstop)
Endstop& max_endstop,
MechanicalBrake& mechanical_brake)
: axis_num_(axis_num),
default_step_gpio_pin_(default_step_gpio_pin),
default_dir_gpio_pin_(default_dir_gpio_pin),
@@ -33,6 +34,7 @@ Axis::Axis(int axis_num,
trap_traj_(trap),
min_endstop_(min_endstop),
max_endstop_(max_endstop),
mechanical_brake_(mechanical_brake),
current_limiters_(make_array(
static_cast<CurrentLimiter*>(&fet_thermistor),
static_cast<CurrentLimiter*>(&motor_thermistor))),
@@ -49,6 +51,7 @@ Axis::Axis(int axis_num,
trap_traj_.axis_ = this;
min_endstop_.axis_ = this;
max_endstop_.axis_ = this;
mechanical_brake_.axis_ = this;
}
Axis::LockinConfig_t Axis::default_calibration() {
@@ -97,10 +100,10 @@ void Axis::clear_config() {
config_.can.node_id = axis_num_;
}
// @brief Sets up all components of the axis,
// such as gate driver and encoder hardware.
// @brief Does Nothing
bool Axis::setup() {
return motor_.setup();
// Does nothing - Motor and encoder setup called separately.
return true;
}
static void run_state_machine_loop_wrapper(void* ctx) {
@@ -235,9 +238,9 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
float x = 0.0f;
run_control_loop([&]() {
float phase = wrap_pm_pi(lockin_config.ramp_distance * x);
float I_mag = lockin_config.current * x;
float torque = lockin_config.current * motor_.config_.torque_constant * x;
x += current_meas_period / lockin_config.ramp_time;
if (!motor_.update(I_mag, phase, 0.0f))
if (!motor_.update(torque, phase, 0.0f))
return false;
return x < 1.0f;
});
@@ -266,7 +269,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
distance += vel * current_meas_period;
phase = wrap_pm_pi(phase + vel * current_meas_period);
if (!motor_.update(lockin_config.current, phase, vel))
if (!motor_.update(lockin_config.current * motor_.config_.torque_constant, phase, vel))
return false;
return !spin_done(true); //vel_override to go to next phase
});
@@ -282,7 +285,7 @@ bool Axis::run_lockin_spin(const LockinConfig_t &lockin_config) {
distance += vel * current_meas_period;
phase = wrap_pm_pi(phase + vel * current_meas_period);
if (!motor_.update(lockin_config.current, phase, vel))
if (!motor_.update(lockin_config.current * motor_.config_.torque_constant, phase, vel))
return false;
return !spin_done();
});
@@ -460,6 +463,7 @@ bool Axis::run_idle_loop() {
// run_control_loop ignores missed modulation timing updates
// if and only if we're in AXIS_STATE_IDLE
safety_critical_disarm_motor_pwm(motor_);
mechanical_brake_.engage();
set_step_dir_active(config_.enable_step_dir && config_.step_dir_always_on);
run_control_loop([this]() {
return true;
@@ -472,6 +476,7 @@ void Axis::run_state_machine_loop() {
// arm!
motor_.arm();
mechanical_brake_.release();
for (;;) {
// Load the task chain if a specific request is pending
@@ -556,7 +561,7 @@ void Axis::run_state_machine_loop() {
if (status) {
// call to controller.reset() that happend when arming means that vel_setpoint
// is zeroed. So we make the setpoint the spinup target for smooth transition.
controller_.vel_setpoint_ = config_.sensorless_ramp.vel;
controller_.vel_setpoint_ = config_.sensorless_ramp.vel / (2.0f * M_PI * motor_.config_.pole_pairs);
status = run_sensorless_control_loop();
}
} break;
@@ -573,6 +578,7 @@ void Axis::run_state_machine_loop() {
case AXIS_STATE_IDLE: {
run_idle_loop();
status = motor_.arm(); // done with idling - try to arm the motor
mechanical_brake_.release();
} break;
default: