Merge remote-tracking branch 'origin/master'

CHANGELOG

@@ -1,6 +1,7 @@
 === FW 6.00 <dev> ===
 * Added stack checks.
 * Release motor fix when cc_min_current is 0.
+* Added support for NTC and PTC temperature sensors with custom resisrance and base temperature.
 
 === FW 5.03 ===
 * Fixed inductance measurement bug.

applications/app_dpv.c

@@ -14,7 +14,7 @@
 
 #define SPEED_STEP	0.05
 #define SPEED_MAX	1.00
-#define SPEED_MIN	0.20
+#define SPEED_MIN	0.10
 #define SPEED_OFF	0.00
 
 //private variables
@@ -60,6 +60,9 @@ void app_custom_start(void) {
 	// Start the dv thread
 	chThdCreateStatic(dpv_thread_wa, sizeof(dpv_thread_wa), NORMALPRIO, dpv_thread, NULL);
 
+    hw_start_i2c();
+    app_uartcomm_start(UART_PORT_COMM_HEADER);
+    app_uartcomm_start(UART_PORT_BUILTIN);
     chSysLock();
     chVTSetI(&dpv_vt, MS2ST(1), update, NULL);
     chSysUnlock();
@@ -122,7 +125,6 @@ static THD_FUNCTION(dpv_thread, arg) {
         static systime_t last_time = 0;
         static float motorSpeed_val_ramp = 0.0;
 	float ramp_time; 
-
 	if ( ! palReadPad(HW_HALL_TRIGGER_GPIO, HW_HALL_TRIGGER_PIN)) {
 		motorSpeed=targetSpeed;
 	} else {
@@ -138,9 +140,9 @@ static THD_FUNCTION(dpv_thread, arg) {
         	last_time = chVTGetSystemTimeX();
 		motorSpeed = motorSpeed_val_ramp;
        	}
-       	mc_interface_set_duty(utils_map(motorSpeed, 0, 1.0, 0, mcconf->l_max_duty));
        	//mc_interface_set_pid_speed(motorSpeed*mcconf->l_max_erpm);
-        chThdSleepMilliseconds(10);
+        mc_interface_set_duty(motorSpeed*mcconf->l_max_duty);
+	chThdSleepMilliseconds(5);
 	// Reset the timeout
 	timeout_reset();
 	}

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			6
 #define FW_VERSION_MINOR			00
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		2
+#define FW_TEST_VERSION_NUMBER		4
 
 #include "datatypes.h"
 

confgenerator.c

@@ -170,6 +170,8 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer[ind++] = conf->m_out_aux_mode;
 	buffer[ind++] = conf->m_motor_temp_sens_type;
 	buffer_append_float32_auto(buffer, conf->m_ptc_motor_coeff, &ind);
+	buffer_append_float16(buffer, conf->m_ntcx_ptcx_res, 0.1, &ind);
+	buffer_append_float16(buffer, conf->m_ntcx_ptcx_temp_base, 10, &ind);
 	buffer[ind++] = (uint8_t)conf->m_hall_extra_samples;
 	buffer[ind++] = (uint8_t)conf->si_motor_poles;
 	buffer_append_float32_auto(buffer, conf->si_gear_ratio, &ind);
@@ -539,6 +541,8 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->m_out_aux_mode = buffer[ind++];
 	conf->m_motor_temp_sens_type = buffer[ind++];
 	conf->m_ptc_motor_coeff = buffer_get_float32_auto(buffer, &ind);
+	conf->m_ntcx_ptcx_res = buffer_get_float16(buffer, 0.1, &ind);
+	conf->m_ntcx_ptcx_temp_base = buffer_get_float16(buffer, 10, &ind);
 	conf->m_hall_extra_samples = buffer[ind++];
 	conf->si_motor_poles = buffer[ind++];
 	conf->si_gear_ratio = buffer_get_float32_auto(buffer, &ind);
@@ -904,6 +908,8 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->m_out_aux_mode = MCCONF_M_OUT_AUX_MODE;
 	conf->m_motor_temp_sens_type = MCCONF_M_MOTOR_TEMP_SENS_TYPE;
 	conf->m_ptc_motor_coeff = MCCONF_M_PTC_MOTOR_COEFF;
+	conf->m_ntcx_ptcx_res = MCCONF_M_NTCX_PTCX_RES;
+	conf->m_ntcx_ptcx_temp_base = MCCONF_M_NTCX_PTCX_BASE_TEMP;
 	conf->m_hall_extra_samples = MCCONF_M_HALL_EXTRA_SAMPLES;
 	conf->si_motor_poles = MCCONF_SI_MOTOR_POLES;
 	conf->si_gear_ratio = MCCONF_SI_GEAR_RATIO;

confgenerator.h

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		2525666056
+#define MCCONF_SIGNATURE		1018325777
 #define APPCONF_SIGNATURE		3733512279
 
