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Feat(#3): Add TMC anticogging slewratedetector #169

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Feat(#3): Add TMC anticogging slewratedetector #169

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8aababa
docs: pure code cleanup, typing and Doxygen documentation
manoukianv Apr 25, 2026
432ee1d
feat: add torque slew rate limiter and driver calibration
manoukianv Apr 25, 2026
eb293ae
feat: refactor torque calculation into a 7-step pipeline
manoukianv Apr 25, 2026
820da33
feat: add ARM CMSIS-DSP library infrastructure and optimized filters
manoukianv Apr 25, 2026
1363b78
feat: add FFB reconstruction filter and DSP optimizations
manoukianv Apr 25, 2026
30e1006
feat: final TMC optimizations, project configs and build tools
manoukianv Apr 25, 2026
9640cda
feat: migrate to new CMIS-DSP source code
manoukianv Apr 29, 2026
132b991
fix: git clone submodule for cmis-dsp
manoukianv Apr 29, 2026
3f29ef8
fix: bug in slew rate when rotation is inverted.
manoukianv May 10, 2026
7171d59
feat: add equalizer and handsoff detection
manoukianv May 10, 2026
ae2d1e4
fix: add missing source in DSP for handsup
manoukianv May 10, 2026
c4c1d08
fix: fix the denormalisation issue in calculateFFBTorque. Optimize th…
manoukianv May 10, 2026
5676cf7
feat(equalizer): change first and last filter type to improve the fee…
manoukianv May 24, 2026
ab419de
fix: resolve boot-up deadlocks and refactor TMC state machine to non-…
manoukianv May 10, 2026
79a4fc2
feat: add anti-cogging calibration with heap memory management
manoukianv May 10, 2026
245a708
feat: implement slew rate detector and limiter for motor drivers
manoukianv May 10, 2026
afcce10
fix: move the cogging data in area where th eeprom manager can safely…
manoukianv May 10, 2026
3d2460c
fix: update algo to optimisation memory usage to keep max free space …
manoukianv May 10, 2026
451b0dd
feat: add linear interpolation on "cogging sample"
manoukianv May 10, 2026
b46c464
fix: move the anticogging process in turn to synchronise the anti-cog…
manoukianv May 10, 2026
60cd285
feat: reduce cogging detection speed. Rework security i.e. stop if em…
manoukianv May 10, 2026
d53090f
feat: add security on cogging launch to not start if motor is not ready.
manoukianv May 10, 2026
3ae5de8
fix_temp: try to solve calib issue
manoukianv May 10, 2026
bf91f91
fix: memory optimisation to safety launch the firmware
manoukianv May 10, 2026
275f675
feat: restaure the atomic process to have a high refresh rate to capt…
manoukianv May 10, 2026
535f967
fix: optimize th calibration process.
manoukianv May 10, 2026
240beb0
feat: migrate cogging detection to FFT
manoukianv May 10, 2026
994036d
fix: move memory var for cogging to memory.
manoukianv May 10, 2026
b9e135b
feat: move to DFT.
manoukianv May 10, 2026
eabb323
fix: clean init method for cogging data
manoukianv May 10, 2026
9d26a97
fix: first simulation on cogging table.
manoukianv May 10, 2026
ce67820
Fix: angles and phases on simulation
manoukianv May 10, 2026
a93c2b5
fix: fix the Pi/2 offset of phasis on cogging analysis.
manoukianv May 10, 2026
a4ef9a0
fix: autotune on pid have too much message, clean the new one. Remove…
manoukianv May 10, 2026
c489fb4
fix: motor init
manoukianv May 10, 2026
213d0ed
feat: cogging dework add software pid for velocity and fix cogging de…
manoukianv May 10, 2026
316b9bd
fix: improve the pid autodetect
manoukianv May 10, 2026
7ce2446
feat: add fine tuning of pid velocity controler
manoukianv May 10, 2026
f769586
feat: add windows read during pid calibration to increase ability to …
manoukianv May 10, 2026
2c96929
fix: add resetwatchdog to prevent reboot.
manoukianv May 10, 2026
1809d90
fix: remove EMA filter
manoukianv May 10, 2026
743233d
fix: rework call function
manoukianv May 10, 2026
2635de6
fix: during pid optimisation, go back to best settings found.
manoukianv May 10, 2026
97f08a1
feat: return to 0 after cogging detection, and redo a calibration.
manoukianv May 10, 2026
d089ff7
fix: move to extern helper function
manoukianv May 10, 2026
fd2d017
fix: add log on return to debug.
manoukianv May 10, 2026
5286cab
fix: continue to debug
manoukianv May 10, 2026
211f227
fix: improve the quality of the return
manoukianv May 10, 2026
3e3a0b8
fix: compensation direction
manoukianv May 10, 2026
36a5763
fix: change system to return to pid, and used the real position.
manoukianv May 10, 2026
bf82a29
fix: increase pid to manage better return to home.
manoukianv May 10, 2026
e78077a
fix: remove the EMA filter on the return position on the end.
manoukianv May 10, 2026
1f5260c
feat: add security to close a tour.
manoukianv May 10, 2026
f5f31a3
fix : the sign of the error when returning to home
manoukianv May 10, 2026
4401dee
fix: remove th speed wrapper and the logger in the loop to be able to…
manoukianv May 10, 2026
3329037
