Prepared applications for runtime configuration

applications/app.c

@@ -25,20 +25,49 @@
 #include "app.h"
 #include "ch.h"
 #include "hal.h"
-#include "stm32f4xx_conf.h"
-#include "servo.h"
 
-void app_init(void) {
-#ifdef USE_APP_RCCAR
-	app_rccar_init();
-#endif
+// Private variables
+static app_configuration app_conf;
+
+void app_init(app_configuration *conf) {
+	app_conf = *conf;
+
+	switch (app_conf.app_to_use) {
+	case APP_PPM:
+		app_ppm_configure(app_conf.app_ppm_ctrl_type, app_conf.app_ppm_pid_max_erpm, app_conf.app_ppm_use_rev);
+		app_ppm_start();
+		break;
+
+	case APP_UARTCOMM:
+		app_uartcomm_init();
+		break;
+
+	case APP_CUSTOM:
 #ifdef USE_APP_STEN
-	app_sten_init();
+		app_sten_init();
 #endif
 #ifdef USE_APP_GURGALOF
-	app_gurgalof_init();
-#endif
-#ifdef USE_APP_UARTCOMM
-	app_uartcomm_init();
+		app_gurgalof_init();
 #endif
+		break;
+
+	default:
+		break;
+	}
+}
+
+const app_configuration* app_get_configuration(void) {
+	return &app_conf;
+}
+
+/**
+ * Reconfigure all apps. Note that this will not start apps that are not already running, that
+ * should be done at boot. Some apps don't have any configuration options.
+ *
+ * @param conf
+ * The new configuration to use.
+ */
+void app_set_configuration(app_configuration *conf) {
+	app_conf = *conf;
+	app_ppm_configure(app_conf.app_ppm_ctrl_type, app_conf.app_ppm_pid_max_erpm, app_conf.app_ppm_use_rev);
 }

applications/app.h

@@ -28,12 +28,19 @@
 #include "conf_general.h"
 
 // Functions
-void app_init(void);
+void app_init(app_configuration *conf);
+const app_configuration* app_get_configuration(void);
 
-// The init functions for all applications
-void app_rccar_init(void);
-void app_sten_init(void);
-void app_gurgalof_init(void);
+// The init and deinit functions for all applications
+void app_ppm_configure(ppm_control_type ctrlt, float pme, bool rev);
+void app_set_configuration(app_configuration *conf);
+
+// Standard apps
+void app_ppm_start(void);
 void app_uartcomm_init(void);
 
+// Custom apps
+void app_gurgalof_init(void);
+void app_sten_init(void);
+
 #endif /* APP_H_ */

applications/app_gurgalof.c

@@ -56,7 +56,7 @@ static msg_t gurgalof_thread(void *arg) {
 			mcpwm_set_current(0.0);
 		} else {
 			mcpwm_set_duty(pwr);
-//			mcpwm_set_current(pwr * MCPWM_CURRENT_MAX);
+//			mcpwm_set_current(pwr * mcpwm_get_configuration()->l_current_max);
 		}
 
 		chThdSleepMilliseconds(10);

applications/app_ppm.c

@@ -16,14 +16,13 @@
     */
 
 /*
- * app_rccar.c
+ * app_ppm.c
  *
  *  Created on: 18 apr 2014
  *      Author: benjamin
  */
 
 #include "app.h"
-#ifdef USE_APP_RCCAR
 
 #include "ch.h"
 #include "hal.h"
@@ -33,17 +32,28 @@
 #include <math.h>
 
 // Threads
-static msg_t rccar_thread(void *arg);
-static WORKING_AREA(rccar_thread_wa, 1024);
-static Thread *rccar_tp;
+static msg_t ppm_thread(void *arg);
+static WORKING_AREA(ppm_thread_wa, 1024);
+static Thread *ppm_tp;
 static VirtualTimer vt;
 
 // Private functions
 static void servodec_func(void);
 static void trig_func(void *p);
 