 // Functions

datatypes.h

@@ -86,7 +86,9 @@ typedef enum {
 	TEMP_SENSOR_PTC_1K_100C,
 	TEMP_SENSOR_KTY83_122,
 	TEMP_SENSOR_NTC_100K_25C,
-	TEMP_SENSOR_KTY84_130
+	TEMP_SENSOR_KTY84_130,
+	TEMP_SENSOR_NTCX,
+	TEMP_SENSOR_PTCX
 } temp_sensor_type;
 
 // General purpose drive output mode
@@ -480,6 +482,8 @@ typedef struct {
 	temp_sensor_type m_motor_temp_sens_type;
 	float m_ptc_motor_coeff;
 	int m_hall_extra_samples;
+	float m_ntcx_ptcx_temp_base;
+	float m_ntcx_ptcx_res;
 	// Setup info
 	uint8_t si_motor_poles;
 	float si_gear_ratio;

hwconf/hw.h

@@ -231,6 +231,12 @@
 #ifndef AUX_OFF
 #define AUX_OFF()
 #endif
+#ifndef AUX2_ON
+#define AUX2_ON()
+#endif
+#ifndef AUX2_OFF
+#define AUX2_OFF()
+#endif
 
 #ifndef PHASE_FILTER_ON
 #define PHASE_FILTER_ON()
@@ -444,8 +450,8 @@
 
 #ifndef PTC_TEMP_MOTOR
 #if defined(NTC_RES_MOTOR) && defined(ADC_IND_TEMP_MOTOR)
-#define PTC_TEMP_MOTOR(res, con, tbase)			(((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) - res) / res) * 100 / con + tbase)
-#define PTC_TEMP_MOTOR_2(res, con, tbase)		(((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) - res) / res) * 100 / con + tbase)
+#define PTC_TEMP_MOTOR(res, con, tbase)			(((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) - (res)) / (res)) * 100 / (con) + (tbase))
+#define PTC_TEMP_MOTOR_2(res, con, tbase)		(((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) - (res)) / (res)) * 100 / (con) + (tbase))
 #else
 #define PTC_TEMP_MOTOR(res, con, tbase)			0.0
 #define PTC_TEMP_MOTOR_2(res, con, tbase)		0.0
@@ -458,7 +464,17 @@
 #define NTC100K_TEMP_MOTOR_2(beta)				(1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) / 100000.0) / beta) + (1.0 / 298.15)) - 273.15)
 #else
 #define NTC100K_TEMP_MOTOR(beta)				0.0
-#define NTC100K_TEMP_MOTOR2(beta)		0.0
+#define NTC100K_TEMP_MOTOR_2(beta)				0.0
+#endif
+#endif
+
+#ifndef NTCX_TEMP_MOTOR
+#if defined(NTC_RES_MOTOR) && defined(ADC_IND_TEMP_MOTOR)
+#define NTCX_TEMP_MOTOR(res, beta, tbase)		(1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / (res)) / (beta)) + (1.0 / (273.15 + (tbase)))) - 273.15)
+#define NTCX_TEMP_MOTOR_2(res, beta, tbase)		(1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_2]) / (res)) / (beta)) + (1.0 / (273.15 + (tbase)))) - 273.15)
+#else
+#define NTCX_TEMP_MOTOR(res, beta, tbase)		0.0
+#define NTCX_TEMP_MOTOR_2(res, beta, tbase)		0.0
 #endif
 #endif
 

hwconf/hw_60v2_alva.c

@@ -88,11 +88,15 @@ void hw_init_gpio(void) {
 
 	CURRENT_FILTER_OFF();
 
