mirror of https://github.com/rusefi/bldc.git
Added ER application
This commit is contained in:
Benjamin Vedder
parent
fcb7e12158
commit
a9c2a4fcc9
|
|
@ -0,0 +1,62 @@
|
||||||
|
/*
|
||||||
|
Copyright 2019 Benjamin Vedder benjamin@vedder.se
|
||||||
|
|
||||||
|
This file is part of the VESC firmware.
|
||||||
|
|
||||||
|
The VESC firmware is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
The VESC firmware is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#ifndef APP_EROCKIT_CONF_H_
|
||||||
|
#define APP_EROCKIT_CONF_H_
|
||||||
|
|
||||||
|
#define APP_CUSTOM_TO_USE "er/app_erockit_v2.c"
|
||||||
|
#define APPCONF_APP_TO_USE APP_CUSTOM
|
||||||
|
#define APPCONF_SHUTDOWN_MODE SHUTDOWN_MODE_ALWAYS_ON
|
||||||
|
|
||||||
|
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
|
||||||
|
#define MCCONF_FOC_SENSOR_MODE FOC_SENSOR_MODE_SENSORLESS
|
||||||
|
#define MCCONF_FOC_OPENLOOP_RPM 100.0
|
||||||
|
#define MCCONF_FOC_TEMP_COMP true
|
||||||
|
#define MCCONF_FOC_TEMP_COMP_BASE_TEMP 21.0
|
||||||
|
#define MCCONF_FOC_MOTOR_L 12e-6
|
||||||
|
#define MCCONF_FOC_MOTOR_R 16.3e-3
|
||||||
|
#define MCCONF_FOC_MOTOR_FLUX_LINKAGE 5.38e-3
|
||||||
|
#define MCCONF_FOC_OBSERVER_GAIN 35e6
|
||||||
|
#define MCCONF_L_CURRENT_MAX 50.0
|
||||||
|
#define MCCONF_L_CURRENT_MIN -50.0
|
||||||
|
#define MCCONF_L_IN_CURRENT_MAX 10.0
|
||||||
|
#define MCCONF_L_IN_CURRENT_MIN -10.0
|
||||||
|
#define MCCONF_FOC_CURRENT_KP 0.012
|
||||||
|
#define MCCONF_FOC_CURRENT_KI 20.1
|
||||||
|
#define MCCONF_FOC_HALL_TAB_0 255
|
||||||
|
#define MCCONF_FOC_HALL_TAB_1 189
|
||||||
|
#define MCCONF_FOC_HALL_TAB_2 122
|
||||||
|
#define MCCONF_FOC_HALL_TAB_3 156
|
||||||
|
#define MCCONF_FOC_HALL_TAB_4 56
|
||||||
|
#define MCCONF_FOC_HALL_TAB_5 22
|
||||||
|
#define MCCONF_FOC_HALL_TAB_6 88
|
||||||
|
#define MCCONF_FOC_HALL_TAB_7 255
|
||||||
|
#define MCCONF_FOC_SL_ERPM 2000.0
|
||||||
|
#define MCCONF_M_INVERT_DIRECTION true
|
||||||
|
|
||||||
|
#define MCCONF_FOC_PLL_KP 500.0
|
||||||
|
#define MCCONF_FOC_PLL_KI 5000.0
|
||||||
|
#define MCCONF_S_PID_KP 0.01
|
||||||
|
#define MCCONF_S_PID_KI 0.1
|
||||||
|
#define MCCONF_S_PID_KD 0.00015
|
||||||
|
#define MCCONF_S_PID_KD_FILTER 0.5
|
||||||
|
#define MCCONF_S_PID_MIN_RPM 100.0
|
||||||
|
|
||||||
|
#endif /* APP_EROCKIT_CONF_H_ */
|
||||||
|
|
||||||
|
|
@ -0,0 +1,806 @@
|
||||||
|
/*
|
||||||
|
Copyright 2019 - 2020 Benjamin Vedder benjamin@vedder.se
|
||||||
|
|
||||||
|
This file is part of the VESC firmware.
|
||||||
|
|
||||||
|
The VESC firmware is free software: you can redistribute it and/or modify
|
||||||
|
it under the terms of the GNU General Public License as published by
|
||||||
|
the Free Software Foundation, either version 3 of the License, or
|
||||||
|
(at your option) any later version.
|
||||||
|
|
||||||
|
The VESC firmware is distributed in the hope that it will be useful,
|
||||||
|
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||||
|
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||||
|
GNU General Public License for more details.
