Samuel Sadok
b4fa53c849
fix encoder offset calibration and error handling
2018-04-10 15:49:00 -07:00
Samuel Sadok
ae9a208f1f
turn error enums into flags
2018-04-06 13:12:39 -07:00
Samuel Sadok
b8b483c9d6
Firmware hardening
...
- 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
69e1b5331a
make encoder index search and encoder offset calibration independent
...
These two activities are now separate states of the axis state machine.
Each of them can be invoked independently at any time (provided the motor is calibrated).
2018-03-23 17:09:52 -07:00
Samuel Sadok
2bf05b303a
rename Axis::ERROR_BAD_VOLTAGE
2018-03-13 14:35:52 -07:00
Samuel Sadok
6131519b25
increase axis thread stack size to 2k
2018-03-09 16:45:38 -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
2c8c712eda
Merge branch 'devel' into sam_nvm
2018-02-25 23:42:14 -08:00
Oskar Weigl
368b4d5cbb
add axis to config
2018-02-24 00:24:47 -08:00
Oskar Weigl
72efd17f31
implement dc bus brownout check
2018-02-19 00:32:01 -08:00
Oskar Weigl
1f8bba475e
index searching works
2018-01-26 22:10:16 -08:00
Oskar Weigl
9b7d201276
manual idx search on M1 working, not on M0
2018-01-26 21:02:58 -08:00
Oskar Weigl
13deca5394
Keep rotor estimation up to date while idling
2018-01-26 19:15:48 -08:00
Oskar Weigl
5dd1d01688
add comments
2017-11-08 22:15:16 -08:00
Oskar Weigl
3d16f41400
fix some issues with moving anticogging
2017-11-08 16:29:12 -08:00
Oskar Weigl
62f5061ed0
Merge branch 'devel' into sam_protocol
2017-11-08 01:14:50 -08:00
Oskar Weigl
7a8f5e24a9
fix delay and timings
2017-10-28 13:57:37 -07:00
Samuel Sadok
c19a693fe9
almost make new binary protocol work with python (up to fetching and parsing the JSON)
2017-10-23 23:15:56 +02:00
Samuel Sadok
db411bfa50
add binary protocol with CRC and acks
2017-10-16 19:30:00 +02:00
Oskar Weigl
2a89b0b31a
Push firmware into Firmware folder
2017-10-14 23:33:58 -07:00
Samuel Sadok
Oskar Weigl