-	// AUX pin
+	// AUX pins
 	AUX_OFF();
 	palSetPadMode(AUX_GPIO, AUX_PIN,
 			PAL_MODE_OUTPUT_PUSHPULL |
 			PAL_STM32_OSPEED_HIGHEST);
+	AUX2_OFF();
+	palSetPadMode(AUX2_GPIO, AUX2_PIN,
+			PAL_MODE_OUTPUT_PUSHPULL |
+			PAL_STM32_OSPEED_HIGHEST);
 
 	// Sensor port voltage
 	SENSOR_PORT_3V3();

hwconf/hw_60v2_alva.h

@@ -20,7 +20,7 @@
 #ifndef HW_60V2_ALVA_H_
 #define HW_60V2_ALVA_H_
 
-#define HW_NAME					"ALVA60"
+#define HW_NAME					"60v2_alva"
 
 #define ALVA_V0_PPM
 //#define ALVA_V0_ABI_ENC
@@ -55,6 +55,10 @@
 #define AUX_PIN					12
 #define AUX_ON()				palSetPad(AUX_GPIO, AUX_PIN)
 #define AUX_OFF()				palClearPad(AUX_GPIO, AUX_PIN)
+#define AUX2_GPIO				GPIOC
+#define AUX2_PIN				13
+#define AUX2_ON()				palSetPad(AUX2_GPIO, AUX2_PIN)
+#define AUX2_OFF()				palClearPad(AUX2_GPIO, AUX2_PIN)
 
 #define CURRENT_FILTER_GPIO		GPIOD
 #define CURRENT_FILTER_PIN		2

hwconf/hw_gesc.c

@@ -36,9 +36,8 @@
 #include "lora/lora.h"
 #endif
 
-	// Threads
 THD_FUNCTION(mag_thread, arg);
-static THD_WORKING_AREA(mag_thread_wa, 256);
+static THD_WORKING_AREA(mag_thread_wa, 512);
 static bool mag_thread_running = false;
 
 // Variables
@@ -56,7 +55,6 @@ static const I2CConfig i2cfg = {
 		STD_DUTY_CYCLE
 };
 
-
 void hw_init_gpio(void) {
 	// GPIO clock enable
 	RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
@@ -144,8 +142,6 @@ void hw_init_gpio(void) {
 		0,
 		terminal_cmd_doublepulse);
 #endif
-	//start uart for log
-	//app_uartcomm_start(UART_PORT_COMM_HEADER);
 }
 
 void hw_setup_adc_channels(void) {
@@ -221,7 +217,6 @@ void hw_start_i2c(void) {
 			PAL_STM32_OTYPE_OPENDRAIN |
 			PAL_STM32_OSPEED_MID1 |
 			PAL_STM32_PUDR_PULLUP);
-
 		i2cStart(&HW_I2C_DEV, &i2cfg);
 		i2c_running = true;
 	}
@@ -260,7 +255,6 @@ void hw_try_restore_i2c(void) {
 			PAL_STM32_OTYPE_OPENDRAIN |
 			PAL_STM32_OSPEED_MID1 |
 			PAL_STM32_PUDR_PULLUP);
-
 		palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
 		palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
 

hwconf/hw_gesc.h

@@ -25,7 +25,7 @@
 // HW properties
 #define HW_HAS_3_SHUNTS
 #define HW_HAS_PHASE_SHUNTS
-//#define HW_HAS_PHASE_FILTERS
+#define HW_HAS_PHASE_FILTERS
 #define INVERTED_SHUNT_POLARITY
 #define HW_HAS_NO_CAN
 #define HW_HAS_LORA
@@ -151,13 +151,13 @@
 #define HW_UART_RX_PORT			GPIOB
 #define HW_UART_RX_PIN			11
 
-//#define HW_UART_P_BAUD			115200
-//#define HW_UART_P_DEV			SD4
-//#define HW_UART_P_GPIO_AF		GPIO_AF_UART4
-//#define HW_UART_P_TX_PORT		GPIOC
-//#define HW_UART_P_TX_PIN		10
-//#define HW_UART_P_RX_PORT		GPIOC
-//#define HW_UART_P_RX_PIN		11
+#define HW_UART_P_BAUD			115200
+#define HW_UART_P_DEV			SD4
+#define HW_UART_P_GPIO_AF		GPIO_AF_UART4
+#define HW_UART_P_TX_PORT		GPIOC
+#define HW_UART_P_TX_PIN		10
+#define HW_UART_P_RX_PORT		GPIOC
+#define HW_UART_P_RX_PIN		11
 