|
||||||
|
|
||||||
|
You should have received a copy of the GNU General Public License
|
||||||
|
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||||
|
*/
|
||||||
|
|
||||||
|
#include "app.h"
|
||||||
|
#include "ch.h"
|
||||||
|
#include "hal.h"
|
||||||
|
|
||||||
|
#include "conf_general.h"
|
||||||
|
#include "mc_interface.h"
|
||||||
|
#include "utils.h"
|
||||||
|
#include "encoder.h"
|
||||||
|
#include "terminal.h"
|
||||||
|
#include "comm_can.h"
|
||||||
|
#include "hw.h"
|
||||||
|
#include "commands.h"
|
||||||
|
#include "timeout.h"
|
||||||
|
#include "comm_can.h"
|
||||||
|
|
||||||
|
#include <math.h>
|
||||||
|
#include <string.h>
|
||||||
|
#include <stdio.h>
|
||||||
|
|
||||||
|
// Macros
|
||||||
|
#define IS_SPORT_MODE() (m_set_now == &m_set_sport)
|
||||||
|
#define IS_ECO_MODE() (m_set_now == &m_set_eco)
|
||||||
|
#define LED_ECO_ON() comm_can_io_board_set_output_digital(255, 1, 1)
|
||||||
|
#define LED_ECO_OFF() comm_can_io_board_set_output_digital(255, 1, 0)
|
||||||
|
#define LED_SPORT_ON() comm_can_io_board_set_output_digital(255, 2, 1)
|
||||||
|
#define LED_SPORT_OFF() comm_can_io_board_set_output_digital(255, 2, 0)
|
||||||
|
#define LED_LOW_BATT_ON() comm_can_io_board_set_output_digital(255, 3, 1)
|
||||||
|
#define LED_LOW_BATT_OFF() comm_can_io_board_set_output_digital(255, 3, 0)
|
||||||
|
#define LED_FAULT_ON() comm_can_io_board_set_output_digital(255, 4, 1)
|
||||||
|
#define LED_FAULT_OFF() comm_can_io_board_set_output_digital(255, 4, 0)
|
||||||
|
|
||||||
|
// Threads
|
||||||
|
static THD_FUNCTION(my_thread, arg);
|
||||||
|
static THD_WORKING_AREA(my_thread_wa, 2048);
|
||||||
|
|
||||||
|
// Private variables
|
||||||
|
static volatile bool stop_now = true;
|
||||||
|
static volatile bool is_running = false;
|
||||||
|
static volatile bool plot_state = false;
|
||||||
|
static volatile float plot_sample = 0.0;
|
||||||
|
static volatile bool m_brake_rear = false;
|
||||||
|
static volatile bool m_brake_front = false;
|
||||||
|
static volatile bool m_mode_btn_down = false;
|
||||||
|
static volatile bool m_kill_sw = false;
|
||||||
|
|
||||||
|
// Parameters
|
||||||
|
#define P_OFFSET_ECO 10
|
||||||
|
#define P_OFFSET_SPORT 20
|
||||||
|
#define P_THROTTLE_HYST_ADDR 0
|
||||||
|
#define P_PEDAL_CURRENT_ADDR 1
|
||||||
|
#define P_START_GAIN_ADDR 2
|
||||||
|
#define P_START_GAIN_END_SPEED_ADDR 3
|
||||||
|
#define P_OUTPUT_POWER_ADDR 4
|
||||||
|
#define P_TOP_SPEED_ERPM_ADDR 5
|
||||||
|
#define P_BRAKE_CURRENT_FRONT_ADDR 6
|
||||||
|
#define P_BRAKE_CURRENT_REAR_ADDR 7
|
||||||
|
#define P_BRAKE_CURRENT_BOTH_ADDR 8
|
||||||
|
|
||||||
|
typedef struct {
|
||||||
|
volatile float p_throttle_hyst;
|
||||||
|
volatile float p_pedal_current;
|
||||||
|
volatile float p_start_gain;
|
||||||
|
volatile float p_start_gain_end_speed;
|
||||||
|
volatile float p_output_power;
|
||||||
|
volatile float p_top_speed_erpm;
|
||||||
|
volatile float p_brake_current_front;
|
||||||
|
volatile float p_brake_current_rear;
|
||||||
|
volatile float p_brake_current_both;
|
||||||
|
} SETTINGS_T;
|
||||||
|
|
||||||
|
static volatile SETTINGS_T m_set_normal;
|
||||||
|
static volatile SETTINGS_T m_set_eco;
|
||||||
|
static volatile SETTINGS_T m_set_sport;
|
||||||
|
static volatile SETTINGS_T *m_set_now = &m_set_normal;
|
||||||
|
static volatile int m_set_now_offset = 0;
|
||||||
|
|
||||||
|
// Private functions
|
||||||
|
static void terminal_plot(int argc, const char **argv);
|
||||||
|
static void terminal_info(int argc, const char **argv);
|
||||||
|
static void terminal_mon(int argc, const char **argv);
|
||||||
|
static void terminal_restore_settings(int argc, const char **argv);
|
||||||
|
static void terminal_set_hyst(int argc, const char **argv);
|
||||||
|
static void terminal_set_pedal_current(int argc, const char **argv);
|
||||||
|
static void terminal_set_start_gain(int argc, const char **argv);
|
||||||
|
static void terminal_set_start_gain_end_speed(int argc, const char **argv);
|
||||||
|
static void terminal_set_output_power(int argc, const char **argv);
|
||||||
|
static void terminal_set_top_speed_erpm(int argc, const char **argv);
|
||||||
|
static void terminal_set_brake_power(int argc, const char **argv);
|
||||||
|
|
||||||
|
static void restore_settings(void) {
|
||||||
|
m_set_normal.p_throttle_hyst = 0.04;
|
||||||
|
m_set_normal.p_pedal_current = 20.0;
|
||||||
|
m_set_normal.p_start_gain = 4.0;
|
||||||
|
m_set_normal.p_start_gain_end_speed = 15.0;
|
||||||
|
m_set_normal.p_output_power = 1.0;
