Update README; Update Getting Started page; Move panic() on FLASH_SAFE_EXECUTE_CORE_INIT_FAILURE to core1; Implement k_ff feed forward factor via CV_47;

Author: gab-k

README.md

@@ -37,6 +37,9 @@ So suggestions on how to improve things and bug reports are always much apprecia
 The wiki is also work in progress and will be updated to be as comprehensive as possible.
 
 ------------
-![rotating gif of RP2040-Decoder](https://raw.githubusercontent.com/gab-k/RP2040-Decoder/refs/heads/gh-pages-dev/img/rotating.gif)
+<div style="display: flex; justify-content: space-between; align-items: center;">
+  <img src="https://raw.githubusercontent.com/gab-k/RP2040-Decoder/refs/heads/gh-pages-dev/img/top.png" alt="Image 1" style="width: 50%;"/>
+  <img src="https://raw.githubusercontent.com/gab-k/RP2040-Decoder/refs/heads/gh-pages-dev/img/bottom.png" alt="Image 2" style="width: 50%;"/>
+</div>
 
 

Software/CV.h

@@ -62,9 +62,8 @@ uint8_t CV_ARRAY_DEFAULT [CV_ARRAY_SIZE] = {
    0b00000000,         //CV_44  -
    0b00000000,         //CV_45  -
    0b00000000,         //CV_46  -
-   // TODO: Update controller CVs and implement/redefine k_ff  in the speed controller initialization
    // Speed controller - Configuration /////////////////////////////////////////////////////////////////////////////////
-   0b00110010,         //CV_47  -   Feed-forward gain k_ff      =   CV_47/10000     Default = 50 -> 0.005             //
+   0b11100110,         //CV_47  -   Feed-forward factor k_ff in % = CV_47/255  Default = 230 -> 0.902 = 90.2%         //
    0b00001010,         //CV_48  -   PID Control low pass filter time constant (tau) in ms                             //
    0b00000101,         //CV_49  -   PID Control sampling time t in ms                                                 //
    0b00011001,         //CV_50  -   PID Control I_Factor        =   CV_50/10        Default = 25 -> 2.5               //

Software/core0.c

@@ -784,15 +784,7 @@ int main() {
     while (!flash_safe_execute_core_init_done) {
         watchdog_update();
     }
-
-    busy_wait_ms(100);
 
-
-    // Check for error calling flash_safe_execute_core_init() on core1
-    if(get_error_state() & FLASH_SAFE_EXECUTE_CORE_INIT_FAILURE){
-        panic("Error calling flash_safe_execute_core_init() on core1!"); //TODO: test
-    }
-
     // Check CV array for factory state of flash or missing ADC offset setup
     cv_setup_check();
 

Software/core1.c

@@ -180,8 +180,8 @@ void controller_startup_mode(controller_parameter_t *const ctrl_par) {
         ctrl_par->startup.base_pwm_arr_i = (ctrl_par->startup.base_pwm_arr_i+1)%BASE_PWM_ARR_LEN;
         // Set ramp_up_mode flag to true
         ctrl_par->mode = PID_MODE;
-        // multiply with constant value of 0.9 and set as current feed forward value for pid mode
-        ctrl_par->feed_fwd = 0.9f * (float)ctrl_par->startup.level;
+        // Multiply with k_ff constant and set as current feed forward value
+        ctrl_par->feed_fwd = ctrl_par->startup.k_ff * (float)ctrl_par->startup.level;
     }
 }
 
@@ -229,7 +229,6 @@ void controller_pid_mode(controller_parameter_t *const ctrl_par) {
 }
 
 // General controller function gets called every x milliseconds where x is CV_49 i.e. sampling time (pid->t)
-// TODO: Consider fixed point arithmetic to improve performance...
 void controller_general(controller_parameter_t * ctrl_par) {
     // Change in direction -> reset previous derivative, error and integral parts and pwm_base_done
     const bool direction_changed = get_direction_of_speed_step(speed_step_target) !=
@@ -275,11 +274,16 @@ void init_controller(controller_parameter_t *const ctrl_par) {
     LOG(1, "Motor controller initialization...\n")
     // General controller variables
     ctrl_par->mode = STARTUP_MODE;
+    ctrl_par->measurement = 0.0f;
+    ctrl_par->measurement_prev = 0.0f;
+    ctrl_par->measurement_corrected = 0.0f;
+    ctrl_par->setpoint = 0;
     ctrl_par->feed_fwd = 0;
 
