void terminal_process_string(char *str) { enum { kMaxArgs = 64 }; int argc = 0; char *argv[kMaxArgs]; char *p2 = strtok(str, " "); while (p2 && argc < kMaxArgs) { argv[argc++] = p2; p2 = strtok(0, " "); } if (argc == 0) { commands_printf("No command received\n"); return; } static mc_configuration mcconf; // static to save some stack static mc_configuration mcconf_old; // static to save some stack mcconf = *mc_interface_get_configuration(); mcconf_old = mcconf; if (strcmp(argv[0], "ping") == 0) { commands_printf("pong\n"); } else if (strcmp(argv[0], "stop") == 0) { mc_interface_set_duty(0); commands_printf("Motor stopped\n"); } else if (strcmp(argv[0], "last_adc_duration") == 0) { commands_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0)); commands_printf("Latest injected ADC duration: %.4f ms", (double)(mc_interface_get_last_inj_adc_isr_duration() * 1000.0)); commands_printf("Latest sample ADC duration: %.4f ms\n", (double)(mc_interface_get_last_sample_adc_isr_duration() * 1000.0)); } else if (strcmp(argv[0], "kv") == 0) { commands_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered()); } else if (strcmp(argv[0], "mem") == 0) { size_t n, size; n = chHeapStatus(NULL, &size); commands_printf("core free memory : %u bytes", chCoreGetStatusX()); commands_printf("heap fragments : %u", n); commands_printf("heap free total : %u bytes\n", size); } else if (strcmp(argv[0], "threads") == 0) { thread_t *tp; static const char *states[] = {CH_STATE_NAMES}; commands_printf(" addr stack prio refs state name time "); commands_printf("-------------------------------------------------------------"); tp = chRegFirstThread(); do { commands_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu", (uint32_t)tp, (uint32_t)tp->p_ctx.r13, (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1), states[tp->p_state], tp->p_name, (uint32_t)tp->p_time); tp = chRegNextThread(tp); } while (tp != NULL); commands_printf(""); } else if (strcmp(argv[0], "fault") == 0) { commands_printf("%s\n", mc_interface_fault_to_string(mc_interface_get_fault())); } else if (strcmp(argv[0], "faults") == 0) { if (fault_vec_write == 0) { commands_printf("No faults registered since startup\n"); } else { commands_printf("The following faults were registered since start:\n"); for (int i = 0;i < fault_vec_write;i++) { commands_printf("Fault : %s", mc_interface_fault_to_string(fault_vec[i].fault)); commands_printf("Current : %.1f", (double)fault_vec[i].current); commands_printf("Current filtered : %.1f", (double)fault_vec[i].current_filtered); commands_printf("Voltage : %.2f", (double)fault_vec[i].voltage); commands_printf("Duty : %.2f", (double)fault_vec[i].duty); commands_printf("RPM : %.1f", (double)fault_vec[i].rpm); commands_printf("Tacho : %d", fault_vec[i].tacho); commands_printf("Cycles running : %d", fault_vec[i].cycles_running); commands_printf("TIM duty : %d", (int)((float)fault_vec[i].tim_top * fault_vec[i].duty)); commands_printf("TIM val samp : %d", fault_vec[i].tim_val_samp); commands_printf("TIM current samp : %d", fault_vec[i].tim_current_samp); commands_printf("TIM top : %d", fault_vec[i].tim_top); commands_printf("Comm step : %d", fault_vec[i].comm_step); commands_printf("Temperature : %.2f\n", (double)fault_vec[i].temperature); } } } else if (strcmp(argv[0], "rpm") == 0) { commands_printf("Electrical RPM: %.2f rpm\n", (double)mc_interface_get_rpm()); } else if (strcmp(argv[0], "tacho") == 0) { commands_printf("Tachometer counts: %i\n", mc_interface_get_tachometer_value(0)); } else if (strcmp(argv[0], "tim") == 0) { chSysLock(); volatile int t1_cnt = TIM1->CNT; volatile int t8_cnt = TIM8->CNT; volatile int dir1 = !!(TIM1->CR1 & (1 << 4)); volatile int dir8 = !!