/* * Called every time new ADC values are available. Note that * the ADC is initialized from mcpwm.c */ void main_dma_adc_handler(void) { ledpwm_update_pwm(); if (sample_at_start && mcpwm_get_state() == MC_STATE_STARTING) { sample_now = 0; sample_ready = 0; was_start_wample = 1; sample_at_start = 0; } static int a = 0; if (!sample_ready) { a++; if (a >= sample_int) { a = 0; curr0_samples[sample_now] = ADC_curr_norm_value[0]; curr1_samples[sample_now] = ADC_curr_norm_value[1]; ph1_samples[sample_now] = ADC_V_L1; ph2_samples[sample_now] = ADC_V_L2; ph3_samples[sample_now] = ADC_V_L3; vzero_samples[sample_now] = ADC_V_ZERO * MCPWM_VZERO_FACT; if (mcpwm_get_state() == MC_STATE_DETECTING && 0) { status_samples[sample_now] = mcpwm_get_detect_top(); } else { uint8_t tmp; if (was_start_wample) { if (mcpwm_get_state() == MC_STATE_STARTING) { tmp = 1; } else if (mcpwm_get_state() == MC_STATE_RUNNING) { tmp = 2; } else { tmp = 3; } } else { tmp = mcpwm_read_hall_phase(); } status_samples[sample_now] = mcpwm_get_comm_step() | (tmp << 3); } curr_fir_samples[sample_now] = (int16_t)(mcpwm_get_tot_current_filtered() * 100); sample_now++; if (sample_now == sample_len) { sample_ready = 1; sample_now = 0; was_start_wample = 0; chSysLockFromIsr(); chEvtSignalI(sample_send_tp, (eventmask_t) 1); chSysUnlockFromIsr(); } main_last_adc_duration = mcpwm_get_last_adc_isr_duration(); } } }
/* * Called every time new ADC values are available. Note that * the ADC is initialized from mcpwm.c */ void main_dma_adc_handler(void) { ledpwm_update_pwm(); if (sample_at_start && (mc_interface_get_state() == MC_STATE_RUNNING || start_comm != mcpwm_get_comm_step())) { sample_now = 0; sample_ready = 0; sample_at_start = 0; } static int a = 0; if (!sample_ready) { a++; if (a >= sample_int) { a = 0; if (mc_interface_get_state() == MC_STATE_DETECTING) { curr0_samples[sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1]; curr1_samples[sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1]; ph1_samples[sample_now] = (int16_t)mcpwm_detect_voltages[0]; ph2_samples[sample_now] = (int16_t)mcpwm_detect_voltages[1]; ph3_samples[sample_now] = (int16_t)mcpwm_detect_voltages[2]; } else { curr0_samples[sample_now] = ADC_curr_norm_value[0]; curr1_samples[sample_now] = ADC_curr_norm_value[1]; ph1_samples[sample_now] = ADC_V_L1 - mcpwm_vzero; ph2_samples[sample_now] = ADC_V_L2 - mcpwm_vzero; ph3_samples[sample_now] = ADC_V_L3 - mcpwm_vzero; } vzero_samples[sample_now] = mcpwm_vzero; curr_fir_samples[sample_now] = (int16_t)(mc_interface_get_tot_current() * 100.0); f_sw_samples[sample_now] = (int16_t)(mc_interface_get_switching_frequency_now() / 10.0); status_samples[sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3); sample_now++; if (sample_now == sample_len) { sample_ready = 1; sample_now = 0; chSysLockFromISR(); chEvtSignalI(sample_send_tp, (eventmask_t) 1); chSysUnlockFromISR(); } main_last_adc_duration = mcpwm_get_last_adc_isr_duration(); } } }
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; if (conf_general_detect_motor_param(current, min_rpm, low_duty, &cycle_integrator, &coupling_k)) { commands_printf("Cycle integrator limit: %.2f", (double)cycle_integrator); commands_printf("Coupling factor: %.2f\n", (double)coupling_k); } 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); } // Setters else if (strcmp(argv[0], "set_hall_table") == 0) { if (argc == 4) { int dir = -1; int fwd_add = -1; int rev_add = -1; sscanf(argv[1], "%i", &dir); sscanf(argv[2], "%i", &fwd_add); sscanf(argv[3], "%i", &rev_add); if (dir >= 0 && fwd_add >= 0 && rev_add >= 0) { mcpwm_init_hall_table(dir, fwd_add, rev_add); commands_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n", dir, fwd_add, rev_add); } else { commands_printf("Invalid argument(s).\n"); } } else { commands_printf("This command requires three arguments.