 // ICU Peripheral for servo decoding
 #define HW_USE_SERVO_TIM4
@@ -225,16 +225,16 @@
 #ifdef HW_HAS_LORA
 #define HW_LORA_SPI_DEV				SPID1
 #define HW_LORA_SPI_GPIO_AF			GPIO_AF_SPI1
-#define HW_LORA_SPI_PORT_NSS			GPIOA
-#define HW_LORA_SPI_PIN_NSS			4
-#define HW_LORA_SPI_PORT_SCK			GPIOA
-#define HW_LORA_SPI_PIN_SCK			5
-#define HW_LORA_SPI_PORT_MOSI		    GPIOA
-#define HW_LORA_SPI_PIN_MOSI			7
-#define HW_LORA_SPI_PORT_MISO		    GPIOA
-#define HW_LORA_SPI_PIN_MISO			6
-#define HW_LORA_SPI_PORT_DIO0         GPIOC
-#define HW_LORA_SPI_PIN_DIO0          5
+#define HW_LORA_SPI_PORT_NSS			GPIOB
+#define HW_LORA_SPI_PIN_NSS			3
+#define HW_LORA_SPI_PORT_SCK			GPIOB
+#define HW_LORA_SPI_PIN_SCK			6
+#define HW_LORA_SPI_PORT_MOSI		    	GPIOB
+#define HW_LORA_SPI_PIN_MOSI			4
+#define HW_LORA_SPI_PORT_MISO		    	GPIOB
+#define HW_LORA_SPI_PIN_MISO			5
+#define HW_LORA_SPI_PORT_DIO0         		GPIOB
+#define HW_LORA_SPI_PIN_DIO0          		12
 #define HW_LORA_SPI_PORT_RESET        		GPIOB
 #define HW_LORA_SPI_PIN_RESET         		2
 #endif
@@ -252,14 +252,14 @@
 
 
 // Override dead time. See the stm32f4 reference manual for calculating this value.
-#define HW_DEAD_TIME_NSEC       660.0
+#define HW_DEAD_TIME_NSEC       360.0
 
 // Default setting overrides
 #ifndef MCCONF_L_MIN_VOLTAGE
 #define MCCONF_L_MIN_VOLTAGE			12.0		// Minimum input voltage
 #endif
 #ifndef MCCONF_L_MAX_VOLTAGE
-#define MCCONF_L_MAX_VOLTAGE			50.0	// Maximum input voltage
+#define MCCONF_L_MAX_VOLTAGE			57.0	// Maximum input voltage
 #endif
 #ifndef MCCONF_DEFAULT_MOTOR_TYPE
 #define MCCONF_DEFAULT_MOTOR_TYPE		MOTOR_TYPE_FOC
@@ -284,7 +284,7 @@
 #define HW_LIM_CURRENT			-120.0, 120.0
 #define HW_LIM_CURRENT_IN		-120.0, 120.0
 #define HW_LIM_CURRENT_ABS		0.0, 160.0
-#define HW_LIM_VIN				12.0, 50.0
+#define HW_LIM_VIN				12.0, 60.0
 #define HW_LIM_ERPM				-200e3, 200e3
 #define HW_LIM_DUTY_MIN			0.0, 0.1
 #define HW_LIM_DUTY_MAX			0.0, 0.99

lispBM/lispif_vesc_extensions.c

@@ -247,6 +247,30 @@ static lbm_value ext_secs_since(lbm_value *args, lbm_uint argn) {
 	return lbm_enc_F(UTILS_AGE_S(lbm_dec_as_u(args[0])));
 }
 
