sergeysav/ProjectNautilus
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

mct8316a eeprom programming

Browse Source
This commit is contained in:
Sergey Savelyev
2025-10-19 15:57:57 -07:00
parent d552fe3627
commit 086ac7f195
19 changed files with 1106 additions and 203 deletions
Download Patch File Download Diff File Expand all files Collapse all files

32
flight/src/hardware/mct8316a/closed_loop.rs
View File

@@ -1,6 +1,6 @@
#![allow(dead_code)]
use crate::hardware::mct8316a::motor_startup::{EnableDisable, FullCurrentThreshold};
use crate::hardware::mct8316a::motor_startup::FullCurrentThreshold;
#[derive(Debug, Clone)]
pub struct ClosedLoop1 {
@@ -76,7 +76,7 @@ pub enum ClosedLoopRate {
#[derive(Debug, Copy, Clone)]
pub enum ClosedLoopDecelerationMode {
DecelerationRate = 0x0,
AccerlerationRate = 0x1,
AccelerationRate = 0x1,
}
#[derive(Debug, Copy, Clone)]
@@ -144,7 +144,7 @@ pub struct ClosedLoop2 {
pub motor_stop_brake_time: MotorStopBrakeTime,
pub active_low_high_brake_threshold: DutyCycleThreshold,
pub brake_pin_threshold: DutyCycleThreshold,
pub avs_enable: EnableDisable,
pub avs_enable: bool,
pub cycle_current_limit: FullCurrentThreshold,
}
@@ -159,7 +159,7 @@ impl Default for ClosedLoop2 {
motor_stop_brake_time: MotorStopBrakeTime::Milliseconds1,
active_low_high_brake_threshold: DutyCycleThreshold::Immediate,
brake_pin_threshold: DutyCycleThreshold::Immediate,
avs_enable: EnableDisable::Disable,
avs_enable: false,
cycle_current_limit: FullCurrentThreshold::NotApplicable,
}
}
@@ -259,11 +259,11 @@ pub struct ClosedLoop3 {
pub integration_cycle_high_threshold: IntegrationCycleHighThreshold,
pub integration_duty_cycle_low_threshold: IntegrationDutyCycleThreshold,
pub integration_duty_cycle_high_threshold: IntegrationDutyCycleThreshold,
pub bemf_threshold1: IntegrationBemfThreshold,
pub bemf_threshold2: IntegrationBemfThreshold,
pub bemf_threshold1: IntegrationBemfThreshold,
pub commutation_method: CommutationMethod,
pub degauss_window: DegaussWindow,
pub degauss_enable: EnableDisable,
pub degauss_enable: bool,
}
impl Default for ClosedLoop3 {
@@ -276,11 +276,11 @@ impl Default for ClosedLoop3 {
integration_cycle_high_threshold: IntegrationCycleHighThreshold::Samples4,
integration_duty_cycle_low_threshold: IntegrationDutyCycleThreshold::Percent12,
integration_duty_cycle_high_threshold: IntegrationDutyCycleThreshold::Percent12,
bemf_threshold1: IntegrationBemfThreshold::Value0,
bemf_threshold2: IntegrationBemfThreshold::Value0,
bemf_threshold1: IntegrationBemfThreshold::Value0,
commutation_method: CommutationMethod::ZC,
degauss_window: DegaussWindow::Degrees22_5,
degauss_enable: EnableDisable::Disable,
degauss_enable: false,
}
}
}
@@ -421,26 +421,26 @@ pub enum DegaussWindow {
#[derive(Debug, Clone)]
pub struct ClosedLoop4 {
pub wcomp_blanking: EnableDisable,
pub wcomp_blanking_enable: bool,
pub fast_deceleration_duty_window: LowerPercentLimit,
pub fast_deceleration_duty_threshold: UpperPercentLimit,
pub dynamic_brake_current_lower_threshold: FullCurrentThreshold,
pub dynamic_braking_current: EnableDisable,
pub fast_deceleration: EnableDisable,
pub fast_deceleration_current_theshold: FullCurrentThreshold,
pub dynamic_braking_current_enable: bool,
pub fast_deceleration_enable: bool,
pub fast_deceleration_current_threshold: FullCurrentThreshold,
pub fast_brake_delta: FastBrakeDelta,
}
impl Default for ClosedLoop4 {
fn default() -> Self {
Self {
wcomp_blanking: EnableDisable::Disable,
wcomp_blanking_enable: false,
fast_deceleration_duty_window: LowerPercentLimit::Percent0,
fast_deceleration_duty_threshold: UpperPercentLimit::Percent100,
dynamic_brake_current_lower_threshold: FullCurrentThreshold::NotApplicable,
dynamic_braking_current: EnableDisable::Disable,
fast_deceleration: EnableDisable::Disable,
fast_deceleration_current_theshold: FullCurrentThreshold::NotApplicable,
dynamic_braking_current_enable: false,
fast_deceleration_enable: false,
fast_deceleration_current_threshold: FullCurrentThreshold::NotApplicable,
fast_brake_delta: FastBrakeDelta::Percent0_5,
}
}