|
||||||
|
m_set_normal.p_top_speed_erpm = 2000;
|
||||||
|
m_set_normal.p_brake_current_front = 0.5;
|
||||||
|
m_set_normal.p_brake_current_rear = 0.5;
|
||||||
|
m_set_normal.p_brake_current_both = 1.0;
|
||||||
|
|
||||||
|
m_set_eco.p_throttle_hyst = 0.04;
|
||||||
|
m_set_eco.p_pedal_current = 25.0;
|
||||||
|
m_set_eco.p_start_gain = 4.0;
|
||||||
|
m_set_eco.p_start_gain_end_speed = 15.0;
|
||||||
|
m_set_eco.p_output_power = 0.7;
|
||||||
|
m_set_eco.p_top_speed_erpm = 2000;
|
||||||
|
m_set_eco.p_brake_current_front = 0.5;
|
||||||
|
m_set_eco.p_brake_current_rear = 0.5;
|
||||||
|
m_set_eco.p_brake_current_both = 1.0;
|
||||||
|
|
||||||
|
m_set_sport.p_throttle_hyst = 0.04;
|
||||||
|
m_set_sport.p_pedal_current = 15.0;
|
||||||
|
m_set_sport.p_start_gain = 4.0;
|
||||||
|
m_set_sport.p_start_gain_end_speed = 15.0;
|
||||||
|
m_set_sport.p_output_power = 1.0;
|
||||||
|
m_set_sport.p_top_speed_erpm = 2000;
|
||||||
|
m_set_sport.p_brake_current_front = 0.5;
|
||||||
|
m_set_sport.p_brake_current_rear = 0.5;
|
||||||
|
m_set_sport.p_brake_current_both = 1.0;
|
||||||
|
}
|
||||||
|
|
||||||
|
static void load_settings(volatile SETTINGS_T *set, int offset) {
|
||||||
|
eeprom_var v;
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_THROTTLE_HYST_ADDR + offset)) {
|
||||||
|
set->p_throttle_hyst = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_PEDAL_CURRENT_ADDR + offset)) {
|
||||||
|
set->p_pedal_current = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_START_GAIN_ADDR + offset)) {
|
||||||
|
set->p_start_gain = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_START_GAIN_END_SPEED_ADDR + offset)) {
|
||||||
|
set->p_start_gain_end_speed = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_OUTPUT_POWER_ADDR + offset)) {
|
||||||
|
set->p_output_power = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_TOP_SPEED_ERPM_ADDR + offset)) {
|
||||||
|
set->p_top_speed_erpm = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_BRAKE_CURRENT_FRONT_ADDR + offset)) {
|
||||||
|
set->p_brake_current_front = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_BRAKE_CURRENT_REAR_ADDR + offset)) {
|
||||||
|
set->p_brake_current_rear = v.as_float;
|
||||||
|
}
|
||||||
|
if (conf_general_read_eeprom_var_custom(&v, P_BRAKE_CURRENT_BOTH_ADDR + offset)) {
|
||||||
|
set->p_brake_current_both = v.as_float;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void store_settings(volatile SETTINGS_T *set, int offset) {
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = set->p_throttle_hyst;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_THROTTLE_HYST_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_pedal_current;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_PEDAL_CURRENT_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_start_gain;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_START_GAIN_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_start_gain_end_speed;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_START_GAIN_END_SPEED_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_output_power;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_OUTPUT_POWER_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_top_speed_erpm;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_TOP_SPEED_ERPM_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_brake_current_front;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_BRAKE_CURRENT_FRONT_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_brake_current_rear;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_BRAKE_CURRENT_REAR_ADDR + offset);
|
||||||
|
|
||||||
|
v.as_float = set->p_brake_current_both;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_BRAKE_CURRENT_BOTH_ADDR + offset);
|
||||||
|
}
|
||||||
|
|
||||||
|
void app_custom_start(void) {
|
||||||
|
restore_settings();
|
||||||
|
load_settings(&m_set_normal, 0);
|
||||||
|
load_settings(&m_set_eco, P_OFFSET_ECO);
|
||||||
|
load_settings(&m_set_sport, P_OFFSET_SPORT);
|
||||||
|
|
||||||
|
stop_now = false;
|
||||||
|
chThdCreateStatic(my_thread_wa, sizeof(my_thread_wa),
|
||||||
|
NORMALPRIO, my_thread, NULL);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_plot_en",
|
||||||
|
"Enable state plotting",
|
||||||
|
"[en]",
|
||||||
|
terminal_plot);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_info",
|
||||||
|
"Print current settings",
|
||||||
|
0,
|
||||||
|
terminal_info);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_mon",
|
||||||
|
