Merge pull request #341 from tinymovr/configurable_sensor_rate

Configurable sensor rate

docs/protocol/reference.rst

@@ -846,7 +846,7 @@ Type: uint8
 
 
 
-The type of external sensor type. Either MA7XX, AS5047 or AMT22.
+The type of the external sensor.
 
 Options: 
 
@@ -856,11 +856,34 @@ Options:
 
 - AMT22
 
-sensors.setup.external_spi.calibrated
+sensors.setup.external_spi.rate
 -------------------------------------------------------------------
 
 ID: 62
 
+Type: uint8
+
+
+
+The rate of the external sensor.
+
+Options: 
+
+- 1_5Mbps
+
+- 3Mbps
+
+- 6Mbps
+
+- 8Mbps
+
+- 12Mbps
+
+sensors.setup.external_spi.calibrated
+-------------------------------------------------------------------
+
+ID: 63
+
 Type: bool
 
 
@@ -872,7 +895,7 @@ Whether the sensor has been calibrated.
 sensors.setup.external_spi.errors
 -------------------------------------------------------------------
 
-ID: 63
+ID: 64
 
 Type: uint8
 
@@ -889,7 +912,7 @@ Flags:
 sensors.setup.hall.calibrated
 -------------------------------------------------------------------
 
-ID: 64
+ID: 65
 
 Type: bool
 
@@ -902,7 +925,7 @@ Whether the sensor has been calibrated.
 sensors.setup.hall.errors
 -------------------------------------------------------------------
 
-ID: 65
+ID: 66
 
 Type: uint8
 
@@ -919,7 +942,7 @@ Flags:
 sensors.select.position_sensor.connection
 -------------------------------------------------------------------
 
-ID: 66
+ID: 67
 
 Type: uint8
 
@@ -938,7 +961,7 @@ Options:
 sensors.select.position_sensor.bandwidth
 -------------------------------------------------------------------
 
-ID: 67
+ID: 68
 
 Type: float
 
@@ -951,7 +974,7 @@ The position sensor observer bandwidth.
 sensors.select.position_sensor.raw_angle
 -------------------------------------------------------------------
 
-ID: 68
+ID: 69
 
 Type: int32
 
@@ -964,7 +987,7 @@ The raw position sensor angle.
 sensors.select.position_sensor.position_estimate
 -------------------------------------------------------------------
 
-ID: 69
+ID: 70
 
 Type: float
 
@@ -977,7 +1000,7 @@ The filtered position estimate in the position sensor reference frame.
 sensors.select.position_sensor.velocity_estimate
 -------------------------------------------------------------------
 
-ID: 70
+ID: 71
 
 Type: float
 
@@ -990,7 +1013,7 @@ The filtered velocity estimate in the position sensor reference frame.
 sensors.select.commutation_sensor.connection
 -------------------------------------------------------------------
 
-ID: 71
+ID: 72
 
 Type: uint8
 
@@ -1009,7 +1032,7 @@ Options:
 sensors.select.commutation_sensor.bandwidth
 -------------------------------------------------------------------
 
-ID: 72
+ID: 73
 
 Type: float
 
@@ -1022,7 +1045,7 @@ The commutation sensor observer bandwidth.
 sensors.select.commutation_sensor.raw_angle
 -------------------------------------------------------------------
 
-ID: 73
+ID: 74
 
 Type: int32
 
@@ -1035,7 +1058,7 @@ The raw commutation sensor angle.
 sensors.select.commutation_sensor.position_estimate
 -------------------------------------------------------------------
 
-ID: 74
+ID: 75
 
 Type: float
 
@@ -1048,7 +1071,7 @@ The filtered position estimate in the commutation sensor reference frame.
 sensors.select.commutation_sensor.velocity_estimate
 -------------------------------------------------------------------
 
-ID: 75
+ID: 76
 
 Type: float
 
@@ -1061,7 +1084,7 @@ The filtered velocity estimate in the commutation sensor reference frame.
 traj_planner.max_accel
 -------------------------------------------------------------------
 
