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commands.c
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commands.c
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/*
Copyright 2016 Benjamin Vedder [email protected]
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "commands.h"
#include "ch.h"
#include "hal.h"
#include "mc_interface.h"
#include "stm32f4xx_conf.h"
#include "servo_simple.h"
#include "buffer.h"
#include "terminal.h"
#include "hw.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "app.h"
#include "timeout.h"
#include "servo_dec.h"
#include "comm_can.h"
#include "flash_helper.h"
#include "utils.h"
#include "packet.h"
#include "encoder.h"
#include "nrf_driver.h"
#include <math.h>
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
// Threads
static THD_FUNCTION(detect_thread, arg);
static THD_WORKING_AREA(detect_thread_wa, 2048);
static thread_t *detect_tp;
// Private variables
static uint8_t send_buffer[PACKET_MAX_PL_LEN];
static float detect_cycle_int_limit;
static float detect_coupling_k;
static float detect_current;
static float detect_min_rpm;
static float detect_low_duty;
static int8_t detect_hall_table[8];
static int detect_hall_res;
static void(*send_func)(unsigned char *data, unsigned int len) = 0;
static void(*send_func_last)(unsigned char *data, unsigned int len) = 0;
static void(*appdata_func)(unsigned char *data, unsigned int len) = 0;
static disp_pos_mode display_position_mode;
void commands_init(void) {
chThdCreateStatic(detect_thread_wa, sizeof(detect_thread_wa), NORMALPRIO, detect_thread, NULL);
}
/**
* Provide a function to use the next time there are packets to be sent.
*
* @param func
* A pointer to the packet sending function.
*/
void commands_set_send_func(void(*func)(unsigned char *data, unsigned int len)) {
send_func = func;
}
/**
* Send a packet using the set send function.
*
* @param data
* The packet data.
*
* @param len
* The data length.
*/
void commands_send_packet(unsigned char *data, unsigned int len) {
if (send_func) {
send_func(data, len);
}
}
/**
* 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;
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;
#ifdef HW_NAME
strcpy((char*)(send_buffer + ind), HW_NAME);
ind += strlen(HW_NAME) + 1;
memcpy(send_buffer + ind, STM32_UUID_8, 12);
ind += 12;
#endif
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, mc_interface_temp_fet_filtered(), 1e1, &ind);
buffer_append_float16(send_buffer, mc_interface_temp_motor_filtered(), 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_float32(send_buffer, mc_interface_read_reset_avg_id(), 1e2, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_iq(), 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();
buffer_append_float32(send_buffer, mc_interface_get_pid_pos_now(), 1e6, &ind);
send_buffer[ind++] = app_get_configuration()->controller_id;
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_HANDBRAKE:
ind = 0;
mc_interface_set_handbrake(buffer_get_float32(data, 1e3, &ind));
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;
servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
#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_auto(data, &ind);
mcconf.l_current_min = buffer_get_float32_auto(data, &ind);
mcconf.l_in_current_max = buffer_get_float32_auto(data, &ind);
mcconf.l_in_current_min = buffer_get_float32_auto(data, &ind);
mcconf.l_abs_current_max = buffer_get_float32_auto(data, &ind);
mcconf.l_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf.l_max_erpm = buffer_get_float32_auto(data, &ind);
mcconf.l_erpm_start = buffer_get_float32_auto(data, &ind);
mcconf.l_max_erpm_fbrake = buffer_get_float32_auto(data, &ind);
mcconf.l_max_erpm_fbrake_cc = buffer_get_float32_auto(data, &ind);
mcconf.l_min_vin = buffer_get_float32_auto(data, &ind);
mcconf.l_max_vin = buffer_get_float32_auto(data, &ind);
mcconf.l_battery_cut_start = buffer_get_float32_auto(data, &ind);
mcconf.l_battery_cut_end = buffer_get_float32_auto(data, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_temp_fet_start = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_fet_end = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_motor_start = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_motor_end = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_accel_dec = buffer_get_float32_auto(data, &ind);
mcconf.l_min_duty = buffer_get_float32_auto(data, &ind);
mcconf.l_max_duty = buffer_get_float32_auto(data, &ind);
mcconf.l_watt_max = buffer_get_float32_auto(data, &ind);
mcconf.l_watt_min = buffer_get_float32_auto(data, &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.lo_current_motor_max_now = mcconf.l_current_max;