+static lbm_value ext_set_aux(lbm_value *args, lbm_uint argn) {
+	CHECK_ARGN_NUMBER(2);
+
+	int port = lbm_dec_as_u(args[0]);
+	bool on = lbm_dec_as_u(args[1]);
+	if (port == 1) {
+		if (on) {
+			AUX_ON();
+		} else {
+			AUX_OFF();
+		}
+		return lbm_enc_sym(SYM_TRUE);
+	} else if (port == 2) {
+		if (on) {
+			AUX2_ON();
+		} else {
+			AUX2_OFF();
+		}
+		return lbm_enc_sym(SYM_TRUE);
+	}
+
+	return lbm_enc_sym(SYM_EERROR);
+}
+
 // Motor set commands
 
 static lbm_value ext_set_current(lbm_value *args, lbm_uint argn) {
@@ -476,6 +500,7 @@ void lispif_load_vesc_extensions(void) {
 	lbm_add_extension("get-adc", ext_get_adc);
 	lbm_add_extension("systime", ext_systime);
 	lbm_add_extension("secs-since", ext_secs_since);
+	lbm_add_extension("set-aux", ext_set_aux);
 
 	// Motor set commands
 	lbm_add_extension("set-current", ext_set_current);

lispBM/tests/LispLoader.qml

@@ -51,7 +51,8 @@ Item {
 //                    mLogReader.openLogFile("example_control_servo_from_duty.lisp")
 //                    mLogReader.openLogFile("example_print_bms_data.lisp")
 //                    mLogReader.openLogFile("example_can_pos_follow.lisp")
-                    mLogReader.openLogFile("example_speed_test.lisp")
+//                    mLogReader.openLogFile("example_speed_test.lisp")
+                    mLogReader.openLogFile("example_aux.lisp")
 //
 //                    mLogReader.openLogFile("test_math.lisp")
                     

lispBM/tests/example_aux.lisp

@@ -0,0 +1,17 @@
+(define set-auxtime (lambda (port state time)
+  (progn
+    (set-aux port state)
+    (define aux-now (list port state time))
+    (yield (* 1000 time))
+)))
+
+(let ((f (lambda ()
+  (progn
+    (set-auxtime 1 1 1500)
+    (set-auxtime 1 0 500)
+    (set-auxtime 2 1 1500)
+    (set-auxtime 2 0 500)
+    (yield 1000000)
+    (f)
+)))) (f))
+

lispBM/tests/example_can_pos_follow.lisp

@@ -6,6 +6,7 @@
      (canset-pos 124 (get-encoder))
      (define canc (canget-current-dir 124))
      (set-servo (- 0.5 (* 0.02 canc)))
+     (set-brake (* 0.5 canc))
      (timeout-reset)
      (yield 2000)
      (f)

mc_interface.c

@@ -143,6 +143,57 @@ static thread_t *fault_stop_tp;
 static THD_WORKING_AREA(stat_thread_wa, 512);
 static THD_FUNCTION(stat_thread, arg);
 
+static void init_sensor_port(volatile mc_configuration *conf) {
+	switch (conf->m_sensor_port_mode) {
+	case SENSOR_PORT_MODE_ABI:
+		SENSOR_PORT_5V();
+		encoder_init_abi(conf->m_encoder_counts);
+		break;
+
+	case SENSOR_PORT_MODE_AS5047_SPI:
+		SENSOR_PORT_3V3();
+		encoder_init_as5047p_spi();
+		break;
+
+	case SENSOR_PORT_MODE_MT6816_SPI:
+		SENSOR_PORT_5V();
+		encoder_init_mt6816_spi();
+		break;
+
+	case SENSOR_PORT_MODE_AD2S1205:
+		SENSOR_PORT_5V();
+		encoder_init_ad2s1205_spi();
+		break;
+
+	case SENSOR_PORT_MODE_SINCOS:
+		SENSOR_PORT_5V();
+		encoder_init_sincos(conf->foc_encoder_sin_gain, conf->foc_encoder_sin_offset,
+				conf->foc_encoder_cos_gain, conf->foc_encoder_cos_offset,
+				conf->foc_encoder_sincos_filter_constant);
+		break;
+
+	case SENSOR_PORT_MODE_TS5700N8501:
+	case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
+		SENSOR_PORT_5V();
+		app_configuration *appconf = mempools_alloc_appconf();
+		conf_general_read_app_configuration(appconf);
+		if (appconf->app_to_use == APP_ADC ||
+				appconf->app_to_use == APP_UART ||
+				appconf->app_to_use == APP_PPM_UART ||
+				appconf->app_to_use == APP_ADC_UART) {
+			appconf->app_to_use = APP_NONE;
+			conf_general_store_app_configuration(appconf);
+		}
+		mempools_free_appconf(appconf);
+		encoder_init_ts5700n8501();
+	} break;
+
+	default:
+		SENSOR_PORT_5V();
+		break;
+	}
+}
+
 void mc_interface_init(void) {
 	memset((void*)&m_motor_1, 0, sizeof(motor_if_state_t));
 #ifdef HW_HAS_DUAL_MOTORS
@@ -207,60 +258,7 @@ void mc_interface_init(void) {
 #endif
 	mc_interface_select_motor_thread(motor_old);
 
