Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

BDCMC motion profiling #684

Draft
wants to merge 16 commits into
base: integration
Choose a base branch
from
Draft

BDCMC motion profiling #684

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
16 commits
Select commit Hold shift + click to select a range
26f13cc
Add initial trapezoidal profile header
jmaff Mar 6, 2024
40d4662
Move profiling code, will move to fw
jmaff Mar 8, 2024
3dbdfe8
Add missing include statements
jmaff Mar 8, 2024
aa59788
Move motion profiling to bdcmc fw
jmaff Mar 8, 2024
bfc4aee
Implement velocity function
jmaff Mar 8, 2024
cb8330f
Add MotionProfile base class
jmaff Mar 8, 2024
1d84ecf
Remove inheritance, templatize with units
jmaff Mar 8, 2024
8762b61
[mopro] Add timer 8 for profile following
jmaff Mar 13, 2024
4f81705
[mopro] Use time delta
jmaff Mar 13, 2024
5e948cf
[mopro] Separate time tracking from profile values
jmaff Mar 13, 2024
df1a0b9
[mopro] Begin profile command implementation
jmaff Mar 22, 2024
52d9809
[mopro] Fix unit issues
jmaff Mar 29, 2024
0b90d76
[mopro] Integrate timer into profile
jmaff Mar 29, 2024
ca94727
[mopro] Add profiled position command
jmaff Apr 11, 2024
b804126
Merge branch 'integration' into brushed-motion-profiling
jmaff Apr 11, 2024
ebfbab0
Switch profile timer to TIM4
jmaff Apr 12, 2024
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
2 changes: 1 addition & 1 deletion src/esw/fw/bdcmc/.mxproject
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
[PreviousLibFiles]
LibFiles=Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g431xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/system_stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/core_cm35p.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/cmsis_armclang_ltm.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/core_armv81mml.h;Drivers/CMSIS/Include/cmsis_armclang.h;
LibFiles=Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_fdcan.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_def.h;Drivers/STM32G4xx_HAL_Driver/Inc/Legacy/stm32_hal_legacy.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_rcc_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_bus.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_rcc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_system.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_utils.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_crs.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_flash_ramfunc.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_gpio_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_gpio.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_exti.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_dma_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dma.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_dmamux.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_pwr_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_pwr.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_cortex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_i2c.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_i2c_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_hal_tim_ex.h;Drivers/STM32G4xx_HAL_Driver/Inc/stm32g4xx_ll_tim.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g431xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Include/system_stm32g4xx.h;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Drivers/CMSIS/Include/core_cm7.h;Drivers/CMSIS/Include/tz_context.h;Drivers/CMSIS/Include/core_cm3.h;Drivers/CMSIS/Include/cmsis_compiler.h;Drivers/CMSIS/Include/cmsis_armclang.h;Drivers/CMSIS/Include/core_cm35p.h;Drivers/CMSIS/Include/mpu_armv7.h;Drivers/CMSIS/Include/cmsis_armcc.h;Drivers/CMSIS/Include/core_cm4.h;Drivers/CMSIS/Include/core_cm0.h;Drivers/CMSIS/Include/cmsis_iccarm.h;Drivers/CMSIS/Include/core_armv81mml.h;Drivers/CMSIS/Include/core_armv8mml.h;Drivers/CMSIS/Include/core_sc000.h;Drivers/CMSIS/Include/core_cm1.h;Drivers/CMSIS/Include/mpu_armv8.h;Drivers/CMSIS/Include/core_sc300.h;Drivers/CMSIS/Include/cmsis_gcc.h;Drivers/CMSIS/Include/cmsis_version.h;Drivers/CMSIS/Include/core_cm23.h;Drivers/CMSIS/Include/core_cm33.h;Drivers/CMSIS/Include/core_cm0plus.h;Drivers/CMSIS/Include/core_armv8mbl.h;Drivers/CMSIS/Include/cmsis_armclang_ltm.h;

[PreviousUsedCubeIDEFiles]
SourceFiles=Core/Src/main.c;Core/Src/stm32g4xx_it.c;Core/Src/stm32g4xx_hal_msp.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_fdcan.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_rcc_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_flash_ramfunc.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_gpio.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_exti.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_dma_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_pwr_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_cortex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_i2c_ex.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim.c;Drivers/STM32G4xx_HAL_Driver/Src/stm32g4xx_hal_tim_ex.c;Drivers/CMSIS/Device/ST/STM32G4xx/Source/Templates/system_stm32g4xx.c;Core/Src/system_stm32g4xx.c;;;
Expand Down
62 changes: 61 additions & 1 deletion src/esw/fw/bdcmc/Core/Inc/controller.hpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,6 +8,7 @@

#include <hardware.hpp>
#include <messaging.hpp>
#include <motion_profile.hpp>
#include <pidf.hpp>
#include <units/units.hpp>