mcconf.lo_current_motor_min_now = mcconf.l_current_min;
mcconf.sl_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf.sl_min_erpm_cycle_int_limit = buffer_get_float32_auto(data, &ind);
mcconf.sl_max_fullbreak_current_dir_change = buffer_get_float32_auto(data, &ind);
mcconf.sl_cycle_int_limit = buffer_get_float32_auto(data, &ind);
mcconf.sl_phase_advance_at_br = buffer_get_float32_auto(data, &ind);
mcconf.sl_cycle_int_rpm_br = buffer_get_float32_auto(data, &ind);
mcconf.sl_bemf_coupling_k = buffer_get_float32_auto(data, &ind);
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = buffer_get_float32_auto(data, &ind);
mcconf.foc_current_kp = buffer_get_float32_auto(data, &ind);
mcconf.foc_current_ki = buffer_get_float32_auto(data, &ind);
mcconf.foc_f_sw = buffer_get_float32_auto(data, &ind);
mcconf.foc_dt_us = buffer_get_float32_auto(data, &ind);
mcconf.foc_encoder_inverted = data[ind++];
mcconf.foc_encoder_offset = buffer_get_float32_auto(data, &ind);
mcconf.foc_encoder_ratio = buffer_get_float32_auto(data, &ind);
mcconf.foc_sensor_mode = data[ind++];
mcconf.foc_pll_kp = buffer_get_float32_auto(data, &ind);
mcconf.foc_pll_ki = buffer_get_float32_auto(data, &ind);
mcconf.foc_motor_l = buffer_get_float32_auto(data, &ind);
mcconf.foc_motor_r = buffer_get_float32_auto(data, &ind);
mcconf.foc_motor_flux_linkage = buffer_get_float32_auto(data, &ind);
mcconf.foc_observer_gain = buffer_get_float32_auto(data, &ind);
mcconf.foc_observer_gain_slow = buffer_get_float32_auto(data, &ind);
mcconf.foc_duty_dowmramp_kp = buffer_get_float32_auto(data, &ind);
mcconf.foc_duty_dowmramp_ki = buffer_get_float32_auto(data, &ind);
mcconf.foc_openloop_rpm = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_openloop_hyst = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_openloop_time = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_d_current_duty = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_d_current_factor = buffer_get_float32_auto(data, &ind);
memcpy(mcconf.foc_hall_table, data + ind, 8);
ind += 8;
mcconf.foc_sl_erpm = buffer_get_float32_auto(data, &ind);
mcconf.foc_sample_v0_v7 = data[ind++];
mcconf.foc_sample_high_current = data[ind++];
mcconf.foc_sat_comp = buffer_get_float32_auto(data, &ind);
mcconf.foc_temp_comp = data[ind++];
mcconf.foc_temp_comp_base_temp = buffer_get_float32_auto(data, &ind);
mcconf.foc_current_filter_const = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_kp = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_ki = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_kd = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_kd_filter = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_allow_braking = data[ind++];
mcconf.p_pid_kp = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_ki = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_kd = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_kd_filter = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_ang_div = buffer_get_float32_auto(data, &ind);
mcconf.cc_startup_boost_duty = buffer_get_float32_auto(data, &ind);
mcconf.cc_min_current = buffer_get_float32_auto(data, &ind);
mcconf.cc_gain = buffer_get_float32_auto(data, &ind);
mcconf.cc_ramp_step_max = buffer_get_float32_auto(data, &ind);
mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = buffer_get_float32_auto(data, &ind);
mcconf.m_current_backoff_gain = buffer_get_float32_auto(data, &ind);
mcconf.m_encoder_counts = buffer_get_uint32(data, &ind);
mcconf.m_sensor_port_mode = data[ind++];
mcconf.m_invert_direction = data[ind++];
mcconf.m_drv8301_oc_mode = data[ind++];
mcconf.m_drv8301_oc_adj = data[ind++];
mcconf.m_bldc_f_sw_min = buffer_get_float32_auto(data, &ind);
mcconf.m_bldc_f_sw_max = buffer_get_float32_auto(data, &ind);
mcconf.m_dc_f_sw = buffer_get_float32_auto(data, &ind);
mcconf.m_ntc_motor_beta = buffer_get_float32_auto(data, &ind);
mcconf.m_out_aux_mode = data[ind++];
// Apply limits if they are defined
#ifndef DISABLE_HW_LIMITS
#ifdef HW_LIM_CURRENT
utils_truncate_number(&mcconf.l_current_max, HW_LIM_CURRENT);
utils_truncate_number(&mcconf.l_current_min, HW_LIM_CURRENT);
#endif
#ifdef HW_LIM_CURRENT_IN
utils_truncate_number(&mcconf.l_in_current_max, HW_LIM_CURRENT_IN);
utils_truncate_number(&mcconf.l_in_current_min, HW_LIM_CURRENT);
#endif
#ifdef HW_LIM_CURRENT_ABS
utils_truncate_number(&mcconf.l_abs_current_max, HW_LIM_CURRENT_ABS);
#endif
#ifdef HW_LIM_VIN
utils_truncate_number(&mcconf.l_max_vin, HW_LIM_VIN);
utils_truncate_number(&mcconf.l_min_vin, HW_LIM_VIN);
#endif
#ifdef HW_LIM_ERPM
utils_truncate_number(&mcconf.l_max_erpm, HW_LIM_ERPM);
utils_truncate_number(&mcconf.l_min_erpm, HW_LIM_ERPM);
#endif
