add LUT zeroing to factory res

Core/Inc/calibration.h

@@ -13,7 +13,8 @@
 
 #define V_CAL 	1.0f							// Calibration voltage
 //#define I_CAL	5.0f
-#define W_CAL 	10.0f							// Calibration speed in rad/s
+//#define W_CAL 	10.0f							// Calibration speed in rad/s
+#define W_CAL 2.0f
 #define T1		1.0f							// Cal settling period
 #define PPAIRS_MAX 64
 #define SAMPLES_PER_PPAIR N_LUT

Core/Inc/fsm.h

@@ -30,6 +30,7 @@ extern "C" {
 #define SETUP_CMD			's'
 #define ZERO_CMD			'z'
 #define FRESET_CMD          'f'
+#define FDUMP_CMD			'd'
 #define ENTER_CMD			13
 
 

Core/Src/calibration.c

@@ -31,15 +31,12 @@ void order_phases(EncoderStruct *encoder, ControllerStruct *controller, CalStruc
 
 	int debug_sine = 0;
 	if(debug_sine){
-
 		#define sampleCount 200
 		#define sampleRate 100
 		static float valsA[sampleCount];
 		static float valsB[sampleCount];
 		static float valsC[sampleCount];
 		static float times[sampleCount];
-
-
 		if(debugCounter%sampleRate==0){
 			//printf("DC %u k, time = %f\n\r", debugCounter/1000, cal->time);
 			//printf("%f %f %f \r\n", controller->i_a, controller->i_b, controller->i_c);
@@ -62,14 +59,10 @@ void order_phases(EncoderStruct *encoder, ControllerStruct *controller, CalStruc
 					for(int i=0;i<sampleCount;i++){
 						printf("%f %f %f %f \r\n", times[i], valsA[i], valsB[i], valsC[i]);
 					}
-
 				}
 			}
 		}
-
-
 		debugCounter++;
-
 		//blindly rotate motor instead of callibration
 		float A = 0.04;
 		float f = 10;
@@ -80,7 +73,7 @@ void order_phases(EncoderStruct *encoder, ControllerStruct *controller, CalStruc
 		controller->dtc_w = 0.5 + A*sin_lut(2*3.14*(f*cal->time)+2*6.28/3.0);
 		set_dtc(controller);
 		return;
-
+		//debug sine end
 		}
 
     if(cal->time < T1){

Core/Src/flash_access.c

@@ -21,6 +21,8 @@ Maybe replace with EEPROM emulation or implement wear-leveling in the future. (1
 #define BANK1_START 0x08000000
 #define RESERVED_PAGE  123      //max prog. upload reduced by 10k in platformio.ini, reserving pages 123 to 127 of bank 2
 #define RESERVED_ADDR BANK2_START + PAGELEN*RESERVED_PAGE
+#define RESERVED_AREA_LEN 5 	//number of reserved pages
+
 
 #define FLOATSCOUNT 64
 #define INTSCOUNT 256
@@ -73,7 +75,7 @@ int erase_reserved_flash(){
     eraseStruct.TypeErase = FLASH_TYPEERASE_PAGES;
     eraseStruct.Banks = FLASH_BANK_2;
     eraseStruct.Page = RESERVED_PAGE;
-    eraseStruct.NbPages = 5;
+    eraseStruct.NbPages = RESERVED_AREA_LEN;
     uint32_t error;
     HAL_FLASHEx_Erase(&eraseStruct, &error);
     printf("Leaving erase flash.");