\n"); } } // 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("set_hall_table [dir] [fwd_add] [rev_add]"); commands_printf(" Update the hall sensor lookup table"); 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\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; } 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]; static char buffer[256]; char *p2 = strtok(str, " "); while (p2 && argc < kMaxArgs) { argv[argc++] = p2; p2 = strtok(0, " "); } if (argc == 0) { comm_print("No command received\n"); return; } if (strcmp(argv[0], "ping") == 0) { comm_print("pong\n"); } else if (strcmp(argv[0], "stop") == 0) { mcpwm_set_duty(0); comm_print("Motor stopped\n"); } else if (strcmp(argv[0], "last_adc_duration") == 0) { sprintf(buffer, "Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0)); comm_print(buffer); sprintf(buffer, "Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0)); comm_print(buffer); sprintf(buffer, "Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0)); comm_print(buffer); } else if (strcmp(argv[0], "kv") == 0) { sprintf(buffer, "Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered()); comm_print(buffer); } else if (strcmp(argv[0], "mem") == 0) { size_t n, size; n = chHeapStatus(NULL, &size); sprintf(buffer, "core free memory : %u bytes", chCoreStatus()); comm_print(buffer); sprintf(buffer, "heap fragments : %u", n); comm_print(buffer); sprintf(buffer, "heap free total : %u bytes\n", size); comm_print(buffer); } else if (strcmp(argv[0], "threads") == 0) { Thread *tp; static const char *states[] = {THD_STATE_NAMES}; comm_print(" addr stack prio refs state name time "); comm_print("-------------------------------------------------------------"); tp = chRegFirstThread(); do { sprintf(buffer, "%.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); comm_print(buffer); tp = chRegNextThread(tp); } while (tp != NULL); comm_print(""); } else if (strcmp(argv[0], "fault") == 0) { comm_print_fault_code(mcpwm_get_fault()); } else if (strcmp(argv[0], "rpm") == 0) { sprintf(buffer, "Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm()); comm_print(buffer); } else if (strcmp(argv[0], "tacho") == 0) { sprintf(buffer, "Tachometer counts: %i\n", mcpwm_get_tachometer_value(0)); comm_print(buffer); } else if (strcmp(argv[0], "tim") == 0) { TIM_Cmd(TIM1, DISABLE); int t1_cnt = TIM1->CNT; int t8_cnt = TIM8->CNT; int duty = TIM1->CCR1; int top = TIM1->ARR; int voltage_samp = TIM8->CCR1; int current1_samp = TIM1->CCR4; int current2_samp = TIM8->CCR2; TIM_Cmd(TIM1, ENABLE); sprintf(buffer, "Tim1 CNT: %i", t1_cnt); comm_print(buffer); sprintf(buffer, "Tim8 CNT: %u", t8_cnt); comm_print(buffer); sprintf(buffer, "Duty cycle: %u", duty); comm_print(buffer); sprintf(buffer, "Top: %u", top); comm_print(buffer); sprintf(buffer, "Voltage sample: %u", voltage_samp); comm_print(buffer); sprintf(buffer, "Current 1 sample: %u", current1_samp); comm_print(buffer); sprintf(buffer, "Current 2 sample: %u\n", current2_samp); comm_print(buffer); } else if (strcmp(argv[0], "help") == 0) { comm_print("Valid commands are:"); comm_print("help"); comm_print(" Show this help"); comm_print("ping"); comm_print(" Print pong here to see if the reply works"); comm_print("stop"); comm_print(" Stop the motor"); comm_print("last_adc_duration"); comm_print(" The time the latest ADC interrupt consumed"); comm_print("kv"); comm_print(" The calculated kv of the motor"); comm_print("mem"); comm_print(" Show memory usage"); comm_print("threads"); comm_print(" List all threads"); comm_print("fault"); comm_print(" Prints the current fault code"); comm_print("rpm"); comm_print(" Prints the current electrical RPM"); comm_print("tacho"); comm_print(" Prints tachometer value"); comm_print("tim"); comm_print(" Prints tim1 and tim8 settings\n"); } else { sprintf(buffer, "Invalid command: %s\n" "type help to list all available commands\n", argv[0]); comm_print(buffer); } }