#ifdef HW_LIM_DUTY_MIN
utils_truncate_number(&mcconf.l_min_duty, HW_LIM_DUTY_MIN);
#endif
#ifdef HW_LIM_DUTY_MAX
utils_truncate_number(&mcconf.l_max_duty, HW_LIM_DUTY_MAX);
#endif
#ifdef HW_LIM_TEMP_FET
utils_truncate_number(&mcconf.l_temp_fet_start, HW_LIM_TEMP_FET);
utils_truncate_number(&mcconf.l_temp_fet_end, HW_LIM_TEMP_FET);
#endif
#endif
conf_general_store_mc_configuration(&mcconf);
mc_interface_set_configuration(&mcconf);
chThdSleepMilliseconds(200);
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_float32_auto(send_buffer, mcconf.l_current_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_current_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_in_current_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_in_current_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_abs_current_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_min_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_erpm_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_erpm_fbrake, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_erpm_fbrake_cc, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_min_vin, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_vin, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_battery_cut_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_battery_cut_end, &ind);
send_buffer[ind++] = mcconf.l_slow_abs_current;
buffer_append_float32_auto(send_buffer, mcconf.l_temp_fet_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_fet_end, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_motor_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_motor_end, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_accel_dec, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_min_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_watt_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_watt_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_min_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_min_erpm_cycle_int_limit, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_max_fullbreak_current_dir_change, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_cycle_int_limit, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_phase_advance_at_br, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_cycle_int_rpm_br, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_bemf_coupling_k, &ind);
memcpy(send_buffer + ind, mcconf.hall_table, 8);
ind += 8;
buffer_append_float32_auto(send_buffer, mcconf.hall_sl_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_current_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_current_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_f_sw, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_dt_us, &ind);
send_buffer[ind++] = mcconf.foc_encoder_inverted;
buffer_append_float32_auto(send_buffer, mcconf.foc_encoder_offset, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_encoder_ratio, &ind);
send_buffer[ind++] = mcconf.foc_sensor_mode;
buffer_append_float32_auto(send_buffer, mcconf.foc_pll_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_pll_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_motor_l, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_motor_r, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_motor_flux_linkage, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_observer_gain, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_observer_gain_slow, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_duty_dowmramp_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_duty_dowmramp_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_openloop_rpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_openloop_hyst, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_openloop_time, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_d_current_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_d_current_factor, &ind);
memcpy(send_buffer + ind, mcconf.foc_hall_table, 8);
ind += 8;
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_erpm, &ind);
send_buffer[ind++] = mcconf.foc_sample_v0_v7;
send_buffer[ind++] = mcconf.foc_sample_high_current;
buffer_append_float32_auto(send_buffer, mcconf.foc_sat_comp, &ind);
send_buffer[ind++] = mcconf.foc_temp_comp;
buffer_append_float32_auto(send_buffer, mcconf.foc_temp_comp_base_temp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_current_filter_const, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_kd, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_kd_filter, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_min_erpm, &ind);
send_buffer[ind++] = mcconf.s_pid_allow_braking;
