Interface commands for openloop

conf_general.c

@@ -1029,7 +1029,7 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
 
 	// Start by locking the motor
 	for (int i = 0;i < 200;i++) {
-		mcpwm_foc_set_openloop((float)i * current / 200.0, rpm_now);
+		mcpwm_foc_set_openloop_current((float)i * current / 200.0, rpm_now);
 		fault = mc_interface_get_fault();
 		if (fault != FAULT_CODE_NONE) {
 			timeout_configure(tout, tout_c, tout_ksw);
@@ -1070,7 +1070,7 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
 
 	while (fabsf(mc_interface_get_duty_cycle_now()) < duty) {
 		rpm_now += erpm_per_sec / 1000.0;
-		mcpwm_foc_set_openloop(current, mcconf->m_invert_direction ? -rpm_now : rpm_now);
+		mcpwm_foc_set_openloop_current(current, mcconf->m_invert_direction ? -rpm_now : rpm_now);
 
 		fault = mc_interface_get_fault();
 		if (fault != FAULT_CODE_NONE) {

lispBM/lispif_vesc_extensions.c

@@ -1115,7 +1115,7 @@ static lbm_value ext_set_pos(lbm_value *args, lbm_uint argn) {
 static lbm_value ext_foc_openloop(lbm_value *args, lbm_uint argn) {
 	CHECK_ARGN_NUMBER(2);
 	timeout_reset();
-	mcpwm_foc_set_openloop(lbm_dec_as_float(args[0]), lbm_dec_as_float(args[1]));
+	mc_interface_set_openloop_current(lbm_dec_as_float(args[0]), lbm_dec_as_float(args[1]));
 	return ENC_SYM_TRUE;
 }
 

motor/mc_interface.c

@@ -774,6 +774,103 @@ void mc_interface_set_handbrake_rel(float val) {
 	mc_interface_set_handbrake(val * fabsf(motor_now()->m_conf.lo_current_motor_min_now));
 }
 
+void mc_interface_set_openloop_current(float current, float rpm) {
+	if (fabsf(current) > 0.001) {
+		SHUTDOWN_RESET();
+	}
+
+	if (mc_interface_try_input()) {
+		return;
+	}
+
+	switch (motor_now()->m_conf.motor_type) {
+	case MOTOR_TYPE_BLDC:
+	case MOTOR_TYPE_DC:
+		break;
+
+	case MOTOR_TYPE_FOC:
+		mcpwm_foc_set_openloop_current(current, rpm); // Should this use DIR_MULT?
+		break;
+
+	default:
+		break;
+	}
+
+	events_add("set_openloop_current", current);
+}
+void mc_interface_set_openloop_phase(float current, float phase){
+	if (fabsf(current) > 0.001) {
+		SHUTDOWN_RESET();
+	}
+
+	if (mc_interface_try_input()) {
+		return;
+	}
+
+	switch (motor_now()->m_conf.motor_type) {
+	case MOTOR_TYPE_BLDC:
+	case MOTOR_TYPE_DC:
+		break;
+
+	case MOTOR_TYPE_FOC:
+		mcpwm_foc_set_openloop_phase(current, phase); // Should this use DIR_MULT?
+		break;
+
+	default:
+		break;
+	}
+
+	events_add("set_openloop_phase", phase);
+}
+void mc_interface_set_openloop_duty(float dutyCycle, float rpm){
+	if (fabsf(dutyCycle) > 0.001) {
+		SHUTDOWN_RESET();
+	}
+
+	if (mc_interface_try_input()) {
+		return;
+	}
+
+	switch (motor_now()->m_conf.motor_type) {
+	case MOTOR_TYPE_BLDC:
+	case MOTOR_TYPE_DC:
+		break;
+
+	case MOTOR_TYPE_FOC:
+		mcpwm_foc_set_openloop_duty(dutyCycle, rpm); // Should this use DIR_MULT?
+		break;
+
+	default:
+		break;
+	}
+
+	events_add("set_openloop_duty", dutyCycle);
+}
+void mc_interface_set_openloop_duty_phase(float dutyCycle, float phase){
+	if (fabsf(dutyCycle) > 0.001) {
+		SHUTDOWN_RESET();
+	}
+
+	if (mc_interface_try_input()) {
+		return;
+	}
+
+	switch (motor_now()->m_conf.motor_type) {
+	case MOTOR_TYPE_BLDC:
+	case MOTOR_TYPE_DC:
+		break;
+
+	case MOTOR_TYPE_FOC:
+		mcpwm_foc_set_openloop_duty_phase(dutyCycle, phase); // Should this use DIR_MULT?
+		break;
+
+	default:
+		break;
+	}
+
+	events_add("set_openloop_duty_phase", phase);
+}
+
 void mc_interface_brake_now(void) {
 	SHUTDOWN_RESET();
 

motor/mc_interface.h

@@ -51,6 +51,10 @@ void mc_interface_set_current_rel(float val);
 void mc_interface_set_brake_current_rel(float val);
 void mc_interface_set_handbrake(float current);
 void mc_interface_set_handbrake_rel(float val);
+void mc_interface_set_openloop_current(float current, float rpm);
+void mc_interface_set_openloop_phase(float current, float phase);
+void mc_interface_set_openloop_duty(float dutyCycle, float rpm);
+void mc_interface_set_openloop_duty_phase(float dutyCycle, float phase);
 int mc_interface_set_tachometer_value(int steps);
 void mc_interface_brake_now(void);
 void mc_interface_release_motor(void);