(TIM8->CR1 & (1 << 4)); chSysUnlock(); int duty1 = TIM1->CCR1; int duty2 = TIM1->CCR2; int duty3 = TIM1->CCR3; int top = TIM1->ARR; int voltage_samp = TIM8->CCR1; int current1_samp = TIM1->CCR4; int current2_samp = TIM8->CCR2; commands_printf("Tim1 CNT: %i", t1_cnt); commands_printf("Tim8 CNT: %u", t8_cnt); commands_printf("Duty cycle1: %u", duty1); commands_printf("Duty cycle2: %u", duty2); commands_printf("Duty cycle3: %u", duty3); commands_printf("Top: %u", top); commands_printf("Dir1: %u", dir1); commands_printf("Dir8: %u", dir8); commands_printf("Voltage sample: %u", voltage_samp); commands_printf("Current 1 sample: %u", current1_samp); commands_printf("Current 2 sample: %u\n", current2_samp); } else if (strcmp(argv[0], "volt") == 0) { commands_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE()); } else if (strcmp(argv[0], "param_detect") == 0) { // Use COMM_MODE_DELAY and try to figure out the motor parameters. if (argc == 4) { float current = -1.0; float min_rpm = -1.0; float low_duty = -1.0; sscanf(argv[1], "%f", ¤t); sscanf(argv[2], "%f", &min_rpm); sscanf(argv[3], "%f", &low_duty); if (current > 0.0 && current < mcconf.l_current_max && min_rpm > 10.0 && min_rpm < 3000.0 && low_duty > 0.02 && low_duty < 0.8) { float cycle_integrator; float coupling_k; int8_t hall_table[8]; int hall_res; if (conf_general_detect_motor_param(current, min_rpm, low_duty, &cycle_integrator, &coupling_k, hall_table, &hall_res)) { commands_printf("Cycle integrator limit: %.2f", (double)cycle_integrator); commands_printf("Coupling factor: %.2f", (double)coupling_k); if (hall_res == 0) { commands_printf("Detected hall sensor table:"); commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n", hall_table[0], hall_table[1], hall_table[2], hall_table[3], hall_table[4], hall_table[5], hall_table[6], hall_table[7]); } else if (hall_res == -1) { commands_printf("Hall sensor detection failed:"); commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n", hall_table[0], hall_table[1], hall_table[2], hall_table[3], hall_table[4], hall_table[5], hall_table[6], hall_table[7]); } else if (hall_res == -2) { commands_printf("WS2811 enabled. Hall sensors cannot be used.\n"); } else if (hall_res == -3) { commands_printf("Encoder enabled. Hall sensors cannot be used.\n"); } } else { commands_printf("Detection failed. Try again with different parameters.\n"); } } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires three arguments.\n"); } } else if (strcmp(argv[0], "rpm_dep") == 0) { mc_rpm_dep_struct rpm_dep = mcpwm_get_rpm_dep(); commands_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit); commands_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running); commands_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max); } else if (strcmp(argv[0], "can_devs") == 0) { commands_printf("CAN devices seen on the bus the past second:\n"); for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) { can_status_msg *msg = comm_can_get_status_msg_index(i); if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < 1.0) { commands_printf("ID : %i", msg->id); commands_printf("RX Time : %i", msg->rx_time); commands_printf("Age (milliseconds) : %.2f", (double)(UTILS_AGE_S(msg->rx_time) * 1000.0)); commands_printf("RPM : %.2f", (double)msg->rpm); commands_printf("Current : %.2f", (double)msg->current); commands_printf("Duty : %.2f\n", (double)msg->duty); } } } else if (strcmp(argv[0], "foc_encoder_detect") == 0) { if (argc == 2) { float current = -1.0; sscanf(argv[1], "%f", ¤t); if (current > 0.0 && current <= mcconf.l_current_max) { if (encoder_is_configured()) { mc_motor_type type_old = mcconf.motor_type; mcconf.motor_type = MOTOR_TYPE_FOC; mc_interface_set_configuration(&mcconf); float offset = 0.0; float ratio = 0.0; bool inverted = false; mcpwm_foc_encoder_detect(current, true, &offset, &ratio, &inverted); mcconf.motor_type = type_old; mc_interface_set_configuration(&mcconf); commands_printf("Offset : %.2f", (double)offset); commands_printf("Ratio : %.2f", (double)ratio); commands_printf("Inverted : %s\n", inverted ? "true" : "false"); } else { commands_printf("Encoder not enabled.\n"); } } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires one argument.