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Pull request cleanup

This commit is contained in:
Benjamin Vedder 2021-07-30 20:53:22 +02:00
parent db906c4957
commit 11e2062312
6 changed files with 92 additions and 134 deletions
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3
conf_general.h
View File

@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 03
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 45
#define FW_TEST_VERSION_NUMBER 46
#include "datatypes.h"
@ -288,7 +288,6 @@
#ifndef MT6816_USE_HW_SPI_PINS
#define MT6816_USE_HW_SPI_PINS 0
#endif
#ifndef AS504x_USE_SW_MOSI_PIN
#define AS504x_USE_SW_MOSI_PIN 0
#endif

6
datatypes.h
View File

@ -63,12 +63,6 @@ typedef enum {
FOC_SENSOR_MODE_HFI_START
} mc_foc_sensor_mode;
typedef enum {
LAST_PACKET_NOT_OK = 0,
LAST_PACKET_OK
}AS504x_last_packet_status;
// Auxiliary output mode
typedef enum {
OUT_AUX_MODE_OFF = 0,

145
encoder.c
View File

@ -61,8 +61,13 @@
#define SPI_SW_MISO_GPIO HW_HALL_ENC_GPIO2
#define SPI_SW_MISO_PIN HW_HALL_ENC_PIN2
#if AS504x_USE_SW_MOSI_PIN
#ifdef HW_SPI_SW_MOSI_GPIO
#define SPI_SW_MOSI_GPIO HW_SPI_SW_MOSI_GPIO
#define SPI_SW_MOSI_PIN HW_SPI_SW_MOSI_PIN
#else
#define SPI_SW_MOSI_GPIO HW_SPI_PORT_MOSI
#define SPI_SW_MOSI_PIN HW_SPI_PIN_MOSI
#endif
#endif
#define SPI_SW_SCK_GPIO HW_HALL_ENC_GPIO1
#define SPI_SW_SCK_PIN HW_HALL_ENC_PIN1
@ -84,7 +89,6 @@ typedef enum {
// Private variables
static bool index_found = false;
static uint32_t enc_counts = 10000;
static uint16_t AS504x_diag_fetch_now_count = 0;
static encoder_mode mode = ENCODER_MODE_NONE;
static float last_enc_angle = 0.0;
static uint32_t spi_val = 0;
@ -99,8 +103,8 @@ static float resolver_loss_of_signal_error_rate = 0.0;
static uint32_t resolver_loss_of_tracking_error_cnt = 0;
static uint32_t resolver_degradation_of_signal_error_cnt = 0;
static uint32_t resolver_loss_of_signal_error_cnt = 0;
static uint32_t AS504x_data_last_invalid_counter = 0;
static uint32_t AS504x_spi_communication_error_count = 0;
static AS504x_diag AS504x_sensor_diag;
static float sin_gain = 0.0;
static float sin_offset = 0.0;
@ -155,14 +159,20 @@ static void spi_delay(void);
static void spi_AS5047_cs_delay(void);
static void TS5700N8501_send_byte(uint8_t b);
static uint8_t spi_transfer_err_check(uint16_t *in_buf, const uint16_t *out_buf, int length);
static void encoder_AS504x_update_connected_diag(uint8_t is_connected);
static void encoder_AS504x_determinate_if_connected(bool was_last_valid);
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
static uint16_t AS504x_diag_fetch_now_count = 0;
static uint8_t encoder_AS504x_fetch_diag(void);
static void encoder_AS504x_fetch_clear_err_diag(void);
static uint8_t encoder_AS504x_verify_serial(void);
static void encoder_AS504x_deserialize_diag(void);
