static THD_FUNCTION(gurgalof_thread, arg) {
(void)arg;
chRegSetThreadName("APP_GURGALOF");
for(;;) {
#define MIN_PWR 0.2
float pwr = (float)ADC_Value[ADC_IND_EXT];
pwr /= 4095.0;
pwr /= (1.0 - MIN_PWR);
pwr -= MIN_PWR;
if (pwr < 0.0) {
mc_interface_set_current(0.0);
} else {
mc_interface_set_duty(pwr);
// mc_interface_set_current(pwr * mc_interface_get_configuration()->l_current_max);
}
timeout_reset();
chThdSleepMilliseconds(10);
}
}
/**
* Process a received buffer with commands and data.
*
* @param data
* The buffer to process.
*
* @param len
* The length of the buffer.
*/
void commands_process_packet(unsigned char *data, unsigned int len) {
if (!len) {
return;
}
COMM_PACKET_ID packet_id;
int32_t ind = 0;
uint16_t sample_len;
uint8_t decimation;
bool at_start;
static mc_configuration mcconf, mcconf_old; // Static to save some stack space
app_configuration appconf;
uint16_t flash_res;
uint32_t new_app_offset;
chuck_data chuck_d_tmp;
packet_id = data[0];
data++;
len--;
switch (packet_id) {
case COMM_FW_VERSION:
ind = 0;
send_buffer[ind++] = COMM_FW_VERSION;
send_buffer[ind++] = FW_VERSION_MAJOR;
send_buffer[ind++] = FW_VERSION_MINOR;
commands_send_packet(send_buffer, ind);
break;
case COMM_JUMP_TO_BOOTLOADER:
flash_helper_jump_to_bootloader();
break;
case COMM_ERASE_NEW_APP:
ind = 0;
flash_res = flash_helper_erase_new_app(buffer_get_uint32(data, &ind));
ind = 0;
send_buffer[ind++] = COMM_ERASE_NEW_APP;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
commands_send_packet(send_buffer, ind);
break;
case COMM_WRITE_NEW_APP_DATA:
ind = 0;
new_app_offset = buffer_get_uint32(data, &ind);
flash_res = flash_helper_write_new_app_data(new_app_offset, data + ind, len - ind);
ind = 0;
send_buffer[ind++] = COMM_WRITE_NEW_APP_DATA;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_VALUES:
ind = 0;
send_buffer[ind++] = COMM_GET_VALUES;
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_MOS1), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_MOS2), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_MOS3), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_MOS4), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_MOS5), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_MOS6), 1e1, &ind);
buffer_append_float16(send_buffer, NTC_TEMP(ADC_IND_TEMP_PCB), 1e1, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_motor_current(), 1e2, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_input_current(), 1e2, &ind);
buffer_append_float16(send_buffer, mc_interface_get_duty_cycle_now(), 1e3, &ind);
buffer_append_float32(send_buffer, mc_interface_get_rpm(), 1e0, &ind);
buffer_append_float16(send_buffer, GET_INPUT_VOLTAGE(), 1e1, &ind);
buffer_append_float32(send_buffer, mc_interface_get_amp_hours(false), 1e4, &ind);
buffer_append_float32(send_buffer, mc_interface_get_amp_hours_charged(false), 1e4, &ind);
buffer_append_float32(send_buffer, mc_interface_get_watt_hours(false), 1e4, &ind);
buffer_append_float32(send_buffer, mc_interface_get_watt_hours_charged(false), 1e4, &ind);
buffer_append_int32(send_buffer, mc_interface_get_tachometer_value(false), &ind);
buffer_append_int32(send_buffer, mc_interface_get_tachometer_abs_value(false), &ind);
send_buffer[ind++] = mc_interface_get_fault();
// TODO: send FOC values id, iq, abs
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_DUTY:
ind = 0;
mc_interface_set_duty((float)buffer_get_int32(data, &ind) / 100000.0);
timeout_reset();
break;
case COMM_SET_CURRENT:
ind = 0;
mc_interface_set_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
break;
case COMM_SET_CURRENT_BRAKE:
ind = 0;
mc_interface_set_brake_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
break;
case COMM_SET_RPM:
ind = 0;
mc_interface_set_pid_speed((float)buffer_get_int32(data, &ind));
timeout_reset();
break;
case COMM_SET_POS:
ind = 0;
mc_interface_set_pid_pos((float)buffer_get_int32(data, &ind) / 1000000.0);
timeout_reset();
break;
case COMM_SET_DETECT:
mcconf = *mc_interface_get_configuration();
ind = 0;
display_position_mode = data[ind++];
if (mcconf.motor_type == MOTOR_TYPE_BLDC) {
if (display_position_mode == DISP_POS_MODE_NONE) {
mc_interface_release_motor();
} else if (display_position_mode == DISP_POS_MODE_INDUCTANCE) {
mcpwm_set_detect();
}
}
timeout_reset();
break;
case COMM_SET_SERVO_POS:
#if SERVO_OUT_ENABLE
ind = 0;
#if SERVO_OUT_SIMPLE
servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
#else
servos[0].pos = (int16_t)(buffer_get_float16(data, 1000.0, &ind) * 255.0);
#endif
#endif
break;
case COMM_SET_MCCONF:
mcconf = *mc_interface_get_configuration();
ind = 0;
mcconf.pwm_mode = data[ind++];
mcconf.comm_mode = data[ind++];
mcconf.motor_type = data[ind++];
mcconf.sensor_mode = data[ind++];
