Pf calb table py

PF Users Navigation:

• PCB; Lifefix_users; Pf_users; benchtest_users; CalibFix Users; Hardware; Assembly ; iochan ;
• 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

Edit

files to modify

• add eeprom address to eeprom_memmap.h
  • could be else where, but helps us to keep track of what is being used where
• add macros to pyshared.c that list the global ram address, and or EEPROM address and virtual variable name
• to global.c, declare the global
• to global.h, define the global typedef
  • latter two (global) files are optional, but help keep everything in one place

example

eeprom_memmap.h

#define PERSISTENT_DATA_C1_EEPROM_BASE_ADDRESS 0x1500
#define PERSISTENT_DATA_C2_EEPROM_BASE_ADDRESS 0x1580

pyshared.c

...
const SHARED_OBJECT_T SHARED_OBJECT[] = {
...
  SHARED_RAM_OBJ_M(PERSISTENT_DATA_T, persistent_data_c1),                 // use commas at EOL
  SHARED_RAM_OBJ_M(PERSISTENT_DATA_T, persistent_data_c2),
  SHARED_EE_OBJ_M (PERSISTENT_DATA_T, EE_persistent_data_c1, PERSISTENT_DATA_C1_EEPROM_BASE_ADDRESS),
  SHARED_EE_OBJ_M (PERSISTENT_DATA_T, EE_persistent_data_c2, PERSISTENT_DATA_C2_EEPROM_BASE_ADDRESS),
...
} ;

global.h

typedef struct {
   // preamble that should appear at the start of all shared objects - use the same field names
  UINT32_T pytable_crc;         // this is the standard header, use CRC8 for now.
  UINT16_T pytable_version;
  UINT16_T pytable_length;
  UINT32_T pytable_magic;       // "hash" for this typedef from the file pygen_shared_object_hash_codes.h

  //////////////////
  // use table data to follow.  only use 'primitive' C types
  UINT32_T count;
} PERSISTENT_DATA_T;

extern PERSISTENT_DATA_T persistent_data_c1; 
extern PERSISTENT_DATA_T persistent_data_c2; 

global.c

PERSISTENT_DATA_T persistent_data_c1; 
PERSISTENT_DATA_T persistent_data_c2; 

void init_global(void) {
 ...
 ZERO_OBJ(persistent_data_c1);
 ZERO_OBJ(persistent_data_c2);
 ...
}

how to load / save

A general purpose solution does not yet exist. However common_files/eeprom_table.c and the following are an example:

ERRCODE_T persistent_load() {
  ERRCODE_T ecode;
  MEMORY_ADDRESS_T mem;
  PERSISTENT_DATA_T local_stack_obj;
  UINT16_T table_size = sizeof(  PERSISTENT_DATA_T);

  mem.type = MEMORY_TYPE_TO_USE_FOR_TABLE_STORAGE;
  mem.address = PERSISTENT_DATA_C1_EEPROM_BASE_ADDRESS;

  // copy EEPROM table into local storage until it is validated
  ecode = eeprom_table_read( (TABLE_HEADER_T *)&local_stack_obj, table_size, &mem, PERSISTENT_DATA_T_HASH);

// PERSISTENT_DATA_T_HASH comes from pygen_shared_object_hash_codes.h and is 32 bits of the MD5 HASH of the typedef source code.  

  if (ecode) return ecode; // invalid table

  // if there were no errors and thus the table is valid, then copy into the walking_param state structure
  ecode = memcpy((UINT8_T *)&persistent_data_c1, (UINT8_T *)&local_stack_obj, table_size);

  return ecode;
}

access

• Use "robo_config.py" to read / write these tables.
• robo_config.py -p <serial port> -l
• will list all the tables in the robot

imu calibration table docs

TBC

Example KVF with calibration data:

[EE_imu_model_calibrationTable]

serial_number        = 33

accXgain             =  4.839633e-003
accYgain             =  4.630313e-003
accZgain             =  4.735434e-003

accXoffset           = -1.684186e+002
accYoffset           =  5.055467e+002
accZoffset           = -5.931334e+002

gyroXgain            =  7.628163e-004
gyroYgain            =  7.753409e-004
gyroZgain            =  6.809857e-004

gyroXoffset          = -1.153796e+003
gyroYoffset          = -1.272726e+003
gyroZoffset          = -4.543681e+002

USMacc4acc[9]        =  9.999594e-001 -1.322563e-002  5.033391e-003  8.940409e-003  9.986601e-001  4.106794e-002  1.119896e-003 -5.003061e-002  9.991437e-001 

USMacc4gyro[9]       =  0 0 0   0 0 0   0 0 0 

USMgyro4acc[9]       =  0.000000e+000  0.000000e+000  0.000000e+000  0.000000e+000  0.000000e+000  0.000000e+000  0.000000e+000  0.000000e+000  0.000000e+000 

USMgyro4gyro[9]      =  9.993670e-001 -2.109546e-002  2.492205e-002 -1.123791e-002  9.991589e-001  1.420475e-002  3.375426e-002  3.516471e-002  9.995885e-001