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body knee support #3

Merged
merged 18 commits into from
Aug 2, 2022
Merged

body knee support #3

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b4218f9
angle sensor and safeties
briskspirit May 28, 2022
37d6770
19 gb
briskspirit Jun 20, 2022
d3afaf0
switch to i2c
briskspirit Jun 23, 2022
bfbc1e8
ignition
briskspirit Jun 24, 2022
70ca68d
sensor count remove
briskspirit Jun 28, 2022
0f7db7b
few things
briskspirit Jul 20, 2022
3b7e54b
blink only on known CAN msgs
briskspirit Jul 25, 2022
e9634ff
few cleanups
briskspirit Jul 25, 2022
0dac121
fix can flashed
briskspirit Jul 25, 2022
8678422
add knee to canloader
briskspirit Jul 26, 2022
ce80a0e
print git commit version on build
briskspirit Jul 26, 2022
56959cb
revert 0x201 msg size
briskspirit Jul 26, 2022
517113d
move defines
briskspirit Jul 26, 2022
7d87bde
i2c move to 100kHz
briskspirit Jul 26, 2022
49e1d27
revert I2C to 400kHz
briskspirit Jul 27, 2022
5c2daa1
revert BLDC Ki change for speed limit
briskspirit Aug 2, 2022
160b1d9
change torque limits
briskspirit Aug 2, 2022
354d2da
enable angle sensor safety and base trq limit
briskspirit Aug 2, 2022
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move defines
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@briskspirit
briskspirit committed Jul 26, 2022
commit 517113db3b713c906a69e0c00523bdb9acff2d1f
4 changes: 3 additions & 1 deletion board/config.h
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Expand Up @@ -15,10 +15,12 @@
#define ADC_TOTAL_CONV_TIME (ADC_CLOCK_DIV * ADC_CONV_CLOCK_CYCLES) // = ((SystemCoreClock / ADC_CLOCK_HZ) * ADC_CONV_CLOCK_CYCLES), where ADC_CLOCK_HZ = SystemCoreClock/ADC_CLOCK_DIV

#define ANGLE_TO_DEGREES 0.021972656 // Convert 14 bit angle sensor output to degrees
#define GEARBOX_RATIO_LEFT 19
#define GEARBOX_RATIO_RIGHT 19
#define TRQ_LIMIT_LEFT 1000 // Torque limit for knee gearbox(left)
#define TRQ_LIMIT_RIGHT 1000 // Torque limit for hip gearbox(right)

#define KNEE_ADDR_OFFSET 0x100U
#define KNEE_ADDR_OFFSET 0x100

#define BAT_FILT_COEF 655 // battery voltage filter coefficient in fixed-point. coef_fixedPoint = coef_floatingPoint * 2^16. In this case 655 = 0.01 * 2^16
#define BAT_CALIB_REAL_VOLTAGE 3192 // input voltage measured by multimeter (multiplied by 100). In this case 43.00 V * 100 = 4300
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