mcconf.l_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_current_min = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_in_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_in_current_min = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_abs_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake_cc = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_vin = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_vin = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_battery_cut_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_battery_cut_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_rpm_lim_neg_torque = data[ind++];
mcconf.l_temp_fet_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_fet_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_motor_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_motor_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.l_max_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.lo_current_max = mcconf.l_current_max;
mcconf.lo_current_min = mcconf.l_current_min;
mcconf.lo_in_current_max = mcconf.l_in_current_max;
mcconf.lo_in_current_min = mcconf.l_in_current_min;
mcconf.sl_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_min_erpm_cycle_int_limit = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_max_fullbreak_current_dir_change = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_cycle_int_limit = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_phase_advance_at_br = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_cycle_int_rpm_br = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_bemf_coupling_k = (float)buffer_get_int32(data, &ind) / 1000.0;
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.foc_current_kp = buffer_get_float32(data, 1e5, &ind);
mcconf.foc_current_ki = buffer_get_float32(data, 1e5, &ind);
mcconf.foc_f_sw = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_dt_us = buffer_get_float32(data, 1e6, &ind);
mcconf.foc_encoder_inverted = data[ind++];
mcconf.foc_encoder_offset = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_encoder_ratio = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_sensor_mode = data[ind++];
mcconf.foc_pll_kp = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_pll_ki = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_motor_l = buffer_get_float32(data, 1e8, &ind);
mcconf.foc_motor_r = buffer_get_float32(data, 1e5, &ind);
mcconf.foc_motor_flux_linkage = buffer_get_float32(data, 1e5, &ind);
mcconf.foc_observer_gain = buffer_get_float32(data, 1e0, &ind);
mcconf.foc_duty_dowmramp_kp = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_duty_dowmramp_ki = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_openloop_rpm = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_sl_openloop_hyst = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_sl_openloop_time = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_sl_d_current_duty = buffer_get_float32(data, 1e3, &ind);
mcconf.foc_sl_d_current_factor = buffer_get_float32(data, 1e3, &ind);
memcpy(mcconf.foc_hall_table, data + ind, 8);
ind += 8;
mcconf.foc_sl_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.s_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.s_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.s_pid_kd = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.s_pid_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.p_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.p_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.p_pid_kd = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.p_pid_ang_div = (float)buffer_get_int32(data, &ind) / 100000.0;
mcconf.cc_startup_boost_duty = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.cc_min_current = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.cc_gain = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.cc_ramp_step_max = buffer_get_float32(data, 1e5, &ind);
mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = (float)buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_duty_ramp_step_rpm_lim = (float)buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_current_backoff_gain = (float)buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_encoder_counts = buffer_get_uint32(data, &ind);
mcconf.m_sensor_port_mode = data[ind++];
conf_general_store_mc_configuration(&mcconf);
mc_interface_set_configuration(&mcconf);
ind = 0;
send_buffer[ind++] = packet_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT:
if (packet_id == COMM_GET_MCCONF) {
mcconf = *mc_interface_get_configuration();
} else {
conf_general_get_default_mc_configuration(&mcconf);
}
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = mcconf.pwm_mode;
send_buffer[ind++] = mcconf.comm_mode;
send_buffer[ind++] = mcconf.motor_type;
send_buffer[ind++] = mcconf.sensor_mode;
