Heartbeat feature #32
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@at-wat PTAL |
| @@ -586,7 +586,7 @@ int main() | |||
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| // Enable watchdog | |||
| printf("Watchdog init\n\r"); | |||
| AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDRSTEN | 0xFF00FF; // 1s | |||
| AT91C_BASE_WDTC->WDTC_WDMR = AT91C_WDTC_WDRSTEN | 0x7d007d0; | |||
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In my understanding, watchdog count clock is 32.768kHz divided by 128 = 256 Hz. (datasheet 15. Watchdog Timer (WDT))
0x7d0 means 7.8 seconds?
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that's my bad. will revert it back.
| @@ -655,7 +655,8 @@ int main() | |||
| // Driver loop | |||
| while (1) | |||
| { | |||
| AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000; | |||
| if (!HEARTBEAT) | |||
| AT91C_BASE_WDTC->WDTC_WDCR = 1 | 0xA5000000; | |||
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The watchdog timer should be reset automatically before entering servo_level > SERVO_LEVEL_STOP.
Otherwise, the device periodically resets its-self including USB connection which is not good behavior.
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it's continuously checked in timer0_vel_calc(), right?
so, you mean, it's better to switch servo_level to STOP if heartbeat doesn't arrive?
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After the power on, servo_level goes SERVO_LEVEL_STOP until PC (yp-spur) starts communicating with the device and changes control mode to SERVO_LEVEL_TORQUE or SERVO_LEVEL_VELOCITY.
If watchdog time is not cleared automatically on SERVO_LEVEL_STOP, the device triggers reset for every watchdog duration.
This resets USB connection and make PC difficult to start the communication.
so, you mean, it's better to switch servo_level to STOP if heartbeat doesn't arrive?
That's not what I would like to say in the previous comment.
But It is sounds also good to make the device always under control. (Everything is uncontrollable during reset.)
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As we discussed, I'm gonna stop the motor from the power cycle via a I/O pin. According to the hardware team, a corresponded pin has not been decided yet.
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I changed the code base since we decided to use RS485 communication instead. |
closes #29