Expand All @@ -28,11 +29,16 @@ namespace mrover {
};

using Mode = std::variant<std::monostate, PositionMode, VelocityMode>;
using MotionProfile = TrapezoidalMotionProfile<Radians, Seconds>;

// TODO: maybe pull this from htim directly, I was too lazy to figure that out
static constexpr double SECONDS_PER_PROFILE_TIMER_TICK = 1 / (140'000'000.0 / 8.0);

/* ==================== Hardware ==================== */
FDCAN<InBoundMessage> m_fdcan;
HBridge m_motor_driver;
TIM_HandleTypeDef* m_watchdog_timer{};
TIM_HandleTypeDef* m_profile_timer{};
bool m_watchdog_enabled{};
TIM_HandleTypeDef* m_encoder_timer{};
TIM_HandleTypeDef* m_encoder_elapsed_timer{};
Expand All @@ -59,6 +65,8 @@ namespace mrover {
BDCMCErrorInfo m_error = BDCMCErrorInfo::DEFAULT_START_UP_NOT_CONFIGURED;
std::size_t m_missed_absolute_encoder_reads{0};

std::optional<MotionProfile> m_profile;

struct StateAfterConfig {
Dimensionless gear_ratio;
Radians min_position;
Expand Down Expand Up @@ -280,6 +288,57 @@ namespace mrover {
m_error = BDCMCErrorInfo::NO_ERROR;
}

auto process_command(PositionCommandProfiled const& message, VelocityMode& mode) -> void {
if (!m_state_after_config) {
m_error = BDCMCErrorInfo::RECEIVING_COMMANDS_WHEN_NOT_CONFIGURED;
return;
}
if (!m_state_after_calib) {
m_error = BDCMCErrorInfo::RECEIVING_POSITION_COMMANDS_WHEN_NOT_CALIBRATED;
return;
}

if (!m_uncalib_position) {
m_error = BDCMCErrorInfo::RECEIVING_PID_COMMANDS_WHEN_NO_READER_EXISTS;
return;
}

if (!m_velocity) {
m_error = BDCMCErrorInfo::RECEIVING_PID_COMMANDS_WHEN_NO_READER_EXISTS;
return;
}

Radians current_position = m_uncalib_position.value() - m_state_after_calib->offset_position;

Seconds time_elapsed{0};

if (m_profile) {
time_elapsed = Seconds{m_profile_timer->Instance->CNT * SECONDS_PER_PROFILE_TIMER_TICK};
} else {
// TODO: grab max velocity from somewhere
// m_profile = MotionProfile{current_position, message.position, RadiansPerSecond{0.0}, message.max_acceleration};
m_profile.emplace(current_position, message.position, RadiansPerSecond{0.0}, message.max_acceleration);
m_profile_timer->Instance->CNT = 0;
}

mode.pidf.with_p(message.p);
mode.pidf.with_d(message.d);
mode.pidf.with_ff(message.ff);
mode.pidf.with_output_bound(-1.0, 1.0);

RadiansPerSecond current_velocity = m_velocity.value();
RadiansPerSecond target_velocity = m_profile->velocity();

m_desired_output = mode.pidf.calculate(current_velocity, target_velocity, time_elapsed);
m_error = BDCMCErrorInfo::NO_ERROR;

m_fdcan.broadcast(OutBoundMessage{DebugState{
.f1 = m_profile.value().t().get(),
.f2 = target_velocity.get(),
.f3 = current_position.get(),
.f4 = message.position.get()}});
}

struct detail {
template<typename Command, typename V>
struct command_to_mode;
Expand Down Expand Up @@ -307,7 +366,7 @@ namespace mrover {
Controller(TIM_HandleTypeDef* hbridge_output, Pin hbridge_forward_pin, Pin hbridge_backward_pin,
FDCAN<InBoundMessage> const& fdcan, TIM_HandleTypeDef* watchdog_timer,
TIM_HandleTypeDef* encoder_tick_timer,
TIM_HandleTypeDef* encoder_elapsed_timer, TIM_HandleTypeDef* throttle_timer, TIM_HandleTypeDef* pid_timer,
TIM_HandleTypeDef* encoder_elapsed_timer, TIM_HandleTypeDef* throttle_timer, TIM_HandleTypeDef* pid_timer, TIM_HandleTypeDef* profile_timer,
I2C_HandleTypeDef* absolute_encoder_i2c,
std::array<LimitSwitch, 4> const& limit_switches)
: m_fdcan{fdcan},
Expand All @@ -317,6 +376,7 @@ namespace mrover {
m_encoder_elapsed_timer{encoder_elapsed_timer},
m_throttle_timer{throttle_timer},
m_pidf_timer{pid_timer},
m_profile_timer{profile_timer},
m_absolute_encoder_i2c{absolute_encoder_i2c},
m_limit_switches{limit_switches} {
}
Expand Down
Loading