Add options 'deadzone' for endpoints and 'max_calib_koef' for motor

Firmware/MotorControl/low_level.cpp

@@ -387,8 +387,14 @@ void update_brake_current() {
 
 static void update_analog_endpoint(const struct PWMMapping_t *map, int gpio)
 {
-    float fraction = get_adc_voltage(get_gpio(gpio)) / 3.3f;
-    float value = map->min + (fraction * (map->max - map->min));
+    float fraction = get_adc_relative_voltage(get_gpio(gpio));
+    float value = apply_deadband(fraction,
+        0.0, map->min,
+        1.0, map->max,
+        map->deadband_enable,
+        map->deadband_start, map->deadband_level,
+        map->deadband_end, map->deadband_level
+    );
     fibre::set_endpoint_from_float(map->endpoint, value);
 }
 

Firmware/MotorControl/motor.cpp

@@ -329,7 +329,7 @@ bool Motor::setup() {
     // Clip all current control to actual usable range
     max_allowed_current_ = max_unity_gain_current * phase_current_rev_gain_;
 
-    max_dc_calib_ = 0.1f * max_allowed_current_;
+    max_dc_calib_ = config_.max_dc_calib_koef * max_allowed_current_;
 
     if (!gate_driver_.init())
         return false;

Firmware/MotorControl/motor.hpp

@@ -48,6 +48,7 @@ class Motor : public ODriveIntf::MotorIntf {
         float I_leak_max = 0.1f;
 
         float dc_calib_tau = 0.2f;
+        float max_dc_calib_koef = 0.1f;
 
         // custom property setters
         Motor* parent = nullptr;

Firmware/MotorControl/odrive_main.h

@@ -57,6 +57,10 @@ struct PWMMapping_t {
     endpoint_ref_t endpoint = {0, 0};
     float min = 0;
     float max = 0;
+    bool deadband_enable = false;
+    float deadband_start = 0;
+    float deadband_end = 1;
+    float deadband_level = 0;
 };
 
 // @brief general user configurable board configuration

Firmware/MotorControl/pwm_input.cpp

@@ -1,4 +1,6 @@
 
+#include <utils.hpp>
+
 #include "pwm_input.hpp"
 #include "odrive_main.h"
 
@@ -39,8 +41,13 @@ void handle_pulse(int channel, uint32_t high_time) {
     if (high_time > PWM_MAX_HIGH_TIME)
         high_time = PWM_MAX_HIGH_TIME;
     float fraction = (float)(high_time - PWM_MIN_HIGH_TIME) / (float)(PWM_MAX_HIGH_TIME - PWM_MIN_HIGH_TIME);
-    float value = odrv.config_.pwm_mappings[channel].min +
-                  (fraction * (odrv.config_.pwm_mappings[channel].max - odrv.config_.pwm_mappings[channel].min));
+    float value = apply_deadband(fraction,
+        0.0, odrv.config_.pwm_mappings[channel].min,
+        1.0, odrv.config_.pwm_mappings[channel].max,
+        odrv.config_.pwm_mappings[channel].deadband_enable,
+        odrv.config_.pwm_mappings[channel].deadband_start, odrv.config_.pwm_mappings[channel].deadband_level,
+        odrv.config_.pwm_mappings[channel].deadband_end, odrv.config_.pwm_mappings[channel].deadband_level
+    );
 
     fibre::set_endpoint_from_float(odrv.config_.pwm_mappings[channel].endpoint, value);
 }

Firmware/MotorControl/utils.cpp

@@ -188,3 +188,49 @@ void delay_us(uint32_t us)
     }
 }
 
+float apply_deadband(float fraction,
+        float fraction_min, float level_min,
+        float fraction_max, float level_max,
+        bool deadband_enable,
+        float deadband_start, float deadband_start_level,
+        float deadband_end, float deadband_end_level) {
+    float x1, y1, x2, y2;
+    float x = fraction;
+
+    if (fraction <= fraction_min)
+        return level_min;
+    else if (fraction >= fraction_max)
+        return level_max;
+    else if (!(deadband_enable && 
+               fraction_min <= deadband_start && 
+               deadband_start <= deadband_end && 
+               deadband_end <= fraction_max)) {
+        x1 = fraction_min;
+        x2 = fraction_max;
+        y1 = level_min;
+        y2 = level_max;
+    }
+    else if (x < deadband_start) {
+        x1 = fraction_min;
+        x2 = deadband_start;
+        y1 = level_min;
+        y2 = deadband_start_level;
+    }
+    else if (x <= deadband_end) {
+        x1 = deadband_start;
+        x2 = deadband_end;
+        y1 = deadband_start_level;
+        y2 = deadband_end_level;
+    }
+    else {
+        x1 = deadband_end;
+        x2 = fraction_max;
+        y1 = deadband_end_level;
+        y2 = level_max;
+    }
+
+    if (x1 >= x2)
+        return (y1 + y2) * 0.5f;
+
+    return y1 + (x - x1) / (x2 - x1) * (y2 - y1);
+}

Firmware/MotorControl/utils.hpp

@@ -71,6 +71,12 @@ uint32_t timeout_to_deadline(uint32_t timeout_ms);
 int is_in_the_future(uint32_t time_ms);
 uint32_t micros(void);
 void delay_us(uint32_t us);
+float apply_deadband(float fraction,
+    float fraction_min, float level_min,
+    float fraction_max, float level_max,
+    bool deadband_enable,
+    float deadband_start, float deadband_start_level,
+    float deadband_end, float deadband_end_level);
 
 extern "C" {
 float our_arm_sin_f32(float x);

Firmware/odrive-interface.yaml

@@ -432,6 +432,10 @@ interfaces:
       endpoint: endpoint_ref
       min: float32
       max: float32
+      deadband_enable: bool
+      deadband_start: float32
+      deadband_end: float32
+      deadband_level: float32
 
   ODrive.Axis:
     c_is_class: True
@@ -935,6 +939,10 @@ interfaces:
               Note that this feature is only works on devices with three current
               sensors (e.g. ODrive v4).
           dc_calib_tau: float32
+          max_dc_calib_koef:
+            type: float32
+            status: experimental
+            brief: Max current deviation from zero-level, relative to maximum allowed current
 
   ODrive.Oscilloscope:
     c_is_class: True