Use potentiometer for angle offset calib

confgenerator.c

@@ -159,6 +159,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->p_pid_ang_div, &ind);
 	buffer_append_float16(buffer, conf->p_pid_gain_dec_angle, 10, &ind);
 	buffer_append_float32_auto(buffer, conf->p_pid_offset, &ind);
+	buffer[ind++] = conf->p_pid_offset_pot_calib;
 	buffer_append_float16(buffer, conf->cc_startup_boost_duty, 10000, &ind);
 	buffer_append_float32_auto(buffer, conf->cc_min_current, &ind);
 	buffer_append_float32_auto(buffer, conf->cc_gain, &ind);
@@ -495,6 +496,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->p_pid_ang_div = buffer_get_float32_auto(buffer, &ind);
 	conf->p_pid_gain_dec_angle = buffer_get_float16(buffer, 10, &ind);
 	conf->p_pid_offset = buffer_get_float32_auto(buffer, &ind);
+	conf->p_pid_offset_pot_calib = buffer[ind++];
 	conf->cc_startup_boost_duty = buffer_get_float16(buffer, 10000, &ind);
 	conf->cc_min_current = buffer_get_float32_auto(buffer, &ind);
 	conf->cc_gain = buffer_get_float32_auto(buffer, &ind);
@@ -827,6 +829,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->p_pid_ang_div = MCCONF_P_PID_ANG_DIV;
 	conf->p_pid_gain_dec_angle = MCCONF_P_PID_GAIN_DEC_ANGLE;
 	conf->p_pid_offset = MCCONF_P_PID_OFFSET;
+	conf->p_pid_offset_pot_calib = MCCONF_P_PID_OFFSET_POT_CALIB;
 	conf->cc_startup_boost_duty = MCCONF_CC_STARTUP_BOOST_DUTY;
 	conf->cc_min_current = MCCONF_CC_MIN_CURRENT;
 	conf->cc_gain = MCCONF_CC_GAIN;

confgenerator.h

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		1065524471
+#define MCCONF_SIGNATURE		1439595948
 #define APPCONF_SIGNATURE		2099347128
 
 // Functions

datatypes.h

@@ -513,6 +513,7 @@ typedef struct {
 	float p_pid_ang_div;
 	float p_pid_gain_dec_angle;
 	float p_pid_offset;
+	bool p_pid_offset_pot_calib;
 
 	// Current controller
 	float cc_startup_boost_duty;

hwconf/luna/m600/mcconf_luna_m600_48V.h

@@ -459,6 +459,9 @@
 // Position PID Offset Angle
 #define MCCONF_P_PID_OFFSET 0
 
+// Position PID Use Potentiometer for Offset Angle Calibration
+#define MCCONF_P_PID_POT_OFFSET_CALIB 0
+
 // Startup boost
 #define MCCONF_CC_STARTUP_BOOST_DUTY 0.01
 

hwconf/luna/m600/mcconf_luna_m600_60V.h

@@ -459,6 +459,9 @@
 // Position PID Offset Angle
 #define MCCONF_P_PID_OFFSET 0
 
+// Position PID Use Potentiometer for Offset Angle Calibration
+#define MCCONF_P_PID_POT_OFFSET_CALIB 0
+
 // Startup boost
 #define MCCONF_CC_STARTUP_BOOST_DUTY 0.01
 

motor/mc_interface.c

@@ -1468,8 +1468,27 @@ float mc_interface_get_pid_pos_now(void) {
 void mc_interface_update_pid_pos_offset(float angle_now, bool store) {
 	mc_configuration *mcconf = mempools_alloc_mcconf();
 	*mcconf = *mc_interface_get_configuration();
+
+	// Use potentiometer to calibrate the offset if enabled
+	if (mcconf->p_pid_offset_pot_calib) {
+		const app_configuration *appconf = app_get_configuration();
+		const int adc_avg_window_size = 100;
+		float angle_potentiometer_sum = 0.0;
+		// moving average as a low pass filter
+		for (int i = 0; i < adc_avg_window_size; i++) {
+		float pwr = ADC_VOLTS(ADC_IND_EXT);
+		angle_potentiometer_sum +=
+			utils_map(pwr, appconf->app_adc_conf.voltage_start,
+						appconf->app_adc_conf.voltage_end, 0.0, 360.0);
+		chThdSleepMilliseconds(10);
+		}
+		float angle_potentiometer =
+			angle_potentiometer_sum / adc_avg_window_size;
+		mcconf->p_pid_offset = angle_potentiometer-angle_now;
+	}else{
+		mcconf->p_pid_offset += mc_interface_get_pid_pos_now() - angle_now;
+	}
 
-	mcconf->p_pid_offset += mc_interface_get_pid_pos_now() - angle_now;
 	utils_norm_angle(&mcconf->p_pid_offset);
 
 	if (store) {

motor/mcconf_default.h

@@ -185,6 +185,9 @@
 #ifndef MCCONF_P_PID_OFFSET
 #define MCCONF_P_PID_OFFSET				0.0		// Angle offset
 #endif
+#ifndef MCCONF_P_PID_OFFSET_POT_CALIB
+#define MCCONF_P_PID_OFFSET_POT_CALIB	false	
+#endif
 
 // Current control parameters
 #ifndef MCCONF_CC_GAIN