Pf calb table py

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parse robot source code

This method parses the robot source.

• Build a data structure for all complex data types
• Look for special macros that will help map data types, global variable names, and variable ID for query

#define RAM_ADDRESS_MACRO(type, variable_name)   (&variable_name),((void*)sizeof(type))
#define EEPROM_ADDRESS_MACRO(type, ee_address)  ((void*)ee_address),((void*)sizeof(type))
#define RAM_EEPROM_ADDRESS_MACRO(type, variable_name, ee_address)   (&variable_name),((void*)ee_address),((void*)sizeof(type))



float robot_param_calb;
float sensors;

const void * SHARED_OBJECT_ADDRESSES[] = {
  RAM_EEPROM_ADDRESS_MACRO(SC_PARAM_T, robot_param_calb, EEPROM_SC_PARAM_ADDR),                           
  RAM_ADDRESS_MACRO(SENSORS_PARAM_T, sensors),
  EEPROM_ADDRESS_MACRO(MC_PARAM_T, EEPROM_MC_PARAM_ADDR),
  EEPROM_ADDRESS_MACRO(IMU_PARAM_T, EEPROM_IMU_PARAM_ADDR),
} ;

Note: a table may only exist in RAM or EEPROM, or exist in both.

Create a table image

Need a python module that given a table type, and a set of keys and values will create a robot 'table' memory image.

• the module should return a list of keys that were specified
• the module should return a list of unknown keys that were specified

example:
  create_table_image('SC_PARAM_T', calb_dict);

get address of specified table type

• Query the robot to look up the RAM or EEPROM address of the table by table ID.

write a table to EEPROM on robot

• Given a table id and table image, write the table to the EEPROM

parse text file, build key:value list

The file will contain comments and key value pairs separated by a wide range of delimiters. There are a few special key names that python will use to match the text file to elements of the source code:

# comments about the source of the file

# key, value pairs that will be used to identify the table in the firmware source code
DATA_STRUCTURE_NAME = CALB_PARAM_T
GLOBAL_VARIABLE_NAME = robot_param_calb
FIRMWARE_VERSION_REQUIRED = 1.00, 2.00

# start of key value pairs that will be written to EEPROM, RAM
spring_stiffness_push = 1000   # newton meters per radian
spring_stiffness_pull = 500   # newton meters per radian

typedef struct {
  float spring_stiffness_push;
  float spring_stiffness_push;
  int16 joint_ankle_resolution;
} CALB_PARAM_T;

CALB_PARAM_T robot_param_calb;


=old=
Calibration tables live in a file called calb_table.py.

The table is formatted as a python dictionary of dictionarys.  The first dictionary uses a key equal to the robot code name. Eg "S01", "WB2", etc.

The 2nd dictionary level is has two keys 'name' and 'value_list'.  Value list is a list of numbers that represent the calibration coefficients.  See the following example:

== example calibration table entry ==
<pre>
calb_table_x201['S01'] = {'name' : 'DS_S01_2009_05_01',
           'value_list' : [

                     9999.0, 9.9, -9.9,   # motor current offset sin params : offset, amplitude , phase
                     9999.0, 9.9, 9.9,
                     
                     -421.59, -14.17,     # pyramid
                     
                     13000.0, -544, -2293,  # hall sensor max plantar,zero, 8deg dors 

                     -0.04, 0.03,  # hall segment boundary (seg a to b, seg b to c)

                     -7912.4000, -2384.5000, -282.9800,  -2.8549,  # hall fit poly seg a
                     -26904.0000, -287.6500, -93.0930,   0.0227,   # seg b
                     -1324.7000, 818.5000, -189.2800,   0.7572,    # seg c
                     
                     623.0,         # k3  nM per radian
                     462.0, 1407,    # series spring
                     ] } ;

names of coefficients in the value list

v_x201_keys=[
    'phase_a_offset, phase_a_amplitude, phase_a_phase',
    'phase_b_offset, phase_b_amplitude, phase_b_phase',
    'pyramid_m','pyramid_b',
    
    'hall_seg_ab_boundary',     'hall_seg_bc_boundary',

    'hall_max_plantar', 'hall_zero', 'hall_max_dors',

    'hall_poly_fit_seg_a0',  'hall_poly_fit_seg_a1',  'hall_poly_fit_seg_a2',  'hall_poly_fit_seg_a3',
    'hall_poly_fit_seg_b0',  'hall_poly_fit_seg_b1',  'hall_poly_fit_seg_b2',  'hall_poly_fit_seg_b3',
    'hall_poly_fit_seg_c0',  'hall_poly_fit_seg_c1',  'hall_poly_fit_seg_c2',  'hall_poly_fit_seg_c3',

    'k3_const_nmpr',
    'k2_pull_nmpr', 'k2_push_nmpr'
    ];