"Monitor IO for 30 seconds.",
|
||||||
|
0,
|
||||||
|
terminal_mon);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_restore_settings",
|
||||||
|
"Restore all settings to their default values",
|
||||||
|
0,
|
||||||
|
terminal_restore_settings);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_hyst",
|
||||||
|
"Set throttle hysteresis.",
|
||||||
|
"[0.0 - 0.3]",
|
||||||
|
terminal_set_hyst);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_pedal_current",
|
||||||
|
"Set pedal current (pedal resistance).",
|
||||||
|
"[1.5 - 50.0]",
|
||||||
|
terminal_set_pedal_current);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_start_gain",
|
||||||
|
"Set the gain factor at 0 RPM",
|
||||||
|
"[1.0 - 10.0]",
|
||||||
|
terminal_set_start_gain);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_start_gain_end_speed",
|
||||||
|
"Set the speed at which the start gain is back to 1.",
|
||||||
|
"[1.0 - 100.0]",
|
||||||
|
terminal_set_start_gain_end_speed);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_output_power",
|
||||||
|
"Set the main motor power.",
|
||||||
|
"[0.0 - 1.0]",
|
||||||
|
terminal_set_output_power);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_top_speed_erpm",
|
||||||
|
"Set how fast you have to pedal to get max power.",
|
||||||
|
"[0.1 - 5000]",
|
||||||
|
terminal_set_top_speed_erpm);
|
||||||
|
|
||||||
|
terminal_register_command_callback(
|
||||||
|
"er_set_brake_power",
|
||||||
|
"Set brake power.",
|
||||||
|
"[front, rear, both] [0.0 - 1.0]",
|
||||||
|
terminal_set_brake_power);
|
||||||
|
}
|
||||||
|
|
||||||
|
void app_custom_stop(void) {
|
||||||
|
terminal_unregister_callback(terminal_plot);
|
||||||
|
terminal_unregister_callback(terminal_info);
|
||||||
|
terminal_unregister_callback(terminal_mon);
|
||||||
|
terminal_unregister_callback(terminal_restore_settings);
|
||||||
|
terminal_unregister_callback(terminal_set_hyst);
|
||||||
|
terminal_unregister_callback(terminal_set_pedal_current);
|
||||||
|
terminal_unregister_callback(terminal_set_start_gain);
|
||||||
|
terminal_unregister_callback(terminal_set_start_gain_end_speed);
|
||||||
|
terminal_unregister_callback(terminal_set_output_power);
|
||||||
|
terminal_unregister_callback(terminal_set_top_speed_erpm);
|
||||||
|
|
||||||
|
stop_now = true;
|
||||||
|
while (is_running) {
|
||||||
|
chThdSleepMilliseconds(1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
void app_custom_configure(app_configuration *conf) {
|
||||||
|
(void)conf;
|
||||||
|
}
|
||||||
|
|
||||||
|
static THD_FUNCTION(my_thread, arg) {
|
||||||
|
(void)arg;
|
||||||
|
|
||||||
|
chRegSetThreadName("Erockit");
|
||||||
|
|
||||||
|
is_running = true;
|
||||||
|
|
||||||
|
LED_ECO_ON();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_ECO_OFF();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_SPORT_ON();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_SPORT_OFF();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_LOW_BATT_ON();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_LOW_BATT_OFF();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_FAULT_ON();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
LED_FAULT_OFF();
|
||||||
|
chThdSleepMilliseconds(500);
|
||||||
|
|
||||||
|
const float stop_timer_max = 50.0;
|
||||||
|
const float S_min = 200.0;
|
||||||
|
const float S_ramp_step = 0.5;
|
||||||
|
const float output_filter = 0.3;
|
||||||
|
|
||||||
|
const float poles = 8;
|
||||||
|
const float gearing = 5.6;
|
||||||
|
const float wheel_d = 0.585;
|
||||||
|
|
||||||
|
float erpm_now = 0.0;
|
||||||
|
bool running = false;
|
||||||
|
float stop_timer = stop_timer_max;
|
||||||
|
float S_f = 0.0;
|
||||||
|
bool was_mode_button_pressed = false;
|
||||||
|
|
||||||
|
for(;;) {
|
||||||
|
io_board_adc_values *io_v1 = comm_can_get_io_board_adc_1_4_index(0);
|
||||||
|
io_board_adc_values *io_v2 = comm_can_get_io_board_adc_5_8_index(0);
|
||||||
|
|
||||||
|
if (io_v1 && io_v2 && UTILS_AGE_S(io_v1->rx_time) < 1.0 && UTILS_AGE_S(io_v2->rx_time) < 1.0) {
|
||||||
|
m_brake_rear = io_v2->adc_voltages[3] > 6.0;
|
||||||
|
m_brake_front = io_v2->adc_voltages[2] > 6.0;
|
||||||
|
m_kill_sw = io_v1->adc_voltages[0] > 6.0;
|
||||||
|
m_mode_btn_down = io_v1->adc_voltages[1] > 6.0;
|
||||||
|
} else {
|
||||||
|
m_brake_rear = false;
|
||||||
|
m_brake_front = false;
|
||||||
|
m_kill_sw = false;
|
||||||
|
m_mode_btn_down = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
timeout_reset();
|
||||||
|
|
||||||
|
// Check if it is time to stop.