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) { comm_printf("No command received\n"); return; } if (strcmp(argv[0], "ping") == 0) { comm_printf("pong\n"); } else if (strcmp(argv[0], "stop") == 0) { mcpwm_set_duty(0); comm_printf("Motor stopped\n"); } else if (strcmp(argv[0], "last_adc_duration") == 0) { comm_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0)); comm_printf("Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0)); comm_printf("Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0)); } else if (strcmp(argv[0], "kv") == 0) { comm_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); comm_printf("core free memory : %u bytes", chCoreStatus()); comm_printf("heap fragments : %u", n); comm_printf("heap free total : %u bytes\n", size); } else if (strcmp(argv[0], "threads") == 0) { Thread *tp; static const char *states[] = {THD_STATE_NAMES}; comm_printf(" addr stack prio refs state name time "); comm_printf("-------------------------------------------------------------"); tp = chRegFirstThread(); do { comm_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); comm_printf(""); } else if (strcmp(argv[0], "fault") == 0) { comm_print_fault_code(mcpwm_get_fault()); } else if (strcmp(argv[0], "rpm") == 0) { comm_printf("Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm()); } else if (strcmp(argv[0], "tacho") == 0) { comm_printf("Tachometer counts: %i\n", mcpwm_get_tachometer_value(0)); } else if (strcmp(argv[0], "tim") == 0) { TIM_Cmd(TIM_PWM, DISABLE); int t_pwm_cnt = TIM_PWM->CNT; int t_adc_cnt = TIM_ADC->CNT; int duty = TIM_PWM->CCR1; int top = TIM_PWM->ARR; int voltage_samp = TIM_ADC->CCR1; int current1_samp = TIM_PWM->CCR4; int current2_samp = TIM_ADC->CCR4; TIM_Cmd(TIM_PWM, ENABLE); comm_printf("TIM_PWM CNT: %i", t_pwm_cnt); comm_printf("TIM_ADC CNT: %u", t_adc_cnt); comm_printf("Duty cycle: %u", duty); comm_printf("Top: %u", top); comm_printf("Voltage sample: %u", voltage_samp); comm_printf("Current 1 sample: %u", current1_samp); comm_printf("Current 2 sample: %u\n", current2_samp); } else if (strcmp(argv[0], "volt") == 0) { comm_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE()); } else if (strcmp(argv[0], "reset_drv") == 0) { comm_printf("reset driver\n"); mcpwm_reset_driver(); } // Setters else if (strcmp(argv[0], "set_hall_table") == 0) { if (argc == 4) { int dir = -1; int fwd_add = -1; int rev_add = -1; sscanf(argv[1], "%i", &dir); sscanf(argv[2], "%i", &fwd_add); sscanf(argv[3], "%i", &rev_add); if (dir >= 0 && fwd_add >= 0 && rev_add >= 0) { mcpwm_init_hall_table(dir, fwd_add, rev_add); comm_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n", dir, fwd_add, rev_add); } else { comm_printf("Invalid argument(s).\n"); } } else { comm_printf("This command requires three arguments.\n"); } } // The help command else if (strcmp(argv[0], "help") == 0) { comm_printf("Valid commands are:"); comm_printf("help"); comm_printf(" Show this help"); comm_printf("ping"); comm_printf(" Print pong here to see if the reply works"); comm_printf("stop"); comm_printf(" Stop the motor"); comm_printf("last_adc_duration"); comm_printf(" The time the latest ADC interrupt consumed"); comm_printf("kv"); comm_printf(" The calculated kv of the motor"); comm_printf("mem"); comm_printf(" Show memory usage"); comm_printf("threads"); comm_printf(" List all threads"); comm_printf("fault"); comm_printf(" Prints the current fault code"); comm_printf("rpm"); comm_printf(" Prints the current electrical RPM"); comm_printf("tacho"); comm_printf(" Prints tachometer value"); comm_printf("tim"); comm_printf(" Prints TIM_PWM and TIM_ADC settings"); comm_printf("reset_drv"); comm_printf(" Short pulse on EN_GATE to reset latched driver fault"); comm_printf("set_hall_table [dir] [fwd_add] [rev_add]"); comm_printf(" Update the hall sensor lookup table"); comm_printf("volt"); comm_printf(" Prints different voltages\n"); } else { comm_printf("Invalid command: %s\n" "type help to list all available commands\n", argv[0]); } }
