mirror of https://github.com/rusefi/bldc.git
Fix conf gen
This commit is contained in:
Mitch Lustig
parent
fe53fdf716
commit
5d3f829e69
342
confgenerator.c
342
confgenerator.c
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@ -145,6 +145,120 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
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buffer_append_uint32(buffer, APPCONF_SIGNATURE, &ind);
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buffer[ind++] = (uint8_t)conf->controller_id;
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buffer_append_uint32(buffer, conf->timeout_msec, &ind);
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buffer_append_float32_auto(buffer, conf->timeout_brake_current, &ind);
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buffer[ind++] = conf->send_can_status;
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buffer_append_uint16(buffer, conf->send_can_status_rate_hz, &ind);
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buffer[ind++] = conf->can_baud_rate;
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buffer[ind++] = conf->pairing_done;
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buffer[ind++] = conf->permanent_uart_enabled;
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buffer[ind++] = conf->shutdown_mode;
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buffer[ind++] = conf->uavcan_enable;
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buffer[ind++] = (uint8_t)conf->uavcan_esc_index;
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buffer[ind++] = conf->app_to_use;
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buffer[ind++] = conf->app_ppm_conf.ctrl_type;
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.pid_max_erpm, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.hyst, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.pulse_start, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.pulse_end, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.pulse_center, &ind);
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buffer[ind++] = conf->app_ppm_conf.median_filter;
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buffer[ind++] = conf->app_ppm_conf.safe_start;
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.throttle_exp, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.throttle_exp_brake, &ind);
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buffer[ind++] = conf->app_ppm_conf.throttle_exp_mode;
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.ramp_time_pos, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.ramp_time_neg, &ind);
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buffer[ind++] = conf->app_ppm_conf.multi_esc;
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buffer[ind++] = conf->app_ppm_conf.tc;
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.tc_max_diff, &ind);
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buffer_append_float32_auto(buffer, conf->app_ppm_conf.max_erpm_for_dir, &ind);
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buffer[ind++] = conf->app_adc_conf.ctrl_type;
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buffer_append_float32_auto(buffer, conf->app_adc_conf.hyst, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_start, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_end, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage_center, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage2_start, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.voltage2_end, &ind);
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buffer[ind++] = conf->app_adc_conf.use_filter;
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buffer[ind++] = conf->app_adc_conf.safe_start;
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buffer[ind++] = conf->app_adc_conf.cc_button_inverted;
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buffer[ind++] = conf->app_adc_conf.rev_button_inverted;
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buffer[ind++] = conf->app_adc_conf.voltage_inverted;
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buffer[ind++] = conf->app_adc_conf.voltage2_inverted;
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buffer_append_float32_auto(buffer, conf->app_adc_conf.throttle_exp, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.throttle_exp_brake, &ind);
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buffer[ind++] = conf->app_adc_conf.throttle_exp_mode;
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buffer_append_float32_auto(buffer, conf->app_adc_conf.ramp_time_pos, &ind);
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buffer_append_float32_auto(buffer, conf->app_adc_conf.ramp_time_neg, &ind);
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buffer[ind++] = conf->app_adc_conf.multi_esc;