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_current_max * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_current_min * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_in_current_max * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_in_current_min * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_abs_current_max * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake_cc * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_vin * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_vin * 1000.0), &ind);
buffer_append_float32(send_buffer, mcconf.l_battery_cut_start, 1000.0, &ind);
buffer_append_float32(send_buffer, mcconf.l_battery_cut_end, 1000.0, &ind);
send_buffer[ind++] = mcconf.l_slow_abs_current;
send_buffer[ind++] = mcconf.l_rpm_lim_neg_torque;
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_end * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_end * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_duty * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_duty * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm_cycle_int_limit * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_max_fullbreak_current_dir_change * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_limit * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_phase_advance_at_br * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_rpm_br * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_bemf_coupling_k * 1000.0), &ind);
memcpy(send_buffer + ind, mcconf.hall_table, 8);
ind += 8;
buffer_append_int32(send_buffer, (int32_t)(mcconf.hall_sl_erpm * 1000.0), &ind);
buffer_append_float32(send_buffer, mcconf.foc_current_kp, 1e5, &ind);
buffer_append_float32(send_buffer, mcconf.foc_current_ki, 1e5, &ind);
buffer_append_float32(send_buffer, mcconf.foc_f_sw, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_dt_us, 1e6, &ind);
send_buffer[ind++] = mcconf.foc_encoder_inverted;
buffer_append_float32(send_buffer, mcconf.foc_encoder_offset, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_encoder_ratio, 1e3, &ind);
send_buffer[ind++] = mcconf.foc_sensor_mode;
buffer_append_float32(send_buffer, mcconf.foc_pll_kp, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_pll_ki, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_motor_l, 1e8, &ind);
buffer_append_float32(send_buffer, mcconf.foc_motor_r, 1e5, &ind);
buffer_append_float32(send_buffer, mcconf.foc_motor_flux_linkage, 1e5, &ind);
buffer_append_float32(send_buffer, mcconf.foc_observer_gain, 1e0, &ind);
buffer_append_float32(send_buffer, mcconf.foc_duty_dowmramp_kp, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_duty_dowmramp_ki, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_openloop_rpm, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_sl_openloop_hyst, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_sl_openloop_time, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_sl_d_current_duty, 1e3, &ind);
buffer_append_float32(send_buffer, mcconf.foc_sl_d_current_factor, 1e3, &ind);
memcpy(send_buffer + ind, mcconf.foc_hall_table, 8);
ind += 8;
buffer_append_int32(send_buffer, (int32_t)(mcconf.foc_sl_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kp * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_ki * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kd * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_kp * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_ki * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_kd * 1000000.0), &ind);
buffer_append_float32(send_buffer, mcconf.p_pid_ang_div, 1e5, &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_startup_boost_duty * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_min_current * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_gain * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_ramp_step_max * 1000000.0), &ind);
buffer_append_int32(send_buffer, mcconf.m_fault_stop_time_ms, &ind);
buffer_append_float32(send_buffer, mcconf.m_duty_ramp_step, 1000000.0, &ind);
buffer_append_float32(send_buffer, mcconf.m_duty_ramp_step_rpm_lim, 1000000.0, &ind);
buffer_append_float32(send_buffer, mcconf.m_current_backoff_gain, 1000000.0, &ind);
buffer_append_uint32(send_buffer, mcconf.m_encoder_counts, &ind);
send_buffer[ind++] = mcconf.m_sensor_port_mode;
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_APPCONF:
appconf = *app_get_configuration();
ind = 0;
appconf.controller_id = data[ind++];
appconf.timeout_msec = buffer_get_uint32(data, &ind);
appconf.timeout_brake_current = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_to_use = data[ind++];
appconf.app_ppm_conf.ctrl_type = data[ind++];
appconf.app_ppm_conf.pid_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.pulse_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.pulse_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.ctrl_type = data[ind++];
appconf.app_adc_conf.hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.voltage_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.voltage_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.use_filter = data[ind++];