static void encoder_AS504x_determinate_if_connected(AS504x_last_packet_status was_last_valid);
static void encoder_AS504x_verify_magnet(void);
static void encoder_AS504x_fetch_clear_err_diag(void);
static uint8_t spi_transfer_err_check(uint16_t *in_buf, const uint16_t *out_buf, int length);
#else
static uint32_t AS504x_data_last_invalid_counter = 0;
#endif
uint32_t encoder_spi_get_error_cnt(void) {
return spi_error_cnt;
@ -530,14 +540,12 @@ float encoder_read_deg(void) {
++sincos_signal_above_max_error_cnt;
UTILS_LP_FAST(sincos_signal_above_max_error_rate, 1.0, 1./SINCOS_SAMPLE_RATE_HZ);
angle = last_enc_angle;
}
else {
} else {
if (module < SQ(SINCOS_MIN_AMPLITUDE)) {
++sincos_signal_below_min_error_cnt;
UTILS_LP_FAST(sincos_signal_low_error_rate, 1.0, 1./SINCOS_SAMPLE_RATE_HZ);
angle = last_enc_angle;
}
else {
} else {
UTILS_LP_FAST(sincos_signal_above_max_error_rate, 0.0, 1./SINCOS_SAMPLE_RATE_HZ);
UTILS_LP_FAST(sincos_signal_low_error_rate, 0.0, 1./SINCOS_SAMPLE_RATE_HZ);
@ -621,17 +629,12 @@ bool spi_check_parity(uint16_t x) {
return (~x) & 1;
}
/**
* Timer interrupt
*/
void encoder_AS504x_update_connected_diag(uint8_t is_connected)
{
void encoder_AS504x_update_connected_diag(uint8_t is_connected) {
AS504x_sensor_diag.is_connected = is_connected;
}
uint8_t encoder_AS504x_fetch_diag(void) {
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
static uint8_t encoder_AS504x_fetch_diag(void) {
uint16_t recf[2], senf[2] = {AS504x_SPI_READ_DIAG_MSG, AS504x_SPI_READ_MAGN_MSG};
uint8_t ret = 0;
@ -652,8 +655,6 @@ uint8_t encoder_AS504x_fetch_diag(void) {
ret |= spi_transfer_err_check(recf + 1, 0, 1);
spi_end();
spi_AS5047_cs_delay();
if(!ret) {
if (spi_check_parity(recf[0]) && spi_check_parity(recf[1])) {
AS504x_sensor_diag.serial_diag_flgs = recf[0];
@ -664,11 +665,10 @@ uint8_t encoder_AS504x_fetch_diag(void) {
return ret;
}
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
/*
* This function fetches error flag from AS504x and afterwards clean error flag
*/
void encoder_AS504x_fetch_clear_err_diag() {
static void encoder_AS504x_fetch_clear_err_diag() {
uint16_t recf, senf = AS504x_SPI_READ_CLEAR_ERROR_MSG;
spi_begin();
@ -676,21 +676,19 @@ void encoder_AS504x_fetch_clear_err_diag() {
spi_end();
spi_AS5047_cs_delay();
spi_begin();
spi_transfer(&recf, 0, 1);
spi_end();
spi_AS5047_cs_delay();
AS504x_sensor_diag.serial_error_flags = recf;
}
#endif
/*
* Try verify if the diagnostics are not corrupt
* This function can prevent deserialazing corrupted data if the MISO bus is HIGH or LOW
*/
uint8_t encoder_AS504x_verify_serial() {
static uint8_t encoder_AS504x_verify_serial() {
uint16_t serial_diag_flgs, serial_magnitude, test_magnitude;
uint8_t test_AGC_value, test_is_Comp_high, test_is_Comp_low;
@ -712,22 +710,7 @@ uint8_t encoder_AS504x_verify_serial() {
return 0;
}
