Change sensor bits to 16

firmware/src/common.h

@@ -125,7 +125,7 @@
 
 #define TIMER_FREQ_HZ (ACLK_FREQ_HZ >> TXCTL_PS_DIV)
 
-#define ENCODER_BITS (13)
+#define ENCODER_BITS (16)
 #define ENCODER_TICKS (1 << ENCODER_BITS)
 #define ENCODER_TICKS_FLOAT ((float)(ENCODER_TICKS))
 

firmware/src/controller/homing_planner.c

@@ -8,12 +8,12 @@
 #include <src/can/can_endpoints.h>
 
 static HomingPlannerConfig config = {
-    .homing_velocity = -8192.0f, // ticks/s
+    .homing_velocity = ENCODER_TICKS_FLOAT, // ticks/s
     .max_homing_t = 20.0f, // s
-    .max_stay_vel = 4000.0f, // ticks/s
-    .max_stay_dpos = 1000.0f, // ticks
+    .max_stay_vel = (ENCODER_TICKS_FLOAT/2.0f), // ticks/s
+    .max_stay_dpos = (ENCODER_TICKS_FLOAT/8.0f), // ticks
     .max_stay_t = 1.0f, // s
-    .retract_distance = 1000.0f // ticks
+    .retract_distance = (ENCODER_TICKS_FLOAT/8.0f) // ticks
 };
 
 static HomingPlannerState state = {0};

firmware/src/motor/motor.c

@@ -166,7 +166,7 @@ bool motor_calibrate_inductance(void)
     return true;
 }
 
-TM_RAMFUNC uint8_t motor_find_pole_pairs(uint16_t ticks, float mpos_start, float mpos_end, float epos_rad)
+TM_RAMFUNC uint8_t motor_find_pole_pairs(uint32_t ticks, float mpos_start, float mpos_end, float epos_rad)
 {
 	const float mpos_diff = our_fabsf(mpos_end - mpos_start);
 	float mpos_diff_rad = TWOPI * mpos_diff / ticks;

firmware/src/motor/motor.h

@@ -79,7 +79,7 @@ bool motor_calibrate_resistance(void);
 bool motor_calibrate_inductance(void);
 
 uint8_t motor_get_pole_pairs(void);
-uint8_t motor_find_pole_pairs(uint16_t ticks, float mpos_start, float mpos_end, float epos_rad);
+uint8_t motor_find_pole_pairs(uint32_t ticks, float mpos_start, float mpos_end, float epos_rad);
 void motor_set_pole_pairs(uint8_t pairs);
 
 float motor_get_phase_resistance(void);

firmware/src/sensor/as5047.c

@@ -32,15 +32,16 @@ bool as5047p_init_with_port(Sensor *s, const SSP_TYPE port, PAC55XX_SSP_TYPEDEF
 
 bool as5047p_init_with_config(Sensor *s, const AS5047PSensorConfig *c) {
     AS5047PSensor *as = (AS5047PSensor *)s;
-    as->base.get_raw_angle_func = ma7xx_get_raw_angle;
-    as->base.update_func = as5047p_update; 
-    as->base.prepare_func = as5047p_send_angle_cmd; 
-    as->base.reset_func = as5047p_reset; 
-    as->base.deinit_func = as5047p_deinit; 
-    as->base.get_errors_func = as5047p_get_errors; 
-    as->base.is_calibrated_func = as5047p_is_calibrated; 
-    as->base.calibrate_func = as5047p_calibrate; 
-    as->base.config.type = SENSOR_TYPE_AS5047;
+    s->get_raw_angle_func = ma7xx_get_raw_angle;
+    s->update_func = as5047p_update; 
+    s->prepare_func = as5047p_send_angle_cmd; 
+    s->reset_func = as5047p_reset; 
+    s->deinit_func = as5047p_deinit; 
+    s->get_errors_func = as5047p_get_errors; 
+    s->is_calibrated_func = as5047p_is_calibrated; 
+    s->calibrate_func = as5047p_calibrate; 
+    s->config.type = SENSOR_TYPE_AS5047;
+    s->ticks = ENCODER_TICKS;
     as->config = *c;
     ssp_init(as->config.ssp_port, SSP_MS_MASTER, 0, 0);
     delay_us(10000); // Example delay, adjust based on AS5047P datasheet

firmware/src/sensor/hall.c

@@ -33,14 +33,15 @@ bool hall_init_with_defaults(Sensor *s)
 bool hall_init_with_config(Sensor *s, const HallSensorConfig *c)
 {
     HallSensor *ms = (HallSensor *)s;
-    ms->base.get_raw_angle_func = hall_get_angle;
-    ms->base.update_func = hall_update;
-    ms->base.reset_func = hall_reset;
-    ms->base.deinit_func = hall_deinit;
-    ms->base.get_errors_func = hall_get_errors;
-    ms->base.is_calibrated_func = hall_sector_map_is_calibrated;
-    ms->base.calibrate_func = hall_calibrate_sequence;
-    ms->base.config.type = SENSOR_TYPE_HALL;
+    s->get_raw_angle_func = hall_get_angle;
+    s->update_func = hall_update;
+    s->reset_func = hall_reset;
+    s->deinit_func = hall_deinit;
+    s->get_errors_func = hall_get_errors;
+    s->is_calibrated_func = hall_sector_map_is_calibrated;
+    s->calibrate_func = hall_calibrate_sequence;
+    s->config.type = SENSOR_TYPE_HALL;
+    s->ticks = HALL_SECTORS;
     ms->config = *c;
     ms->hw_defaults[0] = pac5xxx_tile_register_read(ADDR_CFGAIO7);
     ms->hw_defaults[1] = pac5xxx_tile_register_read(ADDR_CFGAIO8);

