Bayley Wang / Mbed 2 deprecated foc-ed_in_the_bot_compact

robot

Dependencies:   FastPWM3 mbed

CHANGELOG.txt@229:90c6892f4d3b, 2018-11-10 (annotated)

Committer:
bwang
Date:
Sat Nov 10 06:27:07 2018 +0000
Revision:
229:90c6892f4d3b
Parent:
227:e058e025c72d
Child:
230:7ac00598d366
11/10/2018 01:26 - renamed ia_supp_offset, ib_supp_offset to ad1, ad2_supp_offset to reflect the fact that they correspond to ADC channel offsets and not currents (which can be renamed in elsewhere)

Who changed what in which revision?

UserRevisionLine numberNew contents of line
bwang 130:639cd8586f86 1 04/30/2017 02:45 - added CHANGELOG.txt
bwang 131:031df63c7dbc 2 04/30/2017 04:51 - non-saturating tables, 8KW out to 600 rad/s. Extremely high top speed (1500 rad/s). code changes: removed a bunch of debug variables and commented-out code
bwang 132:101b74e4763a 3 05/01/2017 00:04 - added some decoupling terms, which may or may not work.
bwang 135:63ef59eb7f2a 4 05/01/2017 01:21 - driving code, 0.7g, achieved 40mph. Has throttle filtering
bwang 136:607bdeb17e2f 5 05/01/2017 03:17 - changed throttle limits to match 56k pulldown; relaxed THROTTLE_CRAZY bounds a bit
bwang 137:54c47ef47bbb 6 05/01/2017 06:40 - more tweaks to throttle limits
bwang 139:d5ef8d1936f8 7 05/01/2017 07:21 - rising edge from disabled state now resets usec count in PwmIn
bwang 140:170411d158b5 8 05/01/2017 07:58 - W_CRAZY limit bumped up, never an issue on the road but may behave strangely on the bench
bwang 142:0e0a164feb4c 9 05/01/2017 08:13 - enabled->disabled now resets usec count in PwmIn
bwang 143:a7a0c9d70e8a 10 05/01/2017 09:00 - bumped up THROTTLE_LOW from 1020 to 1050
bwang 144:a9e7fa1c98d7 11 05/02/2017 06:54 - fast logging is now back to logging vd, vq instead of decoupling terms
bwang 145:37ffa3ba3862 12 05/03/2017 08:24 - added circular buffer code
bwang 146:296bcc30e65d 13 05/03/2017 08:27 - CircularBuffer moved to its own .cpp file
bwang 147:c1b2379b8874 14 05/03/2017 08:36 - added median and moving average filters
bwang 148:9bca96f7be5c 15 05/03/2017 09:26 - added use_median option to circular buffers (since average filters may not want to recalculate the median every sample)
bwang 149:c51c0258c923 16 05/03/2017 09:39 - indexing bugfix in median code
bwang 151:5bbb15351798 17 05/04/2017 08:53 - added fast path for median-of-3
bwang 152:6877dceec871 18 05/04/2017 10:33 - removed throttle_crazy checks as these lead to dangerous behavior; beginnings of new filter code in main.cpp
bwang 154:0a22dcf91577 19 05/04/2017 11:14 - removed w_crazy checks, switched velocity to median filtering
bwang 155:7c6005933d4c 20 05/04/2017 12:44 - moved median filter objects to ControlStruct, is_driving() now checks % torque cmd instead of raw throttle value
bwang 156:cf92f967983d 21 05/04/2017 13:34 - changed logic in PwmIn::handle_fall, which no longer resets timer on invalid edges
bwang 157:a9b2002994d5 22 05/04/2017 17:16 - encoder class now sets TIM->ARR to CPR - 1
bwang 159:9dbc0657238c 23 05/07/2017 13:36 - added overmodulation option to config_loop
bwang 162:126dc3bc17f3 24 05/07/2017 13:42 - bugfix in constrain_norm(), which previously stepped from max to 1 magnitude when limiting kicked in
bwang 165:2463dbe52eee 25 07/01/2017 18:32 - added AutoMapper, AutoThrottleMapper classes for automated stall testing; parameters in this commit are currently connfigured for driving
bwang 166:4637785ba01e 26 09/04/2017 03:08 - added delay between startup and PwmIn creation in BREMSConfig.cpp to avoid power switch bounce induced lockups during logic power-on
bwang 177:f1aaaf0f9466 27 09/05/2017 04:57 - formatting fix
bwang 181:d3510c8beab6 28 02/07/2018 20:59 - new InvertingThrottleMapper, InterpolatingLutMapper classes. blended, smaller tables. BufferedLogger logging class
bwang 181:d3510c8beab6 29 02/08/2018 22:03 - integrated BufferedLogger into motor control code, logger and commutation both run (but validity of logged data is untested)
bwang 182:5ed20e4ce158 30 02/08/2018 22:48 - integrated CommandProcessor and PreferenceWriter (but code does not use dynamic config variables or set error flags yet)
bwang 183:73ff4a68565e 31 02/09/2018 14:28 - check for valid config in BREMSConfig.cpp is now 'if (PREFS_VALID != 1)', as flash bytes default to 0xFF