void encoder_AS504x_verify_magnet() {
mc_fault_code current_fault = mc_interface_get_fault();
if(encoder_AS504x_get_diag().is_Comp_high) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, 0, 1); // COMP HIGH
}
else if(encoder_AS504x_get_diag().is_Comp_low) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_MAGNET_TOO_STRONG, 0, 1); // COMP low
}
else if(FAULT_CODE_ENCODER_NO_MAGNET == current_fault || FAULT_CODE_ENCODER_MAGNET_TOO_STRONG == current_fault) {
mc_interface_fault_stop(FAULT_CODE_NONE, 0, 1);
}
}
void encoder_AS504x_deserialize_diag() {
static void encoder_AS504x_deserialize_diag() {
AS504x_sensor_diag.AGC_value = AS504x_sensor_diag.serial_diag_flgs;
AS504x_sensor_diag.is_OCF = (AS504x_sensor_diag.serial_diag_flgs >> AS504x_SPI_DIAG_OCF_BIT_POS) & 1;
AS504x_sensor_diag.is_COF = (AS504x_sensor_diag.serial_diag_flgs >> AS504x_SPI_DIAG_COF_BIT_POS) & 1;
@ -736,25 +719,35 @@ void encoder_AS504x_deserialize_diag() {
AS504x_sensor_diag.magnitude = AS504x_sensor_diag.serial_magnitude & AS504x_SPI_EXCLUDE_PARITY_AND_ERROR_BITMASK;
}
static uint8_t spi_transfer_err_check(uint16_t *in_buf, const uint16_t *out_buf, int length) {
spi_transfer(in_buf, out_buf, length);
for(int len_count = 0; len_count < length; len_count++) {
if(((in_buf[len_count]) >> 14) & 0b01) {
return 1;
}
}
return 0;
}
#endif
/*
* Determinate if is connected depending on last retieved data.
*/
void encoder_AS504x_determinate_if_connected(AS504x_last_packet_status was_last_valid) {
void encoder_AS504x_determinate_if_connected(bool was_last_valid) {
if(!was_last_valid) {
AS504x_spi_communication_error_count+=AS504x_CONNECTION_DETERMINATOR_ERROR_WEIGHT;
if(AS504x_spi_communication_error_count >= AS504x_CONNECTION_DETERMINATOR_ERROR_THRESHOLD) {
AS504x_spi_communication_error_count = AS504x_CONNECTION_DETERMINATOR_ERROR_THRESHOLD;
encoder_AS504x_update_connected_diag(0);
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, 0, 1);
}
}
else {
} else {
if(AS504x_spi_communication_error_count) {
AS504x_spi_communication_error_count--;
}
else {
} else {
encoder_AS504x_update_connected_diag(1);
if(FAULT_CODE_ENCODER_SPI == mc_interface_get_fault()) {
mc_interface_fault_stop(FAULT_CODE_NONE, 0, 1);
@ -770,8 +763,8 @@ AS504x_diag encoder_AS504x_get_diag(void) {
void encoder_tim_isr(void) {
uint16_t pos;
if(mode == ENCODER_MODE_AS5047P_SPI) {
if(mode == ENCODER_MODE_AS5047P_SPI) {
// if MOSI is defined, use diagnostics
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
spi_begin();
@ -793,16 +786,20 @@ void encoder_tim_isr(void) {
if(!encoder_AS504x_fetch_diag()) {
if(!encoder_AS504x_verify_serial()) {
//encoder_AS504x_verify_magnet();
// if (encoder_AS504x_get_diag().is_Comp_high) {
// mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, 0, 1); // COMP HIGH
// } else if(encoder_AS504x_get_diag().is_Comp_low) {