Core/Src/fsm.c

@@ -212,7 +212,7 @@
 					//spi.SetMechOffset(M_OFFSET);
 					save_to_flash();
 					load_from_flash();
-					printf("\n\r  Saved new zero position:  %.4f\n\r\n\r", M_ZERO);
+					printf("\n\r  Saved new zero position:  %.4d \n\r\n\r", M_ZERO);
 					break;
 				case FRESET_CMD:
 					E_ZERO = 0;
@@ -235,9 +235,60 @@
 				    P_MIN = -12.5f;
 				    V_MAX = 65.0f;
 				    V_MIN = -65.0f;
+				    //zero encoder LUT
+				    int *lut = &ENCODER_LUT;
+				    for(int i = 0; i < 128; i++){
+				    	lut[i] = 0;
+				    }
 				    save_to_flash();
 				    load_from_flash();
 				    printf("\n\r  FLASH variables reset. \n\r Please cycle power. \n\r\n\r");
+				    break;
+				case FDUMP_CMD:
+					printf("Variable dump:\n\r");
+
+					printf("---Enc. LUT:---\n\r");
+					int *encLut = &ENCODER_LUT;
+					for(int i = 0; i < 128;){
+						printf("%d ", encLut[i]);
+						i++;
+						if(i%8==0){
+							printf("\n\r");
+						}
+					}
+
+					printf("---Int regs:---\n\r");
+					printf("PHASE_ORDER %d \n\r", PHASE_ORDER);
+					printf("CAN_ID %d \n\r", CAN_ID);
+					printf("CAN_MASTER %d \n\r", CAN_MASTER);
+					printf("CAN_TIMEOUT %d \n\r", CAN_TIMEOUT);
+					printf("M_ZERO %d \n\r", M_ZERO);
+					printf("E_ZERO %d \n\r", E_ZERO);
+
+					printf("--Float regs:--\n\r");
+					printf("I_BW %f \n\r", I_BW);
+					printf("I_MAX %f \n\r", I_MAX);
+					printf("THETA_MIN %f \n\r", THETA_MIN);
+					printf("THETA_MAX %f \n\r", THETA_MAX);
+					printf("I_FW_MAX %f \n\r", I_FW_MAX);
+					printf("R_NOMINAL %f \n\r", R_NOMINAL);
+					printf("TEMP_MAX %f \n\r", TEMP_MAX);
+					printf("I_MAX_CONT %f \n\r", I_MAX_CONT);
+					printf("PPAIRS %f \n\r", PPAIRS);
+					printf("R_PHASE %f \n\r", R_PHASE);
+					printf("KT %f \n\r", KT);
+					printf("C_TH %f \n\r", C_TH);
+					printf("GR %f \n\r", GR);
+					printf("I_CAL %f \n\r", I_CAL);
+					printf("P_MIN %f \n\r", P_MIN);
+					printf("P_MAX %f \n\r", P_MAX);
+					printf("V_MIN %f \n\r", V_MIN);
+					printf("V_MAX %f \n\r", V_MAX);
+					printf("KP_MAX %f \n\r", KP_MAX);
+					printf("KD_MAX %f \n\r", KD_MAX);
+
+					printf("----------------\n\r");
+					break;
 				}
 			break;
 		case SETUP_MODE:
@@ -276,6 +327,7 @@
 	    printf(" e - Display Encoder\n\r");
 	    printf(" z - Set Zero Position\n\r");
 	    printf(" f - Factory reset flash vars\n\r");
+	    printf(" d - Variable dump\n\r");
 	    printf(" esc - Exit to Menu\n\r");
 
 	    //gpio.led->write(0);

Core/Src/main.c

@@ -191,6 +191,8 @@ int main(void)
 
   }
 
+  printf("erase %d ", erase_reserved_flash());
+
   init_controller_params(&controller);
 
   /* calibration "encoder" zeroing */

Debug/Core/Src/calibration.su

@@ -1,3 +1,3 @@
 calibration.c:17:6:order_phases	96	static
-calibration.c:126:6:calibrate_encoder	96	static
-calibration.c:227:6:measure_lr	24	static
+calibration.c:119:6:calibrate_encoder	96	static
+calibration.c:220:6:measure_lr	24	static

Debug/Core/Src/flash_access.su

@@ -1,3 +1,3 @@
-flash_access.c:36:6:load_from_flash	80	static
-flash_access.c:71:5:erase_reserved_flash	32	static
-flash_access.c:90:5:save_to_flash	40	static
+flash_access.c:38:6:load_from_flash	80	static
+flash_access.c:73:5:erase_reserved_flash	32	static
+flash_access.c:92:5:save_to_flash	40	static

Debug/Core/Src/fsm.su

@@ -1,8 +1,8 @@
 fsm.c:22:7:run_fsm	24	static
 fsm.c:95:7:fsm_enter_state	16	static
 fsm.c:134:7:fsm_exit_state	16	static
-fsm.c:174:7:update_fsm	16	static
-fsm.c:267:7:enter_menu_state	8	static
-fsm.c:284:7:enter_setup_state	24	static
-fsm.c:309:7:process_user_input	16	static
-fsm.c:398:7:enter_motor_mode	4	static
+fsm.c:174:7:update_fsm	32	static
+fsm.c:318:7:enter_menu_state	8	static
+fsm.c:336:7:enter_setup_state	24	static
+fsm.c:361:7:process_user_input	16	static
+fsm.c:450:7:enter_motor_mode	4	static

Debug/Core/Src/main.su

@@ -1,4 +1,4 @@
 core_cm4.h:1809:22:__NVIC_SetPriority	16	static
 main.c:122:5:main	40	static
-main.c:344:6:SystemClock_Config	168	static
-main.c:404:6:Error_Handler	4	static
+main.c:346:6:SystemClock_Config	168	static
+main.c:406:6:Error_Handler	4	static