appconf.app_adc_conf.safe_start = data[ind++];
appconf.app_adc_conf.cc_button_inverted = data[ind++];
appconf.app_adc_conf.rev_button_inverted = data[ind++];
appconf.app_adc_conf.voltage_inverted = data[ind++];
appconf.app_adc_conf.rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.update_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
appconf.app_chuk_conf.ctrl_type = data[ind++];
appconf.app_chuk_conf.hyst = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.multi_esc = data[ind++];
appconf.app_chuk_conf.tc = data[ind++];
appconf.app_chuk_conf.tc_max_diff = buffer_get_float32(data, 1000.0, &ind);
appconf.app_nrf_conf.speed = data[ind++];
appconf.app_nrf_conf.power = data[ind++];
appconf.app_nrf_conf.crc_type = data[ind++];
appconf.app_nrf_conf.retry_delay = data[ind++];
appconf.app_nrf_conf.retries = data[ind++];
appconf.app_nrf_conf.channel = data[ind++];
memcpy(appconf.app_nrf_conf.address, data + ind, 3);
ind += 3;
appconf.app_nrf_conf.send_crc_ack = data[ind++];
conf_general_store_app_configuration(&appconf);
app_set_configuration(&appconf);
timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
ind = 0;
send_buffer[ind++] = packet_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT:
if (packet_id == COMM_GET_APPCONF) {
appconf = *app_get_configuration();
} else {
conf_general_get_default_app_configuration(&appconf);
}
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = appconf.controller_id;
buffer_append_uint32(send_buffer, appconf.timeout_msec, &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.timeout_brake_current * 1000.0), &ind);
send_buffer[ind++] = appconf.send_can_status;
buffer_append_uint16(send_buffer, appconf.send_can_status_rate_hz, &ind);
send_buffer[ind++] = appconf.app_to_use;
send_buffer[ind++] = appconf.app_ppm_conf.ctrl_type;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.pid_max_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.hyst * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.pulse_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.pulse_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_ppm_conf.median_filter;
send_buffer[ind++] = appconf.app_ppm_conf.safe_start;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.rpm_lim_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.rpm_lim_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_ppm_conf.multi_esc;
send_buffer[ind++] = appconf.app_ppm_conf.tc;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.tc_max_diff * 1000.0), &ind);
send_buffer[ind++] = appconf.app_adc_conf.ctrl_type;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.hyst * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.voltage_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.voltage_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_adc_conf.use_filter;
send_buffer[ind++] = appconf.app_adc_conf.safe_start;
send_buffer[ind++] = appconf.app_adc_conf.cc_button_inverted;
send_buffer[ind++] = appconf.app_adc_conf.rev_button_inverted;
send_buffer[ind++] = appconf.app_adc_conf.voltage_inverted;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.rpm_lim_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.rpm_lim_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_adc_conf.multi_esc;
send_buffer[ind++] = appconf.app_adc_conf.tc;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.tc_max_diff * 1000.0), &ind);
buffer_append_uint16(send_buffer, appconf.app_adc_conf.update_rate_hz, &ind);
buffer_append_uint32(send_buffer, appconf.app_uart_baudrate, &ind);
send_buffer[ind++] = appconf.app_chuk_conf.ctrl_type;
buffer_append_float32(send_buffer, appconf.app_chuk_conf.hyst, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.rpm_lim_start, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.rpm_lim_end, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.ramp_time_pos, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.ramp_time_neg, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.stick_erpm_per_s_in_cc, 1000.0, &ind);
send_buffer[ind++] = appconf.app_chuk_conf.multi_esc;
send_buffer[ind++] = appconf.app_chuk_conf.tc;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.tc_max_diff * 1000.0), &ind);
send_buffer[ind++] = appconf.app_nrf_conf.speed;
send_buffer[ind++] = appconf.app_nrf_conf.power;
send_buffer[ind++] = appconf.app_nrf_conf.crc_type;
send_buffer[ind++] = appconf.app_nrf_conf.retry_delay;
send_buffer[ind++] = appconf.app_nrf_conf.retries;
send_buffer[ind++] = appconf.app_nrf_conf.channel;
memcpy(send_buffer + ind, appconf.app_nrf_conf.address, 3);
ind += 3;
send_buffer[ind++] = appconf.app_nrf_conf.send_crc_ack;
commands_send_packet(send_buffer, ind);
break;
case COMM_SAMPLE_PRINT:
ind = 0;
at_start = data[ind++];
sample_len = buffer_get_uint16(data, &ind);