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buffer[ind++] = conf->app_adc_conf.tc;
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buffer_append_float32_auto(buffer, conf->app_adc_conf.tc_max_diff, &ind);
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buffer_append_uint16(buffer, conf->app_adc_conf.update_rate_hz, &ind);
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buffer_append_uint32(buffer, conf->app_uart_baudrate, &ind);
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buffer[ind++] = conf->app_chuk_conf.ctrl_type;
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.hyst, &ind);
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.ramp_time_pos, &ind);
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.ramp_time_neg, &ind);
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.stick_erpm_per_s_in_cc, &ind);
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.throttle_exp, &ind);
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.throttle_exp_brake, &ind);
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buffer[ind++] = conf->app_chuk_conf.throttle_exp_mode;
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buffer[ind++] = conf->app_chuk_conf.multi_esc;
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buffer[ind++] = conf->app_chuk_conf.tc;
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.tc_max_diff, &ind);
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buffer[ind++] = conf->app_chuk_conf.use_smart_rev;
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.smart_rev_max_duty, &ind);
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buffer_append_float32_auto(buffer, conf->app_chuk_conf.smart_rev_ramp_time, &ind);
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buffer[ind++] = conf->app_nrf_conf.speed;
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buffer[ind++] = conf->app_nrf_conf.power;
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buffer[ind++] = conf->app_nrf_conf.crc_type;
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buffer[ind++] = conf->app_nrf_conf.retry_delay;
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buffer[ind++] = (uint8_t)conf->app_nrf_conf.retries;
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buffer[ind++] = (uint8_t)conf->app_nrf_conf.channel;
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buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[0];
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buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[1];
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buffer[ind++] = (uint8_t)conf->app_nrf_conf.address[2];
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buffer[ind++] = conf->app_nrf_conf.send_crc_ack;
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buffer_append_float32_auto(buffer, conf->app_balance_conf.kp, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.ki, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.kd, &ind);
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buffer_append_uint16(buffer, conf->app_balance_conf.hertz, &ind);
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buffer[ind++] = conf->app_balance_conf.m_axis;
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buffer[ind++] = conf->app_balance_conf.c_axis;
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buffer_append_float32_auto(buffer, conf->app_balance_conf.m_fault, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.c_fault, &ind);
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buffer[ind++] = conf->app_balance_conf.use_switches;
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buffer_append_float32_auto(buffer, conf->app_balance_conf.overspeed_duty, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_duty, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_angle, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.tiltback_speed, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_m_tolerance, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_c_tolerance, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.startup_speed, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.deadzone, &ind);
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buffer_append_float32_auto(buffer, conf->app_balance_conf.current_boost, &ind);
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buffer[ind++] = conf->imu_conf.type;
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buffer[ind++] = conf->imu_conf.mode;