|
||||||
|
if (stop_now) {
|
||||||
|
is_running = false;
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
UTILS_LP_FAST(S_f, mc_interface_get_rpm(), 0.2);
|
||||||
|
float I = mc_interface_get_tot_current_directional_filtered();
|
||||||
|
|
||||||
|
float kmh_now = -1.0;
|
||||||
|
can_status_msg *msg = comm_can_get_status_msg_index(0);
|
||||||
|
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < 0.5) {
|
||||||
|
float rpm = fabsf(msg->rpm / (poles / 2.0));
|
||||||
|
kmh_now = ((rpm / 60.0) * wheel_d * M_PI / gearing) * 3.6;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (running) {
|
||||||
|
mc_interface_set_pid_speed(erpm_now);
|
||||||
|
|
||||||
|
erpm_now += (-m_set_now->p_pedal_current - I) * S_ramp_step;
|
||||||
|
utils_truncate_number(&erpm_now, S_min, 4000.0);
|
||||||
|
|
||||||
|
if (I < -1.0) {
|
||||||
|
if (stop_timer < stop_timer_max) {
|
||||||
|
stop_timer++;
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
stop_timer -= (I + 1.0) * 0.5;
|
||||||
|
if (stop_timer <= 0) {
|
||||||
|
running = false;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
mc_interface_set_current(0);
|
||||||
|
|
||||||
|
if (S_f > S_min) {
|
||||||
|
stop_timer += 1.0;
|
||||||
|
if (stop_timer >= (stop_timer_max / 2)) {
|
||||||
|
running = true;
|
||||||
|
erpm_now = S_f;
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
if (stop_timer > 0) {
|
||||||
|
stop_timer--;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
utils_step_towards(&erpm_now, S_min, S_ramp_step);
|
||||||
|
}
|
||||||
|
|
||||||
|
static float plot_pwr = 0.0;
|
||||||
|
static float plot_pwr_nofilter = 0.0;
|
||||||
|
|
||||||
|
// Logic and output at 200 Hz
|
||||||
|
static int can_div = 0;
|
||||||
|
can_div++;
|
||||||
|
if (can_div > 5) {
|
||||||
|
can_div = 0;
|
||||||
|
|
||||||
|
bool mode_clicked = m_mode_btn_down && !was_mode_button_pressed;
|
||||||
|
was_mode_button_pressed = m_mode_btn_down;
|
||||||
|
|
||||||
|
if (mode_clicked) {
|
||||||
|
if (IS_ECO_MODE()) {
|
||||||
|
m_set_now = &m_set_sport;
|
||||||
|
m_set_now_offset = P_OFFSET_SPORT;
|
||||||
|
} else if (IS_SPORT_MODE()) {
|
||||||
|
m_set_now = &m_set_normal;
|
||||||
|
m_set_now_offset = 0;
|
||||||
|
} else {
|
||||||
|
m_set_now = &m_set_eco;
|
||||||
|
m_set_now_offset = P_OFFSET_ECO;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (IS_SPORT_MODE()) {
|
||||||
|
LED_SPORT_ON();
|
||||||
|
} else {
|
||||||
|
LED_SPORT_OFF();
|
||||||
|
}
|
||||||
|
|
||||||
|
if (IS_ECO_MODE()) {
|
||||||
|
LED_ECO_ON();
|
||||||
|
} else {
|
||||||
|
LED_ECO_OFF();
|
||||||
|
}
|
||||||
|
|
||||||
|
can_status_msg_4 *msg4 = comm_can_get_status_msg_4_index(0);
|
||||||
|
if (msg4->id >= 0 && UTILS_AGE_S(msg4->rx_time) < 0.5) {
|
||||||
|
if (msg4->temp_fet > 88.0 || msg4->temp_motor > 100.0) {
|
||||||
|
LED_FAULT_ON();
|
||||||
|
} else {
|
||||||
|
LED_FAULT_OFF();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
can_status_msg_5 *msg5 = comm_can_get_status_msg_5_index(0);
|
||||||
|
if (msg5->id >= 0 && UTILS_AGE_S(msg5->rx_time) < 0.5) {
|
||||||
|
static float v_batt_filter = 0.0;
|
||||||
|
UTILS_LP_FAST(v_batt_filter, msg5->v_in, 0.01);
|
||||||
|
|
||||||
|
if ((v_batt_filter / 14) < 3.3) {
|
||||||
|
LED_LOW_BATT_ON();
|
||||||
|
} else if ((v_batt_filter / 14) > 3.6) {
|
||||||
|
LED_LOW_BATT_OFF();
