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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
74193bc
fix: resolve boot-up deadlocks and refactor TMC state machine to non-…
manoukianv May 10, 2026
7c0297c
feat: add anti-cogging calibration with heap memory management
manoukianv May 10, 2026
4b42bee
feat: implement slew rate detector and limiter for motor drivers
manoukianv May 10, 2026
733b026
fix: move the cogging data in area where th eeprom manager can safely…
manoukianv May 10, 2026
5ff209e
fix: update algo to optimisation memory usage to keep max free space …
manoukianv May 10, 2026
932a08d
feat: add linear interpolation on "cogging sample"
manoukianv May 10, 2026
1b0cd2c
fix: move the anticogging process in turn to synchronise the anti-cog…
manoukianv May 10, 2026
b887742
feat: reduce cogging detection speed. Rework security i.e. stop if em…
manoukianv May 10, 2026
17732bf
feat: add security on cogging launch to not start if motor is not ready.
manoukianv May 10, 2026
2f54281
fix_temp: try to solve calib issue
manoukianv May 10, 2026
45f2f95
fix: memory optimisation to safety launch the firmware
manoukianv May 10, 2026
cd7ac6c
feat: restaure the atomic process to have a high refresh rate to capt…
manoukianv May 10, 2026
177e98b
fix: optimize th calibration process.
manoukianv May 10, 2026
944c2a1
feat: migrate cogging detection to FFT
manoukianv May 10, 2026
0066a98
fix: move memory var for cogging to memory.
manoukianv May 10, 2026
5f63f41
feat: move to DFT.
manoukianv May 10, 2026
1b8be76
fix: clean init method for cogging data
manoukianv May 10, 2026
568d111
fix: first simulation on cogging table.
manoukianv May 10, 2026
ef85cdd
Fix: angles and phases on simulation
manoukianv May 10, 2026
bffc62f
fix: fix the Pi/2 offset of phasis on cogging analysis.
manoukianv May 10, 2026
622cbcd
fix: autotune on pid have too much message, clean the new one. Remove…
manoukianv May 10, 2026
71e8ee9
fix: motor init
manoukianv May 10, 2026
31f241c
feat: cogging dework add software pid for velocity and fix cogging de…
manoukianv May 10, 2026
bc07d50
fix: improve the pid autodetect
manoukianv May 10, 2026
f47837d
feat: add fine tuning of pid velocity controler
manoukianv May 10, 2026
810facf
feat: add windows read during pid calibration to increase ability to …
manoukianv May 10, 2026
ec3843b
fix: add resetwatchdog to prevent reboot.
manoukianv May 10, 2026
48ef4a5
fix: remove EMA filter
manoukianv May 10, 2026
9018ba9
fix: rework call function
manoukianv May 10, 2026
38dda0d
fix: during pid optimisation, go back to best settings found.
manoukianv May 10, 2026
9aba1ff
feat: return to 0 after cogging detection, and redo a calibration.
manoukianv May 10, 2026
49b4503
fix: move to extern helper function
manoukianv May 10, 2026
0aa6a18
fix: add log on return to debug.
manoukianv May 10, 2026
7374f87
fix: continue to debug
manoukianv May 10, 2026
bf0564d
fix: improve the quality of the return
manoukianv May 10, 2026
1f2b9b7
fix: compensation direction
manoukianv May 10, 2026
846919c
fix: change system to return to pid, and used the real position.
manoukianv May 10, 2026
54f66fc
fix: increase pid to manage better return to home.
manoukianv May 10, 2026
dfef464
fix: remove the EMA filter on the return position on the end.
manoukianv May 10, 2026
c341d67
feat: add security to close a tour.
manoukianv May 10, 2026
06c57d5
fix : the sign of the error when returning to home
manoukianv May 10, 2026
9440225
fix: remove th speed wrapper and the logger in the loop to be able to…
manoukianv May 10, 2026
00905a9
fix : add more attemps during cailbration and cap to 3°
manoukianv May 10, 2026
4fac553
fix: add warning message on high inertia, add succcess condition on a…
manoukianv May 10, 2026
5cc4464
Fix: then angle conversion in pid autotune and new coeff.
manoukianv May 10, 2026
2b2da82
fix: add warmup and remove smooth start on return to home.
manoukianv May 10, 2026
166ac55
fIx: compilation issue.
manoukianv May 10, 2026
0acdae9
fix: rework autotune to tune the 3 params.
manoukianv May 11, 2026
0cc062a
fix: reset the phases to the old process
manoukianv May 11, 2026
4e98793
feat: add a security on the out of bound to check fatal error only wh…
manoukianv May 11, 2026
a6345a4
fix: instability on rotation due to warm_up torque.
manoukianv May 11, 2026
5447e00
fix: update the graph response and add attenuation factor.
manoukianv May 11, 2026
44e2640
fix: desktop effect in wrong way, the torque are not aaplyed in tight…
manoukianv May 12, 2026
3d8bd5c
feat: move graph to dft factor
manoukianv May 12, 2026
0d31fd9
feat: add magnitude slider
manoukianv May 12, 2026
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2 changes: 2 additions & 0 deletions .github/workflows/build-firmware.yml
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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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