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buffer_append_uint16(buffer, conf->imu_conf.sample_rate_hz, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.accel_confidence_decay, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.mahony_kp, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.mahony_ki, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.madgwick_beta, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.rot_roll, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.rot_pitch, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.rot_yaw, &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.accel_offsets[0], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.accel_offsets[1], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.accel_offsets[2], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offsets[0], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offsets[1], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offsets[2], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_fact[0], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_fact[1], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_fact[2], &ind);
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buffer_append_float32_auto(buffer, conf->imu_conf.gyro_offset_comp_clamp, &ind);
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return ind;
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}
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@ -296,6 +410,120 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
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return false;
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}
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conf->controller_id = buffer[ind++];
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conf->timeout_msec = buffer_get_uint32(buffer, &ind);
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conf->timeout_brake_current = buffer_get_float32_auto(buffer, &ind);
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conf->send_can_status = buffer[ind++];
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conf->send_can_status_rate_hz = buffer_get_uint16(buffer, &ind);
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conf->can_baud_rate = buffer[ind++];
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conf->pairing_done = buffer[ind++];
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conf->permanent_uart_enabled = buffer[ind++];
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conf->shutdown_mode = buffer[ind++];
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conf->uavcan_enable = buffer[ind++];
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conf->uavcan_esc_index = buffer[ind++];
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conf->app_to_use = buffer[ind++];
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conf->app_ppm_conf.ctrl_type = buffer[ind++];
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conf->app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.hyst = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.pulse_start = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.pulse_end = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.pulse_center = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.median_filter = buffer[ind++];
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conf->app_ppm_conf.safe_start = buffer[ind++];
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conf->app_ppm_conf.throttle_exp = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.throttle_exp_brake = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.throttle_exp_mode = buffer[ind++];
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conf->app_ppm_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.multi_esc = buffer[ind++];
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conf->app_ppm_conf.tc = buffer[ind++];
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conf->app_ppm_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
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conf->app_ppm_conf.max_erpm_for_dir = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.ctrl_type = buffer[ind++];
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conf->app_adc_conf.hyst = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.voltage_start = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.voltage_end = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.voltage_center = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.voltage2_start = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.voltage2_end = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.use_filter = buffer[ind++];
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conf->app_adc_conf.safe_start = buffer[ind++];
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conf->app_adc_conf.cc_button_inverted = buffer[ind++];
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conf->app_adc_conf.rev_button_inverted = buffer[ind++];
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conf->app_adc_conf.voltage_inverted = buffer[ind++];