decimation = data[ind++];
mc_interface_sample_print_data(at_start, sample_len, decimation);
break;
case COMM_TERMINAL_CMD:
data[len] = '\0';
terminal_process_string((char*)data);
break;
case COMM_DETECT_MOTOR_PARAM:
ind = 0;
detect_current = buffer_get_float32(data, 1e3, &ind);
detect_min_rpm = buffer_get_float32(data, 1e3, &ind);
detect_low_duty = buffer_get_float32(data, 1e3, &ind);
chEvtSignal(detect_tp, (eventmask_t) 1);
break;
case COMM_DETECT_MOTOR_R_L: {
mcconf = *mc_interface_get_configuration();
mcconf_old = mcconf;
mcconf.motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(&mcconf);
float r = 0.0;
float l = 0.0;
bool res = mcpwm_foc_measure_res_ind(&r, &l);
mc_interface_set_configuration(&mcconf_old);
if (!res) {
r = 0.0;
l = 0.0;
}
ind = 0;
send_buffer[ind++] = COMM_DETECT_MOTOR_R_L;
buffer_append_float32(send_buffer, r, 1e6, &ind);
buffer_append_float32(send_buffer, l, 1e3, &ind);
commands_send_packet(send_buffer, ind);
}
break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE: {
ind = 0;
float current = buffer_get_float32(data, 1e3, &ind);
float min_rpm = buffer_get_float32(data, 1e3, &ind);
float duty = buffer_get_float32(data, 1e3, &ind);
float resistance = buffer_get_float32(data, 1e6, &ind);
float linkage;
bool res = conf_general_measure_flux_linkage(current, duty, min_rpm, resistance, &linkage);
if (!res) {
linkage = 0.0;
}
ind = 0;
send_buffer[ind++] = COMM_DETECT_MOTOR_FLUX_LINKAGE;
buffer_append_float32(send_buffer, linkage, 1e7, &ind);
commands_send_packet(send_buffer, ind);
}
break;
case COMM_DETECT_ENCODER: {
if (encoder_is_configured()) {
mcconf = *mc_interface_get_configuration();
mcconf_old = mcconf;
ind = 0;
float current = buffer_get_float32(data, 1e3, &ind);
mcconf.motor_type = MOTOR_TYPE_FOC;
mcconf.foc_f_sw = 10000.0;
mcconf.foc_current_kp = 0.01;
mcconf.foc_current_ki = 10.0;
mc_interface_set_configuration(&mcconf);
float offset = 0.0;
float ratio = 0.0;
bool inverted = false;
mcpwm_foc_encoder_detect(current, false, &offset, &ratio, &inverted);
mc_interface_set_configuration(&mcconf_old);
ind = 0;
send_buffer[ind++] = COMM_DETECT_ENCODER;
buffer_append_float32(send_buffer, offset, 1e6, &ind);
buffer_append_float32(send_buffer, ratio, 1e6, &ind);
send_buffer[ind++] = inverted;
commands_send_packet(send_buffer, ind);
} else {
ind = 0;
send_buffer[ind++] = COMM_DETECT_ENCODER;
buffer_append_float32(send_buffer, 1001.0, 1e6, &ind);
buffer_append_float32(send_buffer, 0.0, 1e6, &ind);
send_buffer[ind++] = false;
commands_send_packet(send_buffer, ind);
}
}
break;
case COMM_DETECT_HALL_FOC: {
mcconf = *mc_interface_get_configuration();
if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_HALL) {
mcconf_old = mcconf;
ind = 0;
float current = buffer_get_float32(data, 1e3, &ind);
mcconf.motor_type = MOTOR_TYPE_FOC;
mcconf.foc_f_sw = 10000.0;
mcconf.foc_current_kp = 0.01;
mcconf.foc_current_ki = 10.0;
mc_interface_set_configuration(&mcconf);
uint8_t hall_tab[8];
bool res = mcpwm_foc_hall_detect(current, hall_tab);
mc_interface_set_configuration(&mcconf_old);
ind = 0;
send_buffer[ind++] = COMM_DETECT_HALL_FOC;
memcpy(send_buffer + ind, hall_tab, 8);
ind += 8;
send_buffer[ind++] = res ? 0 : 1;
commands_send_packet(send_buffer, ind);
} else {
ind = 0;
send_buffer[ind++] = COMM_DETECT_HALL_FOC;
memset(send_buffer, 255, 8);
ind += 8;
send_buffer[ind++] = 0;
}
}
break;
case COMM_REBOOT:
// Lock the system and enter an infinite loop. The watchdog will reboot.
__disable_irq();
for(;;){};
break;
case COMM_ALIVE:
timeout_reset();
break;
case COMM_GET_DECODED_PPM:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_PPM;
buffer_append_int32(send_buffer, (int32_t)(servodec_get_servo(0) * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(servodec_get_last_pulse_len(0) * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_DECODED_ADC:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_ADC;
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level2() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage2() * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_DECODED_CHUK:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_CHUK;
buffer_append_int32(send_buffer, (int32_t)(app_nunchuk_get_decoded_chuk() * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_FORWARD_CAN:
comm_can_send_buffer(data[0], data + 1, len - 1, false);
break;
case COMM_SET_CHUCK_DATA:
ind = 0;
chuck_d_tmp.js_x = data[ind++];
chuck_d_tmp.js_y = data[ind++];
chuck_d_tmp.bt_c = data[ind++];
chuck_d_tmp.bt_z = data[ind++];
chuck_d_tmp.acc_x = buffer_get_int16(data, &ind);
chuck_d_tmp.acc_y = buffer_get_int16(data, &ind);
chuck_d_tmp.acc_z = buffer_get_int16(data, &ind);
app_nunchuk_update_output(&chuck_d_tmp);
break;
case COMM_CUSTOM_APP_DATA:
if (appdata_func) {
appdata_func(data, len);
}
break;
default:
break;
}
}
/**
* Process a received buffer with commands and data.
