Make Vcc an input as a new field of SensorsData; Disable Temperature Estimation

[pattacini]

This PR implements #10.

We can start testing the architectural changes once @sgiraz is done with the low-level handling of the Vcc readings¹.

@marcoaccame already implemented the reading of Vcc on the AMCBLDC board.
@sgiraz is doing the same on AMC.

Important

Clearly, the glue code now needs to pass Vcc as an input. Find below the related references.

struct SupplyVoltage
{
  real32_T voltage;
};

struct SensorsData
{
  // position encoders
  JointPositions jointpositions;

  // motor probes
  MotorSensors motorsensors;

  // supply probes
  SupplyVoltage supplyvoltagesensors;
};

Note

Prior to this PR, Vcc was initialized to $44$ V as a configuration parameter.

---

@mfussi66, once the PR is merged, you'd need to update the new project consistently.

Footnotes

1. Actually, we could go on straight away and pass Vcc as a static input for the moment. ↩

[pattacini]

cc @Nicogene

[pattacini]

1aa4764 adds the wrapping angle functionality so that FOC can now guarantee that the input electrical angle is always in the correct range [0, 2$\pi$] to let the CMSIS sin/cos operate as expected. This is much safer.

Warning

In order to generate the code, I had to enable the configuration option variable-sized signals for all the models.

@sgiraz, we can give it a run to the whole PR.
@mfussi66, we should consider this point as well to be ported to the new architectural model.

[pattacini]

941628b introduces a variant subsystem approach to disable temperature estimation, which is currently unfinished. This could give us some margin on the overall FOC computation time.

Note

By default, the variant parameter is set such that the temperature estimation is OFF.
The Variant Manager can be used to enable/disable the functionality.

[pattacini]

Tip

To settle things once for good, I've provided variants implementations of the Sin/Cos with CMSIS and STD, being the former the default (for the moment):

[pattacini]

Important

To use the new variant features, we're required to install the Variant Manager Adds-On.

[sgiraz]

Hi @pattacini, PR Tested successfully on lego-setup w/ amcbldc! 👍🏻

FOC duration on amcbldc is about 15.5 us:

global view	zoomed in

Here are the current (Iq), velocity, and position at different targets in current control mode:

cc @marcoaccame @Nicogene

[pattacini]

Thanks heaps @sgiraz!
Merging.

[pattacini]

Important

To use the new variant features, we're required to install the Variant Manager Adds-On.

cc @mfussi66 @valegagge @ale-git

[valegagge]

Important
To use the new variant features, we're required to install the Variant Manager Adds-On.

cc @mfussi66 @valegagge @ale-git

What do you think if we create a wiki page where all necessary adds-on are listed, so those are not used to work with the model could install all necessary stuff?

@pattacini @sgiraz @mfussi66

[pattacini]

Yes, I took note of this request.
My idea is rather to fill in the documentation with the missing information.

We still have to complete the (long overdue) task of documenting our journey 😄

• Complete the online documentation of the models underlying the new electronic boards #13