Merge branch 'master' of https://github.com/vedderb/bldc into add_flipsky_75300_hwconf

lispBM/README.md

@@ -2705,6 +2705,26 @@ This command is useful to update the configuration before starting the motor as
 
 ---
 
+#### conf-measure-ind
+
+| Platforms | Firmware |
+|---|---|
+| ESC | 6.02+ |
+
+```clj
+(conf-measure-res target-current optSamples)
+```
+
+Measure motor inductance with target-current. The optional argument optSamples sets the number of samples to use (default 100).
+
+returns: ({ld_lq_avg} {ld_lq_diff} {actual_measurement_current} fault-code)
+
+Can not be used when the motor is running. The measurement current is not gaurenteed to reach the target, and the actual_measurement_current parameter should be used to verify the actual current used.
+
+Useful for finding the saturation inductance curve of a motor.
+
+---
+
 ### EEPROM (Nonvolatile Storage)
 
 Up to 128 variables (int32 or float) can be stored in a nonvolatile memory reserved for LispBM. These variables persist between power cycles and configuration changes, but not between firmware updates. Keep in mind that the motor will be stopped briefly when writing them and that they only can be written a limited number of times (about 100 000 writes) before wear on the flash memory starts to become an issue.

lispBM/lispif_vesc_extensions.c

@@ -3008,6 +3008,85 @@ static lbm_value ext_conf_measure_res(lbm_value *args, lbm_uint argn) {
 	return ENC_SYM_TRUE;
 }
 
+typedef struct {
+	float current;
+	int samples;
+	lbm_cid id;
+} measure_ind_args;
+
+static void measure_inductance_task(void *arg) {
+	int restart_cnt = lispif_get_restart_cnt();
+
+	measure_ind_args *a = (measure_ind_args*)arg;
+	float ld_lq_avg, ld_lq_diff, real_measurement_current = -1.0;
+	int fault;
+
+	lbm_flat_value_t v;
+	bool ok = false;
+	if (lbm_start_flatten(&v, 25)) {
+		fault = mcpwm_foc_measure_inductance_current(a->current, a->samples, &real_measurement_current, &ld_lq_diff, &ld_lq_avg);
+		if (restart_cnt != lispif_get_restart_cnt()) {
+			return;
+		}
+
+		if (fault != 0) {
+			f_i(&v, fault);
+		} else {
+			f_cons(&v);
+			f_float(&v, ld_lq_avg);
+			f_cons(&v);
+			f_float(&v, ld_lq_diff);
+			f_cons(&v);
+			f_float(&v, real_measurement_current);
+			f_sym(&v, SYM_NIL);
+		}
+		
+		lbm_finish_flatten(&v);
+		if (lbm_unblock_ctx(a->id, &v)) {
+			ok = true;
+		} else {
+			lbm_free(v.buf);
+		}
+	}
+
+	if (!ok) {
+		lbm_unblock_ctx_unboxed(a->id, ENC_SYM_NIL);
+	}
+}
+
+static lbm_value ext_conf_measure_ind(lbm_value *args, lbm_uint argn) {
+	// measure inductance of motor @ current
+	// arg0: measurement current
+	// arg1: sample number. optional
+	// returns: ({ld_lq_avg} {ld_lq_diff} {actual_measurement_current}) or (fault-code)
+	if (argn != 1 && argn != 2) {
+		lbm_set_error_reason((char*)lbm_error_str_num_args);
+		return ENC_SYM_EERROR;
+	}
+
+	LBM_CHECK_NUMBER_ALL();
+
+	if (mc_interface_get_configuration()->motor_type != MOTOR_TYPE_FOC) {
+		return ENC_SYM_EERROR;
+	}
+
+	static measure_ind_args a;
+	a.current = lbm_dec_as_float(args[0]);
+	a.samples = 100;
+	if (argn == 2) {
+		a.samples = lbm_dec_as_u32(args[1]);
+	}
+	a.id = lbm_get_current_cid();
+
+	if (mc_interface_get_configuration()->l_current_max < a.current) {
+		return ENC_SYM_EERROR;
+	}
+
+	worker_execute(measure_inductance_task, &a);
+	lbm_block_ctx_from_extension();
+	return ENC_SYM_TRUE;
+}
+
 static lbm_value make_list(int num, ...) {
 	va_list arguments;
 	va_start (arguments, num);
@@ -3897,6 +3976,7 @@ void lispif_load_vesc_extensions(void) {
 	lbm_add_extension("conf-detect-foc", ext_conf_detect_foc);
 	lbm_add_extension("conf-set-pid-offset", ext_conf_set_pid_offset);
 	lbm_add_extension("conf-measure-res", ext_conf_measure_res);
+	lbm_add_extension("conf-measure-ind", ext_conf_measure_ind);
 
 	// Macro expanders
 	lbm_add_extension("me-defun", ext_me_defun);