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Add confgen and running states

This commit is contained in:
Mitch Lustig 2020-07-04 00:11:20 -07:00
parent 7db04df582
commit 0f5c6f5379
3 changed files with 73 additions and 40 deletions
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24
applications/app_balance.c
View File

@ -235,15 +235,31 @@ bool check_faults(bool ignoreTimers){
void calculate_setpoint_target(void){
if(setpointAdjustmentType == CENTERING && setpoint_target_interpolated != setpoint_target){
// Ignore tiltback during centering sequence
}else if(abs_duty_cycle > balance_conf.tiltback_duty ||
(abs_duty_cycle > 0.05 && GET_INPUT_VOLTAGE() > balance_conf.tiltback_high_voltage) ||
(abs_duty_cycle > 0.05 && GET_INPUT_VOLTAGE() < balance_conf.tiltback_low_voltage)){
state = RUNNING;
}else if(abs_duty_cycle > balance_conf.tiltback_duty){
if(erpm > 0){
setpoint_target = balance_conf.tiltback_angle;
} else {
setpoint_target = -balance_conf.tiltback_angle;
}
setpointAdjustmentType = TILTBACK;
state = RUNNING_TILTBACK_DUTY;
}else if(abs_duty_cycle > 0.05 && GET_INPUT_VOLTAGE() > balance_conf.tiltback_high_voltage){
if(erpm > 0){
setpoint_target = balance_conf.tiltback_angle;
} else {
setpoint_target = -balance_conf.tiltback_angle;
}
setpointAdjustmentType = TILTBACK;
state = RUNNING_TILTBACK_HIGH_VOLTAGE;
}else if(abs_duty_cycle > 0.05 && GET_INPUT_VOLTAGE() < balance_conf.tiltback_low_voltage){
if(erpm > 0){
setpoint_target = balance_conf.tiltback_angle;
} else {
setpoint_target = -balance_conf.tiltback_angle;
}
setpointAdjustmentType = TILTBACK;
state = RUNNING_TILTBACK_LOW_VOLTAGE;
}else if(abs_erpm > balance_conf.tiltback_constant_erpm){
// Nose angle adjustment
if(erpm > 0){
@ -252,9 +268,11 @@ void calculate_setpoint_target(void){
setpoint_target = -balance_conf.tiltback_constant;
}
setpointAdjustmentType = TILTBACK;
state = RUNNING_TILTBACK_CONSTANT;
}else{
setpointAdjustmentType = TILTBACK;
setpoint_target = 0;
state = RUNNING;
}
}