\n"); } } else if (strcmp(argv[0], "measure_res") == 0) { if (argc == 2) { float current = -1.0; sscanf(argv[1], "%f", ¤t); if (current > 0.0 && current <= mcconf.l_current_max) { mcconf.motor_type = MOTOR_TYPE_FOC; mc_interface_set_configuration(&mcconf); commands_printf("Resistance: %.6f ohm\n", (double)mcpwm_foc_measure_resistance(current, 2000)); mc_interface_set_configuration(&mcconf_old); } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires one argument.\n"); } } else if (strcmp(argv[0], "measure_ind") == 0) { if (argc == 2) { float duty = -1.0; sscanf(argv[1], "%f", &duty); if (duty > 0.0) { mcconf.motor_type = MOTOR_TYPE_FOC; mcconf.foc_f_sw = 3000.0; mc_interface_set_configuration(&mcconf); commands_printf("Inductance: %.2f microhenry\n", (double)(mcpwm_foc_measure_inductance(duty, 200, 0))); mc_interface_set_configuration(&mcconf_old); } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires one argument.\n"); } } else if (strcmp(argv[0], "measure_linkage") == 0) { if (argc == 5) { float current = -1.0; float duty = -1.0; float min_erpm = -1.0; float res = -1.0; sscanf(argv[1], "%f", ¤t); sscanf(argv[2], "%f", &duty); sscanf(argv[3], "%f", &min_erpm); sscanf(argv[4], "%f", &res); if (current > 0.0 && current <= mcconf.l_current_max && min_erpm > 0.0 && duty > 0.02 && res >= 0.0) { float linkage; conf_general_measure_flux_linkage(current, duty, min_erpm, res, &linkage); commands_printf("Flux linkage: %.7f\n", (double)linkage); } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires one argument.\n"); } } else if (strcmp(argv[0], "measure_res_ind") == 0) { mcconf.motor_type = MOTOR_TYPE_FOC; mc_interface_set_configuration(&mcconf); float res = 0.0; float ind = 0.0; mcpwm_foc_measure_res_ind(&res, &ind); commands_printf("Resistance: %.6f ohm", (double)res); commands_printf("Inductance: %.2f microhenry\n", (double)ind); mc_interface_set_configuration(&mcconf_old); } else if (strcmp(argv[0], "measure_linkage_foc") == 0) { if (argc == 2) { float duty = -1.0; sscanf(argv[1], "%f", &duty); if (duty > 0.0) { mcconf.motor_type = MOTOR_TYPE_FOC; mc_interface_set_configuration(&mcconf); const float res = (3.0 / 2.0) * mcconf.foc_motor_r; // Disable timeout systime_t tout = timeout_get_timeout_msec(); float tout_c = timeout_get_brake_current(); timeout_configure(60000, 0.0); for (int i = 0;i < 100;i++) { mc_interface_set_duty(((float)i / 100.0) * duty); chThdSleepMilliseconds(20); } float vq_avg = 0.0; float rpm_avg = 0.0; float samples = 0.0; float iq_avg = 0.0; for (int i = 0;i < 1000;i++) { vq_avg += mcpwm_foc_get_vq(); rpm_avg += mc_interface_get_rpm(); iq_avg += mc_interface_get_tot_current_directional(); samples += 1.0; chThdSleepMilliseconds(1); } mc_interface_release_motor(); mc_interface_set_configuration(&mcconf_old); // Enable timeout timeout_configure(tout, tout_c); vq_avg /= samples; rpm_avg /= samples; iq_avg /= samples; float linkage = (vq_avg - res * iq_avg) / (rpm_avg * ((2.0 * M_PI) / 60.0)); commands_printf("Flux linkage: %.7f\n", (double)linkage); } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires one argument.\n"); } } else if (strcmp(argv[0], "foc_state") == 0) { mcpwm_foc_print_state(); commands_printf(" "); } // The help command else if (strcmp(argv[0], "help") == 0) { commands_printf("Valid commands are:"); commands_printf("help"); commands_printf(" Show this help"); commands_printf("ping"); commands_printf(" Print pong here to see if the reply works"); commands_printf("stop"); commands_printf(" Stop the motor"); commands_printf("last_adc_duration"); commands_printf(" The time the latest ADC interrupt consumed"); commands_printf("kv"); commands_printf(" The calculated kv of the motor"); commands_printf("mem"); commands_printf(" Show memory usage"); commands_printf("threads"); commands_printf(" List all threads"); commands_printf("fault"); commands_printf(" Prints the current fault code"); commands_printf("faults"); commands_printf(" Prints all stored fault codes and conditions when they arrived"); commands_printf("rpm"); commands_printf(" Prints the current electrical RPM"); commands_printf("tacho"); commands_printf(" Prints tachometer value"); commands_printf("tim"); commands_printf(" Prints tim1 and tim8 