Difference between revisions of "PF EEPROM"
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=EEPROM init table = | =EEPROM init table = | ||
Revision as of 19:15, 22 August 2009
PF Users Navigation:
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- PCA : PCB ; AKENC SC/MC 218 ; FET 217 ; IMU219 ; Swifi ; Rev200_mods ; PCA Inventory
- Special Commands to the Ankle (PFCMD) : State Controller Commands; Motor Controller Commands; Python Examples; IMU Commands ;PFCMD_PY; Pf_calb_table_py; Virtual spring test; PF EEPROM
- DOC: Pf_users; Powerfoot Keyboard User Interface; Steps for Manual Tuning; "Dashboard" Program For Assisting with Tuning
- NEW (CEB) WIKI
- Torque Feedback Controller Guide
EEPROM init table
- The defaults 'feature bits' set in statemachine.h are basically ignored (6-28-09). Although loaded in sm_init.c, they're overwritten in demux_sm - where it reads the the EEPROM init table.
- if FEATURE_MC_CURRENT_UPDATES is NOT SET, then demux_sm skips the states that boot MC through mode 2
- if FEATURE_USE_IMU is set, then after MC is boot (immediately before RUN_TIME), the dataport_select is set to two, and the IMU communications is enabled.
Problems / Goals
- need to be able to cleanly specify to boot too.
- great a global called 'run_level'. Each thing that gets turned on has a minimum level.
- what if a 'needed' table isn't loaded - eg calibration table.
- possibly this type of error should limit the maximum level of boot capability. eg no calb table, then at most we remain in a mode that will allow for calibration
