Trikarus/firmware_smartstepper_trikarus/stepper_nano_zero/calibration.h

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2020-07-20 22:21:36 +02:00
/**********************************************************************
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Written by Trampas Stern for MisfitTech.
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*********************************************************************/
#ifndef __CALIBRAITON_H__
#define __CALIBRAITON_H__
#include <Arduino.h>
#include "syslog.h"
#include "angle.h"
//this file implements a table that is linearly interpolated circular calibration table
// it is assumed the data wraps around, ie you interpolated 65536==0
//we want this to be "whole" steps, for 1.8 degree motors this should be 200.
// 200 will work for 0.9 degree too, but could be 400. However 400 is not good for 1.8 degree motors
#define CALIBRATION_TABLE_SIZE (200)
#define CALIBRATION_STEPS ((uint32_t)ANGLE_STEPS) // this is one rotation ie 0-65535 aka 65536 steps is 0-360 degrees
#define CALIBRATION_ERROR_NOT_SET (-1) //indicated that the calibration value is not set.
#define CALIBRATION_UPDATE_RATE (32) //number of samples to keep 1 pole running average
#define CALIBRATION_MIN_ERROR (4) //the minimal expected error on our calibration 4 ~=+/0.2 degrees
typedef struct {
uint16_t table[CALIBRATION_TABLE_SIZE];
bool status;
} FlashCalData_t;
typedef struct {
Angle value; //cal value
int16_t error; //error assuming it is constantly updated
} CalData_t;
class CalibrationTable
{
private:
CalData_t table[CALIBRATION_TABLE_SIZE];
bool fastCalVaild=false;
void loadFromFlash(void);
bool flashGood(void); //returns true if the flash copy of calibration is valid
void updateFastCal(void);
void createFastCal(void);
public:
void init(void);
void saveToFlash(void); //saves the calibration to flash
bool updateTableValue(int32_t index, int32_t value);
void updateTable(Angle actualAngle, Angle encoderValue);
int getValue(Angle actualAngle, CalData_t *ptrData);
Angle getCal(Angle actualAngle);
bool calValid(void);
Angle reverseLookup(Angle encoderAngle); //this turns encoder angle into real angle
void printCalTable(void);
void smoothTable(void);
Angle fastReverseLookup(Angle encoderAngle);
};
#endif //__CALIBRAITON_H__