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conf->app_adc_conf.voltage2_inverted = buffer[ind++];
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conf->app_adc_conf.throttle_exp = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.throttle_exp_brake = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.throttle_exp_mode = buffer[ind++];
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conf->app_adc_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.multi_esc = buffer[ind++];
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conf->app_adc_conf.tc = buffer[ind++];
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conf->app_adc_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
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conf->app_adc_conf.update_rate_hz = buffer_get_uint16(buffer, &ind);
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conf->app_uart_baudrate = buffer_get_uint32(buffer, &ind);
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conf->app_chuk_conf.ctrl_type = buffer[ind++];
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conf->app_chuk_conf.hyst = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.ramp_time_pos = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.ramp_time_neg = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.throttle_exp = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.throttle_exp_brake = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.throttle_exp_mode = buffer[ind++];
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conf->app_chuk_conf.multi_esc = buffer[ind++];
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conf->app_chuk_conf.tc = buffer[ind++];
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conf->app_chuk_conf.tc_max_diff = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.use_smart_rev = buffer[ind++];
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conf->app_chuk_conf.smart_rev_max_duty = buffer_get_float32_auto(buffer, &ind);
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conf->app_chuk_conf.smart_rev_ramp_time = buffer_get_float32_auto(buffer, &ind);
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conf->app_nrf_conf.speed = buffer[ind++];
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conf->app_nrf_conf.power = buffer[ind++];
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conf->app_nrf_conf.crc_type = buffer[ind++];
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conf->app_nrf_conf.retry_delay = buffer[ind++];
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conf->app_nrf_conf.retries = (int8_t)buffer[ind++];
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conf->app_nrf_conf.channel = (int8_t)buffer[ind++];
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conf->app_nrf_conf.address[0] = buffer[ind++];
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conf->app_nrf_conf.address[1] = buffer[ind++];
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conf->app_nrf_conf.address[2] = buffer[ind++];
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conf->app_nrf_conf.send_crc_ack = buffer[ind++];
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conf->app_balance_conf.kp = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.ki = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.kd = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.hertz = buffer_get_uint16(buffer, &ind);
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conf->app_balance_conf.m_axis = buffer[ind++];
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conf->app_balance_conf.c_axis = buffer[ind++];
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conf->app_balance_conf.m_fault = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.c_fault = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.use_switches = buffer[ind++];
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conf->app_balance_conf.overspeed_duty = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.tiltback_duty = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.tiltback_angle = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.tiltback_speed = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.startup_m_tolerance = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.startup_c_tolerance = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.startup_speed = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.deadzone = buffer_get_float32_auto(buffer, &ind);
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conf->app_balance_conf.current_boost = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.type = buffer[ind++];
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conf->imu_conf.mode = buffer[ind++];
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conf->imu_conf.sample_rate_hz = buffer_get_uint16(buffer, &ind);