buffer_append_float32_auto(send_buffer, mcconf.p_pid_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_kd, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_kd_filter, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_ang_div, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_startup_boost_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_min_current, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_gain, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_ramp_step_max, &ind);
buffer_append_int32(send_buffer, mcconf.m_fault_stop_time_ms, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_duty_ramp_step, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_current_backoff_gain, &ind);
buffer_append_uint32(send_buffer, mcconf.m_encoder_counts, &ind);
send_buffer[ind++] = mcconf.m_sensor_port_mode;
send_buffer[ind++] = mcconf.m_invert_direction;
send_buffer[ind++] = mcconf.m_drv8301_oc_mode;
send_buffer[ind++] = mcconf.m_drv8301_oc_adj;
buffer_append_float32_auto(send_buffer, mcconf.m_bldc_f_sw_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_bldc_f_sw_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_dc_f_sw, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_ntc_motor_beta, &ind);
send_buffer[ind++] = mcconf.m_out_aux_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 = buffer_get_float32_auto(data, &ind);
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
appconf.can_baud_rate = data[ind++];
appconf.app_to_use = data[ind++];
appconf.app_ppm_conf.ctrl_type = data[ind++];
appconf.app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.hyst = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.pulse_start = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.pulse_end = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.pulse_center = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.throttle_exp_mode = data[ind++];
appconf.app_ppm_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.ctrl_type = data[ind++];
appconf.app_adc_conf.hyst = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage_start = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage_end = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage_center = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage2_start = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage2_end = buffer_get_float32_auto(data, &ind);
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.voltage2_inverted = data[ind++];
appconf.app_adc_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.throttle_exp_mode = data[ind++];
appconf.app_adc_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
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_auto(data, &ind);
appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.throttle_exp_mode = data[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_auto(data, &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);
chThdSleepMilliseconds(200);
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);
}
commands_send_appconf(packet_id, &appconf);
break;
case COMM_SAMPLE_PRINT: {
uint16_t sample_len;
uint8_t decimation;
debug_sampling_mode mode;
ind = 0;
mode = data[ind++];
sample_len = buffer_get_uint16(data, &ind);
decimation = data[ind++];
mc_interface_sample_print_data(mode, 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);
send_func_last = send_func;
chEvtSignal(detect_tp, (eventmask_t) 1);
break;
case COMM_DETECT_MOTOR_R_L: {
mcconf = *mc_interface_get_configuration();
mcconf_old = mcconf;
send_func_last = send_func;
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);
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
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);
send_func_last = send_func;
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);
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
commands_send_packet(send_buffer, ind);
}
}
break;
case COMM_DETECT_ENCODER: {
if (encoder_is_configured()) {
mcconf = *mc_interface_get_configuration();
mcconf_old = mcconf;
send_func_last = send_func;
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;
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
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);
send_func_last = send_func;
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;
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
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)(app_ppm_get_decoded_level() * 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;
case COMM_NRF_START_PAIRING:
ind = 0;
nrf_driver_start_pairing(buffer_get_int32(data, &ind));
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = NRF_PAIR_STARTED;
commands_send_packet(send_buffer, ind);