settings"); commands_printf("volt"); commands_printf(" Prints different voltages"); commands_printf("param_detect [current] [min_rpm] [low_duty]"); commands_printf(" Spin up the motor in COMM_MODE_DELAY and compute its parameters."); commands_printf(" This test should be performed without load on the motor."); commands_printf(" Example: param_detect 5.0 600 0.06"); commands_printf("rpm_dep"); commands_printf(" Prints some rpm-dep values"); commands_printf("can_devs"); commands_printf(" Prints all CAN devices seen on the bus the past second"); commands_printf("foc_encoder_detect [current]"); commands_printf(" Run the motor at 1Hz on open loop and compute encoder settings"); commands_printf("measure_res [current]"); commands_printf(" Lock the motor with a current and calculate its resistance"); commands_printf("measure_ind [duty]"); commands_printf(" Send short voltage pulses, measure the current and calculate the motor inductance"); commands_printf("measure_linkage [current] [duty] [min_rpm] [motor_res]"); commands_printf(" Run the motor in BLDC delay mode and measure the flux linkage"); commands_printf(" example measure_linkage 5 0.5 700 0.076"); commands_printf(" tip: measure the resistance with measure_res first"); commands_printf("measure_res_ind"); commands_printf(" Measure the motor resistance and inductance with an incremental adaptive algorithm."); commands_printf("measure_linkage_foc [duty]"); commands_printf(" Run the motor with FOC and measure the flux linkage."); commands_printf("foc_state"); commands_printf(" Print some FOC state variables.\n"); } else { commands_printf("Invalid command: %s\n" "type help to list all available commands\n", argv[0]); } }
void terminal_process_string(char *str) { enum { kMaxArgs = 64 }; int argc = 0; char *argv[kMaxArgs]; char *p2 = strtok(str, " "); while (p2 && argc < kMaxArgs) { argv[argc++] = p2; p2 = strtok(0, " "); } if (argc == 0) { commands_printf("No command received\n"); return; } if (strcmp(argv[0], "ping") == 0) { commands_printf("pong\n"); } else if (strcmp(argv[0], "stop") == 0) { mcpwm_set_duty(0); commands_printf("Motor stopped\n"); } else if (strcmp(argv[0], "last_adc_duration") == 0) { commands_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0)); commands_printf("Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0)); commands_printf("Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0)); } else if (strcmp(argv[0], "kv") == 0) { commands_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered()); } else if (strcmp(argv[0], "mem") == 0) { size_t n, size; n = chHeapStatus(NULL, &size); commands_printf("core free memory : %u bytes", chCoreStatus()); commands_printf("heap fragments : %u", n); commands_printf("heap free total : %u bytes\n", size); } else if (strcmp(argv[0], "threads") == 0) { Thread *tp; static const char *states[] = {THD_STATE_NAMES}; commands_printf(" addr stack prio refs state name time "); commands_printf("-------------------------------------------------------------"); tp = chRegFirstThread(); do { commands_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu", (uint32_t)tp, (uint32_t)tp->p_ctx.r13, (uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1), states[tp->p_state], tp->p_name, (uint32_t)tp->p_time); tp = chRegNextThread(tp); } while (tp != NULL); commands_printf(""); } else if (strcmp(argv[0], "fault") == 0) { commands_printf("%s\n", mcpwm_fault_to_string(mcpwm_get_fault())); } else if (strcmp(argv[0], "faults") == 0) { if (fault_vec_write == 0) { commands_printf("No faults registered since startup\n"); } else { commands_printf("The following faults were registered since start:\n"); for (int i = 0;i < fault_vec_write;i++) { commands_printf("Fault : %s", mcpwm_fault_to_string(fault_vec[i].fault)); commands_printf("Current : %.1f", (double)fault_vec[i].current); commands_printf("Current filtered : %.1f", (double)fault_vec[i].current_filtered); commands_printf("Voltage : %.2f", (double)fault_vec[i].voltage); commands_printf("Duty : %.2f", (double)fault_vec[i].duty); commands_printf("RPM : %.1f", (double)fault_vec[i].rpm); commands_printf("Tacho : %d", fault_vec[i].tacho); commands_printf("TIM PWM CNT : %d", fault_vec[i].tim_pwm_cnt); commands_printf("TIM Samp CNT : %d", fault_vec[i].tim_samp_cnt); commands_printf("Comm step : %d", fault_vec[i].comm_step); commands_printf("Temperature : %.2f\n", (double)fault_vec[i].temperature); } } } else if (strcmp(argv[0], "rpm") == 0) { commands_printf("Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm()); } else if (strcmp(argv[0], "tacho") == 0) { commands_printf("Tachometer counts: %i\n", mcpwm_get_tachometer_value(0)); } else if (strcmp(argv[0], "tim") == 0) { chSysLock(); volatile int t1_cnt = TIM1->CNT; volatile int t8_cnt = TIM8->CNT; chSysUnlock(); int duty = TIM1->CCR1; int top = TIM1->ARR; int voltage_samp = TIM8->CCR1; int current1_samp = TIM1->CCR4; int current2_samp = TIM8->CCR2; commands_printf("Tim1 CNT: %i", t1_cnt); commands_printf("Tim8 CNT: %u", t8_cnt); commands_printf("Duty cycle: %u", duty); commands_printf("Top: %u", top); commands_printf("Voltage sample: %u", voltage_samp); commands_printf("Current 1 sample: %u", current1_samp); commands_printf("Current 2 sample: %u\n", current2_samp); } else if (strcmp(argv[0], "volt") == 0) { commands_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE()); } else if (strcmp(argv[0], "param_detect") == 0) { // Use COMM_MODE_DELAY and try to figure out the motor parameters. if (argc == 4) { float current = -1.0; float min_rpm = -1.0; float low_duty = -1.0; sscanf(argv[1], "%f", ¤t); sscanf(argv[2], "%f", &min_rpm); sscanf(argv[3], "%f", &low_duty); const volatile mc_configuration *mcconf = mcpwm_get_configuration(); if (current > 0.0 && current < mcconf->l_current_max && min_rpm > 10.0 && min_rpm < 3000.0 && low_duty > 0.02 && low_duty < 0.8) { float cycle_integrator; float coupling_k; int8_t hall_table[8]; int hall_res; if (conf_general_detect_motor_param(current, min_rpm, low_duty, &cycle_integrator, &coupling_k, hall_table, &hall_res)) { commands_printf("Cycle integrator limit: %.2f", (double)cycle_integrator); commands_printf("Coupling factor: %.2f", (double)coupling_k); if (hall_res == 0) { commands_printf("Detected hall sensor table:"); commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n", hall_table[0], hall_table[1], hall_table[2], hall_table[3], hall_table[4], hall_table[5], hall_table[6], hall_table[7]); } else if (hall_res == -1) { commands_printf("Hall sensor detection failed:"); commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n", hall_table[0], hall_table[1], hall_table[2], hall_table[3], hall_table[4], hall_table[5], hall_table[6], hall_table[7]); } else if (hall_res == -2) { commands_printf("WS2811 enabled. Hall sensors cannot be used.\n"); } else if (hall_res == -3) { commands_printf("Encoder enabled. Hall sensors cannot be used.\n"); } } else { commands_printf("Detection failed. Try again with different parameters.\n"); } } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires three arguments.\n"); } } else if (strcmp(argv[0], "rpm_dep") == 0) { mc_rpm_dep_struct rpm_dep = mcpwm_get_rpm_dep(); commands_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit); commands_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running); commands_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max); } else if (strcmp(argv[0], "can_devs") == 0) { commands_printf("CAN devices seen on the bus the past second:\n"); for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) { can_status_msg *msg = comm_can_get_status_msg_index(i); if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < 1.0) { commands_printf("ID : %i", msg->id); commands_printf("RX Time : %i", msg->rx_time); commands_printf("Age (milliseconds) : %.2f", (double)(UTILS_AGE_S(msg->rx_time) * 1000.0)); commands_printf("RPM : %.2f", (double)msg->rpm); commands_printf("Current : %.2f", (double)msg->current); commands_printf("Duty : %.2f\n", (double)msg->duty); } } } // The help command else if (strcmp(argv[0], "help") == 0) { commands_printf("Valid commands