*
* @param data
* The buffer to process.
*
* @param len
* The length of the buffer.
*/
void commands_process_packet(unsigned char *data, unsigned int len) {
if (!len) {
return;
}
COMM_PACKET_ID packet_id;
int32_t ind = 0;
uint16_t sample_len;
uint8_t decimation;
bool at_start;
mc_configuration mcconf;
app_configuration appconf;
uint16_t flash_res;
uint32_t new_app_offset;
packet_id = data[0];
data++;
len--;
switch (packet_id) {
case COMM_FW_VERSION:
ind = 0;
send_buffer[ind++] = COMM_FW_VERSION;
send_buffer[ind++] = FW_VERSION_MAJOR;
send_buffer[ind++] = FW_VERSION_MINOR;
commands_send_packet(send_buffer, ind);
break;
case COMM_JUMP_TO_BOOTLOADER:
flash_helper_jump_to_bootloader();
break;
case COMM_ERASE_NEW_APP:
ind = 0;
flash_res = flash_helper_erase_new_app(buffer_get_uint32(data, &ind));
ind = 0;
send_buffer[ind++] = COMM_ERASE_NEW_APP;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
commands_send_packet(send_buffer, ind);
break;
case COMM_WRITE_NEW_APP_DATA:
ind = 0;
new_app_offset = buffer_get_uint32(data, &ind);
flash_res = flash_helper_write_new_app_data(new_app_offset, data + ind, len - ind);
ind = 0;
send_buffer[ind++] = COMM_WRITE_NEW_APP_DATA;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_VALUES:
ind = 0;
send_buffer[ind++] = COMM_GET_VALUES;
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS1) * 10.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS2) * 10.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS3) * 10.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS4) * 10.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS5) * 10.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS6) * 10.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_PCB) * 10.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mc_interface_read_reset_avg_motor_current() * 100.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mc_interface_read_reset_avg_input_current() * 100.0), &ind);
buffer_append_int16(send_buffer, (int16_t)(mc_interface_get_duty_cycle_now() * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)mc_interface_get_rpm(), &ind);
buffer_append_int16(send_buffer, (int16_t)(GET_INPUT_VOLTAGE() * 10.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mc_interface_get_amp_hours(false) * 10000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mc_interface_get_amp_hours_charged(false) * 10000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mc_interface_get_watt_hours(false) * 10000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mc_interface_get_watt_hours_charged(false) * 10000.0), &ind);
buffer_append_int32(send_buffer, mcpwm_get_tachometer_value(false), &ind);
buffer_append_int32(send_buffer, mcpwm_get_tachometer_abs_value(false), &ind);
send_buffer[ind++] = mc_interface_get_fault();
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_DUTY:
ind = 0;
mc_interface_set_duty((float)buffer_get_int32(data, &ind) / 100000.0);
timeout_reset();
break;
case COMM_SET_CURRENT:
ind = 0;
mc_interface_set_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
break;
case COMM_SET_CURRENT_BRAKE:
ind = 0;
mc_interface_set_brake_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
break;
case COMM_SET_RPM:
ind = 0;
mc_interface_set_pid_speed((float)buffer_get_int32(data, &ind));
timeout_reset();
break;
case COMM_SET_POS:
ind = 0;
mc_interface_set_pid_pos((float)buffer_get_int32(data, &ind) / 1000000.0);
timeout_reset();
break;
case COMM_SET_DETECT:
mcpwm_set_detect();
timeout_reset();
break;
case COMM_SET_SERVO_POS:
#if SERVO_OUT_ENABLE
ind = 0;
#if SERVO_OUT_SIMPLE
servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
#else
servos[0].pos = (int16_t)(buffer_get_float16(data, 1000.0, &ind) * 255.0);
#endif
#endif
break;
case COMM_SET_MCCONF:
mcconf = *mc_interface_get_configuration();
ind = 0;
mcconf.pwm_mode = data[ind++];
mcconf.comm_mode = data[ind++];
mcconf.motor_type = data[ind++];
mcconf.sensor_mode = data[ind++];
mcconf.l_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_current_min = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_in_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_in_current_min = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_abs_current_max = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_erpm_fbrake_cc = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_vin = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_max_vin = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_battery_cut_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_battery_cut_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_rpm_lim_neg_torque = data[ind++];
mcconf.l_temp_fet_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_fet_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_motor_start = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_temp_motor_end = buffer_get_float32(data, 1000.0, &ind);
mcconf.l_min_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.l_max_duty = buffer_get_float32(data, 1000000.0, &ind);
mcconf.lo_current_max = mcconf.l_current_max;
mcconf.lo_current_min = mcconf.l_current_min;
mcconf.lo_in_current_max = mcconf.l_in_current_max;
mcconf.lo_in_current_min = mcconf.l_in_current_min;