-ID: 76
+ID: 77
 
 Type: float
 
@@ -1074,7 +1097,7 @@ The max allowed acceleration of the generated trajectory.
 traj_planner.max_decel
 -------------------------------------------------------------------
 
-ID: 77
+ID: 78
 
 Type: float
 
@@ -1087,7 +1110,7 @@ The max allowed deceleration of the generated trajectory.
 traj_planner.max_vel
 -------------------------------------------------------------------
 
-ID: 78
+ID: 79
 
 Type: float
 
@@ -1100,7 +1123,7 @@ The max allowed cruise velocity of the generated trajectory.
 traj_planner.t_accel
 -------------------------------------------------------------------
 
-ID: 79
+ID: 80
 
 Type: float
 
@@ -1113,7 +1136,7 @@ In time mode, the acceleration time of the generated trajectory.
 traj_planner.t_decel
 -------------------------------------------------------------------
 
-ID: 80
+ID: 81
 
 Type: float
 
@@ -1126,7 +1149,7 @@ In time mode, the deceleration time of the generated trajectory.
 traj_planner.t_total
 -------------------------------------------------------------------
 
-ID: 81
+ID: 82
 
 Type: float
 
@@ -1139,7 +1162,7 @@ In time mode, the total time of the generated trajectory.
 move_to(float pos_setpoint) -> void
 --------------------------------------------------------------------------------------------
 
-ID: 82
+ID: 83
 
 Return Type: void
 
@@ -1150,7 +1173,7 @@ Move to target position in the user reference frame respecting velocity and acce
 move_to_tlimit(float pos_setpoint) -> void
 --------------------------------------------------------------------------------------------
 
-ID: 83
+ID: 84
 
 Return Type: void
 
@@ -1161,7 +1184,7 @@ Move to target position in the user reference frame respecting time limits for e
 traj_planner.errors
 -------------------------------------------------------------------
 
-ID: 84
+ID: 85
 
 Type: uint8
 
@@ -1178,7 +1201,7 @@ Flags:
 homing.velocity
 -------------------------------------------------------------------
 
-ID: 85
+ID: 86
 
 Type: float
 
@@ -1191,7 +1214,7 @@ The velocity at which the motor performs homing.
 homing.max_homing_t
 -------------------------------------------------------------------
 
-ID: 86
+ID: 87
 
 Type: float
 
@@ -1204,7 +1227,7 @@ The maximum time the motor is allowed to travel before homing times out and abor
 homing.retract_dist
 -------------------------------------------------------------------
 
-ID: 87
+ID: 88
 
 Type: float
 
@@ -1217,7 +1240,7 @@ The retraction distance the motor travels after the endstop has been found.
 homing.warnings
 -------------------------------------------------------------------
 
-ID: 88
+ID: 89
 
 Type: uint8
 
@@ -1232,7 +1255,7 @@ Flags:
 homing.stall_detect.velocity
 -------------------------------------------------------------------
 
-ID: 89
+ID: 90
 
 Type: float
 
@@ -1245,7 +1268,7 @@ The velocity below which (and together with `stall_detect.delta_pos`) stall dete
 homing.stall_detect.delta_pos
 -------------------------------------------------------------------
 
-ID: 90
+ID: 91
 
 Type: float
 
@@ -1258,7 +1281,7 @@ The velocity below which (and together with `stall_detect.delta_pos`) stall dete
 homing.stall_detect.t
 -------------------------------------------------------------------
 
-ID: 91
+ID: 92
 
 Type: float
 
@@ -1271,7 +1294,7 @@ The time to remain in stall detection mode before the motor is considered stalle
 home() -> void
 --------------------------------------------------------------------------------------------
 
-ID: 92
+ID: 93
 
 Return Type: void
 
@@ -1282,7 +1305,7 @@ Perform the homing operation.
 watchdog.enabled
 -------------------------------------------------------------------
 
-ID: 93
+ID: 94
 
 Type: bool
 
@@ -1295,7 +1318,7 @@ Whether the watchdog is enabled or not.
 watchdog.triggered
 -------------------------------------------------------------------
 
