PF EEPROM

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EEPROM init registry (SC SVN revision > 1611)

  • During boot, the robot loads critical variables from its "init table registry"
  • keys are define in : '../StateControl/eeprom_keys.h';
  • the python program "keys.py" uses this file to permit keys to be referenced by name
  • at present 16 and 32 bit unsigned int keys are support
  • NOTE : python ignores the redundant part of a key name "KEY_"

keys.py

print ' -p COM port / or IP address port'
print ' -b baudrate'
print ' -i <name or IP address> : IP address of the SWIFI'
print ' -r read keys by name that follow (multiple keys allowed)'
print ' -w write key values by name, value that follow (multiple key values are allowed) (NOTE:after -w, only -r and -w options are processed)'
print ' -f process script file'
print ' -D generation keys.h wiki documentation file'
print ' -l log file name '
print ' -V verify : after writing ALL values, will go back and verify them. (def=TRUE)'
print
print 'example: keys.py -p 26 -V -r serial_number run_level -w run_level 22 -r run_level'
print

Documentation file

  • filename = ../StateControl/eeprom_keys.h
  • created @ 2009-10-31 12:04:46

EEPROM_KEYS_16_BIT

  • SERIAL_NUMBER  : serial number of the installed SC/MC board : eg 9
  • RUN_LEVEL  : a simpler way to specifying the progress of bringing and demoing a robot
  • FEATURE_BITS  : bits the enabled the use of specific features (currently conflicts w/run level)
  • REVISION_NUMBER  : serial number of the installed SC/MC board : eg 200

EEPROM_KEYS_32_BIT

  • SC_FUP_BAUD  : at present unused, but will be used to set the baudrate of the SC FUP port
  • MC_FUP_BAUD  : at present unused, but will be used to set the baudrate of the SC FUP port

16 bit keys

RUN_LEVEL

As the robot is tested and brought to full operational, the RUN LEVEL in increment to enable features and the use of tables. A run level of 0, -1, or non-existent RUN_LEVEL key (blank EEPROM) forces the use of NO features.

KEY_REVISION_NUMBER

FEATURE_BITS

KEY_SERIAL_NUMBER

There are 3 keys in this set. These specifiy the serial numbers of the SC/MC, FET board, and IMU. Of course - on must be diligent to built the robot to be consistent with the serial numbers - as these KEYs do not reside on the other PCBs. Eg (the FET board has no EEPROM.)


ENHANCED_FEATURE_BITS

  • USE_FF_K3 - enables the use of force field that protects from a K3 break
  • USE_FF_TB - enables the use of force field that keeps ball nut from coliding with thrust bearing
  • USE_OVERLOAD - enabled the use of the overload monitor
  • USE_MILE - forces the use of the MILE encoder (backwards, encoder count of 2048), other wise the MR encoder is used (forwards, 2000 counts)
  • DO_ENC_OFFSET_VERIFY - enables the test that verifies encoder offset (and checks for MILE encoder)



  • DO_MODE2_CHECK - this is a necessary step to set the encoder offset for motor commutation. If MODE2 is not entered, then only motor modes 0 and 2 are available. MODE2 can be entered with various special commands.

ABS_ENC_OFFSET

For instant on (or for verification) this is the expected value of the absolute (motor) encoder when motor incremental is zeroed in MODE2.

OVERLOAD PARAMETERS

32 bit keys

FUP_BAUD

  • Two keys, SC_FUP_BUAD, and MC_FUP_BAUD.
  • Allows the baud rate of the FUP ports to be specified
  • Note - the actual baud rate my differ from the one specified as only certain baud rates are available based on the clock frequency of the CPU.
  • In general, assume that a baud rate must on of : 40,000,000 / 16 / n where n is an integer.
  • Baud rate errors of +- a few percent are usually acceptable.


FORCE FIELD PARAMETERS

  • Two key sets - FF_K3 and FF_TB
    • FF_K3 uses the hall angle sensor to limit motion when compressing K3 (or if K3 breaks.)
    • FF_TB uses the motor encoder to limit motion of the ball-nut that would result in contact with the thrust bearing



(tags SPLD3) 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.

(PRE SPLD 3) 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
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