-void app_rccar_init(void) {
-	chThdCreateStatic(rccar_thread_wa, sizeof(rccar_thread_wa), NORMALPRIO, rccar_thread, NULL);
+// Private variables
+static volatile ppm_control_type ctrl_type;
+static volatile float pid_max_erpm;
+static volatile bool use_rev;
+
+void app_ppm_configure(ppm_control_type ctrlt, float pme, bool rev) {
+	ctrl_type = ctrlt;
+	pid_max_erpm = pme;
+	use_rev = rev;
+}
+
+void app_ppm_start(void) {
+	chThdCreateStatic(ppm_thread_wa, sizeof(ppm_thread_wa), NORMALPRIO, ppm_thread, NULL);
 }
 
 static void trig_func(void *p) {
@@ -53,20 +63,20 @@ static void trig_func(void *p) {
 	chVTSetI(&vt, MS2ST(10), trig_func, NULL);
 	chSysUnlock();
 
-	chEvtSignalI(rccar_tp, (eventmask_t) 1);
+	chEvtSignalI(ppm_tp, (eventmask_t) 1);
 }
 
 static void servodec_func(void) {
 	chSysLockFromIsr();
-	chEvtSignalI(rccar_tp, (eventmask_t) 1);
+	chEvtSignalI(ppm_tp, (eventmask_t) 1);
 	chSysUnlockFromIsr();
 }
 
-static msg_t rccar_thread(void *arg) {
+static msg_t ppm_thread(void *arg) {
 	(void)arg;
 
-	chRegSetThreadName("APP_RCCAR");
-	rccar_tp = chThdSelf();
+	chRegSetThreadName("APP_PPM");
+	ppm_tp = chThdSelf();
 
 	servodec_init(servodec_func);
 
@@ -78,11 +88,16 @@ static msg_t rccar_thread(void *arg) {
 		chEvtWaitAny((eventmask_t) 1);
 
 #define HYST			0.15
-#define USE_PID			0
-#define PID_MAX_RPM		15000
 
 		if (servodec_get_time_since_update() < 500) {
 			float servo_val = servodec_get_servo_as_float(0);
+
+			if (!use_rev) {
+				servo_val += 1.0;
+				servo_val /= 2.0;
+				servo_val /= (1.0 - HYST);
+			}
+
 			servo_val /= (1.0 - HYST);
 
 			if (servo_val > HYST) {
@@ -93,11 +108,22 @@ static msg_t rccar_thread(void *arg) {
 				servo_val = 0.0;
 			}
 
-#if USE_PID
-			mcpwm_set_pid_speed(servo_val * PID_MAX_RPM);
-#else
-			mcpwm_set_current(servo_val * mcpwm_get_configuration()->l_current_max);
-#endif
+			switch (ctrl_type) {
+			case PPM_CTRL_TYPE_CURRENT:
+				mcpwm_set_current(servo_val * mcpwm_get_configuration()->l_current_max);
+				break;
+
+			case PPM_CTRL_TYPE_DUTY:
+				mcpwm_set_duty(servo_val);
+				break;
+
+			case PPM_CTRL_TYPE_PID:
+				mcpwm_set_pid_speed(servo_val * pid_max_erpm);
+				break;
+
+			default:
+				break;
+			}
 		} else {
 			mcpwm_set_current(0.0);
 		}
@@ -105,5 +131,3 @@ static msg_t rccar_thread(void *arg) {
 
 	return 0;
 }
-
-#endif

applications/app_sten.c

@@ -165,14 +165,14 @@ static void set_output(float output) {
 
 	const float rpm = mcpwm_get_rpm();
 
-	if (output > 0.0 && rpm > -MCPWM_MIN_RPM) {
-		float current = output * MCPWM_CURRENT_MAX;
+	if (output > 0.0 && rpm > -mcpwm_get_configuration()->l_min_erpm) {
+		float current = output * mcpwm_get_configuration()->l_current_max;
 