-	// Initialize encoder
-	ENCSINCOS_config_t sincos_config;
-	switch (motor_now()->m_conf.m_sensor_port_mode) {
-	case SENSOR_PORT_MODE_ABI:
-		SENSOR_PORT_3V3();
-		encoder_set_counts(motor_now()->m_conf.m_encoder_counts);
-		encoder_init(ENCODER_TYPE_ABI);
-		break;
-
-	case SENSOR_PORT_MODE_AS5047_SPI:
-		SENSOR_PORT_3V3();
-		encoder_init(ENCODER_TYPE_AS504x);
-		break;
-
-	case SENSOR_PORT_MODE_MT6816_SPI:
-	    encoder_init(ENCODER_TYPE_MT6816);
-		break;
-
-	case SENSOR_PORT_MODE_AD2S1205:
-		encoder_init(ENCODER_TYPE_AD2S1205_SPI);
-		break;
-
-	case SENSOR_PORT_MODE_SINCOS:
-
-		sincos_config.s_gain = motor_now()->m_conf.foc_encoder_sin_gain;
-		sincos_config.s_offset = motor_now()->m_conf.foc_encoder_sin_offset;
-		sincos_config.c_gain = motor_now()->m_conf.foc_encoder_cos_gain;
-		sincos_config.c_offset = motor_now()->m_conf.foc_encoder_cos_offset;
-		sincos_config.filter_constant = motor_now()->m_conf.foc_encoder_sincos_filter_constant;
-
-		encoder_sincos_conf_set(&sincos_config);
-		encoder_init(ENCODER_TYPE_SINCOS);
-		break;
-
-	case SENSOR_PORT_MODE_TS5700N8501:
-	  //TODO: integrate with encoder/encoders
-	case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
-		app_configuration *appconf = mempools_alloc_appconf();
-		conf_general_read_app_configuration(appconf);
-		if (appconf->app_to_use == APP_ADC ||
-				appconf->app_to_use == APP_UART ||
-				appconf->app_to_use == APP_PPM_UART ||
-				appconf->app_to_use == APP_ADC_UART) {
-			appconf->app_to_use = APP_NONE;
-			conf_general_store_app_configuration(appconf);
-		}
-		mempools_free_appconf(appconf);
-		encoder_init(ENCODER_TYPE_TS5700N8501);
-	} break;
-
-	default:
-		SENSOR_PORT_5V();
-		break;
-	}
+	init_sensor_port(&motor_now()->m_conf);
 
 	// Initialize selected implementation
 	switch (motor_now()->m_conf.motor_type) {
@@ -352,57 +350,7 @@ void mc_interface_set_configuration(mc_configuration *configuration) {
 		ENCSINCOS_config_t sincos_config;
 