fix : add more attemps during cailbration and cap to 3°
manoukianv May 10, 2026
4fd0b52
fix: add warning message on high inertia, add succcess condition on a…
manoukianv May 10, 2026
78d07e1
Fix: then angle conversion in pid autotune and new coeff.
manoukianv May 10, 2026
bc9c375
fix: add warmup and remove smooth start on return to home.
manoukianv May 10, 2026
7e1d8aa
fIx: compilation issue.
manoukianv May 10, 2026
f1df3e1
fix: rework autotune to tune the 3 params.
manoukianv May 11, 2026
4515398
fix: reset the phases to the old process
manoukianv May 11, 2026
1295d7b
feat: add a security on the out of bound to check fatal error only wh…
manoukianv May 11, 2026
e312dc7
fix: instability on rotation due to warm_up torque.
manoukianv May 11, 2026
690eb4e
fix: update the graph response and add attenuation factor.
manoukianv May 11, 2026
ce6bbe1
fix: desktop effect in wrong way, the torque are not aaplyed in tight…
manoukianv May 12, 2026
645cc7b
feat: move graph to dft factor
manoukianv May 12, 2026
df95ba3
feat: add magnitude slider
manoukianv May 12, 2026
257fb53
fix revert cogging direction for better result
manoukianv May 12, 2026
497dfb6
fix: disable mechanical effet during the calibration process.
manoukianv May 13, 2026
4ba77ea
feat: add message during calibration
manoukianv May 13, 2026
035edfa
feat: rework the autotune pid to shot the best sweet pot between 0.8 …
manoukianv May 13, 2026
6fdbc8a
fix: add logger, smooth the coeff.
manoukianv May 14, 2026
74dd130
Fix: invert on encoder and remove static on a loop
manoukianv May 14, 2026
3a03e0b
fix: the turn overide on the chatter of position. Add a quick compens…
manoukianv May 14, 2026
e6ac1b9
fix: order compensation to not overload when there is chatter.
manoukianv May 14, 2026
05bee28
fix: encoder convertion in absolute during autopid, add security on m…
manoukianv May 14, 2026
a167b02
fix: slow down more
manoukianv May 14, 2026
ecfcd36
fix: reverse on the old algo
manoukianv May 14, 2026
c74a775
feat: rework the PID algo to take in count lag/vibration vs fine tuni…
manoukianv May 15, 2026
3f27951
fix: removed forbiden [] char in response.
manoukianv May 15, 2026
342ddda
fix: command issue, and backup best values.
manoukianv May 15, 2026
31d41f6
feat: update doc.
manoukianv May 15, 2026
a289ad0
feat: REMOVE instable Ziegler-Nichols method, move to dynamic motor r…
manoukianv May 16, 2026
a35ac2b
fix: convert degree in radian
manoukianv May 16, 2026
b93c943
fix: add feedforward on motor tuning, and tune other setup.
manoukianv May 16, 2026
9ae4549
fix: stabilise the new algo to get it ok for mige 15015.
manoukianv May 18, 2026
2c3954f
fix: try to find a solution for laggy motor.
manoukianv May 18, 2026
94d4a16
feat: optimise constant on the detection.
manoukianv May 19, 2026
a2d8e52
fix: improve range of cogging analysis.
manoukianv May 19, 2026
7b98065
feat: improve the anticogging to 5khz, and catch the acceleration ene…
manoukianv May 20, 2026
e606c58
fix: update doc
manoukianv May 20, 2026
3138969
fix: memory leak
manoukianv May 21, 2026
fb9e3e2
feat: impletement hardware time to manage
manoukianv May 22, 2026
278bf7f
fix: flux maintain after calibration
manoukianv May 23, 2026
6a7206c
feat(cogging): Refactor cogging calibration for dynamic encoder profi…
manoukianv May 24, 2026
d90b460
feat(cogging): rework the autoscale to have a optimistic discover.
manoukianv May 24, 2026
217a7d9
fix(cogging): fix the memory usage of cooging scaler.
manoukianv May 24, 2026
603a347
feat(cogging): add cogging current to realtime logging
manoukianv May 24, 2026
46ecd1f
fix: add security on turn to remove the cogging during a calibration.…
manoukianv May 24, 2026
3b1d99e
fix(cogging): fix the acttrq response format to use ":" befor cogging
manoukianv May 24, 2026
eac8b73
fix(cogging): change log message during Calibration. Enable turn alwa…
manoukianv May 24, 2026
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2 changes: 2 additions & 0 deletions .github/workflows/build-firmware.yml
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Original file line number Diff line number Diff line change
Expand Up @@ -32,6 +32,8 @@ jobs:
steps:
# Checks-out your repository under $GITHUB_WORKSPACE, so your job can access it
- uses: actions/checkout@v4
with:
submodules: 'recursive'

- {uses: ./.github/actions/build-firmware, with: {target: '${{ matrix.target }}', path: 'Output'}}

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3 changes: 3 additions & 0 deletions .gitmodules
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Expand Up @@ -6,3 +6,6 @@
path = Hardware
url = https://github.com/Ultrawipf/OpenFFBoard-hardware.git
branch = master
[submodule "Firmware/Libraries/CMSIS-DSP"]
path = Firmware/Libraries/CMSIS-DSP
url = https://github.com/ARM-software/CMSIS-DSP.git
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