0x03. Application
SRAM Stack
Motor Controller
Encoder encoder
The struct that holds the Encoder object.
PowerStage powerstage
The struct that holds the PowerStage object.
Motor motor
The struct that holds the Motor object.
CurrentController current_controller
The struct that holds the CurrentController object.
PositionController position_controller
The struct that holds the PositionController object.
Mode mode
Mode of the motor controller. See Mode of Operation.
ErrorCode error
Error code, if any.
uint8_t device_id
CAN ID of this device. The possible range is 1-63
uint32_t firmware_version
The version of the firmware. The 32 bit number is segmented as MMMM.mm.pp, where M is major version, m is minor version, and p is patch version.
Encoder
I2C_HandleTypeDef *hi2c
This is the pointer to the i2c handler that connects to the I2C encoder.
uint8_t i2c_buffer[2]
This buffer stores the raw byte data read from the encoder
uint8_t i2c_update_counter
int32_t cpr
float position_offset
in range (-inf, inf)
float filter_alpha
float flux_offset
float flux_offset_table[128]
int16_t position_raw
in range [-cpr/2, cpr/2)
int32_t n_rotations
float position
in range (-inf, inf), with offset
float velocity
Mode of operation
DISABLED
0x00
IDLE
0x01
DAMPING
0x02
CALIBRATION
0x05
CURRENT
0x10
TORQUE
0x11
VELOCITY
0x12
POSITION
0x13
VABC_OVERRIDE
0x20
VALPHABETA_OVERRIDE
0x21
VQD_OVERRIDE
0x22
DEBUG
0x80
DISABLED Mode
In this mode, the gate driver is not activated. The motor is disabled with three phase wires floating. The motor is free to rotate.
Any error in other mode will trigger the state machine to enter DISABLED mode. The error code can be seen in the error_code register.
Switching from DISABLED mode to any other mode than IDLE is prohibited and will result in an error state.
IDLE Mode
The gate driver is activated and outputs zero or balanced output. Motor is in free spinning mode.
Upon entering this mode, all the error status is cleared.
DAMPING Mode
The gate driver is activated and outputs zero. Motor is in damping mode.
CALIBRATION Mode
The motor controller will execute the calibration sequence in the main loop.
After calibration, the motor controller will set itself in IDLE mode.
CURRENT Mode
Current closed-loop mode.
User sets i_q_target and i_d_target to control the motor.
TORQUE Mode
Torque closed-loop mode.
User sets torque_target to control the motor.
VELOCITY Mode
Velocity closed-loop mode.
User sets velocity_target to control the motor.
POSITION Mode
Position closed-loop mode.
User sets position_target to control the motor.
VABC_OVERRIDE Mode
Open loop controlled V_a, V_b, V_c.
User sets v_a_setpoint, v_b_setpoint, and v_c_setpoint to control the motor.
VALPHABETA_OVERRIDE Mode
Open loop controlled V_alpha and V_beta.
User sets v_alpha_setpoint and v_beta_setpoint to control the motor.
VQD_OVERRIDE Mode
Open loop controlled V_d and V_q.
User sets v_d_target and v_q_target to control the motor.
DEBUG Mode
CAN Communication
Recoil motor controller implements a subset of the CANopen communication protocol.
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