2022-01-14 11:54:24 -08:00
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/*
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Copyright 2022 Benjamin Vedder benjamin@vedder.se
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Copyright 2022 Joel Svensson svenssonjoel@yahoo.se
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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The VESC firmware is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "lispif.h"
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#include "extensions.h"
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#include "print.h"
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#include "commands.h"
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#include "mc_interface.h"
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#include "timeout.h"
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#include "servo_dec.h"
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#include "servo_simple.h"
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#include "encoder.h"
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2022-01-14 16:25:11 -08:00
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#include "comm_can.h"
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#include "bms.h"
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#include "utils.h"
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#include "hw.h"
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2022-01-14 11:54:24 -08:00
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#include <math.h>
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// Helpers
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2022-01-16 07:21:18 -08:00
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static bool is_number_all(VALUE *args, UINT argn) {
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for (UINT i = 0;i < argn;i++) {
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if (!is_number(args[i])) {
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return false;
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}
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2022-01-14 16:25:11 -08:00
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}
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2022-01-16 07:21:18 -08:00
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return true;
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2022-01-14 16:25:11 -08:00
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}
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2022-01-16 07:21:18 -08:00
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#define CHECK_NUMBER_ALL() if (!is_number_all(args, argn)) {return enc_sym(SYM_EERROR);}
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#define CHECK_ARGN(n) if (argn != n) {return enc_sym(SYM_EERROR);}
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#define CHECK_ARGN_NUMBER(n) if (argn != n || !is_number_all(args, argn)) {return enc_sym(SYM_EERROR);}
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2022-01-14 11:54:24 -08:00
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// Various commands
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static VALUE ext_print(VALUE *args, UINT argn) {
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static char output[256];
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for (UINT i = 0; i < argn; i ++) {
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VALUE t = args[i];
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if (is_ptr(t) && ptr_type(t) == PTR_TYPE_ARRAY) {
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array_header_t *array = (array_header_t *)car(t);
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switch (array->elt_type){
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case VAL_TYPE_CHAR:
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commands_printf("%s", (char*)array + 8);
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break;
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default:
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return enc_sym(SYM_NIL);
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break;
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}
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} else if (val_type(t) == VAL_TYPE_CHAR) {
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if (dec_char(t) =='\n') {
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commands_printf(" ");
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} else {
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commands_printf("%c", dec_char(t));
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}
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} else {
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print_value(output, 256, t);
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commands_printf("%s", output);
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}
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}
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_servo(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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servo_simple_set_output(dec_as_f(args[0]));
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_reset_timeout(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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timeout_reset();
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_get_ppm(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_F(servodec_get_servo(0));
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}
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static VALUE ext_get_encoder(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_F(encoder_read_deg());
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}
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static VALUE ext_get_vin(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_F(mc_interface_get_input_voltage_filtered());
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}
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static VALUE ext_select_motor(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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int i = dec_as_i(args[0]);
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if (i != 0 && i != 1 && i != 2) {
