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Added UAVCAN raw throttle modes

This commit is contained in:
Benjamin Vedder 2020-12-04 17:54:22 +01:00
parent d0e66ea0c1
commit 55096f93cc
8 changed files with 40 additions and 5 deletions
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2
CHANGELOG
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@ -22,6 +22,8 @@
* Added hall sensor interpolation ERPM config option.
* Use fast speed estimator for RPM limit.
* Avoid accumulated rounding error when using PID position angle division.
* Added UAVCAN raw throttle drive mode (current or duty cycle control).
* Added MT6816 encoder support. See https://github.com/vedderb/bldc/pull/238
=== FW 5.01 ===
* Fixed PPM bug in previous release.

3
appconf/appconf_default.h
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@ -39,6 +39,9 @@
#ifndef APPCONF_UAVCAN_ESC_INDEX
#define APPCONF_UAVCAN_ESC_INDEX 0
#endif
#ifndef APPCONF_UAVCAN_RAW_MODE
#define APPCONF_UAVCAN_RAW_MODE UAVCAN_RAW_MODE_CURRENT
#endif
#ifndef APPCONF_SEND_CAN_STATUS_RATE_HZ
#define APPCONF_SEND_CAN_STATUS_RATE_HZ 50
#endif

2
commands.c
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@ -1102,7 +1102,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
bool is_ext = data[ind++];
if (is_ext) {
comm_can_transmit_eid_replace(id, data + ind, len - ind, true);
comm_can_transmit_eid(id, data + ind, len - ind);
} else {
comm_can_transmit_sid(id, data + ind, len - ind);
}

2
conf_general.h
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@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 02
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 13
#define FW_TEST_VERSION_NUMBER 14
#include "datatypes.h"

3
confgenerator.c
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@ -178,6 +178,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
buffer[ind++] = conf->shutdown_mode;
buffer[ind++] = conf->can_mode;
buffer[ind++] = (uint8_t)conf->uavcan_esc_index;
buffer[ind++] = conf->uavcan_raw_mode;
buffer[ind++] = conf->app_to_use;
buffer[ind++] = conf->app_ppm_conf.ctrl_type;
buffer_append_float32_auto(buffer, conf->app_ppm_conf.pid_max_erpm, &ind);
@ -488,6 +489,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
conf->shutdown_mode = buffer[ind++];
conf->can_mode = buffer[ind++];
conf->uavcan_esc_index = buffer[ind++];
conf->uavcan_raw_mode = buffer[ind++];
conf->app_to_use = buffer[ind++];
conf->app_ppm_conf.ctrl_type = buffer[ind++];
conf->app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(buffer, &ind);
@ -782,6 +784,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
conf->shutdown_mode = APPCONF_SHUTDOWN_MODE;
conf->can_mode = APPCONF_CAN_MODE;
conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
conf->uavcan_raw_mode = APPCONF_UAVCAN_RAW_MODE;
conf->app_to_use = APPCONF_APP_TO_USE;
conf->app_ppm_conf.ctrl_type = APPCONF_PPM_CTRL_TYPE;
conf->app_ppm_conf.pid_max_erpm = APPCONF_PPM_PID_MAX_ERPM;

4
confgenerator.h
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@ -8,8 +8,8 @@
#include <stdbool.h>
// Constants
#define MCCONF_SIGNATURE 3199002916
#define APPCONF_SIGNATURE 664237692
#define MCCONF_SIGNATURE 789840453
#define APPCONF_SIGNATURE 3725342318
// Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

7
datatypes.h
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@ -719,6 +719,12 @@ typedef enum {
CAN_MODE_COMM_BRIDGE
} CAN_MODE;
typedef enum {
UAVCAN_RAW_MODE_CURRENT = 0,
UAVCAN_RAW_MODE_CURRENT_NO_REV_BRAKE,
UAVCAN_RAW_MODE_DUTY
} UAVCAN_RAW_MODE;
typedef struct {
// Settings
uint8_t controller_id;
@ -734,6 +740,7 @@ typedef struct {
// CAN modes
CAN_MODE can_mode;
uint8_t uavcan_esc_index;
UAVCAN_RAW_MODE uavcan_raw_mode;
// Application to use
app_use app_to_use;

22
libcanard/canard_driver.c
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@ -205,7 +205,27 @@ static void onTransferReceived(CanardInstance* ins, CanardRxTransfer* transfer)
if (uavcan_equipment_esc_RawCommand_decode_internal(transfer, transfer->payload_len, &cmd, &tmp, 0, true) >= 0) {
if (cmd.cmd.len > app_get_configuration()->uavcan_esc_index) {
mc_interface_set_duty(((float)cmd.cmd.data[app_get_configuration()->uavcan_esc_index]) / 8192.0);
float raw_val = ((float)cmd.cmd.data[app_get_configuration()->uavcan_esc_index]) / 8192.0;
switch (app_get_configuration()->uavcan_raw_mode) {
case UAVCAN_RAW_MODE_CURRENT:
mc_interface_set_current_rel(raw_val);
break;
case UAVCAN_RAW_MODE_CURRENT_NO_REV_BRAKE:
if (raw_val >= 0.0) {
mc_interface_set_current_rel(raw_val);
} else {
mc_interface_set_brake_current_rel(-raw_val);
}
break;
case UAVCAN_RAW_MODE_DUTY:
mc_interface_set_duty(raw_val);
break;
default:
break;
}
timeout_reset();
}
}