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static float pwr = 0.0;
|
||||||
|
static float pwr_hyst = 0.0;
|
||||||
|
static bool hyst_stepping = false;
|
||||||
|
|
||||||
|
float brake = 0.0;
|
||||||
|
if (m_brake_front && !m_brake_rear) {
|
||||||
|
brake = fabsf(m_set_now->p_brake_current_front);
|
||||||
|
} else if (!m_brake_front && m_brake_rear) {
|
||||||
|
brake = fabsf(m_set_now->p_brake_current_rear);
|
||||||
|
} else if (m_brake_front && m_brake_rear) {
|
||||||
|
brake = fabsf(m_set_now->p_brake_current_both);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (running) {
|
||||||
|
UTILS_LP_FAST(pwr, utils_map(fabsf(mc_interface_get_rpm()), S_min,
|
||||||
|
m_set_now->p_top_speed_erpm, 0.0, 1.0), output_filter);
|
||||||
|
|
||||||
|
utils_truncate_number(&pwr, 0.0, 1.0);
|
||||||
|
} else {
|
||||||
|
utils_step_towards(&pwr, 0.0, 0.01);
|
||||||
|
}
|
||||||
|
|
||||||
|
float diff = fabsf(pwr - pwr_hyst);
|
||||||
|
|
||||||
|
if (diff < (m_set_now->p_throttle_hyst / 2.0)) {
|
||||||
|
hyst_stepping = false;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (diff > m_set_now->p_throttle_hyst ||
|
||||||
|
pwr < (m_set_now->p_throttle_hyst * 1.2) ||
|
||||||
|
pwr > (1.0 - m_set_now->p_throttle_hyst * 1.2)) {
|
||||||
|
hyst_stepping = true;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (hyst_stepping) {
|
||||||
|
utils_step_towards(&pwr_hyst, pwr, 0.02);
|
||||||
|
}
|
||||||
|
|
||||||
|
// Apply low speed boost
|
||||||
|
float pwr_out = pwr_hyst;
|
||||||
|
if (kmh_now >= 0.0 && kmh_now < m_set_now->p_start_gain_end_speed) {
|
||||||
|
pwr_out *= utils_map(kmh_now, 0.0, m_set_now->p_start_gain_end_speed,
|
||||||
|
m_set_now->p_start_gain, 1.0);
|
||||||
|
if (pwr_out > 1.0) {
|
||||||
|
pwr_out = 1.0;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
if (!m_kill_sw || (pwr_out < 0.0001 && brake > 0.0001)) {
|
||||||
|
comm_can_set_current_brake_rel(255, brake);
|
||||||
|
} else {
|
||||||
|
comm_can_set_current_rel(255, pwr_out * m_set_now->p_output_power);
|
||||||
|
}
|
||||||
|
|
||||||
|
plot_pwr = pwr_out;
|
||||||
|
plot_pwr_nofilter = pwr;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (plot_state) {
|
||||||
|
static int plot_div = 0;
|
||||||
|
plot_div++;
|
||||||
|
if (plot_div > 50) {
|
||||||
|
plot_div = 0;
|
||||||
|
commands_plot_set_graph(0);
|
||||||
|
commands_send_plot_points(plot_sample, (float)stop_timer / (float)stop_timer_max);
|
||||||
|
commands_plot_set_graph(1);
|
||||||
|
commands_send_plot_points(plot_sample, plot_pwr * m_set_now->p_output_power);
|
||||||
|
commands_plot_set_graph(2);
|
||||||
|
commands_send_plot_points(plot_sample, plot_pwr_nofilter);
|
||||||
|
plot_sample++;
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
chThdSleepMilliseconds(1);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_plot(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
int d = -1;
|
||||||
|
sscanf(argv[1], "%d", &d);
|
||||||
|
|
||||||
|
if (d == 0 || d == 1) {
|
||||||
|
plot_state = d;
|
||||||
|
if (plot_state) {
|
||||||
|
plot_sample = 0.0;
|
||||||
|
commands_init_plot("Sample", "Value");
|
||||||
|
commands_plot_add_graph("Timer");
|
||||||
|
commands_plot_add_graph("I out");
|
||||||
|
commands_plot_add_graph("I nofilter");
|
||||||
|
}
|
||||||
|
|
||||||
|
commands_printf(plot_state ?