 		encoder_deinit();
-		switch (configuration->m_sensor_port_mode) {
-		case SENSOR_PORT_MODE_ABI:
-			SENSOR_PORT_3V3();
-			encoder_set_counts(configuration->m_encoder_counts);
-			encoder_init(ENCODER_TYPE_ABI);
-			break;
-
-		case SENSOR_PORT_MODE_AS5047_SPI:
-			SENSOR_PORT_3V3();
-			encoder_init(ENCODER_TYPE_AS504x);
-			break;
-
-		case SENSOR_PORT_MODE_MT6816_SPI:
-		    encoder_init(ENCODER_TYPE_MT6816);
-			break;
-
-		case SENSOR_PORT_MODE_AD2S1205:
-		    encoder_init(ENCODER_TYPE_AD2S1205_SPI);
-			break;
-
-		case SENSOR_PORT_MODE_SINCOS:
-
-			sincos_config.s_gain = motor->m_conf.foc_encoder_sin_gain;
-			sincos_config.s_offset = motor->m_conf.foc_encoder_sin_offset;
-			sincos_config.c_gain = motor->m_conf.foc_encoder_cos_gain;
-			sincos_config.c_offset = motor->m_conf.foc_encoder_cos_offset;
-			sincos_config.filter_constant = motor->m_conf.foc_encoder_sincos_filter_constant;
-
-			encoder_sincos_conf_set(&sincos_config);
-			encoder_init(ENCODER_TYPE_SINCOS);
-			break;
-		case SENSOR_PORT_MODE_TS5700N8501:
-		case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
-			app_configuration *appconf = mempools_alloc_appconf();
-			*appconf = *app_get_configuration();
-			if (appconf->app_to_use == APP_ADC ||
-					appconf->app_to_use == APP_UART ||
-					appconf->app_to_use == APP_PPM_UART ||
-					appconf->app_to_use == APP_ADC_UART) {
-				appconf->app_to_use = APP_NONE;
-				conf_general_store_app_configuration(appconf);
-				app_set_configuration(appconf);
-			}
-			mempools_free_appconf(appconf);
-			encoder_init(ENCODER_TYPE_TS5700N8501);
-		} break;
-
-		default:
-			SENSOR_PORT_5V();
-			break;
-		}
+		init_sensor_port(configuration);
 	}
 
 	if (configuration->m_sensor_port_mode == SENSOR_PORT_MODE_ABI) {
@@ -2163,6 +2111,16 @@ static void update_override_limits(volatile motor_if_state_t *motor, volatile mc
 		temp_motor = -7.82531699e-12 * res * res * res * res + 6.34445902e-8 * res * res * res -
 				0.00020119157  * res * res + 0.407683016 * res - 161.357536;
 	} break;
+
+	case TEMP_SENSOR_NTCX:
+		temp_motor = is_motor_1 ? NTCX_TEMP_MOTOR(conf->m_ntcx_ptcx_res, conf->m_ntc_motor_beta, conf->m_ntcx_ptcx_temp_base) :
+				NTCX_TEMP_MOTOR_2(conf->m_ntcx_ptcx_res, conf->m_ntc_motor_beta, conf->m_ntcx_ptcx_temp_base);
+		break;
+
+	case TEMP_SENSOR_PTCX:
+		temp_motor = is_motor_1 ? PTC_TEMP_MOTOR(conf->m_ntcx_ptcx_res, conf->m_ptc_motor_coeff, conf->m_ntcx_ptcx_temp_base) :
+				PTC_TEMP_MOTOR_2(conf->m_ntcx_ptcx_res, conf->m_ptc_motor_coeff, conf->m_ntcx_ptcx_temp_base);
+		break;
 	}
 
 	// If the reading is messed up (by e.g. reading 0 on the ADC and dividing by 0) we avoid putting an

mcconf/mcconf_default.h

@@ -524,6 +524,12 @@
 #ifndef MCCONF_M_PTC_MOTOR_COEFF
 #define MCCONF_M_PTC_MOTOR_COEFF		0.61 // %/K coefficient for motor PTC sensor
 #endif
+#ifndef MCCONF_M_NTCX_PTCX_RES
+#define MCCONF_M_NTCX_PTCX_RES			10000.0 // Custom NTC/PTC resistance
+#endif
+#ifndef MCCONF_M_NTCX_PTCX_BASE_TEMP
+#define MCCONF_M_NTCX_PTCX_BASE_TEMP	25.0 // Custom NTC/PTC base temperature
+#endif
 #ifndef MCCONF_M_HALL_EXTRA_SAMPLES
 #define MCCONF_M_HALL_EXTRA_SAMPLES		1 // Extra samples for filtering when reading hall sensors
 #endif

mcpwm_foc.c

@@ -1564,7 +1564,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 	// Inverted and ratio
 	chThdSleepMilliseconds(1000);
 
