Revision 232:47f6cf4f9126, committed 2018-11-10

Comitter:

bwang

Date:

Sat Nov 10 08:37:08 2018 +0000

Parent:

231:753ec371b153

Child:

233:2ca26ab47b4f

Commit message:

11/10/2018 03:36 - restructured code to allow for proper encoder zeroing - MODE_ZERO and MODE_CHR execute run-once functions when they are entered, then drop to MODE_CFG

Changed in this revision

--- a/CHANGELOG.txt	Sat Nov 10 06:50:53 2018 +0000
+++ b/CHANGELOG.txt	Sat Nov 10 08:37:08 2018 +0000
@@ -62,4 +62,5 @@
 11/10/2018 00:50 - moved RESOLVER_RESET pin to PC_0 to match new hardware
 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)
 11/10/2018 01:32 - new pin mapping for new hardware
-11/10/2018 01:50 - swapped ia and ib (back to what they were before 11/10/2018)
\ No newline at end of file
+11/10/2018 01:50 - swapped ia and ib (back to what they were before 11/10/2018)
+11/10/2018 03:36 - restructured code to allow for proper encoder zeroing - MODE_ZERO and MODE_CHR execute run-once functions when they are entered, then drop to MODE_CFG
\ No newline at end of file

--- a/Calibration/Calibration.cpp	Sat Nov 10 06:50:53 2018 +0000
+++ b/Calibration/Calibration.cpp	Sat Nov 10 08:37:08 2018 +0000
@@ -9,6 +9,8 @@
 #include "derived.h"
 #include "prefs.h"
 
+#include "errors.h"
+
 //output is in modulation depth
 void abc(float theta, float vd, float vq, float *a, float *b, float *c) {
     float valpha, vbeta;
@@ -29,7 +31,12 @@
 }
 
 void calibrate_position(IOStruct *io) {
-    io->pc->printf("%s\n", "Starting calibration procedure");
+    if (!checks_passed()) {
+        io->pc->printf("%s\n", "Errors present, exiting");
+        return;
+    }
+    io->pc->putc(127);
+    io->pc->printf("%s\n", "Calibrating...");
     
     const int n = (int) (128);
     const int n2 = 10;
@@ -74,7 +81,6 @@
         //compensate for position rollover
         if (theta_actual - theta_last < -PI) rollover += 2 * PI;
         if (theta_actual - theta_last > PI) rollover -= 2 * PI;
-        io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref);
         
         theta_last = theta_actual;
         
@@ -96,7 +102,6 @@
         
         if (theta_actual - theta_last < -PI) rollover += 2 * PI;
         if (theta_actual - theta_last > PI) rollover -= 2 * PI;
-        io->pc->printf("%f,%f\n", theta_actual + rollover, theta_ref);
         
         theta_last = theta_actual;
         
@@ -108,5 +113,8 @@
         offset += (error_f[i] + error_b[n - 1 - i]) / (2.0f * n);
     }
     offset = fmodf(offset, 2 * PI);
-    io->pc->printf("Offset: %f\n", offset);
+    io->pc->printf("Done!\n");
+    io->pc->printf("Offset = %f\n", -offset);
+    io->pc->printf("Use 'flush' to save this value to flash\n");
+    _POS_OFFSET = -offset;
 }
\ No newline at end of file

--- a/CommandProcessor/cmd_mode.cpp	Sat Nov 10 06:50:53 2018 +0000
+++ b/CommandProcessor/cmd_mode.cpp	Sat Nov 10 08:37:08 2018 +0000
@@ -9,6 +9,8 @@
 #include "defaults.h"
 #include "derived.h"
 
+#include "Calibration.h"
+
 void cmd_setp(Serial *pc, char *buf) {
     if (BREMS_src == CMD_SRC_TERMINAL) control.user_cmd = atof(buf);
 }
@@ -24,7 +26,22 @@
         return;
     }
     BREMS_mode = n;
-    pc->printf("Set mode to %s\n", mode_to_str(n));
+    
+    //ZERO and CHR are special modes - they execute run-once functions
+    //and override commutation, then exit to CFG
+    if (BREMS_mode == MODE_ZERO) {
+        calibrate_position(&io);
+        control.user_cmd = 0.0f;
+        BREMS_mode = MODE_CFG;
+    }
+    else if (BREMS_mode == MODE_CHR) {
+        control.user_cmd = 0.0f;
+        BREMS_mode = MODE_CFG;
+    }
+    else
+    {
+        pc->printf("Set mode to %s\n", mode_to_str(n));
+    }
 }
 
 void cmd_src(Serial *pc, char *buf) {

--- a/errors.h	Sat Nov 10 06:50:53 2018 +0000
+++ b/errors.h	Sat Nov 10 08:37:08 2018 +0000
@@ -35,6 +35,6 @@
 extern int masks[32];
 
 void init_masks();
-
+bool checks_passed();
 
 #endif
\ No newline at end of file

--- a/main.cpp	Sat Nov 10 06:50:53 2018 +0000
+++ b/main.cpp	Sat Nov 10 08:37:08 2018 +0000
@@ -20,6 +20,8 @@
 #include "derived.h"
 #include "main.h"
 
+#include "errors.h"
+
 IOStruct io;
 ReadDataStruct read;
 FOCStruct foc;
@@ -109,11 +111,7 @@
     case MODE_RUN:
         break;
     case MODE_ZERO:
-        if (control.user_cmd > 0.5f) {
-            va = 0.9f; vb = -0.9f; vc = -0.9f;
-        } else {
-            va = 0.0f; vb = 0.0f; vc = 0.0f;
-        }
+        //duty cycles set by calibrate_position()
         break;
     case MODE_CHR:
         //i have no idea lol;
@@ -133,10 +131,12 @@
         va = 0.0f; vb = 0.0f; vc = 0.0f;
     }
     
-    //output to timers
-    set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
-    set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
-    set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
+    //output to timers (some of the calibration modes may want to override this)
+    if (!mode_overrides_timers()) {
+        set_dtc(io.a, 0.5f + 0.5f * va * LINEAR_MODULATION_MAX);
+        set_dtc(io.b, 0.5f + 0.5f * vb * LINEAR_MODULATION_MAX);
+        set_dtc(io.c, 0.5f + 0.5f * vc * LINEAR_MODULATION_MAX);
+    }
 }
 
 void slow_loop() {

--- a/main.h	Sat Nov 10 06:50:53 2018 +0000
+++ b/main.h	Sat Nov 10 08:37:08 2018 +0000
@@ -8,10 +8,10 @@
 void go_enabled();
 void go_disabled();
 bool is_driving();
-bool checks_passed();
 
 bool mode_enables_output();
 bool mode_enables_logging();
+bool mode_overrides_timers();
 
 void update_velocity();
 void log();

--- a/modes.cpp	Sat Nov 10 06:50:53 2018 +0000
+++ b/modes.cpp	Sat Nov 10 08:37:08 2018 +0000
@@ -24,4 +24,17 @@
     default:
         return false;
     }
+}
+
+bool mode_overrides_timers() {
+    switch(BREMS_mode) {
+    case MODE_ZERO:
+    case MODE_CHR:
+        return true;
+    case MODE_RUN:
+    case MODE_CFG:
+        return false;
+    default:
+        return false;
+    }
 }
\ No newline at end of file