mcconf.sl_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_min_erpm_cycle_int_limit = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_max_fullbreak_current_dir_change = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_cycle_int_limit = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_phase_advance_at_br = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_cycle_int_rpm_br = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.sl_bemf_coupling_k = (float)buffer_get_int32(data, &ind) / 1000.0;
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.s_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.s_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.s_pid_kd = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.s_pid_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.p_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.p_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.p_pid_kd = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.cc_startup_boost_duty = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.cc_min_current = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.cc_gain = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.cc_ramp_step_max = (float)buffer_get_int32(data, &ind) / 1000000.0;
mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = (float)buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_duty_ramp_step_rpm_lim = (float)buffer_get_float32(data, 1000000.0, &ind);
mcconf.m_current_backoff_gain = (float)buffer_get_float32(data, 1000000.0, &ind);
conf_general_store_mc_configuration(&mcconf);
mc_interface_set_configuration(&mcconf);
ind = 0;
send_buffer[ind++] = packet_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT:
if (packet_id == COMM_GET_MCCONF) {
mcconf = *mc_interface_get_configuration();
} else {
conf_general_get_default_mc_configuration(&mcconf);
}
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = mcconf.pwm_mode;
send_buffer[ind++] = mcconf.comm_mode;
send_buffer[ind++] = mcconf.motor_type;
send_buffer[ind++] = mcconf.sensor_mode;
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_current_max * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_current_min * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_in_current_max * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_in_current_min * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_abs_current_max * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake_cc * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_vin * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_vin * 1000.0), &ind);
buffer_append_float32(send_buffer, mcconf.l_battery_cut_start, 1000.0, &ind);
buffer_append_float32(send_buffer, mcconf.l_battery_cut_end, 1000.0, &ind);
send_buffer[ind++] = mcconf.l_slow_abs_current;
send_buffer[ind++] = mcconf.l_rpm_lim_neg_torque;
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_end * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_end * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_duty * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_duty * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm_cycle_int_limit * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_max_fullbreak_current_dir_change * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_limit * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_phase_advance_at_br * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_rpm_br * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_bemf_coupling_k * 1000.0), &ind);
memcpy(send_buffer + ind, mcconf.hall_table, 8);
ind += 8;
buffer_append_int32(send_buffer, (int32_t)(mcconf.hall_sl_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kp * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_ki * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kd * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_kp * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_ki * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_kd * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_startup_boost_duty * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_min_current * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_gain * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_ramp_step_max * 1000000.0), &ind);
buffer_append_int32(send_buffer, mcconf.m_fault_stop_time_ms, &ind);
buffer_append_float32(send_buffer, mcconf.m_duty_ramp_step, 1000000.0, &ind);
buffer_append_float32(send_buffer, mcconf.m_duty_ramp_step_rpm_lim, 1000000.0, &ind);
buffer_append_float32(send_buffer, mcconf.m_current_backoff_gain, 1000000.0, &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_APPCONF:
appconf = *app_get_configuration();
ind = 0;
appconf.controller_id = data[ind++];
appconf.timeout_msec = buffer_get_uint32(data, &ind);
appconf.timeout_brake_current = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_to_use = data[ind++];
appconf.app_ppm_conf.ctrl_type = data[ind++];
appconf.app_ppm_conf.pid_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.pulse_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.pulse_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.ctrl_type = data[ind++];
appconf.app_adc_conf.hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.voltage_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.voltage_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.use_filter = data[ind++];
appconf.app_adc_conf.safe_start = data[ind++];
appconf.app_adc_conf.cc_button_inverted = data[ind++];
appconf.app_adc_conf.rev_button_inverted = data[ind++];
appconf.app_adc_conf.voltage_inverted = data[ind++];
appconf.app_adc_conf.rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = (float)buffer_get_int32(data, &ind) / 1000.0;