motor/mcpwm_foc.c

@@ -777,7 +777,7 @@ void mcpwm_foc_set_current(float current) {
 	get_motor_now()->m_id_set = 0;
 	
 	if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
-        return fault;
+		return;
 	}
 
 	if (get_motor_now()->m_state != MC_STATE_RUNNING) {
@@ -805,7 +805,7 @@ void mcpwm_foc_set_brake_current(float current) {
 	get_motor_now()->m_iq_set = current;
 
 	if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
-        return fault;
+		return;
 	}
 
 	if (get_motor_now()->m_state != MC_STATE_RUNNING) {
@@ -826,7 +826,7 @@ void mcpwm_foc_set_handbrake(float current) {
 	get_motor_now()->m_iq_set = current;
 
 	if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
-        return fault;
+		return;
 	}
 
 	if (get_motor_now()->m_state != MC_STATE_RUNNING) {
@@ -884,7 +884,7 @@ void mcpwm_foc_set_openloop_phase(float current, float phase) {
 	utils_norm_angle_rad((float*)&get_motor_now()->m_openloop_phase);
 
 	if (fabsf(current) < get_motor_now()->m_conf->cc_min_current) {
-        return fault;
+		return;
 	}
 
 	if (get_motor_now()->m_state != MC_STATE_RUNNING) {

motor/mcpwm_foc.h

@@ -42,11 +42,11 @@ void mcpwm_foc_set_current(float current);
 void mcpwm_foc_release_motor(void);
 void mcpwm_foc_set_brake_current(float current);
 void mcpwm_foc_set_handbrake(float current);
-void mcpwm_foc_set_openloop(float current, float rpm);
+void mcpwm_foc_set_openloop_current(float current, float rpm);
 void mcpwm_foc_set_openloop_phase(float current, float phase);
 void mcpwm_foc_set_openloop_duty(float dutyCycle, float rpm);
 void mcpwm_foc_set_openloop_duty_phase(float dutyCycle, float phase);
-void mcpwm_foc_set_tachometer_value(int steps);
+int mcpwm_foc_set_tachometer_value(int steps);
 float mcpwm_foc_get_duty_cycle_set(void);
 float mcpwm_foc_get_duty_cycle_now(void);
 float mcpwm_foc_get_pid_pos_set(void);

terminal.c

@@ -731,7 +731,7 @@ void terminal_process_string(char *str) {
 			commands_printf("Running FOC openloop...");
 			if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max && erpm >= 0.0) {
 				timeout_reset();
-				mcpwm_foc_set_openloop(current, erpm);
+				mc_interface_set_openloop_current(current, erpm);
 				int fault = mc_interface_get_fault();
 				if (fault != FAULT_CODE_NONE) {
 					commands_printf("Fault occured during openloop: %s", mc_interface_fault_to_string(fault));
@@ -759,7 +759,7 @@ void terminal_process_string(char *str) {
 			commands_printf("Running FOC openloop duty...");
 			if (duty >= 0.0 && duty <= 0.9 && erpm >= 0.0) {
 				timeout_reset();
-				mcpwm_foc_set_openloop_duty(duty, erpm);
+				mc_interface_set_openloop_duty(duty, erpm);
 				int fault = mc_interface_get_fault();
 				if (fault != FAULT_CODE_NONE) {
 					commands_printf("Fault occured during openloop: %s", mc_interface_fault_to_string(fault));
@@ -838,7 +838,8 @@ void terminal_process_string(char *str) {
 					angle >= 0.0 && angle <= 360.0) {
 				if (time <= 1e-6) {
 					timeout_reset();
-					fault = mcpwm_foc_set_openloop_phase(current, angle);
+					mc_interface_set_openloop_phase(current, angle);
+					fault = mc_interface_get_fault();
 					if (fault != FAULT_CODE_NONE) {
 						commands_printf("Fault occured during openloop: %s", mc_interface_fault_to_string(fault));
 						commands_printf("For more info type \"faults\" to view all logged faults\n");
@@ -849,7 +850,8 @@ void terminal_process_string(char *str) {
 					int print_div = 0;
 					for (float t = 0.0;t < time;t += 0.002) {
 						timeout_reset();
-						fault = mcpwm_foc_set_openloop_phase(current, angle);
+						mc_interface_set_openloop_phase(current, angle);
+						fault = mc_interface_get_fault();
 						if (fault != FAULT_CODE_NONE) {
 							commands_printf("Fault occured during openloop: %s", mc_interface_fault_to_string(fault));
 							commands_printf("For more info type \"faults\" to view all logged faults\n");
@@ -1074,7 +1076,8 @@ void terminal_process_string(char *str) {
 
 				for (int i = 0;i < 1000;i++) {
 					timeout_reset();
-					fault = mcpwm_foc_set_openloop_phase((float)i * current / 1000.0, phase);
+					mc_interface_set_openloop_phase((float)i * current / 1000.0, phase);
+					fault = mc_interface_get_fault();
 					if (fault != FAULT_CODE_NONE) {
 						break;
 					}
@@ -1117,7 +1120,8 @@ void terminal_process_string(char *str) {
 
 						phase += 1.0;
 						timeout_reset();
-						fault = mcpwm_foc_set_openloop_phase(current, phase);
+						mc_interface_set_openloop_phase(current, phase);
+						fault = mc_interface_get_fault();
 						if (fault != FAULT_CODE_NONE) {
 							break;
 						}