87
confgenerator.c
View File

@ -241,16 +241,24 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
buffer_append_float32_auto(buffer, conf->app_balance_conf.ki, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.kd, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.hertz, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.pitch_fault, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.roll_fault, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.adc1, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.adc2, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.overspeed_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.fault_pitch, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.fault_roll, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.fault_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.fault_adc1, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.fault_adc2, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_pitch, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_roll, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_duty, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_switch_half, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_switch_full, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_adc_half_erpm, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_high_voltage, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_low_voltage, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_constant, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.tiltback_constant_erpm, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_pitch_tolerance, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_roll_tolerance, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind);
@ -261,16 +269,13 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
buffer_append_float32_auto(buffer, conf->app_balance_conf.yaw_ki, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.yaw_kd, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.roll_steer_kp, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.brake_current, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.overspeed_delay, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_constant, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.roll_steer_erpm_kp, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.brake_current, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.yaw_current_clamp, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.adc_half_fault_erpm, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.setpoint_pitch_filter, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.setpoint_target_filter, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.setpoint_clamp, &ind);
buffer_append_float32_auto(buffer, conf->app_balance_conf.setpoint_filter_clamp, &ind);
buffer_append_uint16(buffer, conf->app_balance_conf.kd_pt1_frequency, &ind);
buffer[ind++] = conf->imu_conf.type;
buffer[ind++] = conf->imu_conf.mode;
buffer_append_uint16(buffer, conf->imu_conf.sample_rate_hz, &ind);
@ -538,16 +543,24 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
conf->app_balance_conf.ki = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.kd = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.hertz = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.pitch_fault = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.roll_fault = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.adc1 = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.adc2 = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.overspeed_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.fault_pitch = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.fault_roll = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.fault_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.fault_adc1 = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.fault_adc2 = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.fault_delay_pitch = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.fault_delay_roll = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.fault_delay_duty = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.fault_delay_switch_half = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.fault_delay_switch_full = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.fault_adc_half_erpm = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_high_voltage = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_low_voltage = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_constant = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.tiltback_constant_erpm = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.startup_pitch_tolerance = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_roll_tolerance = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind);
@ -558,16 +571,13 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
conf->app_balance_conf.yaw_ki = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.yaw_kd = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.roll_steer_kp = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.brake_current = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.overspeed_delay = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.fault_delay = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.tiltback_constant = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.roll_steer_erpm_kp = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.brake_current = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.yaw_current_clamp = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.adc_half_fault_erpm = buffer_get_uint16(buffer, &ind);
conf->app_balance_conf.setpoint_pitch_filter = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.setpoint_target_filter = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.setpoint_clamp = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.setpoint_filter_clamp = buffer_get_float32_auto(buffer, &ind);
conf->app_balance_conf.kd_pt1_frequency = buffer_get_uint16(buffer, &ind);
conf->imu_conf.type = buffer[ind++];
conf->imu_conf.mode = buffer[ind++];
conf->imu_conf.sample_rate_hz = buffer_get_uint16(buffer, &ind);
@ -819,16 +829,24 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
conf->app_balance_conf.ki = APPCONF_BALANCE_KI;
conf->app_balance_conf.kd = APPCONF_BALANCE_KD;
conf->app_balance_conf.hertz = APPCONF_BALANCE_HERTZ;
conf->app_balance_conf.pitch_fault = APPCONF_BALANCE_PITCH_FAULT;
conf->app_balance_conf.roll_fault = APPCONF_BALANCE_ROLL_FAULT;
conf->app_balance_conf.adc1 = APPCONF_BALANCE_ADC1;
conf->app_balance_conf.adc2 = APPCONF_BALANCE_ADC2;
conf->app_balance_conf.overspeed_duty = APPCONF_BALANCE_OVERSPEED_DUTY;
conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;
conf->app_balance_conf.fault_pitch = APPCONF_BALANCE_FAULT_PITCH;
conf->app_balance_conf.fault_roll = APPCONF_BALANCE_FAULT_ROLL;
conf->app_balance_conf.fault_duty = APPCONF_BALANCE_FAULT_DUTY;
conf->app_balance_conf.fault_adc1 = APPCONF_BALANCE_FAULT_ADC1;
conf->app_balance_conf.fault_adc2 = APPCONF_BALANCE_FAULT_ADC2;
conf->app_balance_conf.fault_delay_pitch = APPCONF_BALANCE_FAULT_DELAY_PITCH;
conf->app_balance_conf.fault_delay_roll = APPCONF_BALANCE_FAULT_DELAY_ROLL;
conf->app_balance_conf.fault_delay_duty = APPCONF_BALANCE_FAULT_DELAY_DUTY;
conf->app_balance_conf.fault_delay_switch_half = APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF;
conf->app_balance_conf.fault_delay_switch_full = APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL;
conf->app_balance_conf.fault_adc_half_erpm = APPCONF_BALANCE_FAULT_ADC_HALF_ERPM;
conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE;
conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED;
conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;
conf->app_balance_conf.tiltback_high_voltage = APPCONF_BALANCE_TILTBACK_HIGH_V;
conf->app_balance_conf.tiltback_low_voltage = APPCONF_BALANCE_TILTBACK_LOW_V;
conf->app_balance_conf.tiltback_constant = APPCONF_BALANCE_TILTBACK_CONSTANT;
conf->app_balance_conf.tiltback_constant_erpm = APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM;
conf->app_balance_conf.startup_pitch_tolerance = APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE;
conf->app_balance_conf.startup_roll_tolerance = APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE;
conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED;
@ -839,16 +857,13 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
conf->app_balance_conf.yaw_ki = APPCONF_BALANCE_YAW_KI;
conf->app_balance_conf.yaw_kd = APPCONF_BALANCE_YAW_KD;
conf->app_balance_conf.roll_steer_kp = APPCONF_BALANCE_ROLL_STEER_KP;
conf->app_balance_conf.brake_current = APPCONF_BALANCE_BRAKE_CURRENT;
conf->app_balance_conf.overspeed_delay = APPCONF_BALANCE_OVERSPEED_DELAY;
conf->app_balance_conf.fault_delay = APPCONF_BALANCE_FAULT_DELAY;
conf->app_balance_conf.tiltback_constant = APPCONF_BALANCE_TILTBACK_CONSTANT;
conf->app_balance_conf.roll_steer_erpm_kp = APPCONF_BALANCE_ROLL_STEER_ERPM_KP;
conf->app_balance_conf.brake_current = APPCONF_BALANCE_BRAKE_CURRENT;
conf->app_balance_conf.yaw_current_clamp = APPCONF_BALANCE_YAW_CURRENT_CLAMP;
conf->app_balance_conf.adc_half_fault_erpm = APPCONF_BALANCE_ADC_HALF_FAULT_ERPM;
conf->app_balance_conf.setpoint_pitch_filter = APPCONF_BALANCE_SETPOINT_PITCH_FILTER;
conf->app_balance_conf.setpoint_target_filter = APPCONF_BALANCE_SETPOINT_TARGET_FILTER;
conf->app_balance_conf.setpoint_clamp = APPCONF_BALANCE_SETPOINT_CLAMP;
conf->app_balance_conf.setpoint_filter_clamp = APPCONF_BALANCE_SETPOINT_FILTER_CLAMP;
conf->app_balance_conf.kd_pt1_frequency = APPCONF_BALANCE_KD_PT1_FREQUENCY;
conf->imu_conf.type = APPCONF_IMU_TYPE;
conf->imu_conf.mode = APPCONF_IMU_AHRS_MODE;
conf->imu_conf.sample_rate_hz = APPCONF_IMU_SAMPLE_RATE_HZ;

2
confgenerator.h
View File

@ -9,7 +9,7 @@
// Constants
#define MCCONF_SIGNATURE 1358025204
#define APPCONF_SIGNATURE 2662993821
#define APPCONF_SIGNATURE 664237692
// Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);