// mc_interface_fault_stop(FAULT_CODE_ENCODER_MAGNET_TOO_STRONG, 0, 1); // COMP low
// }
encoder_AS504x_deserialize_diag();
encoder_AS504x_determinate_if_connected(LAST_PACKET_OK);
encoder_AS504x_determinate_if_connected(true);
} else {
encoder_AS504x_determinate_if_connected(false);
}
else {
encoder_AS504x_determinate_if_connected(LAST_PACKET_NOT_OK);
}
}
else {
encoder_AS504x_determinate_if_connected(LAST_PACKET_NOT_OK);
} else {
encoder_AS504x_determinate_if_connected(false);
}
AS504x_diag_fetch_now_count = 0;
}
@ -812,23 +809,19 @@ void encoder_tim_isr(void) {
spi_end();
spi_val = pos;
spi_AS5047_cs_delay();
if(0x0000 == pos || 0xFFFF == pos) {
AS504x_data_last_invalid_counter++;
}
else {
} else {
AS504x_data_last_invalid_counter = 0;
encoder_AS504x_determinate_if_connected(LAST_PACKET_OK);
encoder_AS504x_determinate_if_connected(true);
}
if(AS504x_data_last_invalid_counter >= AS504x_DATA_INVALID_THRESHOLD) {
encoder_AS504x_determinate_if_connected(LAST_PACKET_NOT_OK);
if (AS504x_data_last_invalid_counter >= AS504x_DATA_INVALID_THRESHOLD) {
encoder_AS504x_determinate_if_connected(false);
AS504x_data_last_invalid_counter = AS504x_DATA_INVALID_THRESHOLD;
}
#endif
if(spi_check_parity(pos) && !spi_data_err_raised) {
pos &= 0x3FFF;
last_enc_angle = ((float)pos * 360.0) / 16384.0;
@ -861,8 +854,7 @@ void encoder_tim_isr(void) {
if (pos & MT6816_NO_MAGNET_ERROR_MASK) {
++encoder_no_magnet_error_cnt;
UTILS_LP_FAST(encoder_no_magnet_error_rate, 1.0, 1./MT6816_SAMPLE_RATE_HZ);
}
else {
} else {
pos = pos >> 2;
last_enc_angle = ((float)pos * 360.0) / 16384.0;
UTILS_LP_FAST(spi_error_rate, 0.0, 1./MT6816_SAMPLE_RATE_HZ);
@ -875,7 +867,7 @@ void encoder_tim_isr(void) {
}
#endif
if(mode == RESOLVER_MODE_AD2S1205) {
if (mode == RESOLVER_MODE_AD2S1205) {
// SAMPLE signal should have been be asserted in sync with ADC sampling
#ifdef AD2S1205_RDVEL_GPIO
palSetPad(AD2S1205_RDVEL_GPIO, AD2S1205_RDVEL_PIN); // Always read position
@ -976,7 +968,13 @@ bool encoder_index_found(void) {
// Software SPI
static void spi_transfer(uint16_t *in_buf, const uint16_t *out_buf, int length) {
for (int i = 0;i < length;i++) {
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
uint16_t send = out_buf ? out_buf[i] : 0xFFFF;
#else
(void)out_buf;
#endif
uint16_t receive = 0;
for (int bit = 0;bit < 16;bit++) {
@ -1013,17 +1011,6 @@ static void spi_transfer(uint16_t *in_buf, const uint16_t *out_buf, int length)
}
}
static uint8_t spi_transfer_err_check(uint16_t *in_buf, const uint16_t *out_buf, int length) {
spi_transfer(in_buf, out_buf, length);
for(unsigned int len_count = 0; len_count < length; len_count++)
if(((in_buf[len_count]) >> 14) & 0b01)
{
return 1;
}
return 0;
}
static void spi_begin(void) {
palClearPad(SPI_SW_CS_GPIO, SPI_SW_CS_PIN);
spi_AS5047_cs_delay();