|
||||||
|
"Experiment plot enabled" :
|
||||||
|
"Experiment plot disabled");
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. en has to be 0 or 1.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void print_settings_info(volatile SETTINGS_T *set) {
|
||||||
|
commands_printf("p_throttle_hyst : %.2f", (double)(set->p_throttle_hyst));
|
||||||
|
commands_printf("p_pedal_current : %.2f", (double)(set->p_pedal_current));
|
||||||
|
commands_printf("p_start_gain : %.2f", (double)(set->p_start_gain));
|
||||||
|
commands_printf("p_start_gain_end_speed : %.2f", (double)(set->p_start_gain_end_speed));
|
||||||
|
commands_printf("p_output_power : %.2f", (double)(set->p_output_power));
|
||||||
|
commands_printf("p_top_speed_erpm : %.3f", (double)(set->p_top_speed_erpm));
|
||||||
|
commands_printf("p_brake_current_front : %.2f", (double)(set->p_brake_current_front));
|
||||||
|
commands_printf("p_brake_current_rear : %.2f", (double)(set->p_brake_current_rear));
|
||||||
|
commands_printf("p_brake_current_both : %.2f", (double)(set->p_brake_current_both));
|
||||||
|
commands_printf(" ");
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_info(int argc, const char **argv) {
|
||||||
|
(void)argc;
|
||||||
|
(void)argv;
|
||||||
|
|
||||||
|
if (IS_SPORT_MODE()) {
|
||||||
|
commands_printf("Mode now: Sport\n");
|
||||||
|
} else if (IS_ECO_MODE()) {
|
||||||
|
commands_printf("Mode now: Eco\n");
|
||||||
|
} else {
|
||||||
|
commands_printf("Mode now: Normal\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
commands_printf("Normal Mode");
|
||||||
|
print_settings_info(&m_set_normal);
|
||||||
|
|
||||||
|
commands_printf("Eco Mode");
|
||||||
|
print_settings_info(&m_set_eco);
|
||||||
|
|
||||||
|
commands_printf("Sport Mode");
|
||||||
|
print_settings_info(&m_set_sport);
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_mon(int argc, const char **argv) {
|
||||||
|
(void)argc;
|
||||||
|
(void)argv;
|
||||||
|
|
||||||
|
commands_printf("Monitoring IO");
|
||||||
|
|
||||||
|
bool mode_last = m_mode_btn_down;
|
||||||
|
bool brake_front_last = m_brake_front;
|
||||||
|
bool brake_rear_last = m_brake_rear;
|
||||||
|
bool kill_last = m_kill_sw;
|
||||||
|
|
||||||
|
commands_printf("Mode Button : %d", m_mode_btn_down);
|
||||||
|
commands_printf("Brake Front : %d", m_brake_front);
|
||||||
|
commands_printf("Brake Rear : %d", m_brake_rear);
|
||||||
|
commands_printf("Kill SW : %d", m_kill_sw);
|
||||||
|
|
||||||
|
for (int i = 0;i < 3000;i++) {
|
||||||
|
if (m_mode_btn_down != mode_last) {
|
||||||
|
mode_last = m_mode_btn_down;
|
||||||
|
commands_printf("Mode Button : %d", m_mode_btn_down);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (m_brake_front != brake_front_last) {
|
||||||
|
brake_front_last = m_brake_front;
|
||||||
|
commands_printf("Brake Front : %d", m_brake_front);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (m_brake_rear != brake_rear_last) {
|
||||||
|
brake_rear_last = m_brake_rear;
|
||||||
|
commands_printf("Brake Rear : %d", m_brake_rear);
|
||||||
|
}
|
||||||
|
|
||||||
|
if (m_kill_sw != kill_last) {
|
||||||
|
kill_last = m_kill_sw;
|
||||||
|
commands_printf("Kill SW : %d", m_kill_sw);
|
||||||
|
}
|
||||||
|
|
||||||
|
chThdSleepMilliseconds(10);
|
||||||
|
}
|
||||||
|
|
||||||
|
commands_printf("Monitoring IO ended\n");
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_restore_settings(int argc, const char **argv) {
|
||||||
|
(void)argc;
|
||||||
|
(void)argv;
|
||||||
|
|
||||||
|
restore_settings();
|
||||||
|
store_settings(&m_set_eco, 0);
|
||||||
|
store_settings(&m_set_sport, P_OFFSET_SPORT);
|
||||||
|
|
||||||
|
commands_printf("Settings have been restored to their default values.");
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_hyst(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[1], "%f", &d);
|
||||||
|
|
||||||
|
if (d >= 0.0 && d <= 0.3) {
|
||||||
|
m_set_now->p_throttle_hyst = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_THROTTLE_HYST_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Throttle hysteresis changed to %.2f", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. [hyst] has to be between 0 and 0.3.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_pedal_current(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[1], "%f", &d);
|
||||||
|
|
||||||
|
if (d >= 1.5 && d <= 50.0) {
|
||||||
|
m_set_now->p_pedal_current = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_PEDAL_CURRENT_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Pedal current changed to %.2f A", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. [current] has to be between 1.5 and 50.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_start_gain(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[1], "%f", &d);
|
||||||
|
|
||||||
|
if (d >= 1.0 && d <= 10.0) {
|
||||||
|