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return enc_sym(SYM_EERROR);
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}
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mc_interface_select_motor_thread(i);
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return enc_sym(SYM_TRUE);
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}
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2022-01-14 16:25:11 -08:00
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static VALUE ext_get_selected_motor(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_i(mc_interface_motor_now());
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}
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static VALUE ext_get_bms_val(VALUE *args, UINT argn) {
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VALUE res = enc_sym(SYM_EERROR);
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if (argn != 1 && argn != 2) {
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return enc_sym(SYM_EERROR);
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}
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char *name = dec_str(args[0]);
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if (!name) {
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return enc_sym(SYM_EERROR);
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}
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bms_values *val = bms_get_values();
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if (strcmp(name, "v_tot") == 0) {
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res = enc_F(val->v_tot);
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} else if (strcmp(name, "v_charge") == 0) {
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res = enc_F(val->v_charge);
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} else if (strcmp(name, "i_in") == 0) {
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res = enc_F(val->i_in);
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} else if (strcmp(name, "i_in_ic") == 0) {
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res = enc_F(val->i_in_ic);
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} else if (strcmp(name, "ah_cnt") == 0) {
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res = enc_F(val->ah_cnt);
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} else if (strcmp(name, "wh_cnt") == 0) {
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res = enc_F(val->wh_cnt);
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} else if (strcmp(name, "cell_num") == 0) {
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res = enc_i(val->cell_num);
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} else if (strcmp(name, "v_cell") == 0) {
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if (argn != 2 || !is_number(args[1])) {
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return enc_sym(SYM_EERROR);
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}
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2022-01-16 07:21:18 -08:00
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int c = dec_as_i(args[1]);
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if (c < 0 || c >= val->cell_num) {
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return enc_sym(SYM_EERROR);
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}
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res = enc_F(val->v_cell[c]);
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} else if (strcmp(name, "bal_state") == 0) {
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if (argn != 2 || !is_number(args[1])) {
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return enc_sym(SYM_EERROR);
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}
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2022-01-16 07:21:18 -08:00
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int c = dec_as_i(args[1]);
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if (c < 0 || c >= val->cell_num) {
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return enc_sym(SYM_EERROR);
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}
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res = enc_i(val->bal_state[c]);
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} else if (strcmp(name, "temp_adc_num") == 0) {
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res = enc_i(val->temp_adc_num);
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} else if (strcmp(name, "temps_adc") == 0) {
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if (argn != 2 || !is_number(args[1])) {
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return enc_sym(SYM_EERROR);
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}
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2022-01-16 07:21:18 -08:00
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int c = dec_as_i(args[1]);
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if (c < 0 || c >= val->temp_adc_num) {
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return enc_sym(SYM_EERROR);
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}
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res = enc_F(val->temps_adc[c]);
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} else if (strcmp(name, "temp_ic") == 0) {
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res = enc_F(val->temp_ic);
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} else if (strcmp(name, "temp_hum") == 0) {
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res = enc_F(val->temp_hum);
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} else if (strcmp(name, "hum") == 0) {
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res = enc_F(val->hum);
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} else if (strcmp(name, "temp_max_cell") == 0) {
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res = enc_F(val->temp_max_cell);
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} else if (strcmp(name, "soc") == 0) {
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res = enc_F(val->soc);
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} else if (strcmp(name, "soh") == 0) {
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res = enc_F(val->soh);
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} else if (strcmp(name, "can_id") == 0) {
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res = enc_i(val->can_id);
