topic Re: Flash System Parameters Do Not Change in Kinetis Motor Suite

Flash System Parameters Do Not Change

derekcook — Thu, 23 Aug 2018 20:27:00 GMT

In my software, I have a parameter tuning thought. This is in case the motor I am controlling changes. Therefore, as long as KMS is in the IDLE state, and the motor is not being controlled, I let the master controller send me a list of motor parameters via SPI to store into the flash system params. I do this, and then recall DRV_INIT(). This does not seem to cause any problems, and most parameters change, however, I have identified 2 that do not, and want to be sure I am taking the correct steps to change parameters on the fly like this.

Currently, I am just calling DRV_Init() again after setting the new flashSysParams. Is there anything else I need to do?

The 2 that do not change are encoder pole pairs, as well as TRAJVEL Acceleration Limit, this process does not seem to work for these two parameters.

Do I need to do anything extra besides calling DRV_Init() after setting the flashSysParams value to change some of these parameters, such as the 2 listed above?

This is what I am doing:

flashSysParams->motorParams.polePairs = tuning_params[PARAM_MOTOR_POLE_PAIRS].tuningValue;

flashSysParams->trajvelCfg.limitAcc = _LQ(tuning_params[PARAM_ACCEL_LIM].tuningValue/FULL_SCALE_SPEED_RPM);

/* Init Platform Independent Motor Commander Core */
DRV_init(&flashSysParams);

Re: Flash System Parameters Do Not Change

linestream-adam — Fri, 24 Aug 2018 00:14:50 GMT

I don't see an issue with your approach. Seems like it should work. One thing I would recommend is taking a look in the main.c file at the block inside if (SoftReset != 0)

There are a couple commands that disable the ISR and flush a bad sample just to ensure that the system is paused while performing the recalculation.

Re: Flash System Parameters Do Not Change

derekcook — Fri, 24 Aug 2018 18:25:37 GMT

I tried moving everything in that block run when I change the parameters. Any idea why the TRAJVEL AccLim would not be changing?

Re: Flash System Parameters Do Not Change

linestream-adam — Sat, 25 Aug 2018 00:11:14 GMT

The trajvel.config.limitAcc variable is always set to the value in user.output.drvCommand.limitAcc when the slow ISR is called. The value user.output.drvCommand.limitAcc is derived from user.command.limitAcc. That is expected behavior.

Re: Flash System Parameters Do Not Change

derekcook — Wed, 29 Aug 2018 13:22:46 GMT

Hey Adam,

That's what the problem was. This would be the same with the IqRefMin and Max as well - it is set to the user.command each slow tick. As well as the jerk limit.

Thanks for the help!