m_set_now->p_start_gain = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_START_GAIN_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Start gain changed to %.2f", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. [hyst] has to be between 1.0 and 10.0.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_start_gain_end_speed(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[1], "%f", &d);
|
||||||
|
|
||||||
|
if (d >= 1.0 && d <= 100.0) {
|
||||||
|
m_set_now->p_start_gain_end_speed = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_START_GAIN_END_SPEED_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Start gain end speed changed to %.2f km/h", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. [speed_kmh] has to be between 1.0 and 100.0.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_output_power(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[1], "%f", &d);
|
||||||
|
|
||||||
|
if (d >= 0.0 && d <= 1.0) {
|
||||||
|
m_set_now->p_output_power = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_OUTPUT_POWER_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Output power changed to %.2f", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. [output_power] has to be between 0.0 and 1.0.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_top_speed_erpm(int argc, const char **argv) {
|
||||||
|
if (argc == 2) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[1], "%f", &d);
|
||||||
|
|
||||||
|
if (d >= 210.0 && d <= 5000.0) {
|
||||||
|
m_set_now->p_top_speed_erpm = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_TOP_SPEED_ERPM_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Top speed erpm changed to %.1f", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("Invalid Argument. [erpm] has to be between 210 and 5000.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires one argument.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
static void terminal_set_brake_power(int argc, const char **argv) {
|
||||||
|
if (argc == 3) {
|
||||||
|
float d = -1.0;
|
||||||
|
sscanf(argv[2], "%f", &d);
|
||||||
|
|
||||||
|
if (d < 0.0 || d > 1.0) {
|
||||||
|
commands_printf("The second argument (power) must be in the range 0.0 to 1.0.\n");
|
||||||
|
return;
|
||||||
|
}
|
||||||
|
|
||||||
|
if (strcmp(argv[1], "front") == 0) {
|
||||||
|
m_set_now->p_brake_current_front = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_BRAKE_CURRENT_FRONT_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Front brake changed to %.2f", (double)d);
|
||||||
|
} else if (strcmp(argv[1], "rear") == 0) {
|
||||||
|
m_set_now->p_brake_current_rear = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_BRAKE_CURRENT_REAR_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Rear brake changed to %.2f", (double)d);
|
||||||
|
} else if (strcmp(argv[1], "both") == 0) {
|
||||||
|
m_set_now->p_brake_current_both = d;
|
||||||
|
eeprom_var v;
|
||||||
|
v.as_float = d;
|
||||||
|
conf_general_store_eeprom_var_custom(&v, P_BRAKE_CURRENT_BOTH_ADDR + m_set_now_offset);
|
||||||
|
commands_printf("Power for both brakes at once changed to %.2f", (double)d);
|
||||||
|
} else {
|
||||||
|
commands_printf("The first argument must be front, rear or both.\n");
|
||||||
|
}
|
||||||
|
} else {
|
||||||
|
commands_printf("This command requires two arguments.\n");
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
@ -74,8 +74,8 @@
|
||||||
//#define HW60_IS_MK4
|
//#define HW60_IS_MK4
|
||||||
#define HW60_IS_MK5
|
#define HW60_IS_MK5
|
||||||
|
|
||||||
#define HW_SOURCE "hw_60.c"
|
//#define HW_SOURCE "hw_60.c"
|
||||||
#define HW_HEADER "hw_60.h"
|
//#define HW_HEADER "hw_60.h"
|
||||||
|
|
||||||
//#define HW_SOURCE "hw_r2.c"
|
//#define HW_SOURCE "hw_r2.c"
|
||||||
//#define HW_HEADER "hw_r2.h"
|
//#define HW_HEADER "hw_r2.h"
|
||||||
|
|
@ -123,8 +123,8 @@
|
||||||
//#define HW_SOURCE "hw_binar_v1.c"
|
//#define HW_SOURCE "hw_binar_v1.c"
|
||||||
//#define HW_HEADER "hw_binar_v1.h"
|
//#define HW_HEADER "hw_binar_v1.h"
|
||||||
|
|
||||||
//#define HW_SOURCE "hw_hd60.c"
|
#define HW_SOURCE "hw_hd60.c"
|
||||||
//#define HW_HEADER "hw_hd60.h"
|
#define HW_HEADER "hw_hd60.h"
|
||||||
|
|
||||||
//#define HW_SOURCE "hw_hd75.c"
|
//#define HW_SOURCE "hw_hd75.c"
|
||||||
//#define HW_HEADER "hw_hd75.h"
|
//#define HW_HEADER "hw_hd75.h"
|
||||||
|
|
@ -203,7 +203,7 @@
|
||||||
*/
|
*/
|
||||||
//#define APP_CUSTOM_TO_USE "app_custom_template.c"
|
//#define APP_CUSTOM_TO_USE "app_custom_template.c"
|
||||||
//#define APP_CUSTOM_TO_USE "app_motor_heater.c"
|
//#define APP_CUSTOM_TO_USE "app_motor_heater.c"
|
||||||
//#include "app_erockit_conf_v2.h"
|
//#include "er/app_erockit_conf_v2.h"
|
||||||
//#include "finn/app_finn_az_conf.h"
|
//#include "finn/app_finn_az_conf.h"
|
||||||
//#include "vccu/app_vccu_conf.h"
|
//#include "vccu/app_vccu_conf.h"
|
||||||
|
|
||||||
|
|
|
||||||
Loading…
Reference in New Issue