 		// Soft RPM limit
 		if (rpm > RPM_MAX_2) {
-			current = -MCPWM_CURRENT_CONTROL_MIN;
+			current = -mcpwm_get_configuration()->cc_min_current;
 		} else if (rpm > RPM_MAX_1) {
-			current = utils_map(rpm, RPM_MAX_1, RPM_MAX_2, current, -MCPWM_CURRENT_CONTROL_MIN);
+			current = utils_map(rpm, RPM_MAX_1, RPM_MAX_2, current, -mcpwm_get_configuration()->cc_min_current);
 		}
 
 		// Some low-pass filtering
@@ -182,13 +182,13 @@ static void set_output(float output) {
 		current_p2 = current_p1;
 		current_p1 = current;
 
-		if (fabsf(current) < MCPWM_CURRENT_CONTROL_MIN) {
-			current = -MCPWM_CURRENT_CONTROL_MIN;
+		if (fabsf(current) < mcpwm_get_configuration()->cc_min_current) {
+			current = -mcpwm_get_configuration()->cc_min_current;
 		}
 
 		mcpwm_set_current(current);
 	} else {
-		mcpwm_set_brake_current(output * MCPWM_CURRENT_MIN);
+		mcpwm_set_brake_current(output * mcpwm_get_configuration()->l_current_min);
 	}
 }
 

applications/app_uartcomm.c

@@ -23,7 +23,6 @@
  */
 
 #include "app.h"
-#ifdef USE_APP_UARTCOMM
 
 #include "ch.h"
 #include "hal.h"
@@ -219,5 +218,3 @@ static msg_t packet_process_thread(void *arg) {
 
 	return 0;
 }
-
-#endif

applications/applications.mk

@@ -1,5 +1,5 @@
 APPSRC =	applications/app.c \
-			applications/app_rccar.c \
+			applications/app_ppm.c \
 			applications/app_sten.c \
 			applications/app_gurgalof.c \
 			applications/app_uartcomm.c

conf_general.c

@@ -11,6 +11,8 @@
 #include "mcpwm.h"
 #include "hw.h"
 
+#include <string.h>
+
 // Default configuration file
 #ifdef MCCONF_OUTRUNNER1
 #include "mcconf_outrunner1.h"
@@ -80,7 +82,8 @@
 #endif
 
 // EEPROM settings
-#define EEPROM_BASE_MCCONF		100
+#define EEPROM_BASE_MCCONF		1000
+#define EEPROM_BASE_GENCONF		2000
 
 // Global variables
 uint16_t VirtAddVarTab[NB_OF_VAR];
@@ -90,6 +93,61 @@ void conf_general_init(void) {
 	EE_Init();
 }
 
+/**
+ * Read app_configuration from EEPROM. If this fails, default values will be used.
+ *
+ * @param conf
+ * A pointer to a app_configuration struct to write the read configuration to.
+ */
+void conf_general_read_app_configuration(app_configuration *conf) {
+	bool is_ok = true;
+	uint8_t *conf_addr = (uint8_t*)conf;
+	uint16_t var;
+
+	for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
+		if (EE_ReadVariable(EEPROM_BASE_GENCONF + i, &var) == 0) {
+			conf_addr[2 * i] = (var >> 8) & 0xFF;
+			conf_addr[2 * i + 1] = var & 0xFF;
+		} else {
+			is_ok = false;
+			break;
+		}
+	}
+
+	// Set the default configuration
+	if (!is_ok) {
+		memset(conf, 0, sizeof(app_configuration));
+		conf->app_to_use = APP_NONE;
+		conf->app_ppm_use_rev = true;
+		conf->app_ppm_ctrl_type = PPM_CTRL_TYPE_CURRENT;
+		conf->app_ppm_pid_max_erpm = 15000;
+	}
+}
+
+/**
+ * Write app_configuration to EEPROM.
+ *
+ * @param conf
+ * A pointer to the configuration that should be stored.
+ */
+bool conf_general_store_app_configuration(app_configuration *conf) {
+	bool is_ok = true;
+	uint8_t *conf_addr = (uint8_t*)conf;
+	uint16_t var;
+
+	for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
+		var = (conf_addr[2 * i] << 8) & 0xFF00;
+		var |= conf_addr[2 * i + 1] & 0xFF;
+
+		if (EE_WriteVariable(EEPROM_BASE_GENCONF + i, var) != FLASH_COMPLETE) {
+			is_ok = false;
+			break;
+		}
+	}
+
+	return is_ok;
+}
+
 /**
  * Read mc_configuration from EEPROM. If this fails, default values will be used.
  *