break;
default:
break;
}
}
void commands_printf(const char* format, ...) {
va_list arg;
va_start (arg, format);
int len;
static char print_buffer[255];
print_buffer[0] = COMM_PRINT;
len = vsnprintf(print_buffer+1, 254, format, arg);
va_end (arg);
if(len > 0) {
commands_send_packet((unsigned char*)print_buffer, (len<254)? len+1: 255);
}
}
void commands_send_rotor_pos(float rotor_pos) {
uint8_t buffer[5];
int32_t index = 0;
buffer[index++] = COMM_ROTOR_POSITION;
buffer_append_int32(buffer, (int32_t)(rotor_pos * 100000.0), &index);
commands_send_packet(buffer, index);
}
void commands_send_experiment_samples(float *samples, int len) {
if ((len * 4 + 1) > 256) {
return;
}
uint8_t buffer[len * 4 + 1];
int32_t index = 0;
buffer[index++] = COMM_EXPERIMENT_SAMPLE;
for (int i = 0;i < len;i++) {
buffer_append_int32(buffer, (int32_t)(samples[i] * 10000.0), &index);
}
commands_send_packet(buffer, index);
}
disp_pos_mode commands_get_disp_pos_mode(void) {
return display_position_mode;
}
void commands_set_app_data_handler(void(*func)(unsigned char *data, unsigned int len)) {
appdata_func = func;
}
void commands_send_app_data(unsigned char *data, unsigned int len) {
int32_t index = 0;
send_buffer[index++] = COMM_CUSTOM_APP_DATA;
memcpy(send_buffer + index, data, len);
index += len;
commands_send_packet(send_buffer, index);
}
void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf) {
int32_t ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = appconf->controller_id;
buffer_append_uint32(send_buffer, appconf->timeout_msec, &ind);
buffer_append_float32_auto(send_buffer, appconf->timeout_brake_current, &ind);
send_buffer[ind++] = appconf->send_can_status;
buffer_append_uint16(send_buffer, appconf->send_can_status_rate_hz, &ind);
send_buffer[ind++] = appconf->can_baud_rate;
send_buffer[ind++] = appconf->app_to_use;
send_buffer[ind++] = appconf->app_ppm_conf.ctrl_type;
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pid_max_erpm, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.hyst, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_start, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_end, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_center, &ind);
send_buffer[ind++] = appconf->app_ppm_conf.median_filter;
send_buffer[ind++] = appconf->app_ppm_conf.safe_start;
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.throttle_exp, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.throttle_exp_brake, &ind);
send_buffer[ind++] = appconf->app_ppm_conf.throttle_exp_mode;
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.ramp_time_pos, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.ramp_time_neg, &ind);
send_buffer[ind++] = appconf->app_ppm_conf.multi_esc;
send_buffer[ind++] = appconf->app_ppm_conf.tc;
buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.tc_max_diff, &ind);
send_buffer[ind++] = appconf->app_adc_conf.ctrl_type;
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.hyst, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_start, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_end, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_center, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage2_start, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage2_end, &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;
send_buffer[ind++] = appconf->app_adc_conf.voltage2_inverted;
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.throttle_exp, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.throttle_exp_brake, &ind);
send_buffer[ind++] = appconf->app_adc_conf.throttle_exp_mode;
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.ramp_time_pos, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.ramp_time_neg, &ind);
send_buffer[ind++] = appconf->app_adc_conf.multi_esc;
send_buffer[ind++] = appconf->app_adc_conf.tc;
buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.tc_max_diff, &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_auto(send_buffer, appconf->app_chuk_conf.hyst, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.ramp_time_pos, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.ramp_time_neg, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.stick_erpm_per_s_in_cc, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.throttle_exp, &ind);
buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.throttle_exp_brake, &ind);
send_buffer[ind++] = appconf->app_chuk_conf.throttle_exp_mode;
send_buffer[ind++] = appconf->app_chuk_conf.multi_esc;
send_buffer[ind++] = appconf->app_chuk_conf.tc;
buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.tc_max_diff, &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;