are:"); commands_printf("help"); commands_printf(" Show this help"); commands_printf("ping"); commands_printf(" Print pong here to see if the reply works"); commands_printf("stop"); commands_printf(" Stop the motor"); commands_printf("last_adc_duration"); commands_printf(" The time the latest ADC interrupt consumed"); commands_printf("kv"); commands_printf(" The calculated kv of the motor"); commands_printf("mem"); commands_printf(" Show memory usage"); commands_printf("threads"); commands_printf(" List all threads"); commands_printf("fault"); commands_printf(" Prints the current fault code"); commands_printf("faults"); commands_printf(" Prints all stored fault codes and conditions when they arrived"); commands_printf("rpm"); commands_printf(" Prints the current electrical RPM"); commands_printf("tacho"); commands_printf(" Prints tachometer value"); commands_printf("tim"); commands_printf(" Prints tim1 and tim8 settings"); commands_printf("volt"); commands_printf(" Prints different voltages"); commands_printf("param_detect [current] [min_rpm] [low_duty]"); commands_printf(" Spin up the motor in COMM_MODE_DELAY and compute its parameters."); commands_printf(" This test should be performed without load on the motor."); commands_printf(" Example: param_detect 5.0 600 0.06"); commands_printf("rpm_dep"); commands_printf(" Prints some rpm-dep values"); commands_printf("can_devs"); commands_printf(" Prints all CAN devices seen on the bus the past second\n"); } else { commands_printf("Invalid command: %s\n" "type help to list all available commands\n", argv[0]); } }
static msg_t adc_thread(void *arg) { (void)arg; chRegSetThreadName("APP_ADC"); // Set servo pin as an input with pullup palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_INPUT_PULLUP); for(;;) { // Sleep for a time according to the specified rate systime_t sleep_time = CH_FREQUENCY / config.update_rate_hz; // At least one tick should be slept to not block the other threads if (sleep_time == 0) { sleep_time = 1; } chThdSleep(sleep_time); // Read the external ADC pin and convert the value to a voltage. float pwr = (float)ADC_Value[ADC_IND_EXT]; pwr /= 4095; pwr *= V_REG; read_voltage = pwr; // Optionally apply a mean value filter if (config.use_filter) { static float filter_buffer[FILTER_SAMPLES]; static int filter_ptr = 0; filter_buffer[filter_ptr++] = pwr; if (filter_ptr >= FILTER_SAMPLES) { filter_ptr = 0; } pwr = 0.0; for (int i = 0; i < FILTER_SAMPLES; i++) { pwr += filter_buffer[i]; } pwr /= FILTER_SAMPLES; } // Map and truncate the read voltage pwr = utils_map(pwr, config.voltage_start, config.voltage_end, 0.0, 1.0); utils_truncate_number(&pwr, 0.0, 1.0); // Optionally invert the read voltage if (config.voltage_inverted) { pwr = 1.0 - pwr; } decoded_level = pwr; // Read the servo pin and optionally invert it. bool button_val = !palReadPad(HW_ICU_GPIO, HW_ICU_PIN); if (config.button_inverted) { button_val = !button_val; } switch (config.ctrl_type) { case ADC_CTRL_TYPE_CURRENT_REV_CENTER: case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER: case ADC_CTRL_TYPE_DUTY_REV_CENTER: // Scale the voltage and set 0 at the center pwr *= 2.0; pwr -= 1.0; break; case ADC_CTRL_TYPE_CURRENT_REV_BUTTON: case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON: case ADC_CTRL_TYPE_DUTY_REV_BUTTON: // Invert the voltage if the button is pressed if (button_val) { pwr = -pwr; } break; default: break; } // Apply a deadband utils_deadband(&pwr, config.hyst, 1.0); float current = 0; bool current_mode = false; bool current_mode_brake = false; const volatile mc_configuration *mcconf = mcpwm_get_configuration(); bool send_duty = false; // Use the filtered and mapped voltage for control according to the configuration. switch (config.ctrl_type) { case ADC_CTRL_TYPE_CURRENT: case ADC_CTRL_TYPE_CURRENT_REV_CENTER: case ADC_CTRL_TYPE_CURRENT_REV_BUTTON: current_mode = true; if (pwr >= 0.0) { current = pwr * mcconf->l_current_max; } else { current = pwr * fabsf(mcconf->l_current_min); } if (fabsf(pwr) < 0.001) { ms_without_power += (1000.0 * (float)sleep_time) / (float)CH_FREQUENCY; } break; case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER: case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON: current_mode = true; if (pwr >= 0.0) { current = pwr * mcconf->l_current_max; } else { current = fabsf(pwr * mcconf->l_current_min); current_mode_brake = true; } if (pwr < 0.001) { ms_without_power += (1000.0 * (float)sleep_time) / (float)CH_FREQUENCY; } break; case ADC_CTRL_TYPE_DUTY: case ADC_CTRL_TYPE_DUTY_REV_CENTER: case ADC_CTRL_TYPE_DUTY_REV_BUTTON: if (fabsf(pwr) < 0.001) { ms_without_power += (1000.0 * (float)sleep_time) / (float)CH_FREQUENCY; } if (!(ms_without_power < MIN_MS_WITHOUT_POWER && config.safe_start)) { mcpwm_set_duty(pwr); send_duty = true; } break; default: continue; } // If safe start is enabled and the output has not been zero for long enough if (ms_without_power < MIN_MS_WITHOUT_POWER && config.safe_start) { static int pulses_without_power_before = 0; if (ms_without_power == pulses_without_power_before) { ms_without_power = 0; } pulses_without_power_before = ms_without_power; mcpwm_set_brake_current(timeout_get_brake_current()); continue; } // Reset timeout timeout_reset(); // Find lowest RPM (for traction control) float rpm_local = mcpwm_get_rpm(); float rpm_lowest = rpm_local; if (config.multi_esc) { for (int i = 0; i < CAN_STATUS_MSGS_TO_STORE; i++) { can_status_msg *msg = comm_can_get_status_msg_index(i); if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) { float rpm_tmp = msg->rpm; if (fabsf(rpm_tmp) < fabsf(rpm_lowest)) { rpm_lowest = rpm_tmp; } } } } // Optionally send the duty cycles to the other ESCs seen on the CAN-bus if (send_duty && config.multi_esc) { float duty = mcpwm_get_duty_cycle_now(); for (int i = 0; i < CAN_STATUS_MSGS_TO_STORE; i++) { can_status_msg *msg = comm_can_get_status_msg_index(i); if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) { comm_can_set_duty(msg->id, duty); } } } if (current_mode) { if (current_mode_brake) { mcpwm_set_brake_current(current); // Send brake command to all ESCs seen recently on the CAN bus for (int i = 0; i < CAN_STATUS_MSGS_TO_STORE; i++) { can_status_msg *msg = comm_can_get_status_msg_index(i); if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) { comm_can_set_current_brake(msg->id, current); } } } else { // Apply soft RPM limit if (rpm_lowest > config.rpm_lim_end && current > 0.0) { current = mcconf->cc_min_current; } else if (rpm_lowest > config.rpm_lim_start && current > 0.0) { current = utils_map(rpm_lowest, config.rpm_lim_start, config.rpm_lim_end, current, mcconf->cc_min_current); } else if (rpm_lowest < -config.rpm_lim_end && current < 0.0) { current = mcconf->cc_min_current; } else if (rpm_lowest < -config.rpm_lim_start && current < 0.0) { rpm_lowest = -rpm_lowest; current = -current; current = utils_map(rpm_lowest, config.rpm_lim_start, config.rpm_lim_end, current, mcconf->cc_min_current); current = -current; rpm_lowest = -rpm_lowest; } float current_out = current; bool is_reverse = false; if (current_out < 0.0) { is_reverse = true; current_out = -current_out; current = -current; rpm_local = -rpm_local; rpm_lowest = -rpm_lowest; } // Traction control if (config.multi_esc) { for (int i = 0; i < CAN_STATUS_MSGS_TO_STORE; i++) { can_status_msg *msg = comm_can_get_status_msg_index(i); if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) { if (config.tc) { float rpm_tmp = msg->rpm; if (is_reverse) { rpm_tmp = -rpm_tmp; } float diff = rpm_tmp - rpm_lowest; current_out = utils_map(diff, 0.0, config.tc_max_diff, current, 0.0); if (current_out < mcconf->cc_min_current) { current_out = 0.0; } } if (is_reverse) { comm_can_set_current(msg->id, -current_out); } else { comm_can_set_current(msg->id, current_out); } } } if (config.tc) { float diff = rpm_local - rpm_lowest; current_out = utils_map(diff, 0.0, config.tc_max_diff, current, 0.0); if (current_out < mcconf->cc_min_current) { current_out = 0.0; } } } if (is_reverse) { mcpwm_set_current(-current_out); } else { mcpwm_set_current(current_out); } } } } return 0; }