conf_general.h

@@ -41,7 +41,7 @@
 //#define HW_VERSION_R2
 
 /*
- * Select only one motor configuration
+ * Select only one (default) motor configuration
  */
 //#define MCCONF_OUTRUNNER1
 #define MCCONF_OUTRUNNER2
@@ -54,15 +54,17 @@
 //#define MCCONF_HDD
 
 /*
- * Select which application to use (if any)
+ * Select which custom application to use. To configure the default applications and
+ * their settings, go to conf_general_read_app_configuration and enter the default init
+ * values.
  */
-//#define USE_APP_RCCAR
 //#define USE_APP_STEN
 //#define USE_APP_GURGALOF
-//#define USE_APP_UARTCOMM
 
 // Functions
 void conf_general_init(void);
+void conf_general_read_app_configuration(app_configuration *conf);
+bool conf_general_store_app_configuration(app_configuration *conf);
 void conf_general_read_mc_configuration(mc_configuration *conf);
 bool conf_general_store_mc_configuration(mc_configuration *conf);
 bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty,

datatypes.h

@@ -47,13 +47,13 @@ typedef enum {
 } mc_control_mode;
 
 typedef struct {
-	volatile float cycle_int_limit;
-	volatile float cycle_int_limit_running;
-	volatile float cycle_int_limit_max;
-	volatile float comm_time_sum;
-	volatile float comm_time_sum_min_rpm;
-	volatile int32_t comms;
-	volatile uint32_t time_at_comm;
+	float cycle_int_limit;
+	float cycle_int_limit_running;
+	float cycle_int_limit_max;
+	float comm_time_sum;
+	float comm_time_sum_min_rpm;
+	int32_t comms;
+	uint32_t time_at_comm;
 } mc_rpm_dep_struct;
 
 typedef struct {
@@ -96,4 +96,29 @@ typedef struct {
 	float cc_gain;
 } mc_configuration;
 
+// Applications to use
+typedef enum {
+	APP_NONE = 0,
+	APP_PPM,
+	APP_UARTCOMM,
+	APP_CUSTOM
+} app_use;
+
+// PPM control types
+typedef enum {
+	PPM_CTRL_TYPE_CURRENT = 0,
+	PPM_CTRL_TYPE_DUTY,
+	PPM_CTRL_TYPE_PID
+} ppm_control_type;
+
+typedef struct {
+	// Application to use
+	app_use app_to_use;
+
+	// PPM application settings
+	ppm_control_type app_ppm_ctrl_type;
+	float app_ppm_pid_max_erpm;
+	bool app_ppm_use_rev;
+} app_configuration;
+
 #endif /* DATATYPES_H_ */

main.c

@@ -248,6 +248,10 @@ float main_get_last_adc_isr_duration(void) {
 }
 
 void main_sample_print_data(bool at_start, uint16_t len, uint8_t decimation) {
+	if (len > ADC_SAMPLE_MAX_LEN) {
+		len = ADC_SAMPLE_MAX_LEN;
+	}
+
 	sample_len = len;
 	sample_int = decimation;
 
@@ -275,7 +279,10 @@ int main(void) {
 	mcpwm_init(&mcconf);
 
 	comm_init();
-	app_init();
+
+	app_configuration appconf;
+	conf_general_read_app_configuration(&appconf);
+	app_init(&appconf);
 
 	// Threads
 	chThdCreateStatic(periodic_thread_wa, sizeof(periodic_thread_wa), NORMALPRIO, periodic_thread, NULL);