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7ce896c2ced892a60957d977bb592e5d61bb61f9
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119 Commits
Author SHA1 Message Date
PAJohnson 7ce896c2ce In encoder.*pp, XXX_estimate -> XXX_estimate_counts and XXX_est_rad -> XXX_estimate. 
Changed HWIL tests to reflect unit change
Corrected sources for position and velocity estimates elsewhere.
 2020-07-13 20:59:35 +01:00
PAJohnson 744bfeb110 Un-removed custom setter for input_pos_ 
removed explicit casts where variables would be promoted anyway
 2020-06-26 19:48:21 +01:00
PAJohnson 9faf46ad47 Changed from counts->radians internally. By default, input positions and velocities are also in radians. 
Added multipliers for input pos/vel to allow users to define their own units for those inputs.
 2020-06-25 21:39:20 +01:00
PAJohnson 98e9d730f4 Added "shadow" variables for counts_to_rads. Controller::update() tested and working with radian inputs. 2020-06-24 21:40:10 +01:00
Samuel Sadok 653c4c327e Merge remote-tracking branch 'origin/devel' into feature/interface_autogen_merged 2020-05-22 21:27:58 +02:00
Samuel Sadok b3912d58c2 revert numerical static_cast to C style casts 
As per https://github.com/madcowswe/ODrive/pull/410#discussion_r427725994
 2020-05-20 13:26:14 +02:00
Samuel Sadok 3d07325022 remove aligned formatting of assignments 2020-05-20 12:27:28 +02:00
Samuel Sadok 149dcf7377 reenable ascii protocol 2020-05-18 14:44:37 +02:00
Samuel Sadok da7f719283 improve naming consistency between code and fibre 
Consistent naming makes code autogeneration easier.
This commit does not claim that the exported names of the variables were
more sensible than the in-code names. However changing the exported
names can break external tools and needs to happen in a controlled and
documented way.
 2020-05-14 11:16:32 +02:00
Samuel Sadok ef669a8668 log SPI timings 2020-05-08 10:26:30 +02:00
Unknown bf6d47f950 Add some missing reference & symbols 2020-05-05 21:37:47 -04:00
Samuel Sadok 4cfbb2c3e4 fix various issues with SPI encoder implementation 
- Remove logic that would inhibit error detection until the first value is received. This logic posed a risk when no encoder is connected at all.
 - check error flag in AMS mode
 - Make CUI mode work. Only tested with emulated CUI encoder.
 - only go to ready-state if a successful value was received _and_ the offset was already pre-calibrated
 - enable pull-up on MISO so that a disconnected AMS encoder can be detected
 - update encoder documentation
 2020-04-29 16:18:55 +02:00
Unknown e6f95d4d47 Make sin/cos encoder pins configurable. 2020-04-09 18:53:53 -04:00
Samuel Sadok 746e142fc2 fix encoder direction find procedure 2020-04-08 16:25:29 +02:00
Unknown 7a756c1761 Merge branch 'devel' into RazorsEdge 2020-01-01 21:45:41 -05:00
Unknown 4ee55aaed4 Only configure encoder SPI at startup 2020-01-01 21:37:55 -05:00
Unknown 878566cba9 Correct parity calculation tests 2020-01-01 19:48:54 -05:00
Unknown bb31f042da Revert "Fix parity calculation" 
This reverts commit 27b3c69e8e.
 2020-01-01 19:47:27 -05:00
Unknown 27b3c69e8e Fix parity calculation 2020-01-01 01:52:21 -05:00
Unknown 2dfff2a7d6 Only access abs_spi_dma_rx_ once 2020-01-01 01:52:03 -05:00
Unknown a4664fbf5e Merge branch 'RazorsEdge' into RazorsFrozen 2019-12-22 17:07:32 -05:00
Unknown 0642a69e1a AEAT-8800 
Adds AEAT-8800 SSI as an encoder using 16bit
 2019-10-24 16:22:44 +10:00
Oskar Weigl 1a3b6bf010 encoder can now be precalibrated without offset when using ACIM 2019-10-11 16:25:18 -07:00
Samuel Sadok 82e8cd64fb cosmetic changes 2019-09-27 18:01:38 +02:00
Samuel Sadok f8ea7d5684 [homing] make separate control mode 
[endstops] enable in all control modes
[load encoder] use load encoder more consequently
 2019-09-23 12:23:27 +02:00
Unknown 9e782cce7b Revert "Formatting pass" 
This reverts commit 2b58d15d8d.