appconf.app_adc_conf.update_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
appconf.app_chuk_conf.ctrl_type = data[ind++];
appconf.app_chuk_conf.hyst = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_start = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.rpm_lim_end = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32(data, 1000.0, &ind);
appconf.app_chuk_conf.multi_esc = data[ind++];
appconf.app_chuk_conf.tc = data[ind++];
appconf.app_chuk_conf.tc_max_diff = buffer_get_float32(data, 1000.0, &ind);
conf_general_store_app_configuration(&appconf);
app_set_configuration(&appconf);
timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
ind = 0;
send_buffer[ind++] = packet_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT:
if (packet_id == COMM_GET_APPCONF) {
appconf = *app_get_configuration();
} else {
conf_general_get_default_app_configuration(&appconf);
}
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = appconf.controller_id;
buffer_append_uint32(send_buffer, appconf.timeout_msec, &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.timeout_brake_current * 1000.0), &ind);
send_buffer[ind++] = appconf.send_can_status;
buffer_append_uint16(send_buffer, appconf.send_can_status_rate_hz, &ind);
send_buffer[ind++] = appconf.app_to_use;
send_buffer[ind++] = appconf.app_ppm_conf.ctrl_type;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.pid_max_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.hyst * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.pulse_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.pulse_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_ppm_conf.median_filter;
send_buffer[ind++] = appconf.app_ppm_conf.safe_start;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.rpm_lim_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.rpm_lim_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_ppm_conf.multi_esc;
send_buffer[ind++] = appconf.app_ppm_conf.tc;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_conf.tc_max_diff * 1000.0), &ind);
send_buffer[ind++] = appconf.app_adc_conf.ctrl_type;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.hyst * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.voltage_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.voltage_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_adc_conf.use_filter;
send_buffer[ind++] = appconf.app_adc_conf.safe_start;
send_buffer[ind++] = appconf.app_adc_conf.cc_button_inverted;
send_buffer[ind++] = appconf.app_adc_conf.rev_button_inverted;
send_buffer[ind++] = appconf.app_adc_conf.voltage_inverted;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.rpm_lim_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.rpm_lim_end * 1000.0), &ind);
send_buffer[ind++] = appconf.app_adc_conf.multi_esc;
send_buffer[ind++] = appconf.app_adc_conf.tc;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.tc_max_diff * 1000.0), &ind);
buffer_append_uint16(send_buffer, appconf.app_adc_conf.update_rate_hz, &ind);
buffer_append_uint32(send_buffer, appconf.app_uart_baudrate, &ind);
send_buffer[ind++] = appconf.app_chuk_conf.ctrl_type;
buffer_append_float32(send_buffer, appconf.app_chuk_conf.hyst, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.rpm_lim_start, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.rpm_lim_end, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.ramp_time_pos, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.ramp_time_neg, 1000.0, &ind);
buffer_append_float32(send_buffer, appconf.app_chuk_conf.stick_erpm_per_s_in_cc, 1000.0, &ind);
send_buffer[ind++] = appconf.app_chuk_conf.multi_esc;
send_buffer[ind++] = appconf.app_chuk_conf.tc;
buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.tc_max_diff * 1000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_SAMPLE_PRINT:
ind = 0;
at_start = data[ind++];
sample_len = buffer_get_uint16(data, &ind);
decimation = data[ind++];
main_sample_print_data(at_start, sample_len, decimation);
break;
case COMM_TERMINAL_CMD:
data[len] = '\0';
terminal_process_string((char*)data);
break;
case COMM_DETECT_MOTOR_PARAM:
ind = 0;
detect_current = (float)buffer_get_int32(data, &ind) / 1000.0;
detect_min_rpm = (float)buffer_get_int32(data, &ind) / 1000.0;
detect_low_duty = (float)buffer_get_int32(data, &ind) / 1000.0;
chEvtSignal(detect_tp, (eventmask_t) 1);
break;
case COMM_REBOOT:
// Lock the system and enter an infinite loop. The watchdog will reboot.
__disable_irq();
for(;;){};
break;
case COMM_ALIVE:
timeout_reset();
break;
case COMM_GET_DECODED_PPM:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_PPM;
buffer_append_int32(send_buffer, (int32_t)(servodec_get_servo(0) * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(servodec_get_last_pulse_len(0) * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_DECODED_ADC:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_ADC;
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage() * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_DECODED_CHUK:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_CHUK;
buffer_append_int32(send_buffer, (int32_t)(app_nunchuk_get_decoded_chuk() * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_FORWARD_CAN:
comm_can_send_buffer(data[0], data + 1, len - 1, false);
break;
default:
break;
}
}
/**
* Disconnect the motor and let it turn freely.
*/
void mc_interface_release_motor(void) {
mc_interface_set_current(0.0);
}