void mc_interface_mc_timer_isr(void) { ledpwm_update_pwm(); // LED PWM Driver update const float input_voltage = GET_INPUT_VOLTAGE(); // Check for faults that should stop the motor static int wrong_voltage_iterations = 0; if (input_voltage < m_conf.l_min_vin || input_voltage > m_conf.l_max_vin) { wrong_voltage_iterations++; if ((wrong_voltage_iterations >= 8)) { mc_interface_fault_stop(input_voltage < m_conf.l_min_vin ? FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE); } } else { wrong_voltage_iterations = 0; } if (mc_interface_get_state() == MC_STATE_RUNNING) { m_cycles_running++; } else { m_cycles_running = 0; } if (pwn_done_func) { pwn_done_func(); } const float current = mc_interface_get_tot_current_filtered(); const float current_in = mc_interface_get_tot_current_in_filtered(); m_motor_current_sum += current; m_input_current_sum += current_in; m_motor_current_iterations++; m_input_current_iterations++; float abs_current = mc_interface_get_tot_current(); float abs_current_filtered = current; if (m_conf.motor_type == MOTOR_TYPE_FOC) { // TODO: Make this more general abs_current = mcpwm_foc_get_abs_motor_current(); abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered(); } // Current fault code if (m_conf.l_slow_abs_current) { if (fabsf(abs_current_filtered) > m_conf.l_abs_current_max) { mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT); } } else { if (fabsf(abs_current) > m_conf.l_abs_current_max) { mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT); } } // Watt and ah counters const float f_sw = mc_interface_get_switching_frequency_now(); if (fabsf(current) > 1.0) { // Some extra filtering static float curr_diff_sum = 0.0; static float curr_diff_samples = 0; curr_diff_sum += current_in / f_sw; curr_diff_samples += 1.0 / f_sw; if (curr_diff_samples >= 0.01) { if (curr_diff_sum > 0.0) { m_amp_seconds += curr_diff_sum; m_watt_seconds += curr_diff_sum * input_voltage; } else { m_amp_seconds_charged -= curr_diff_sum; m_watt_seconds_charged -= curr_diff_sum * input_voltage; } curr_diff_samples = 0.0; curr_diff_sum = 0.0; } } // Sample collection if (m_sample_at_start && (mc_interface_get_state() == MC_STATE_RUNNING || m_start_comm != mcpwm_get_comm_step())) { m_sample_now = 0; m_sample_ready = 0; m_sample_at_start = 0; } static int a = 0; if (!m_sample_ready) { a++; if (a >= m_sample_int) { a = 0; if (mc_interface_get_state() == MC_STATE_DETECTING) { m_curr0_samples[m_sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1]; m_curr1_samples[m_sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1]; m_ph1_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[0]; m_ph2_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[1]; m_ph3_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[2]; } else { m_curr0_samples[m_sample_now] = ADC_curr_norm_value[0]; m_curr1_samples[m_sample_now] = ADC_curr_norm_value[1]; m_ph1_samples[m_sample_now] = ADC_V_L1 - mcpwm_vzero; m_ph2_samples[m_sample_now] = ADC_V_L2 - mcpwm_vzero; m_ph3_samples[m_sample_now] = ADC_V_L3 - mcpwm_vzero; } m_vzero_samples[m_sample_now] = mcpwm_vzero; m_curr_fir_samples[m_sample_now] = (int16_t)(mc_interface_get_tot_current() * 100.0); m_f_sw_samples[m_sample_now] = (int16_t)(mc_interface_get_switching_frequency_now() / 10.0); m_status_samples[m_sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3); m_sample_now++; if (m_sample_now == m_sample_len) { m_sample_ready = 1; m_sample_now = 0; chSysLockFromISR(); chEvtSignalI(sample_send_tp, (eventmask_t) 1); chSysUnlockFromISR(); } m_last_adc_duration_sample = mcpwm_get_last_adc_isr_duration(); } } }