 2019-09-15 01:15:51 -04:00
Unknown 2b901830d8 Add anticogging_valid check during absolute encoder setup 2019-08-27 20:50:14 -04:00
Unknown cd304f7b78 Merge branch 'devel' into RazorsEdge 2019-08-26 07:36:26 -04:00
Unknown 2e3768c329 Start moving casts and math functions to std:: 2019-08-25 17:13:10 -04:00
Unknown 2b58d15d8d Formatting pass 2019-08-20 23:13:54 -04:00
Unknown 4ba522b139 Add pre_calibrated, enable anticogging at index search if trrue 2019-08-18 11:43:24 -04:00
Oskar Weigl 0e9dbc36bc change ERROR_CPR_OUT_OF_RANGE to ERROR_CPR_POLEPAIRS_MISMATCH 2019-08-09 21:50:55 -07:00
Paul Guenette 1494cb333f Merge remote-tracking branch 'madcowswe/lockin-refactor' into RazorsEdge 2019-06-22 17:04:29 +02:00
Paul Guenette e8a6698fa5 Merge branch 'devel' into RazorsEdge 2019-06-03 00:30:25 +02:00
Ben Wang f69685df13 refactor lockin mode into separate variables for sensorless spinup, encoder calibration and general (user initiated) mode 2019-05-29 16:26:07 -04:00
Paul Guenette 0c270eaa61 Remove SPI_COM_FAIL error, add spi_error_rate_ to protocol 2019-05-25 21:22:07 +02:00
Paul Guenette 73fbd0d54d Try to delay SPI error counting during initialization 2019-05-25 21:11:43 +02:00
Paul Guenette 59d7bb405c Add missing encoder modes for coherent sampling 2019-05-25 20:42:26 +02:00
Paul Guenette 3fa49918c7 Merge branch 'anticogging_saver' into RazorsEdge 2019-05-25 17:45:09 +02:00
Paul Guenette 6654b3a375 Just fetch the cogging ratio every time we need it 2019-05-25 17:29:25 +02:00
Paul Guenette 3dc969ad15 Merge branch 'Non-Blocking_Absolute_SPI' into RazorsEdge 2019-05-25 14:56:26 +02:00
Paul Guenette 301d68adc6 Move anticogging_t into config, use a fixed size array and scale 2019-05-23 18:56:34 +02:00
Tobin Hall 9e99863eb6 Fix for hanging during configuration. 2019-05-11 23:18:58 +02:00
Tobin Hall bb7ce30ba4 Adding low pass filter to encoder read failures. Staggering SPI triggers 2019-05-11 23:17:45 +02:00
Tobin Hall 31a143a500 Fixing error code assignment. Adding SPI ready check. 2019-05-11 23:17:45 +02:00
Tobin Hall 4b29c51548 Adding preliminary support for SPI absolute encoders. 2019-05-11 23:17:45 +02:00
Oskar Weigl 1196026290 fix subscribe and unsubscribe to idx pin 2019-04-24 17:44:23 -07:00
Oskar Weigl e3946f27e0 add setup_hall_as_index.py 2019-04-15 20:02:10 -07:00
Oskar Weigl 1761272cad add encoder offset calib debug var calib_scan_response 2019-04-01 21:22:27 -07:00
Oskar Weigl c065113392 Merge branch 'devel' of https://github.com/madcowswe/ODrive into devel 2019-03-19 20:41:35 -07:00