rename noc_encoder to nob_encoder

Readme.md

@@ -112,19 +112,19 @@ Mode 4 of `state` is a position mode without acceleration or deceleration and is
 
 ## Command Demonstration
 
-The address of the `state` itself is `0x0219` and its length is 1 byte.
+The address of the `state` itself is `0x0240` and its length is 1 byte.
 To lock the motor and enter position mode after power up, send the following data to port 5:
 ```
-20  19 02  05
+20  40 02  05
 ```
-`20` is the subcommand `write`, `19 02` is the little-endian for address 0x0219 (little-endian is used unless otherwise noted),
+`20` is the subcommand `write`, `40 02` is the little-endian for address 0x0240 (little-endian is used unless otherwise noted),
 and `05` is the value to be written.
 
 
 The complete command containing the CRC is (host address defaults to `0`, motor address defaults to `0xfe`, 3rd byte is data length, last two bytes are CRC):
 
 ```
-00 fe 05  05 20  19 02  05  88 f5
+00 fe 05  05 20  40 02  05  58 e6
 ```
 
 The complete response package is:

mdrv_fw/usr/app_main.c

@@ -312,10 +312,10 @@ void cali_elec_angle(void)
     d_debug("cali [%d, %d]", pole_cnt, sub_cnt);
 
     if (sub_cnt == 0) {
-        a0 = csa.ori_encoder;
+        a0 = csa.nob_encoder;
         d_debug_c(" - a0: %04x\n", a0);
     } else if (sub_cnt == 2) {
-        a1 = csa.ori_encoder;
+        a1 = csa.nob_encoder;
         d_debug_c(" - a1: %04x\n", a1);
     } else {
         d_debug_c("\n");

mdrv_fw/usr/app_main.h

@@ -130,7 +130,7 @@ typedef struct {
     int32_t         ori_pos;
 
     float           delta_encoder;
-    uint16_t        noc_encoder; // no compensation
+    uint16_t        nob_encoder; // no bias
     uint16_t        sen_encoder;
     int32_t         sen_pos;
     float           sen_speed;

mdrv_fw/usr/app_motor.c

@@ -328,28 +328,26 @@ void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
     int16_t out_pwm_u = 0, out_pwm_v = 0, out_pwm_w = 0;
     bool dbg_str = csa.dbg_str_msk && (csa.loop_cnt % csa.dbg_str_skip) == 0;
 
-    uint16_t noc_encoder_bk = csa.noc_encoder;
     csa.ori_encoder = encoder_read();
-    csa.noc_encoder = csa.ori_encoder - csa.bias_encoder;
 
     //gpio_set_value(&dbg_out2, 1);
 
     // filter out disturbed error position values
 #if 1
     if (hist_err < 0 || abs(hist[1] - hist[0]) > 500) {
-        csa.sen_encoder = csa.noc_encoder;
+        csa.nob_encoder = csa.ori_encoder;
         if (hist_err < 0)
             hist_err++;
     } else {
         uint32_t hist_raised[2] = {hist[0], hist[1]};
-        uint32_t sen_raised = csa.noc_encoder;
+        uint32_t sen_raised = csa.ori_encoder;
 
         // empty in range: 1/3 to 2/3
         if ((hist[0] < 0x10000/3 || hist[0] >= 0x10000*2/3) && (hist[1] < 0x10000/3 || hist[1] >= 0x10000*2/3)) {
             if (hist[0] < 0x10000/3 && hist[1] < 0x10000/3) {
-                if (csa.noc_encoder < 0x10000*2/3)
+                if (csa.ori_encoder < 0x10000*2/3)
                     sen_raised += 0x10000;
-            } else if (csa.noc_encoder < 0x10000/3) {
+            } else if (csa.ori_encoder < 0x10000/3) {
                     sen_raised += 0x10000;
             }
             if (hist[0] < 0x10000/3)
@@ -360,35 +358,37 @@ void HAL_ADCEx_InjectedConvCpltCallback(ADC_HandleTypeDef* hadc)
         int16_t hist_delta = lroundf((int16_t)(hist_raised[1] - hist_raised[0]) * 0.8f);
         uint32_t estimate = hist_raised[1] + hist_delta;
         if (abs(sen_raised - estimate) > 500) {
-            csa.sen_encoder = estimate >= 0x10000 ? (estimate - 0x10000) : estimate;
+            csa.nob_encoder = estimate >= 0x10000 ? (estimate - 0x10000) : estimate;
             if(++hist_err > 2)
                 hist_err = -2;
         } else {
-            csa.sen_encoder = csa.noc_encoder;
+            csa.nob_encoder = csa.ori_encoder;
             hist_err = 0;
         }
     }
 
     hist[0] = hist[1];
-    hist[1] = csa.sen_encoder;
+    hist[1] = csa.nob_encoder;
 #else
-    csa.sen_encoder = csa.noc_encoder;
+    csa.nob_encoder = csa.ori_encoder;
 #endif
 
