Aditya Mehrotra / motor_driver

Modified Motor Driver Firmware to include Flash + Thermal

Dependencies:   FastPWM3 mbed-dev-STM-lean

Changes

RevisionDateWhoCommit message
76:4fd876d4cf2b 19 months ago adimmit added some position data logging; default tip
75:c7fbacd92b8f 20 months ago adimmit it works - had to move NPP from FLASH to normal user-set param in firmware, will need to fix later
74:fcc5f8e7f0ef 20 months ago adimmit fixing the integer issues w/ NPP;
73:5676f1232a81 20 months ago adimmit all motor values in flash;
72:3163691b0851 20 months ago adimmit fixed printing;
71:b314182de37f 21 months ago adimmit modified by adding current controller gains in flash;
70:2ea6c555a2cb 2021-04-01 elijahsj revert dyno changes;
69:ba1c89835a54 2021-02-10 elijahsj added speed controller;
68:edfdbd0db876 2021-02-09 elijahsj should be functional
67:96a4052a1705 2021-02-09 elijahsj fixed for U10;
66:3947255b18c5 2021-01-29 elijahsj update U12 parameters;
65:bfdf1e10428d 2020-11-26 saloutos changed to lean version of the mbed-dev library from Ben
64:2c4c2b9d8248 2020-11-25 saloutos added R60 motor config file, still need to go through and modify all configuration files for higher voltage and higher current limits
63:10604c39666f 2020-11-05 saloutos chased through includes for U10 config file
62:bbdf5afada79 2020-11-04 saloutos forgot to change header file definitions
61:33f2dc2b589f 2020-11-04 saloutos Updated motor config files
60:0c8caaa91182 2020-11-02 saloutos Split motor config files for U10, U12. Will need another file for the R60 motor eventually
59:9d39f37e1c7b 2020-11-02 saloutos Compiling again
58:32e8927fe39f 2020-02-04 saloutos Still need to figure out GR, motor config constants
57:0795d2add37e 2019-11-07 benkatz added ichaus iCMU encoder support
56:fe5056ac6740 2019-10-10 benkatz fixed position-sensor turn-on weirdness; ; improved output zeroing to work independent of encoder rollover angle
55:c4c9fec8539c 2019-10-04 benkatz new mini cheetah first revision;
54:59575833d16f 2019-08-08 benkatz updated position for +/- 15 turns
53:e85efce8c1eb 2019-08-08 benkatz fixed CAN ID filtering bug
52:8e74c22ed89f 2019-07-21 benkatz testing gb-54;
51:6cd89bd6fcaa 2019-07-17 benkatz adding field-weakening to the user menu, switch "torque limit" to "current limit"
50:ba72df25d10f 2019-04-04 benkatz updates_for_publish;
49:83d83040ea51 2019-04-04 benkatz testing_commit;
48:74a40481740c 2019-03-03 benkatz Working on the new hardware
47:e1196a851f76 2018-12-05 benkatz albert revision;
46:2d4b1dafcfe3 2018-07-12 benkatz calibration frees up memory when done;
45:26801179208e 2018-06-27 benkatz Lots of changes, seems to have broken calibration
44:8040fa2fcb0d 2018-06-11 benkatz new drv chip working;
43:dfb72608639c 2018-05-25 benkatz re-ordered main() so CAN powerup order doesn't break things;
42:738fa01b0346 2018-05-25 benkatz separated CAN stuff out of main
41:304ac2affb23 2018-05-24 benkatz back to normal
40:cd7e837b2b93 2018-05-24 benkatz joao flywheel version;
39:3580a907ef93 2018-05-14 benkatz derp;
38:67e4e1453a4b 2018-05-14 benkatz Fixed bug introduced into the calibration procedure when absolute zero offset was added
37:c0f352d6e8e3 2018-04-13 benkatz always samples position sensor
36:d88fd41f60a6 2018-03-02 benkatz updated mbed-dev to latest version, fixing 16-bit spi issues
35:69b24894c11d 2017-11-18 benkatz minor updates
34:51647c6c500d 2017-11-08 benkatz testing new things
33:3ab3cce8b44d 2017-08-30 benkatz Added firmware version number to debug stream. Fixed duty cycle mistake
32:ccac5da77844 2017-08-30 benkatz Firmware version 1.0.1. ; Added firmware version number to debug stream;
31:61eb6ae28215 2017-08-30 benkatz Fixed performance bug
30:db9081ac5658 2017-08-28 benkatz Broken, will come back to this;
29:0dbc822dd29a 2017-06-12 benkatz version on Joao's motors
28:8c7e29f719c5 2017-06-04 benkatz Use external oscillator
27:501fee691e0e 2017-05-17 benkatz Setting PWM ARR value in config file now propagates everywhere.
26:2b865c00d7e9 2017-05-01 benkatz - Added CAN Send/Receive; - Updated to most recent MBED (Broke SPI 16-bit read/write. Hacked to work with 2 8-bit writes now); - Removed most sine/cos calculations; - Fixed sign error in autocalibration routine
25:f5741040c4bb 2017-04-09 benkatz Set current bandwidth from serial interface
24:58c2d7571207 2017-04-07 benkatz Can flush preferences multiple times now
23:2adf23ee0305 2017-04-05 benkatz Added bayley's flash writer
22:60276ba87ac6 2017-03-31 benkatz Encoder autocalibration for dc offset and harmonics
21:7d1f0a206668 2017-03-02 benkatz Compact version works
20:bf9ea5125d52 2017-03-02 benkatz Compact version works.;
19:bd10a04eedc2 2017-02-14 benkatz commit b4 fork; reorganizing coming
18:f1d56f4acb39 2016-12-11 benkatz Working CAN Torque Command for Dyno-ing;
17:3c5df2982199 2016-12-10 benkatz Initial CAN Import;