8
encoder.h
View File

@ -60,9 +60,6 @@ void encoder_ts57n8501_reset_errors(void);
void encoder_ts57n8501_reset_multiturn(void);
AS504x_diag encoder_AS504x_get_diag(void);
static AS504x_diag AS504x_sensor_diag;
#define AS504x_SPI_READ_BIT 0x4000
#define AS504x_SPI_WRITE_BIT 0x0000
@ -86,10 +83,7 @@ static AS504x_diag AS504x_sensor_diag;
#define AS504x_CONNECTION_DETERMINATOR_ERROR_WEIGHT 4
#define AS504x_CONNECTION_DETERMINATOR_ERROR_THRESHOLD (2 * AS504x_CONNECTION_DETERMINATOR_ERROR_WEIGHT)
#if !(AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS)
#define AS504x_DATA_INVALID_THRESHOLD 20
#endif
#define AS504x_DATA_INVALID_THRESHOLD 10000
#define AS504x_REFRESH_DIAG_AFTER_NSAMPLES 100
#endif /* ENCODER_H_ */

8
mc_interface.c
View File

@ -549,8 +549,14 @@ const char* mc_interface_fault_to_string(mc_fault_code fault) {
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3";
case FAULT_CODE_UNBALANCED_CURRENTS: return "FAULT_CODE_UNBALANCED_CURRENTS";
case FAULT_CODE_BRK: return "FAULT_CODE_BRK";
default: return "FAULT_UNKNOWN"; break;
case FAULT_CODE_RESOLVER_LOT: return "FAULT_CODE_RESOLVER_LOT";
case FAULT_CODE_RESOLVER_DOS: return "FAULT_CODE_RESOLVER_DOS";
case FAULT_CODE_RESOLVER_LOS: return "FAULT_CODE_RESOLVER_LOS";
case FAULT_CODE_ENCODER_NO_MAGNET: return "FAULT_CODE_ENCODER_NO_MAGNET";
case FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: return "FAULT_CODE_ENCODER_MAGNET_TOO_STRONG";
}
return "Unknown fault";
}
mc_state mc_interface_get_state(void) {

56
terminal.c
View File

@ -861,20 +861,19 @@ void terminal_process_string(char *str) {
}
} else if (strcmp(argv[0], "encoder") == 0) {
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI ||
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_MT6816_SPI ||
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AD2S1205 ||
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501 ||
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501_MULTITURN) {
if(mcconf->m_sensor_port_mode != SENSOR_PORT_MODE_AS5047_SPI)
{
if (mcconf->m_sensor_port_mode != SENSOR_PORT_MODE_AS5047_SPI) {
commands_printf("SPI encoder value: %d, errors: %d, error rate: %.3f %%",
(unsigned int)encoder_spi_get_val(),
encoder_spi_get_error_cnt(),
(double)encoder_spi_get_error_rate() * (double)100.0);
}
else if(argc == 1)
{
} else if (argc == 1) {
commands_printf("SPI encoder value: %d, errors: %d, error rate: %.3f %%, Connected: %u",
(unsigned int)encoder_spi_get_val(),
encoder_spi_get_error_cnt(),
@ -896,41 +895,20 @@ void terminal_process_string(char *str) {
encoder_get_no_magnet_error_cnt(),
(double)encoder_get_no_magnet_error_rate() * (double)100.0);
}
#if AS504x_USE_SW_MOSI_PIN || AS5047_USE_HW_SPI_PINS
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI)
{
if(argc == 1)
{
commands_printf("\nAS5047 DIAGNOSTICS:\nAutomatic Gain Control value: %u\nMagnitude: %u\nCOF: %u\n"
"OCF: %u\nCOMP_low: %u\nCOMP_high: %u\n\ntype \"encoder [name of a parameter]\" for help\n\r"
,encoder_AS504x_get_diag().AGC_value, encoder_AS504x_get_diag().magnitude,
encoder_AS504x_get_diag().is_COF, encoder_AS504x_get_diag().is_OCF,
encoder_AS504x_get_diag().is_Comp_low,
encoder_AS504x_get_diag().is_Comp_high);
}
else if(argc == 2)
{
if(!strcmp(argv[1], "OCF"))
{
commands_printf("OCF (Offset Compensation Finished)\r\n",
encoder_AS504x_get_diag().is_OCF);
}
else if(!strcmp(argv[1], "COF"))
{
commands_printf("COF (CORDIC Overflow)\r\n",
encoder_AS504x_get_diag().is_COF);
}
else if(!strcmp(argv[1], "COMP_low"))
{
commands_printf("COMP low, indicates a high magnetic field.\r\n",
encoder_AS504x_get_diag().is_Comp_low);
}
else if(!strcmp(argv[1], "COMP_high"))
{
commands_printf("COMP high, indicated a weak magnetic field.\r\n",
encoder_AS504x_get_diag().is_Comp_high);
}
}
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI) {
commands_printf("\nAS5047 DIAGNOSTICS:\n"
"AGC : %u\n"
"Magnitude : %u\n"
"COF : %u\n"
"OCF : %u\n"
"COMP_low : %u\n"
"COMP_high : %u\n",
encoder_AS504x_get_diag().AGC_value, encoder_AS504x_get_diag().magnitude,
encoder_AS504x_get_diag().is_COF, encoder_AS504x_get_diag().is_OCF,
encoder_AS504x_get_diag().is_Comp_low,
encoder_AS504x_get_diag().is_Comp_high);
}
#endif
}