firmware/src/sensor/ma7xx.c

@@ -34,15 +34,16 @@ bool ma7xx_init_with_port(Sensor *s, const SSP_TYPE port, PAC55XX_SSP_TYPEDEF *s
  bool ma7xx_init_with_config(Sensor *s, const MA7xxSensorConfig *c)
 {
     MA7xxSensor *ms = (MA7xxSensor *)s;
-    ms->base.get_raw_angle_func = ma7xx_get_raw_angle;
-    ms->base.update_func = ma7xx_update;
-    ms->base.prepare_func = ma7xx_send_angle_cmd;
-    ms->base.reset_func = ma7xx_reset;
-    ms->base.deinit_func = ma7xx_deinit;
-    ms->base.get_errors_func = ma7xx_get_errors;
-    ms->base.is_calibrated_func = ma7xx_rec_is_calibrated;
-    ms->base.calibrate_func = ma7xx_calibrate;
-    ms->base.config.type = SENSOR_TYPE_MA7XX;
+    s->get_raw_angle_func = ma7xx_get_raw_angle;
+    s->update_func = ma7xx_update;
+    s->prepare_func = ma7xx_send_angle_cmd;
+    s->reset_func = ma7xx_reset;
+    s->deinit_func = ma7xx_deinit;
+    s->get_errors_func = ma7xx_get_errors;
+    s->is_calibrated_func = ma7xx_rec_is_calibrated;
+    s->calibrate_func = ma7xx_calibrate;
+    s->config.type = SENSOR_TYPE_MA7XX;
+    s->ticks = ENCODER_TICKS;
     ms->config = *c;
     ssp_init(ms->config.ssp_port, SSP_MS_MASTER, 0, 0);
     delay_us(16000); // ensure 16ms sensor startup time as per the datasheet

firmware/src/sensor/ma7xx.h

@@ -73,7 +73,7 @@ static inline int16_t ma7xx_get_raw_angle(const Sensor *s)
 static inline void ma7xx_update(Sensor *s, bool check_error)
 {
     MA7xxSensor *ms = (MA7xxSensor *)s;
-    const int16_t angle = ssp_read_one(ms->config.ssp_struct) >> 3;
+    const int16_t angle = ssp_read_one(ms->config.ssp_struct);
 
     if (check_error)
     {

firmware/src/sensor/sensor.h

@@ -83,6 +83,7 @@ struct Sensor { // typedefd earlier
     sensor_update_func_t update_func;
     sensor_prepare_func_t prepare_func;
     sensor_get_errors_func_t get_errors_func;
+    uint32_t ticks;
     bool initialized : 1;
     bool current : 1;
 };
@@ -116,31 +117,9 @@ static inline void sensor_invalidate(Sensor *s)
     s->current = false;
 }
 
-static inline uint16_t sensor_get_ticks(Sensor *s) {
-#ifdef BOARD_REV_R5
-    if (SENSOR_TYPE_MA7XX == s->config.type) {
-#endif
-        // We need to derive this during call, because the motor pole pairs
-        // may change after calibration, or after user input
-        return 6 * motor_get_pole_pairs();
-#ifdef BOARD_REV_R5
-    }
-    return twopi_by_hall_sectors;
-#endif
-}
-
-static inline float sensor_ticks_to_eangle(Sensor *s)
+static inline uint16_t sensor_get_ticks(Sensor *s)
 {
-#ifdef BOARD_REV_R5
-    if (SENSOR_TYPE_MA7XX == s->config.type) {
-#endif
-        // We need to derive this during call, because the motor pole pairs
-        // may change after calibration, or after user input
-        return twopi_by_enc_ticks * motor_get_pole_pairs();
-#ifdef BOARD_REV_R5
-    }
-    return twopi_by_hall_sectors;
-#endif
+    return s->ticks;
 }
 
 static inline void sensor_prepare(Sensor *s)

firmware/src/sensor/sensors.c

@@ -28,9 +28,7 @@ GenSensor sensors[SENSOR_COUNT] = {
         .reset_func = ma7xx_reset,
         .update_func = ma7xx_update,
         .prepare_func = ma7xx_send_angle_cmd,
-        .get_errors_func = ma7xx_get_errors,
-        .initialized = false,
-        .current = false
+        .get_errors_func = ma7xx_get_errors
     }},
     {.sensor = {
         .config = { .type = SENSOR_TYPE_MA7XX },
@@ -41,9 +39,7 @@ GenSensor sensors[SENSOR_COUNT] = {
         .reset_func = ma7xx_reset,
         .update_func = ma7xx_update,
         .prepare_func = ma7xx_send_angle_cmd,
-        .get_errors_func = ma7xx_get_errors,
-        .initialized = false,
-        .current = false
+        .get_errors_func = ma7xx_get_errors
     }},
     {.sensor = {
         .config = { .type = SENSOR_TYPE_HALL },
@@ -54,9 +50,7 @@ GenSensor sensors[SENSOR_COUNT] = {
         .reset_func = hall_reset,
         .update_func = hall_update,
         .prepare_func = 0x0,
-        .get_errors_func = hall_get_errors,
-        .initialized = false,
-        .current = false
+        .get_errors_func = hall_get_errors
     }}
 };