Hours 1006
From DIDEAS Wiki
Contents
tue jun 1
- 8am - 9am
- continue debug of USE_AAS_SSI_MASTER_TIMER mode for AKENC
- 9:30 - 12:30 conference call
- 12:50 - 1pm HH
- 1pm - 6pm -30
- continue debug of USE_AAS_SSI_MASTER_TIMER mode for AKENC
- verify that cmd 123 0 will turn off switching of FETs
- compare noise from ADCs with SSI
- complete build 2691 - works with both ADC and SSI mode.
- work w/GG re installation of firmware
- discussion w/RC re status
wed jun 2
- 20 mins - preventative repair of SWIFI
- 10am - 7:30pm -30 mins
- kit and deliver components for AKENCxx; create DOCs
- reinstall all PIC tools on PC.15
- discuss AKENC3 status with GG and HH
- work w/GG and H2, find MC firmware version is old.
- investigate noise on sensor, caused by MC communications
thur jun 3
- several phone calls earlier in the day.
- 4:15pm - 11:15p (1 hr)
fri jun 4
- phone calls in the morning.
- 1pm-1:30p
- 3pm - 7pm
- recode MC firmware for RMB20 + MILE
- testing on H2
- 10:10pm - 11:20p
- retesting MILE, RMB20 code. find there is a timing anomaly due to new compiler removing NOPs. Add optimization detection.
sat jun 5
- 8:50a - 3pm
- discussion w/HH re status, BV
- investigate MILE encoder - seems to be 10 bits only - output remains high after 10th rising edge. - expected 16 bits
- [AMD256D01] 1.2uS min clock period, 0.6us min high,low, monoflop 16-22uS
- discuss betaangle calculation with RC, ZH. my test code beta_test.m doesn't seem to give meaningfull results.
- want to invert beta_angle calculation to go from AAS to motor rotations
- specify calibration constants required, along with method to obtain them for calb fixture.
- discuss calibration tables, EEPROM loging with GG.
sun jun 6
- 1 hr ; study the beta_calc problem with ZH
mon jun 7
- 50min - re-run beta test using theta0 = motorangle/210; email on same
tue jun 8
- 45 min re project status w/RC
wed jun 9
- 12:30 - 9:45pm -3 hrs
- contacted L-tronics re status of hardware
- experiment with SPI hardware for SSI slave
- CA calls about wire
- RC calls about imped offset
- ED calls about operation of VLIST, general questions about dataport interface.
- we need to rewrite class V2 packet to not read 512 bytes (hard to be real time!)
- would like to write an data source aggrigator
- receive AKENCxx PCAs; find that not all components in kit and BOM were populated; fixed AKENC3m
- RC/CA calls about RMB20 resolution
thur jun 10
- 7:45a - 7pm -0.5
- write BB SSI master for clocking (@5MHz) and checking 40 bit message. PIC24F SPI slave min clock period is 60nS.
- testing SPI SSI slave. working! add diagnostic LEDs. red flash @ 250 packets, solid red->no communication, blue -> ADC QUEUE > 64
- debug of AKENC3x; finish build, take components from AKENC3
- write bitbang ADC queue version
fri jun 11
- 8:30a - 9:15a
- create tag of the AKENCxx firmware; added PCB documents and readme : svn://pedant/PowerXXXX/tags/AKENCxx_releases/akencXX_2756_tested_AKENC3m_w_pos_vel_40bit_ssi
- 10:15a - 9pm -1hr
- spent day at IW.
- assist GG w/SM
- switch dev branch to H2; terminate trunk\firmware\SC, MC, etc
- discuss theta-beta calibration w/RC, ZH, CW - decided to simply build a table
- discuss output referenced impead w/HH, RC
sat jun 12
- 1 hr : code initial theta-beta calb program
- 1pm - 7:15pm
- assist with statemachine,
- assist MGL with benchtest motor testing
- develop calibration program for hardstops and theta beta table.
- 1 hr - review data from several calibration cycles; find that the theta-beta curve deviates ~1/4 turn from linear
sun jun 13
- 9:30a - 11:00a
- write myimportdata.m function to read text files that importdata can't
- review data from 1000 cycle TB calibration run
- create special command to read position, speed, and current offsets.
- 12p - 9pm
- test cmd 1004
- at IW, test w/HH output reference imped. damping bumper in "bzone"
mon jun 14
- 8:10a - 2:30p (-2.0)
- work on invoice
- work on MC imp output ref cleanup
- create new python for current offset measurement (motor has to stop moving)
- 3pm - 8:30p
- test output ref imped controller
- improve calb test.
- 9:30p-10:15p
- run offset calb test.
tue jun 15
- 8:30a - 9:00p
- test calb_stop.py, create matlab script read_calb_stop to analyze data.
- correct IMP sensor offset issue, test
- assist GG w/TS
- discuss curve fit w/ZH
- modified command 1461 for enhanced spring operation
wed jun 16
- 8:00a -10:15p -30
- merged my branch of SC and MC w/main brnch
- discovered bug w/SWIFI firmware - investigated - not understood. related to FIFO overflow - possibly a problem with the queue count, or maybe only 1meg of SRAM is there?
- created calibration table objs to pass from SC to MC, better as they uses a special command and thus will be easier to pythonize.
- review ZH sin parameter estimation.
- encouraging results WRT to estimation of motor position at power up.
- tracing bug in MC related to code size.
- removed deadend MC code.
thur jun 17
- 5:15a - 7:45a
- consider possible causes of MC code failure. should break up primary switch
- admin,invoice
- document and update SC w calibration tables.
- 10:25a-2:30p
- skype w/GG re motor controller crashs
- uChip forum looking for MC crash assistance.
- MC firmware code crash study
- arrive IW: 4pm - 6pm
- MC firmware code crash study
- discuss w/ED python calibration code
- discuss python code dev issues w/ED
- develop build # and SVN tools for better tracking of the compilation version
fri jun 18
- 9:15a - 2:10p
- discuss w/RC and HH possible drift in offset, methods of setting and tracking
- discuss w/GG special commands for offsets and MC firmware updates.
- continue clean and stripping MC firmware to increase RAM.
- tracing RAM usage, attempt to determine how 12K is used on stack.
- 3:20 - 8:30p
- assist GG w/imp zero commands.
- continue calb_stop.py and read_calb_stop.m development, include analysis and reporting in matlab
- run calibration on H2-6 and H2-3
- 9:50p-
- admin
- review MC firmware.
