Oskar Weigl
19e3c779ae
force offset cal after idx search, index now homes axis
2018-08-17 23:39:43 -07:00
Oskar Weigl
5cc1a9546d
implement axis temp reading
2018-07-01 01:11:44 -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
Samuel Sadok
f7fa729c38
make ADC work
2018-04-27 18:21:39 -07:00
Oskar Weigl
5518d1e12d
add hall sample space
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
Samuel Sadok
741a51442f
split communication into multiple files
2018-04-20 23:44:55 -07:00
Oskar Weigl
339fe59f30
make pos estimate available
2018-04-14 22:47:52 -07:00
Samuel Sadok
bd292b4775
fix comment
2018-04-13 16:17:05 -07:00
Samuel Sadok
44fd8090e1
add overvoltage protection
...
The motor phases will go into floating state as soon as an overvoltage condition is detected.
2018-04-10 15:49:16 -07:00
Samuel Sadok
23009d1e93
add overvoltage protection
...
The motor phases will go into floating state as soon as an overvoltage condition is detected.
2018-04-10 00:25:19 -07:00
Samuel Sadok
98e24f3eb6
add Axis::ERROR_BRAKE_RESISTOR_DISARMED
2018-04-06 13:12:49 -07:00
Samuel Sadok
ae9a208f1f
turn error enums into flags
2018-04-06 13:12:39 -07:00
Samuel Sadok
1aba0cb513
add Axis::ERROR_BRAKE_RESISTOR_DISARMED
2018-04-06 13:00:02 -07:00
Samuel Sadok
ab698a9dce
turn error enums into flags
2018-04-05 22:27:20 -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
09b8201868
expose sensorless estimator on protocol
2018-03-23 17:10:02 -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
ed3832ca77
make axis error clearable
2018-03-09 20:33:35 -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
f5081352b3
refactor protocol
2018-03-08 12:56:24 -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