-    if (csa.sen_encoder != csa.noc_encoder)
+    if (csa.nob_encoder != csa.ori_encoder)
         encoder_err++;
 
     if (csa.cali_encoder_en) {
-        tbl_idx = csa.sen_encoder >> 4;
+        tbl_idx = csa.nob_encoder >> 4;
         tbl_idx_next = (tbl_idx == 4095) ? 0 : (tbl_idx + 1);
-        tbl_percent = (float)(csa.sen_encoder & 0xf) / 0x10;
+        tbl_percent = (float)(csa.nob_encoder & 0xf) / 0x10;
         uint16_t idx_val = *(uint16_t *)(CALI_ENCODER_TBL + tbl_idx * 2);
         uint32_t idx_next_val = *(uint16_t *)(CALI_ENCODER_TBL + tbl_idx_next * 2);
         if (tbl_idx == 4095)
             idx_next_val += 0x10000;
-        csa.sen_encoder = lroundf(idx_val + (idx_next_val - idx_val) * tbl_percent);
+        csa.nob_encoder = lroundf(idx_val + (idx_next_val - idx_val) * tbl_percent);
     }
 
+    csa.sen_encoder = csa.nob_encoder - csa.bias_encoder;
+
     int16_t delta_enc = csa.sen_encoder - sen_encoder_bk;
     csa.delta_encoder = delta_enc;
     sen_encoder_bk = csa.sen_encoder;

mdrv_fw/usr/config.c

@@ -96,7 +96,7 @@ const csa_t csa_dft = {
                         { .offset = offsetof(csa_t, pid_i_sd) + offsetof(pid_f_t, i_term), .size = 4 * 2 },
                         { .offset = offsetof(csa_t, sen_encoder), .size = 2 },
                         { .offset = offsetof(csa_t, cal_v_sq), .size = 4 * 2 }
-                        //{ .offset = offsetof(csa_t, noc_encoder), .size = 2 }
+                        //{ .offset = offsetof(csa_t, nob_encoder), .size = 2 }
                 }, { // speed
                         { .offset = offsetof(csa_t, pid_speed) + offsetof(pid_f_t, target), .size = 4 * 3 },
                         { .offset = offsetof(csa_t, cal_current), .size = 4 },
@@ -343,13 +343,13 @@ void csa_list_show(void)
     CSA_SHOW(0, cal_v_sd, "v_sd info");
     d_info("\n"); debug_flush(true);
 
-    CSA_SHOW(1, ori_encoder, "noc_encoder before add offset");
+    CSA_SHOW(1, ori_encoder, "Origin encoder value");
     CSA_SHOW(1, ori_pos, "sen_pos before add offset");
     d_info("\n"); debug_flush(true);
 
-    CSA_SHOW(1, delta_encoder, "encoder value delta");
-    CSA_SHOW(1, noc_encoder, "encoder value");
-    CSA_SHOW(1, sen_encoder, "encoder value filtered");
+    CSA_SHOW(1, delta_encoder, "Encoder value delta");
+    CSA_SHOW(1, nob_encoder, "Encoder value before add bias");
+    CSA_SHOW(1, sen_encoder, "Encoder value filtered");
     CSA_SHOW(1, sen_pos, "multiturn + sen_encoder data");
     CSA_SHOW(1, sen_speed, "delta_encoder filtered");
     CSA_SHOW(0, sen_i_sq, "i_sq from adc");

tools/cali_encoder.py

@@ -9,6 +9,9 @@
 #import numpy as np
 import matplotlib.pyplot as plt
 
+# rotate motor by state = 1, cali_angle_step > 0 and bias_encoder = 0
+# enable plot0 for a short period, then export cdbus_gui data to mpk file
+
 if len(sys.argv) <= 1:
     print(f'usage: {sys.argv[0]} mpk_dat_file')
     exit(-1)