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Cleaned up detect_apply_all terminal command for dual hardware

This commit is contained in:
Jeffrey M. Friesen 2020-04-05 12:04:04 -07:00
parent ef37c70911
commit 0bb5b2d99c
2 changed files with 29 additions and 7 deletions
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8
conf_general.h
View File

@ -131,12 +131,12 @@
//#define HW_SOURCE "hw_100_250.c"
//#define HW_HEADER "hw_100_250.h"
#define HW_SOURCE "hw_unity.c"
#define HW_HEADER "hw_unity.h"
//#define HW_SOURCE "hw_unity.c"
//#define HW_HEADER "hw_unity.h"
//#define HW_DUAL_CONFIG_PARALLEL
//#define HW_SOURCE "hw_stormcore_100d.c"
//#define HW_HEADER "hw_stormcore_100d.h"
#define HW_SOURCE "hw_stormcore_100d.c"
#define HW_HEADER "hw_stormcore_100d.h"
//#define HW_SOURCE "hw_stormcore_60d.c"
//#define HW_HEADER "hw_stormcore_60d.h"

28
terminal.c
View File

@ -633,10 +633,14 @@ void terminal_process_string(char *str) {
int res = conf_general_detect_apply_all_foc(max_power_loss, true, true);
commands_printf("Res: %d", res);
mc_interface_select_motor_thread(1);
if (res >= 0) {
commands_printf("Detection finished and applied. Results:");
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
#ifdef HW_HAS_DUAL_MOTORS
commands_printf("\nMOTOR 1\n");
#endif
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
commands_printf("Motor L : %.2f microH", (double)(mcconf->foc_motor_l * 1e6));
@ -646,15 +650,33 @@ void terminal_process_string(char *str) {
commands_printf("Temp Comp Base Temp : %.1f degC", (double)mcconf->foc_temp_comp_base_temp);
}
if (res == 0) {
if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_SENSORLESS) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (res == 1) {
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_HALL) {
commands_printf("Found hall sensors, using them.\n");
} else if (res == 2) {
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
commands_printf("\nMOTOR 2\n");
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
commands_printf("Motor L : %.2f microH", (double)(mcconf->foc_motor_l * 1e6));
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_SENSORLESS) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_HALL) {
commands_printf("Found hall sensors, using them.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
#endif
} else {
if (res == -10) {
commands_printf("Could not measure flux linkage.");