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conf->imu_conf.accel_confidence_decay = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.mahony_kp = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.mahony_ki = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.madgwick_beta = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.rot_roll = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.rot_pitch = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.rot_yaw = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.accel_offsets[0] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.accel_offsets[1] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.accel_offsets[2] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offsets[0] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offsets[1] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offsets[2] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offset_comp_fact[0] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offset_comp_fact[1] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offset_comp_fact[2] = buffer_get_float32_auto(buffer, &ind);
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conf->imu_conf.gyro_offset_comp_clamp = buffer_get_float32_auto(buffer, &ind);
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return true;
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}
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@ -431,4 +659,118 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
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}
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void confgenerator_set_defaults_appconf(app_configuration *conf) {
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conf->controller_id = HW_DEFAULT_ID;
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conf->timeout_msec = APPCONF_TIMEOUT_MSEC;
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conf->timeout_brake_current = APPCONF_TIMEOUT_BRAKE_CURRENT;
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conf->send_can_status = APPCONF_SEND_CAN_STATUS;
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conf->send_can_status_rate_hz = APPCONF_SEND_CAN_STATUS_RATE_HZ;
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conf->can_baud_rate = APPCONF_CAN_BAUD_RATE;
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conf->pairing_done = APPCONF_PAIRING_DONE;
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conf->permanent_uart_enabled = APPCONF_PERMANENT_UART_ENABLED;
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conf->shutdown_mode = APPCONF_SHUTDOWN_MODE;
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conf->uavcan_enable = APPCONF_UAVCAN_ENABLE;
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conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
|
||||
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;
|
||||
conf->app_ppm_conf.hyst = APPCONF_PPM_HYST;
|
||||
conf->app_ppm_conf.pulse_start = APPCONF_PPM_PULSE_START;
|
||||
conf->app_ppm_conf.pulse_end = APPCONF_PPM_PULSE_END;
|
||||
conf->app_ppm_conf.pulse_center = APPCONF_PPM_PULSE_CENTER;
|
||||
conf->app_ppm_conf.median_filter = APPCONF_PPM_MEDIAN_FILTER;
|
||||
conf->app_ppm_conf.safe_start = APPCONF_PPM_SAFE_START;
|
||||
conf->app_ppm_conf.throttle_exp = APPCONF_PPM_THROTTLE_EXP;
|
||||
conf->app_ppm_conf.throttle_exp_brake = APPCONF_PPM_THROTTLE_EXP_BRAKE;
|
||||
conf->app_ppm_conf.throttle_exp_mode = APPCONF_PPM_THROTTLE_EXP_MODE;
|
||||
conf->app_ppm_conf.ramp_time_pos = APPCONF_PPM_RAMP_TIME_POS;
|
||||
conf->app_ppm_conf.ramp_time_neg = APPCONF_PPM_RAMP_TIME_NEG;
|
||||
conf->app_ppm_conf.multi_esc = APPCONF_PPM_MULTI_ESC;
|
||||
conf->app_ppm_conf.tc = APPCONF_PPM_TC;
|
||||
conf->app_ppm_conf.tc_max_diff = APPCONF_PPM_TC_MAX_DIFF;
|
||||
conf->app_ppm_conf.max_erpm_for_dir = APPCONF_PPM_MAX_ERPM_FOR_DIR;
|
||||
conf->app_adc_conf.ctrl_type = APPCONF_ADC_CTRL_TYPE;
|
||||
conf->app_adc_conf.hyst = APPCONF_ADC_HYST;
|
||||
conf->app_adc_conf.voltage_start = APPCONF_ADC_VOLTAGE_START;
|
||||
conf->app_adc_conf.voltage_end = APPCONF_ADC_VOLTAGE_END;
|
||||
conf->app_adc_conf.voltage_center = APPCONF_ADC_VOLTAGE_CENTER;
|
||||
conf->app_adc_conf.voltage2_start = APPCONF_ADC_VOLTAGE2_START;
|
||||
conf->app_adc_conf.voltage2_end = APPCONF_ADC_VOLTAGE2_END;
|
||||
conf->app_adc_conf.use_filter = APPCONF_ADC_USE_FILTER;
|
||||
conf->app_adc_conf.safe_start = APPCONF_ADC_SAFE_START;
|
||||
conf->app_adc_conf.cc_button_inverted = APPCONF_ADC_CC_BUTTON_INVERTED;
|
||||
conf->app_adc_conf.rev_button_inverted = APPCONF_ADC_REV_BUTTON_INVERTED;
|
||||
conf->app_adc_conf.voltage_inverted = APPCONF_ADC_VOLTAGE_INVERTED;
|
||||
conf->app_adc_conf.voltage2_inverted = APPCONF_ADC_VOLTAGE2_INVERTED;
|
||||
conf->app_adc_conf.throttle_exp = APPCONF_ADC_THROTTLE_EXP;
