Oskar Weigl
15983cc4f0
Thermal current limit with linear derating
2019-01-16 01:19:36 -08:00
Oskar Weigl
31562aca12
add voltage magnitude clamping for gimbal motors in closed loop
2019-01-15 19:44:07 -08:00
Oskar Weigl
167f00e622
add current sense saturation fault
2018-11-27 22:29:02 -08:00
Oskar Weigl
1511ae1db7
use tim13 as realtime control diagnostic timebase
2018-10-24 21:56:02 -07:00
Oskar Weigl
26eb4e7765
disable PWM straight away on motor error
2018-10-07 13:12:37 -07:00
Oskar Weigl
85540cb1ab
move check_for_errors to inline
2018-10-06 01:39:53 -07:00
Oskar Weigl
833bdde5f8
Merge pull request #253 from madcowswe/property-hooks
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Property hooks
2018-09-30 19:16:38 -07:00
Oskar Weigl
6c89460d88
Merge pull request #254 from madcowswe/fix-sincos
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Fix rounding issue in arm_cos_f32
2018-09-30 19:13:53 -07:00
Oskar Weigl
a1c8a559c5
Merge branch 'devel' into property-hooks
2018-09-30 18:55:22 -07:00
Oskar Weigl
ece2921316
add and rename our own copy of arm_sin_f32 and arm_cos_f32
2018-09-27 21:18:38 -07:00
Oskar Weigl
d2e2c3a1a8
use new hooks for encoder and current control bandwidth
2018-09-25 21:34:16 -07:00
Oskar Weigl
e88abb56eb
pull in configs and enum into class for Axis and Motor, for consistency
2018-09-24 22:59:36 -07:00
Oskar Weigl
d54d4479ac
update max inductance check to 2500uH
2018-08-27 16:09:07 -07:00
Oskar Weigl
6e9dd068de
add current control bandwith config setting
2018-06-21 22:41:58 -07:00
Oskar Weigl
c6cf7b2132
current control bandwidth lowered for high inductance wheels. TODO Make configurable
2018-05-17 17:07:34 -07:00
Oskar Weigl
f88ea874e9
implement snap of requested current range
2018-05-14 00:03:50 -07:00
Oskar Weigl
0d07c71f95
push estimator updates into control loop prefix
2018-05-10 07:33:54 -07:00
Oskar Weigl
a94096b64d
Make subcomponent errors to always set relevant axis error; use do_checks and set_error
2018-05-10 06:56:13 -07:00
Oskar Weigl
7d6ddc96b2
update encoder during calib
2018-04-26 13:46:47 -07:00
Oskar Weigl
4420d3873a
lowish current motor resistance meas config
2018-04-26 13:46:47 -07:00
Samuel Sadok
1f504d1d99
Merge branch 'sam_testing' into sam_oskar_testing
2018-04-21 23:11:36 -07:00
Oskar Weigl
0ac2871dec
drv fault only reads fault regs, add blackside loopback tests
2018-04-21 14:27:37 -07:00
Samuel Sadok
741a51442f
split communication into multiple files
2018-04-20 23:44:55 -07:00
Oskar Weigl
d864730ecc
add integrator resets to firmware
2018-04-13 18:37:39 -07:00
Samuel Sadok
ae9a208f1f
turn error enums into flags
2018-04-06 13:12:39 -07:00
Samuel Sadok
ab698a9dce
turn error enums into flags
2018-04-05 22:27:20 -07:00
Samuel Sadok
b8b483c9d6
Firmware hardening
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- check return code of enqueue_modulation_timings
- wrap all hardware access to safety critical hardware timer registers in safety_critical_ sections. These functions like the armed-ness of each PWM output to a corresponding armed state that can only be set at start or by the user
- ensure NaN in any variables doesn't cause unpredictable behavior on the safety critical PWM outputs
2018-03-30 22:32:07 -07:00
Samuel Sadok
0e37ff01e4
set current controller gains based on NVM configration
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If the motor phase resistance and phase inductance was loaded from NVM (pre_calibrated = true) (as opposed to calibration) the current control P and I gains would not be loaded correctly. This commit fixes this.
2018-03-23 19:54:45 -07:00
Samuel Sadok
93d6a787cd
Merge branch 'devel' of github.com:madcowswe/ODrive into sam_refactoring
2018-03-09 16:01:18 -08:00
Samuel Sadok
9486f9ed15
make stuff working again, improve state machine design, add underscore to member names
2018-03-09 13:37:07 -08:00
Samuel Sadok
97aedd46e9
Sanitize error handling and state machine, move common stuff to odrive_main.hpp
2018-03-04 15:49:48 -08:00
Samuel Sadok
b32c87df5a
[TEMP] refactoring: compile works, motors initialize as usual
2018-03-02 22:03:24 -08:00
Oskar Weigl
Samuel Sadok