-ID: 94
+ID: 95
 
 Type: bool
 
@@ -1308,7 +1331,7 @@ Whether the watchdog has been triggered or not.
 watchdog.timeout
 -------------------------------------------------------------------
 
-ID: 95
+ID: 96
 
 Type: float
 

firmware/src/can/can_endpoints.c

@@ -18,7 +18,7 @@
 #include <src/can/can_endpoints.h>
 
 
-uint8_t (*avlos_endpoints[96])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_warnings, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_config_size, &avlos_scheduler_load, &avlos_scheduler_warnings, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_comms_can_heartbeat, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_sensors_user_frame_position_estimate, &avlos_sensors_user_frame_velocity_estimate, &avlos_sensors_user_frame_offset, &avlos_sensors_user_frame_multiplier, &avlos_sensors_setup_onboard_calibrated, &avlos_sensors_setup_onboard_errors, &avlos_sensors_setup_external_spi_type, &avlos_sensors_setup_external_spi_calibrated, &avlos_sensors_setup_external_spi_errors, &avlos_sensors_setup_hall_calibrated, &avlos_sensors_setup_hall_errors, &avlos_sensors_select_position_sensor_connection, &avlos_sensors_select_position_sensor_bandwidth, &avlos_sensors_select_position_sensor_raw_angle, &avlos_sensors_select_position_sensor_position_estimate, &avlos_sensors_select_position_sensor_velocity_estimate, &avlos_sensors_select_commutation_sensor_connection, &avlos_sensors_select_commutation_sensor_bandwidth, &avlos_sensors_select_commutation_sensor_raw_angle, &avlos_sensors_select_commutation_sensor_position_estimate, &avlos_sensors_select_commutation_sensor_velocity_estimate, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
+uint8_t (*avlos_endpoints[97])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_warnings, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_config_size, &avlos_scheduler_load, &avlos_scheduler_warnings, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_comms_can_heartbeat, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_sensors_user_frame_position_estimate, &avlos_sensors_user_frame_velocity_estimate, &avlos_sensors_user_frame_offset, &avlos_sensors_user_frame_multiplier, &avlos_sensors_setup_onboard_calibrated, &avlos_sensors_setup_onboard_errors, &avlos_sensors_setup_external_spi_type, &avlos_sensors_setup_external_spi_rate, &avlos_sensors_setup_external_spi_calibrated, &avlos_sensors_setup_external_spi_errors, &avlos_sensors_setup_hall_calibrated, &avlos_sensors_setup_hall_errors, &avlos_sensors_select_position_sensor_connection, &avlos_sensors_select_position_sensor_bandwidth, &avlos_sensors_select_position_sensor_raw_angle, &avlos_sensors_select_position_sensor_position_estimate, &avlos_sensors_select_position_sensor_velocity_estimate, &avlos_sensors_select_commutation_sensor_connection, &avlos_sensors_select_commutation_sensor_bandwidth, &avlos_sensors_select_commutation_sensor_raw_angle, &avlos_sensors_select_commutation_sensor_position_estimate, &avlos_sensors_select_commutation_sensor_velocity_estimate, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
 
 uint32_t _avlos_get_proto_hash(void)
 {
@@ -881,6 +881,24 @@ else if (AVLOS_CMD_WRITE == cmd) {
     return AVLOS_RET_NOACTION;
 }
 
+uint8_t avlos_sensors_setup_external_spi_rate(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
+{
+if (AVLOS_CMD_READ == cmd) {
+        uint8_t v;
+        v = sensor_external_spi_get_rate_avlos();
+        *buffer_len = sizeof(v);
+        memcpy(buffer, &v, sizeof(v));
+        return AVLOS_RET_READ;
+    }
+else if (AVLOS_CMD_WRITE == cmd) {
+        uint8_t v;
+        memcpy(&v, buffer, sizeof(v));
+        sensor_external_spi_set_rate_avlos(v);
+        return AVLOS_RET_WRITE;
+    }
+    return AVLOS_RET_NOACTION;
+}
+
 uint8_t avlos_sensors_setup_external_spi_calibrated(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
 {
 if (AVLOS_CMD_READ == cmd) {