RAD Firmware 2.0

[ishanvermani]

Firmware for RAD with the following features:

EEPROM

• Reading of core startup params from EEPROM, and writing to eeprom on request
• Ability to read/write pages to eeprom, instead of one page at a time
• Default params in the event of an eeprom failure

CAN

• Support for all CAN messages
• Global and local message queues to be able to differentiate between message priorities
• System wide disable and ESTOP messages

PID

• Inclusion of max/min steps to ensure smooth PID functionality
• Feedback from motor encoder to update position estimate

Limit Switches

• Automatic stop at limit switch, as well as software stop that is 5 degrees from hardware stop on non-limit switch side
• Resetting of PID position after limit switch press
• Calibration routine that triggers limit switch

Main State Operation

• Able to step motors based on pulse count before calibration
• After calibration, able to perform angle-based position control
• Can cancel calibration any time to return to step based control
• Odom message sent at desired interval with PID estimate of where motor is
• Health message with status of encoder, eeprom, and motor drivers, as well as state and limit switch
• Can control stepper frequency over CAN

Python

• Updated PCAN configuration file

To do in future:

• Bug fixes

• Deflection correction procedure

[ishanvermani]

Good to merge! Future changes can involve changes to the PID min logic, deflection control, stallguard, and more