Unknown
e6dfa54d00
Merge branch 'devel' into Endstops
2018-12-06 23:37:04 -05:00
Oskar Weigl
b3890ef9ff
add option to keep encoder count from startup value
2018-10-30 01:13:39 -07:00
Oskar Weigl
b4fcb290a4
add overspeed fault
2018-10-24 23:57:42 -07:00
Oskar Weigl
a0cedaaf94
clean up critical section use
2018-10-07 21:09:09 -07:00
Unknown
a2ebb7085c
Merge branch 'devel' into Endstops
2018-10-06 13:33:21 -04:00
Oskar Weigl
833bdde5f8
Merge pull request #253 from madcowswe/property-hooks
...
Property hooks
2018-09-30 19:16:38 -07:00
Oskar Weigl
6c89460d88
Merge pull request #254 from madcowswe/fix-sincos
...
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
Unknown
dc693ebd9c
Merge branch 'devel' into Endstops
2018-09-27 20:42:30 -04:00
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
Unknown
92fe075b9e
Fix existing calls to GPIO_Subscribe
2018-08-28 23:12:53 -04:00
Oskar Weigl
584b73920d
fix incorrect shifting of offset during index callback
2018-08-24 20:43:28 -07:00
Unknown
14e917171d
Rename pll_vel to vel_estimate
2018-08-23 22:26:26 -04:00
Oskar Weigl
19e3c779ae
force offset cal after idx search, index now homes axis
2018-08-17 23:39:43 -07:00
Oskar Weigl
e6f60e0b93
Merge branch 'master' into devel
2018-07-17 01:41:31 -07:00
Oskar Weigl
955aba11a5
fix axis error motor failed when encoder failed
2018-07-01 15:42:48 -07:00
Oskar Weigl
a116c94075
sync shadow_count to count_in_cpr when calibrating
2018-06-22 00:44:03 -07:00
Oskar Weigl
37e01b9865
move bandwith to config
2018-05-15 17:27:12 -07:00
Oskar Weigl
f1081afc7b
encoder bandwidth configurable
2018-05-15 10:31:09 -07:00
Oskar Weigl
a63c4a4a96
Merge branch 'fw4' into powerwheels
2018-05-15 10:23:16 -07:00
Oskar Weigl
3103eda5f9
Merge branch 'devel' into fw4
2018-05-15 10:22:19 -07:00
Oskar Weigl
ebfe0755bd
set bandwidth to 100
2018-05-14 01:54:02 -07:00
Oskar Weigl
cafcdb4e29
center-align hall interpolation float offset
2018-05-14 01:53:01 -07:00
Oskar Weigl
439a32f530
reset encoder bandwidth back up to 1000 per s
2018-05-14 00:18:27 -07:00
Oskar Weigl
94245a608b
explicit cast on num_steps
2018-05-12 22:24:17 -07:00
Oskar Weigl
1ace6422db
explicit cast on num_steps
2018-05-12 22:20:41 -07:00
Oskar Weigl
7188e2a1c2
clean state machine level error writing
2018-05-10 14:42:35 -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
d6496ca574
save offset and set default cpr to 72
2018-04-27 15:04:43 -07:00
Samuel Sadok
d827d7f1d1
set encoder to ready state on startup for hall effect mode
2018-04-27 12:08:23 -07:00
Oskar Weigl
512ba5e603
implement interpolation
2018-04-27 02:12:35 -07:00
Oskar Weigl
f480059905
add sub-count phase alignment offset
2018-04-27 01:27:42 -07:00
Oskar Weigl
52b179d498
working hall, suspect commutation angle noise
2018-04-27 00:26:43 -07:00
Oskar Weigl
b5a7be71df
decode hall
2018-04-26 21:31:46 -07:00
Oskar Weigl
7d6ddc96b2
update encoder during calib
2018-04-26 13:46:47 -07:00
Samuel Sadok
8b696d29e0
change pos_cpr to pos_cpr_
2018-04-23 20:10:02 -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
7d99825988
snap pll_vel to 0 to avoid jitter
2018-04-15 15:55:36 -07:00
Oskar Weigl
be50b6ee74
split set_count into linear and circular
2018-04-15 01:07:54 -07:00
Oskar Weigl
0b1bf6f278
implement circular vel pll tracking
2018-04-15 00:38:39 -07:00
Oskar Weigl
339fe59f30
make pos estimate available
2018-04-14 22:47:52 -07:00
Samuel Sadok
b4fa53c849
fix encoder offset calibration and error handling
2018-04-10 15:49:00 -07:00
Samuel Sadok
09f361de61
fix encoder offset calibration and error handling
2018-04-09 19:32:36 -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
...
- 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
Unknown
Oskar Weigl
Samuel Sadok