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} else if (strcmp(name, "ah_cnt_chg_total") == 0) {
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res = enc_F(val->ah_cnt_chg_total);
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} else if (strcmp(name, "wh_cnt_chg_total") == 0) {
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res = enc_F(val->wh_cnt_chg_total);
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} else if (strcmp(name, "ah_cnt_dis_total") == 0) {
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res = enc_F(val->ah_cnt_dis_total);
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} else if (strcmp(name, "wh_cnt_dis_total") == 0) {
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res = enc_F(val->wh_cnt_dis_total);
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} else if (strcmp(name, "msg_age") == 0) {
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res = enc_F(UTILS_AGE_S(val->update_time));
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}
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return res;
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}
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static VALUE ext_get_adc(VALUE *args, UINT argn) {
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CHECK_NUMBER_ALL();
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if (argn == 0) {
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return enc_F(ADC_VOLTS(ADC_IND_EXT));
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} else if (argn == 1) {
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INT channel = dec_as_i(args[0]);
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if (channel == 0) {
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return enc_F(ADC_VOLTS(ADC_IND_EXT));
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} else if (channel == 1) {
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return enc_F(ADC_VOLTS(ADC_IND_EXT2));
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} else {
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return enc_sym(SYM_EERROR);
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}
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} else {
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return enc_sym(SYM_EERROR);
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}
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}
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2022-01-16 16:12:19 -08:00
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static VALUE ext_systime(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_I(chVTGetSystemTimeX());
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}
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static VALUE ext_secs_since(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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return enc_F(UTILS_AGE_S(dec_as_u(args[0])));
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}
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2022-01-14 11:54:24 -08:00
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// Motor set commands
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static VALUE ext_set_current(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_current(dec_as_f(args[0]));
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_current_rel(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_current_rel(dec_as_f(args[0]));
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_duty(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_duty(dec_as_f(args[0]));
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_brake(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_brake_current(dec_as_f(args[0]));
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2022-01-14 11:54:24 -08:00
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_brake_rel(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_brake_current_rel(dec_as_f(args[0]));
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2022-01-14 11:54:24 -08:00
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_handbrake(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_handbrake(dec_as_f(args[0]));
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2022-01-14 11:54:24 -08:00
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_handbrake_rel(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_handbrake_rel(dec_as_f(args[0]));
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2022-01-14 11:54:24 -08:00
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_rpm(VALUE *args, UINT argn) {
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_pid_speed(dec_as_f(args[0]));
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2022-01-14 11:54:24 -08:00
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return enc_sym(SYM_TRUE);
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}
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static VALUE ext_set_pos(VALUE *args, UINT argn) {
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2022-01-16 07:21:18 -08:00
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CHECK_ARGN_NUMBER(1);
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mc_interface_set_pid_pos(dec_as_f(args[0]));
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2022-01-14 11:54:24 -08:00
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return enc_sym(SYM_TRUE);
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}
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// Motor get commands
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static VALUE ext_get_current(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_F(mc_interface_get_tot_current_filtered());
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}
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static VALUE ext_get_current_dir(VALUE *args, UINT argn) {
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(void)args; (void)argn;
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return enc_F(mc_interface_get_tot_current_directional_filtered());
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}
|
|
|
|
|
|
|
|
static VALUE ext_get_current_in(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_get_tot_current_in_filtered());
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_get_duty(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_get_duty_cycle_now());