     // Startup controller variables
     ctrl_par->startup.level = 0;
     ctrl_par->startup.base_pwm_arr_i = 0;
+    ctrl_par->startup.k_ff = (float) CV_ARRAY_FLASH[46]/255;
     for (int i = 0; i < BASE_PWM_ARR_LEN; ++i) {
         ctrl_par->startup.base_pwm_arr[i] = 0;
     }
@@ -331,11 +335,6 @@ void init_controller(controller_parameter_t *const ctrl_par) {
     ctrl_par->pid.k_p_m_1 = (ctrl_par->pid.k_p_y_1 - ctrl_par->pid.k_p_y_0) / ctrl_par->pid.k_p_x_1;
     ctrl_par->pid.k_p_m_2 = (ctrl_par->pid.k_p_y_2 - ctrl_par->pid.k_p_y_1) / ctrl_par->pid.k_p_x_2;
 
-    // General Controller initialization
-    ctrl_par->measurement = 0.0f;
-    ctrl_par->measurement_prev = 0.0f;
-    ctrl_par->measurement_corrected = 0.0f;
-    ctrl_par->setpoint = 0;
     LOG(1, "Motor controller initialization done!\n")
 }
 
@@ -356,6 +355,7 @@ void core1_entry() {
     flash_safe_execute_core_init_done = flash_safe_execute_core_init();
     if (flash_safe_execute_core_init_done != true){
         set_error(FLASH_SAFE_EXECUTE_CORE_INIT_FAILURE);
+        panic("Error calling flash_safe_execute_core_init() on core1!");
         return;
     }
 

Software/core1.h

@@ -42,6 +42,7 @@ typedef struct startup_parameters_t {
     uint16_t level; /**< Latest level */
     uint16_t base_pwm_arr[BASE_PWM_ARR_LEN]; /**< base pwm ring buffer array */
     uint16_t base_pwm_arr_i; /**< base pwm ring buffer array index */
+    float k_ff; /**< Feed forward factor */
 }startup_parameters_t;
 
 /**

Software/shared.c

@@ -6,7 +6,7 @@
 
 #include "shared.h"
 
-// TODO: Implement enum typedef for speed steps, also getter and setter functions checking validity of speed step values.
+// TODO: Implement getter and setter functions for speed steps, checking validity of speed step values.
 speed_step_t speed_step_target = SPEED_STEP_REVERSE_STOP;
 speed_step_t speed_step_target_prev = SPEED_STEP_REVERSE_STOP;
 bool cv_setup_check_done = false;

docs/sphinx/source/gs/getting_started.rst

@@ -21,10 +21,12 @@ In case you are ordering from JLCPCB it is recommended to use the `Fabrication-T
 If you got a RP2040-Decoder with USB the easiest way to get the RP2040-Decoder up and running is to just use the precompiled .uf2 file in the latest `release <https://github.com/gab-k/RP2040-Decoder/releases>`_ and skip to :ref:`flashing_the_software`.
 
 However sometimes you might want to build by yourself, be it for debugging or to make your own modifications to the source code.
-The easiest way to do this is to just use `Visual Studio Code <https://code.visualstudio.com/>`_ and the Raspberry Pi Pico extension. 
+The easiest way to do this is to just use `Visual Studio Code <https://code.visualstudio.com/>`_ and the `Raspberry Pi Pico extension <https://marketplace.visualstudio.com/items?itemName=raspberry-pi.raspberry-pi-pico>`_. 
 The `official documentation <https://datasheets.raspberrypi.com/pico/getting-started-with-pico.pdf#vscode-extension>`_ of the Pi Pico does a great job of explaining this in detail.
 
-Note: If you are building for Hardware Rev 0.3 or below change the board defintion in your CMakeLists.txt file to: "RP2040-Decoder-board-legacy.h"
+.. note::
+   - Make sure to choose the correct board definition file in your CMakeLists.txt file for example ``RP2040-Decoder-board-Rev-1_0`` for Hardware Rev 1.0.
+   - In VSCode open the "Software" subdirectory for the extension to detect you project automatically.
 
 .. _flashing_the_software: