static THD_FUNCTION(periodic_thread, arg) {
(void)arg;
chRegSetThreadName("Main periodic");
int fault_print = 0;
for(;;) {
if (mc_interface_get_state() == MC_STATE_RUNNING) {
ledpwm_set_intensity(LED_GREEN, 1.0);
} else {
ledpwm_set_intensity(LED_GREEN, 0.2);
}
mc_fault_code fault = mc_interface_get_fault();
if (fault != FAULT_CODE_NONE) {
if (!fault_print && AUTO_PRINT_FAULTS) {
fault_print = 1;
commands_printf("%s\n", mc_interface_fault_to_string(
mc_interface_get_fault()));
}
for (int i = 0; i < (int)fault; i++) {
ledpwm_set_intensity(LED_RED, 1.0);
chThdSleepMilliseconds(250);
ledpwm_set_intensity(LED_RED, 0.0);
chThdSleepMilliseconds(250);
}
chThdSleepMilliseconds(500);
} else {
ledpwm_set_intensity(LED_RED, 0.0);
fault_print = 0;
}
if (mc_interface_get_state() == MC_STATE_DETECTING) {
commands_send_rotor_pos(mcpwm_get_detect_pos());
}
#if ENCODER_ENABLE
commands_send_rotor_pos(encoder_read_deg());
// comm_can_set_pos(0, encoder_read_deg());
#endif
chThdSleepMilliseconds(10);
}
}
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]);
}
}