|
||||
conf->app_adc_conf.throttle_exp_brake = APPCONF_ADC_THROTTLE_EXP_BRAKE;
|
||||
conf->app_adc_conf.throttle_exp_mode = APPCONF_ADC_THROTTLE_EXP_MODE;
|
||||
conf->app_adc_conf.ramp_time_pos = APPCONF_ADC_RAMP_TIME_POS;
|
||||
conf->app_adc_conf.ramp_time_neg = APPCONF_ADC_RAMP_TIME_NEG;
|
||||
conf->app_adc_conf.multi_esc = APPCONF_ADC_MULTI_ESC;
|
||||
conf->app_adc_conf.tc = APPCONF_ADC_TC;
|
||||
conf->app_adc_conf.tc_max_diff = APPCONF_ADC_TC_MAX_DIFF;
|
||||
conf->app_adc_conf.update_rate_hz = APPCONF_ADC_UPDATE_RATE_HZ;
|
||||
conf->app_uart_baudrate = APPCONF_UART_BAUDRATE;
|
||||
conf->app_chuk_conf.ctrl_type = APPCONF_CHUK_CTRL_TYPE;
|
||||
conf->app_chuk_conf.hyst = APPCONF_CHUK_HYST;
|
||||
conf->app_chuk_conf.ramp_time_pos = APPCONF_CHUK_RAMP_TIME_POS;
|
||||
conf->app_chuk_conf.ramp_time_neg = APPCONF_CHUK_RAMP_TIME_NEG;
|
||||
conf->app_chuk_conf.stick_erpm_per_s_in_cc = APPCONF_STICK_ERPM_PER_S_IN_CC;
|
||||
conf->app_chuk_conf.throttle_exp = APPCONF_CHUK_THROTTLE_EXP;
|
||||
conf->app_chuk_conf.throttle_exp_brake = APPCONF_CHUK_THROTTLE_EXP_BRAKE;
|
||||
conf->app_chuk_conf.throttle_exp_mode = APPCONF_CHUK_THROTTLE_EXP_MODE;
|
||||
conf->app_chuk_conf.multi_esc = APPCONF_CHUK_MULTI_ESC;
|
||||
conf->app_chuk_conf.tc = APPCONF_CHUK_TC;
|
||||
conf->app_chuk_conf.tc_max_diff = APPCONF_CHUK_TC_MAX_DIFF;
|
||||
conf->app_chuk_conf.use_smart_rev = APPCONF_CHUK_USE_SMART_REV;
|
||||
conf->app_chuk_conf.smart_rev_max_duty = APPCONF_CHUK_SMART_REV_MAX_DUTY;
|
||||
conf->app_chuk_conf.smart_rev_ramp_time = APPCONF_CHUK_SMART_REV_RAMP_TIME;
|
||||
conf->app_nrf_conf.speed = APPCONF_NRF_SPEED;
|
||||
conf->app_nrf_conf.power = APPCONF_NRF_POWER;
|
||||
conf->app_nrf_conf.crc_type = APPCONF_NRF_CRC;
|
||||
conf->app_nrf_conf.retry_delay = APPCONF_NRF_RETR_DELAY;
|
||||
conf->app_nrf_conf.retries = APPCONF_NRF_RETRIES;
|
||||
conf->app_nrf_conf.channel = APPCONF_NRF_CHANNEL;
|
||||
conf->app_nrf_conf.address[0] = APPCONF_NRF_ADDR_B0;
|
||||
conf->app_nrf_conf.address[1] = APPCONF_NRF_ADDR_B1;
|
||||
conf->app_nrf_conf.address[2] = APPCONF_NRF_ADDR_B2;
|
||||
conf->app_nrf_conf.send_crc_ack = APPCONF_NRF_SEND_CRC_ACK;
|
||||
conf->app_balance_conf.kp = APPCONF_BALANCE_KP;
|
||||
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.m_axis = APPCONF_BALANCE_M_AXIS;
|
||||
conf->app_balance_conf.c_axis = APPCONF_BALANCE_C_AXIS;
|
||||
conf->app_balance_conf.m_fault = APPCONF_BALANCE_M_FAULT;
|
||||
conf->app_balance_conf.c_fault = APPCONF_BALANCE_C_FAULT;
|
||||
conf->app_balance_conf.use_switches = APPCONF_BALANCE_USE_SWITCHES;
|
||||
conf->app_balance_conf.overspeed_duty = APPCONF_BALANCE_OVERSPEED_DUTY;
|
||||
conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;
|
||||
conf->app_balance_conf.tiltback_angle = APPCONF_BALANCE_TILTBACK_ANGLE;
|
||||
conf->app_balance_conf.tiltback_speed = APPCONF_BALANCE_TILTBACK_SPEED;
|
||||
conf->app_balance_conf.startup_m_tolerance = APPCONF_BALANCE_STARTUP_M_TOLERANCE;
|
||||
conf->app_balance_conf.startup_c_tolerance = APPCONF_BALANCE_STARTUP_C_TOLERANCE;
|
||||
conf->app_balance_conf.startup_speed = APPCONF_BALANCE_STARTUP_SPEED;
|
||||
conf->app_balance_conf.deadzone = APPCONF_BALANCE_DEADZONE;
|
||||
conf->app_balance_conf.current_boost = APPCONF_BALANCE_CURRENT_BOOST;
|
||||
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;
|
||||
conf->imu_conf.accel_confidence_decay = APPCONF_IMU_ACCEL_CONFIDENCE_DECAY;
|
||||
conf->imu_conf.mahony_kp = APPCONF_IMU_MAHONY_KP;
|
||||
conf->imu_conf.mahony_ki = APPCONF_IMU_MAHONY_KI;
|
||||
conf->imu_conf.madgwick_beta = APPCONF_IMU_MADGWICK_BETA;
|
||||
conf->imu_conf.rot_roll = APPCONF_IMU_ROT_ROLL;
|
||||
conf->imu_conf.rot_pitch = APPCONF_IMU_ROT_PITCH;
|
||||
conf->imu_conf.rot_yaw = APPCONF_IMU_ROT_YAW;
|
||||
conf->imu_conf.accel_offsets[0] = APPCONF_IMU_A_OFFSET_0;
|
||||
conf->imu_conf.accel_offsets[1] = APPCONF_IMU_A_OFFSET_1;
|
||||
conf->imu_conf.accel_offsets[2] = APPCONF_IMU_A_OFFSET_2;
|
||||
conf->imu_conf.gyro_offsets[0] = APPCONF_IMU_G_OFFSET_0;
|
||||
conf->imu_conf.gyro_offsets[1] = APPCONF_IMU_G_OFFSET_1;
|
||||
conf->imu_conf.gyro_offsets[2] = APPCONF_IMU_G_OFFSET_2;
|
||||
conf->imu_conf.gyro_offset_comp_fact[0] = APPCONF_IMU_G_OFFSET_COMP_FACT_0;
|
||||
conf->imu_conf.gyro_offset_comp_fact[1] = APPCONF_IMU_G_OFFSET_COMP_FACT_1;
|
||||
conf->imu_conf.gyro_offset_comp_fact[2] = APPCONF_IMU_G_OFFSET_COMP_FACT_2;
|
||||
conf->imu_conf.gyro_offset_comp_clamp = APPCONF_IMU_G_OFFSET_COMP_CLAMP;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -9,7 +9,7 @@
|
|||
|
||||
// Constants
|
||||
#define MCCONF_SIGNATURE 503309878
|
||||
#define APPCONF_SIGNATURE 0
|
||||
#define APPCONF_SIGNATURE 4290437352
|
||||
|
||||
// Functions
|
||||
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);
|
||||
|
|
|
|||
Loading…
Reference in New Issue