bwang 184:633119bb0b77 32 02/09/2018 15:22 - added functionality to disable logging during long UI operations (flash write)
bwang 187:523cf8c962e4 33 02/09/2018 16:01 - moved pinouts to layout.h
bwang 188:43f50a4cc040 34 02/09/2018 18:22 - moved hard-coded config values to defaults.h, started filling out errors.cpp and callbacks.cpp
bwang 189:760cd81a7633 35 02/09/2018 19:12 - changed object initialization order in BREMSConfig.cpp to read values back from flash first
bwang 190:01674f19f9ce 36 02/09/2018 21:45 - started switching code to run on flash-saved parameters instead of hardcoded ones; moved delay in BREMSConfig.cpp to avoid intermittent freeze after programming
bwang 191:66861311bdcd 37 02/09/2018 21:54 - removed extra delay in BREMSConfig as it does not seem to mitigate the freezing issue; migrated to dynamic loop gains
bwang 192:3152a86cd108 38 02/09/2018 22:41 - removed ROW, COLUMNS from configurable values, for now. removed a bunch of extra #include's
bwang 193:3abadeecf908 39 02/09/2018 22:58 - everything but main.cpp and friends moved to flash configuration
bwang 194:05e119bc5a78 40 02/10/2018 00:35 - added fancy masked error system
bwang 196:7172e6e28867 41 02/10/2018 01:05 - everything configured through flash variables, started adding support for operating modes
bwang 197:68fd01b73537 42 02/10/2018 01:35 - can now switch command source to terminal, added 'clear' command (which clears the screen on POSIX-compliant terminals)
bwang 198:7ee146427a0d 43 02/10/2018 17:00 - fixed a bug in BREMSConfig where the delay was in the wrong spot
bwang 199:c160a2c03781 44 02/11/2018 02:11 - added BREMS_mode. most modes are stubs right now (BREMS_CFG does a rudimentary encoder zero-ing, BREMS_CFG disables outputs)
bwang 204:74714d52a936 45 02/11/2018 02:54 - long commands can no longer be executed while control.enabled == true, invalid BREMS_src now sets control.user_cmd to 0
bwang 204:74714d52a936 46 02/11/2018 03:16 - blocked switching modes when motor is running
bwang 204:74714d52a936 47 02/11/2018 20:13 - scrambled the mode and error handling code in commutate() to be cleaner
bwang 205:5cfe6d7e08a3 48 02/11/2018 21:11 - further improvements to mode handling, output overrides and output disabling now live in their own functions
bwang 206:5c848ea69028 49 02/11/2018 21:21 - cmd_exit() checks that motor is not running
bwang 207:56ab30e84525 50 02/13/2017 20:33 - set serial RX interrupt to be lower priority than commutation interrupt
bwang 209:befed15596a7 51 02/13/2018 23:15 - cmd_flush() now works in all modes (otherwise the controller would only ever boot up in MODE_CFG)
bwang 218:13981deba5a8 52 02/20/2018 00:54 - moved modes.cpp to correct location
bwang 219:1cfd651eb2b2 53 05/29/2018 21:33 - microcontroller now resets resolver decode IC after voltages stabilize, to prevent position sensor from being off by pi radians
bwang 220:ff69c230aa6d 54 06/26/2018 15:47 - GetUnlimitedElecPosition() is now a private member of PositionSensorEncoder class (it is only used to compute mechanical position)
bwang 221:1e607c8d7d76 55 06/26/2018 15:57 - added induction machine CurrentModel, which is probably wrong
bwang 222:b58a95551632 56 10/02/2018 02:15 - PwmIn::get_throttle() returns 0, not -1, if throttle is disabled.
bwang 223:b986e7cee521 57 10/02/2018 02:21 - processCmd() now uses else-if statements, prints message if command is invalid
bwang 224:90172915d0fb 58 10/02/2018 03:10 - added overly-complicated LedBlinker class for blinking status codes over an LED, added blinker object to IOStruct, STATUS_LED to hardware.h
bwang 225:81b72a4bf18b 59 10/16/2018 22:59 - renamed CircularBuffer to fCircularBuffer to avoid conflict with new mbed libs
bwang 226:0e3fbbfea464 60 10/27/2018 19:12 - moved encoder object to use PA_1 and PA_15; removed some spurious analog registers in BREMSConfigRegisters which are no longer being used
bwang 227:e058e025c72d 61 10/28/2018 21:27 - added some explanatory comments to BREMSConfigRegisters
bwang 229:90c6892f4d3b 62 11/10/2018 00:50 - moved RESOLVER_RESET pin to PC_0 to match new hardware
bwang 229:90c6892f4d3b 63 11/10/2018 01:26 - renamed ia_supp_offset, ib_supp_offset to ad1, ad2_supp_offset to reflect the fact that they correspond to ADC channel offsets and not currents (which can be renamed in elsewhere)