void run_chordtest(int argc, char **argv)
{
node *n = node_start(LOG_ERROR,0);
if (NULL == n)
exit(1);
if (0 == argc) {
/* Standalone mode; run the test locally */
endpointid managerid;
managerid.ip = n->listenip;
managerid.port = n->listenport;
managerid.localid = MANAGER_ID;
start_manager(n);
testchord(n,&managerid,1);
}
else {
/* Client mode; run the chord test on a set of remote nodes specified in the file */
endpointid *managerids;
int nmanagers;
if (0 != read_managers(n,argv[0],&managerids,&nmanagers))
exit(1);
testchord(n,managerids,nmanagers);
free(managerids);
}
node_run(n);
}
u32 nodewrap_run(union trapped_args *args, void *pr_ctxt)
{
u32 ret;
struct node_res_object *node_res;
find_node_handle(&node_res, pr_ctxt, args->args_node_run.node);
if (!node_res)
return -EFAULT;
ret = node_run(node_res->node);
return ret;
}
int main(void) {
struct control_params_t control_params;
struct motor_params_t motor_params;
float temp;
uint8_t node_id;
hal_reset();
hal_set_low_frequency_callback(systick_cb);
/* Read parameters from flash */
Configuration configuration;
configuration.read_motor_params(motor_params);
configuration.read_control_params(control_params);
/* Set phase reverse if required */
if (configuration.get_param_value_by_index(PARAM_CONTROL_DIRECTION) == 1.0f) {
hal_set_pwm_reverse(true);
}
/* Estimate motor parameters */
hal_set_pwm_state(HAL_PWM_STATE_RUNNING);
g_controller_state.mode = CONTROLLER_IDENTIFYING;
g_parameter_estimator.start_estimation(hal_control_t_s);
hal_set_high_frequency_callback(identification_cb);
while (g_controller_state.mode == CONTROLLER_IDENTIFYING);
hal_set_high_frequency_callback(NULL);
/* Copy measured Rs and Ls */
if (!g_controller_state.fault) {
motor_params.rs_r = g_measured_rs_r;
motor_params.ls_h = g_measured_ls_h;
/*
This is not strictly necessary as the values are never written to
flash, but it does enable the measurements to be read via the
parameter interfaces.
*/
configuration.set_param_value_by_index(PARAM_MOTOR_RS,
motor_params.rs_r);
configuration.set_param_value_by_index(PARAM_MOTOR_LS,
motor_params.ls_h);
/* R/L * t must be < 1.0; R must be < 1.0 */
if (motor_params.rs_r / motor_params.ls_h * hal_control_t_s >= 1.0f ||
motor_params.rs_r > 1.0f) {
g_controller_state.fault = true;
}
}
/* Initialize the system with the motor parameters */
((volatile StateEstimator*)&g_estimator)->set_control_params(
control_params.bandwidth_hz, hal_control_t_s);
((volatile StateEstimator*)&g_estimator)->set_motor_params(
motor_params.rs_r, motor_params.ls_h, motor_params.phi_v_s_per_rad,
hal_control_t_s);
((volatile StateEstimator*)&g_estimator)->reset_state();
((volatile DQCurrentController*)&g_current_controller)->set_params(
motor_params, control_params, hal_control_t_s);
/* Set up the control parameters */
*((volatile float*)&g_controller_constants.idle_speed_rad_per_s) =
motor_params.idle_speed_rad_per_s;
*((volatile float*)&g_controller_constants.spinup_rate_rad_per_s2) =
motor_params.spinup_rate_rad_per_s2;
*((volatile float*)&g_controller_constants.accel_current_a) =
motor_params.accel_voltage_v / motor_params.rs_r;
*((volatile float*)&g_controller_constants.max_current_a) =
motor_params.max_current_a;
*((volatile float*)&g_controller_constants.braking_current_a) =
motor_params.max_current_a * control_params.braking_frac;
*((volatile float*)&g_controller_constants.effective_inv_r) =
control_params.gain / motor_params.rs_r;
temp = 1.0f / (float(2.0 * M_PI) * control_params.bandwidth_hz);
*((volatile float*)&g_controller_constants.control_lpf_coeff) =
hal_control_t_s / (hal_control_t_s + temp);
/* Clear audio state */
g_audio_state.off_time = 0;
g_audio_state.phase_rad = 0.0f;
g_audio_state.angular_velocity_rad_per_u = 0.0f;
g_audio_state.volume_v = 0.0f;
/*
After starting the ISR tasks we are no longer able to access g_estimator,
g_current_controller and g_speed_controller, since they're updated from
the ISRs and not declared volatile.
*/
hal_set_high_frequency_callback(control_cb);
node_id = hal_get_can_node_id();
node_init(node_id, configuration);
node_run(node_id, configuration, motor_params, control_params);
}
