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AMC_BLDC: Alignment with the latest changes on MBD #250

Merged
merged 5 commits into from
Feb 3, 2022
Merged

AMC_BLDC: Alignment with the latest changes on MBD #250

merged 5 commits into from
Feb 3, 2022

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sgiraz
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@sgiraz sgiraz commented Feb 2, 2022 •
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What changes in this PR:

  • The mbd I/O interfaces have been updated with the latest architectural model changes.
  • Workarounds for STATUS CAN packet removed because it is now managed internally to the can_encoder
  • MBDAgent updated with minor improvements and now it is predisposed to manage multi I/O CAN packets although it still elaborates one packet at a time instance in RX

Notes:

  • ⚠️ The EMS still sends 1 target setpoint every 2ms instead of every 1ms. Remember that this workaround allows the AMC_BLDC to consume all its incoming packages. This is a temporary workaround until the multipackage manager will be completed inside the mbd.
  • ⚠️ After the fault button is pressed and then released, if we send the SET_CONTROL_MODE IDLE through the yarpmotorgui, there are 2 consecutive SET_CONTROL_MODE message packets are sent
  • ✅ This PR has been successfully tested on wrist-setup.

@sgiraz sgiraz requested a review from marcoaccame February 2, 2022 10:24
@sgiraz sgiraz self-assigned this Feb 2, 2022
pattacini
pattacini requested changes Feb 3, 2022
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@pattacini pattacini left a comment

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Hi @sgiraz

There're a couple of points to be addressed.

emBODY/eBcode/arch-arm/board/amcbldc/application06/src/embot_app_application_theMBDagent.cpp Outdated Show resolved Hide resolved
emBODY/eBcode/arch-arm/board/amcbldc/application06/src/embot_app_application_theMBDagent.cpp Outdated Show resolved Hide resolved
@sgiraz
AMC_BLDC: During the periodic tick function and FOC_inner_loop use th…
f047702 
…e ConfigurationParameters model's output instead of the initialization paraemtere. Update the type of poles parameter in pwm.h optimizing memory usage.
marcoaccame
marcoaccame approved these changes Feb 3, 2022
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ok

@marcoaccame marcoaccame merged commit 9031151 into devel Feb 3, 2022
@marcoaccame marcoaccame deleted the amcbldc/multiple-can-packets branch February 3, 2022 10:17
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@pattacini pattacini pattacini approved these changes

@marcoaccame marcoaccame marcoaccame approved these changes

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@sgiraz @pattacini @marcoaccame