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Commit Graph
141 Commits
Author SHA1 Message Date
Samuel Sadok 8d144bd944 Merge branch 'devel' into lowlevel-refactor 2020-08-05 16:28:17 +02:00
Oskar Weigl 3760c7bc84 Merge branch 'rc-v0.5.0' into devel 2020-08-03 20:16:51 -07:00
Samuel Sadok c886b49dd1 code hardening of SPI arbiter 2020-07-30 17:42:13 +02:00
Unknown 4787ca52bb Merge branch 'rc-v0.5.0' into rls_spi 2020-07-28 00:36:30 -04:00
Oskar Weigl af16316940 Merge branch 'devel' into counts_to_rads 2020-07-25 20:29:43 -07:00
Samuel Sadok 1f3391c81b introduce GPIO modes 2020-07-21 12:55:10 +02:00
Samuel Sadok c745983f95 define gpios as array of Stm32Gpio objects 2020-07-21 12:31:03 +02:00
Samuel Sadok 6377df4b1e move ext int subscribe logic to Stm32Gpio class 2020-07-21 12:31:03 +02:00
Samuel Sadok b9b70b9c0a integrate SPI arbiter with SPI encoder 2020-07-21 12:31:03 +02:00
Samuel Sadok 856455077d refactor drv8301 driver 2020-07-21 12:31:03 +02:00
Oskar Weigl 8c85d2fe79 Add TODOs 
Avoid transients when entering closed loop also on Circular position mode.
Phase interpolation is snapping to hard.
 2020-07-18 19:05:34 -07:00
Stephen Mounioloux 06989366a5 Added pos_abs_ latch in encoder::update() 2020-07-17 13:22:11 +02:00
samuelsadok 9bf5a8df85 Merge pull request #439 from zytra/rc-v0.5.0 
Added pos_abs_ latch in encoder::update()
 2020-07-17 13:18:17 +02:00
PAJohnson e1b1641d70 Changed from radians internally to units of "turns" where a full rotation is 1.0 turn 
Changed documentation to reflect the unit change
 2020-07-14 20:02:59 -04:00
PAJohnson 256a76fed2 Changed old-school variable reuse to modern style declarations 2020-07-14 18:23:30 -04:00
PAJohnson a2626889c5 Added pos_circular_ to Encoder for tracking position in a circular space 
Corrected docs as they relate to unit changes
Added pos_estimate_linear and pos_estimate_circular to Controller and eliminated pointer switching logic in Controller::select_encoder()
 2020-07-14 17:22:39 -04:00
Stephen Mounioloux bdb935ee99 Added pos_abs_ latch in encoder::update() 2020-07-13 22:03:21 -07:00
PAJohnson 9d5b2bc6d8 Changed conditions and sources of wrapping for the circular setpoint feature as it related to this unit change. setpoints_in_cpr is still not exposed as an endpoint due to implementation changes when input_mode was introduced. 2020-07-13 23:31:57 +01:00
PAJohnson aa79b7ebe0 Merge branch 'counts_to_rads' of https://github.com/madcowswe/ODrive into counts_to_rads 2020-07-13 21:05:41 +01:00
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
Unknown 883dd27a17 Fix static in encoder.cpp, constexpr the things 2020-07-11 22:19:41 -04:00
Oskar Weigl 4b01f54afb Revert "Un-removed custom setter for input_pos_" 
This reverts commit 744bfeb110.
 2020-07-11 15:43:07 -07:00
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
Unknown a9b90eb11a Add RLS SPI encoder (single-turn) 2020-06-24 20:34:44 -04:00
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