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_get_rpm(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_get_rpm());
|
|
|
|
}
|
|
|
|
|
2022-01-14 16:25:11 -08:00
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|
static VALUE ext_get_temp_fet(VALUE *args, UINT argn) {
|
2022-01-14 11:54:24 -08:00
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_temp_fet_filtered());
|
|
|
|
}
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|
|
|
|
2022-01-14 16:25:11 -08:00
|
|
|
static VALUE ext_get_temp_mot(VALUE *args, UINT argn) {
|
2022-01-14 11:54:24 -08:00
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_temp_motor_filtered());
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_get_speed(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_get_speed());
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_get_dist(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_get_distance_abs());
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_get_batt(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_F(mc_interface_get_battery_level(0));
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_get_fault(VALUE *args, UINT argn) {
|
|
|
|
(void)args; (void)argn;
|
|
|
|
return enc_i(mc_interface_get_fault());
|
|
|
|
}
|
|
|
|
|
2022-01-16 07:21:18 -08:00
|
|
|
// CAN-commands
|
|
|
|
|
|
|
|
static VALUE ext_can_current(VALUE *args, UINT argn) {
|
|
|
|
CHECK_NUMBER_ALL();
|
|
|
|
|
|
|
|
if (argn == 2) {
|
|
|
|
comm_can_set_current(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
} else if (argn == 3) {
|
|
|
|
comm_can_set_current_off_delay(dec_as_i(args[0]), dec_as_f(args[1]), dec_as_f(args[2]));
|
|
|
|
} else {
|
|
|
|
return enc_sym(SYM_EERROR);
|
|
|
|
}
|
|
|
|
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_can_current_rel(VALUE *args, UINT argn) {
|
|
|
|
CHECK_NUMBER_ALL();
|
|
|
|
|
|
|
|
if (argn == 2) {
|
|
|
|
comm_can_set_current_rel(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
} else if (argn == 3) {
|
|
|
|
comm_can_set_current_rel_off_delay(dec_as_i(args[0]), dec_as_f(args[1]), dec_as_f(args[2]));
|
|
|
|
} else {
|
|
|
|
return enc_sym(SYM_EERROR);
|
|
|
|
}
|
|
|
|
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_can_duty(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(2);
|
|
|
|
comm_can_set_duty(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_can_brake(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(2);
|
|
|
|
comm_can_set_current_brake(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_can_brake_rel(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(2);
|
|
|
|
comm_can_set_current_brake_rel(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_can_rpm(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(2);
|
|
|
|
comm_can_set_rpm(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_can_pos(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(2);
|
|
|
|
comm_can_set_pos(dec_as_i(args[0]), dec_as_f(args[1]));
|
|
|
|
return enc_sym(SYM_TRUE);
|
|
|
|
}
|
|
|
|
|
|
|
|
// Math
|
|
|
|
|
|
|
|
static VALUE ext_sin(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(1)
|
|
|
|
return enc_F(sinf(dec_as_f(args[0])));
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_cos(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(1)
|
|
|
|
return enc_F(cosf(dec_as_f(args[0])));
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_atan(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(1)
|
|
|
|
return enc_F(atanf(dec_as_f(args[0])));
|
|
|
|
}
|
|
|
|
|
|
|
|
static VALUE ext_pow(VALUE *args, UINT argn) {
|
|
|
|
CHECK_ARGN_NUMBER(2)
|
|
|
|
return enc_F(powf(dec_as_f(args[0]), dec_as_f(args[1])));
|
|
|
|
}
|
|
|
|
|
2022-01-14 11:54:24 -08:00
|
|
|
void lispif_load_vesc_extensions(void) {
|
|
|
|
// Various commands
|
|
|
|
extensions_add("print", ext_print);
|
|
|
|
extensions_add("timeout-reset", ext_reset_timeout);
|
|
|
|
extensions_add("get-ppm", ext_get_ppm);
|
|
|
|
extensions_add("get-encoder", ext_get_encoder);
|
|
|
|
extensions_add("set-servo", ext_set_servo);
|
|
|
|
extensions_add("get-vin", ext_get_vin);
|
|
|
|
extensions_add("select-motor", ext_select_motor);
|
2022-01-14 16:25:11 -08:00
|
|
|
extensions_add("get-selected-motor", ext_get_selected_motor);
|
|
|
|
extensions_add("get-bms-val", ext_get_bms_val);
|
2022-01-15 15:14:55 -08:00
|
|
|
extensions_add("get-adc", ext_get_adc);
|
2022-01-16 16:12:19 -08:00
|
|
|
extensions_add("systime", ext_systime);
|
|
|
|
extensions_add("secs-since", ext_secs_since);
|
2022-01-14 11:54:24 -08:00
|
|
|
|
|
|
|
// Motor set commands
|
|
|
|
extensions_add("set-current", ext_set_current);
|
|
|
|
extensions_add("set-current-rel", ext_set_current_rel);
|
|
|
|
extensions_add("set-duty", ext_set_duty);
|
|
|
|
extensions_add("set-brake", ext_set_brake);
|
|
|
|
extensions_add("set-brake-rel", ext_set_brake_rel);
|
|
|
|
extensions_add("set-handbrake", ext_set_handbrake);
|
|
|
|
extensions_add("set-handbrake-rel", ext_set_handbrake_rel);
|
2022-01-16 07:21:18 -08:00
|
|
|
extensions_add("set-rpm", ext_set_rpm);
|
2022-01-14 11:54:24 -08:00
|
|
|
extensions_add("set-pos", ext_set_pos);
|
|
|
|
|
|
|
|
// Motor get commands
|
|
|
|
extensions_add("get-current", ext_get_current);
|
|
|
|
extensions_add("get-current-dir", ext_get_current_dir);
|
|
|
|
extensions_add("get-current-in", ext_get_current_in);
|
|
|
|
extensions_add("get-duty", ext_get_duty);
|
|
|
|
extensions_add("get-rpm", ext_get_rpm);
|
2022-01-14 16:25:11 -08:00
|
|
|
extensions_add("get-temp-fet", ext_get_temp_fet);
|
|
|
|
extensions_add("get-temp-mot", ext_get_temp_mot);
|
2022-01-14 11:54:24 -08:00
|
|
|
extensions_add("get-speed", ext_get_speed);
|
|
|
|
extensions_add("get-dist", ext_get_dist);
|
|
|
|
extensions_add("get-batt", ext_get_batt);
|
|
|
|
extensions_add("get-fault", ext_get_fault);
|
2022-01-16 07:21:18 -08:00
|
|
|
|
|
|
|
// CAN-comands
|
|
|
|
extensions_add("canset-current", ext_can_current);
|
|
|
|
extensions_add("canset-current-rel", ext_can_current_rel);
|
|
|
|
extensions_add("canset-duty", ext_can_duty);
|
|
|
|
extensions_add("canset-brake", ext_can_brake);
|
|
|
|
extensions_add("canset-brake-rel", ext_can_brake_rel);
|
|
|
|
extensions_add("canset-rpm", ext_can_rpm);
|
|
|
|
extensions_add("canset-pos", ext_can_pos);
|
|
|
|
|
|
|
|
// Math
|
|
|
|
extensions_add("sin", ext_sin);
|
|
|
|
extensions_add("cos", ext_cos);
|
|
|
|
extensions_add("atan", ext_atan);
|
|
|
|
extensions_add("pow", ext_pow);
|
2022-01-14 11:54:24 -08:00
|
|
|
}
|