-	const int it_rat = 20;
+	const int it_rat = 30;
 	float s_sum = 0.0;
 	float c_sum = 0.0;
 	float first = motor->m_phase_now_encoder;
@@ -1579,6 +1579,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		}
 		utils_norm_angle_rad((float*)&motor->m_phase_now_override);
 		chThdSleepMilliseconds(300);
+		timeout_reset();
 		float diff = utils_angle_difference_rad(motor->m_phase_now_encoder, phase_old);
 
 		float s, c;
@@ -1587,7 +1588,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		c_sum += c;
 
 		if (print) {
-			commands_printf("%.2f", (double)RAD2DEG_f(diff));
+			commands_printf("Diff: %.2f", (double)RAD2DEG_f(diff));
 		}
 
 		if (i > 3 && fabsf(utils_angle_difference_rad(motor->m_phase_now_encoder, first)) < fabsf(diff / 2.0)) {
@@ -1607,6 +1608,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		}
 		utils_norm_angle_rad((float*)&motor->m_phase_now_override);
 		chThdSleepMilliseconds(300);
+		timeout_reset();
 		float diff = utils_angle_difference_rad(phase_old, motor->m_phase_now_encoder);
 
 		float s, c;
@@ -1615,7 +1617,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		c_sum += c;
 
 		if (print) {
-			commands_printf("%.2f", (double)RAD2DEG_f(diff));
+			commands_printf("Diff: %.2f", (double)RAD2DEG_f(diff));
 		}
 
 		if (i > 3 && fabsf(utils_angle_difference_rad(motor->m_phase_now_encoder, first)) < fabsf(diff / 2.0)) {
@@ -1632,6 +1634,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 
 	if (print) {
 		commands_printf("Inversion and ratio detected");
+		commands_printf("Ratio: %.2f", (double)*ratio);
 	}
 
 	// Rotate
@@ -1659,6 +1662,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		}
 
 		chThdSleepMilliseconds(100);
+		timeout_reset();
 
 		float angle_diff = utils_angle_difference_rad(motor->m_phase_now_encoder, motor->m_phase_now_override);
 		float s, c;
@@ -1667,7 +1671,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		c_sum += c;
 
 		if (print) {
-			commands_printf("%.2f", (double)RAD2DEG_f(angle_diff));
+			commands_printf("Ovr: %.2f/%.2f Diff: %.2f", (double)override, (double)(it_ofs * step), (double)RAD2DEG_f(angle_diff));
 		}
 	}
 
@@ -1681,6 +1685,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		}
 
 		chThdSleepMilliseconds(100);
+		timeout_reset();
 
 		float angle_diff = utils_angle_difference_rad(motor->m_phase_now_encoder, motor->m_phase_now_override);
 		float s, c;
@@ -1689,7 +1694,7 @@ void mcpwm_foc_encoder_detect(float current, bool print, float *offset, float *r
 		c_sum += c;
 
 		if (print) {
-			commands_printf("%.2f", (double)RAD2DEG_f(angle_diff));
+			commands_printf("Ovr: %.2f/%.2f Diff: %.2f", (double)override, (double)(it_ofs * step), (double)RAD2DEG_f(angle_diff));
 		}
 	}
 

terminal.c

@@ -445,7 +445,6 @@ void terminal_process_string(char *str) {
 
 				mcconf->motor_type = MOTOR_TYPE_FOC;
 				mc_interface_set_configuration(mcconf);
-				const float res = (3.0 / 2.0) * mcconf->foc_motor_r;
 
 				// Disable timeout
 				systime_t tout = timeout_get_timeout_msec();
@@ -485,7 +484,7 @@ void terminal_process_string(char *str) {
 				rpm_avg /= samples;
 				iq_avg /= samples;
 
-				float linkage = (vq_avg - res * iq_avg) / RPM2RADPS_f(rpm_avg);
+				float linkage = (vq_avg - mcconf->foc_motor_r * iq_avg) / RPM2RADPS_f(rpm_avg);
 
 				commands_printf("Flux linkage: %.7f\n", (double)linkage);
 			} else {
@@ -936,6 +935,10 @@ void terminal_process_string(char *str) {
 					encoder_resolver_loss_of_signal_error_cnt(),
 					(double)encoder_resolver_loss_of_signal_error_rate() * (double)100.0);
 		}
+
+		if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_ABI) {
+			commands_printf("Index found: %d\n", encoder_index_found());
+		}
 	} else if (strcmp(argv[0], "encoder_clear_errors") == 0) {
 		encoder_reset_errors();
 		commands_printf("Done!\n");