mirror of https://github.com/rusefi/bldc.git
Complete servo-decoding rewrite, common command module, full access to everything over uart, more ppm options
This commit is contained in:
Benjamin Vedder
parent
2e723ece6f
commit
d6beda7b47
3
Makefile
3
Makefile
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@ -99,7 +99,7 @@ CSRC = $(PORTSRC) \
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myUSB.c \
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irq_handlers.c \
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buffer.c \
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comm.c \
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comm_usb.c \
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crc.c \
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digital_filter.c \
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ledpwm.c \
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@ -111,6 +111,7 @@ CSRC = $(PORTSRC) \
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terminal.c \
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conf_general.c \
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eeprom.c \
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commands.c \
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$(HWSRC) \
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$(APPSRC)
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@ -27,19 +27,28 @@
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#include "hal.h"
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// Private variables
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static app_configuration app_conf;
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static app_configuration appconf;
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void app_init(app_configuration *conf) {
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app_conf = *conf;
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appconf = *conf;
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switch (app_conf.app_to_use) {
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switch (appconf.app_to_use) {
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case APP_PPM:
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app_ppm_configure(app_conf.app_ppm_ctrl_type, app_conf.app_ppm_pid_max_erpm);
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app_ppm_configure(appconf.app_ppm_ctrl_type, appconf.app_ppm_pid_max_erpm, appconf.app_ppm_hyst,
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appconf.app_ppm_timeout, appconf.app_ppm_pulse_start, appconf.app_ppm_pulse_width);
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app_ppm_start();
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break;
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case APP_UARTCOMM:
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app_uartcomm_configure(app_conf.app_uart_baudrate);
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case APP_UART:
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app_uartcomm_configure(appconf.app_uart_baudrate, appconf.app_uart_timeout);
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app_uartcomm_start();
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break;
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case APP_PPM_UART:
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app_ppm_configure(appconf.app_ppm_ctrl_type, appconf.app_ppm_pid_max_erpm, appconf.app_ppm_hyst,
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appconf.app_ppm_timeout, appconf.app_ppm_pulse_start, appconf.app_ppm_pulse_width);
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app_ppm_start();
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app_uartcomm_configure(appconf.app_uart_baudrate, appconf.app_uart_timeout);
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app_uartcomm_start();
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break;
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@ -58,7 +67,7 @@ void app_init(app_configuration *conf) {
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}
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const app_configuration* app_get_configuration(void) {
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return &app_conf;
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return &appconf;
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}
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/**
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@ -69,7 +78,8 @@ const app_configuration* app_get_configuration(void) {
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* The new configuration to use.
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*/
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void app_set_configuration(app_configuration *conf) {
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app_conf = *conf;
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app_ppm_configure(app_conf.app_ppm_ctrl_type, app_conf.app_ppm_pid_max_erpm);
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app_uartcomm_configure(app_conf.app_uart_baudrate);
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appconf = *conf;
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app_ppm_configure(appconf.app_ppm_ctrl_type, appconf.app_ppm_pid_max_erpm, appconf.app_ppm_hyst,
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appconf.app_ppm_timeout, appconf.app_ppm_pulse_start, appconf.app_ppm_pulse_width);
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app_uartcomm_configure(appconf.app_uart_baudrate, appconf.app_uart_timeout);
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}
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@ -34,9 +34,10 @@ void app_set_configuration(app_configuration *conf);
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// Standard apps
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void app_ppm_start(void);
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void app_ppm_configure(ppm_control_type ctrlt, float pme);
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void app_ppm_configure(ppm_control_type ctrlt, float pme, float hyst,
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float timeout, float pulse_start, float pulse_width);
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void app_uartcomm_start(void);
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void app_uartcomm_configure(uint32_t baudrate);
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void app_uartcomm_configure(uint32_t baudrate, uint32_t timeout);
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// Custom apps
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void app_gurgalof_init(void);
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@ -31,6 +31,12 @@
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#include "mcpwm.h"
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#include <math.h>
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// Types
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typedef enum {
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EV_TYPE_SERVO = 0,
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EV_TYPE_TIMER
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} ev_type;
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// Threads
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static msg_t ppm_thread(void *arg);
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static WORKING_AREA(ppm_thread_wa, 1024);
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@ -42,12 +48,27 @@ static void servodec_func(void);
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static void trig_func(void *p);
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// Private variables
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static volatile ppm_control_type ctrl_type;
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static volatile float pid_max_erpm;
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static volatile ppm_control_type ctrl_type = PPM_CTRL_TYPE_CURRENT;
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static volatile float pid_max_erpm = 15000.0;
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static volatile systime_t pulse_timeout = 1000.0;;
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static volatile bool is_running = false;
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static volatile ev_type ev = EV_TYPE_SERVO;
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static volatile float hysteres = 0.15;
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static volatile float pulse_s = 1.0;
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static volatile float pulse_e = 1.0;
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void app_ppm_configure(ppm_control_type ctrlt, float pme) {
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void app_ppm_configure(ppm_control_type ctrlt, float pme, float hyst,
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float timeout, float pulse_start, float pulse_width) {
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ctrl_type = ctrlt;
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pid_max_erpm = pme;
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pulse_timeout = timeout;
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hysteres = hyst;
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pulse_s = pulse_start;
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pulse_e = pulse_width;
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if (is_running) {
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servodec_set_pulse_options(pulse_s, pulse_e);
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}
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}
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void app_ppm_start(void) {
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@ -59,13 +80,14 @@ static void trig_func(void *p) {
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chSysLock();
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chVTSetI(&vt, MS2ST(10), trig_func, NULL);
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chSysUnlock();
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ev = EV_TYPE_TIMER;
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chEvtSignalI(ppm_tp, (eventmask_t) 1);
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chSysUnlock();
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}
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static void servodec_func(void) {
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chSysLockFromIsr();
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ev = EV_TYPE_SERVO;
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chEvtSignalI(ppm_tp, (eventmask_t) 1);
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chSysUnlockFromIsr();
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}
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@ -76,19 +98,20 @@ static msg_t ppm_thread(void *arg) {
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chRegSetThreadName("APP_PPM");
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ppm_tp = chThdSelf();
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servodec_set_pulse_options(pulse_s, pulse_e);
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servodec_init(servodec_func);
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chSysLock();
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chVTSetI(&vt, MS2ST(10), trig_func, NULL);
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chSysUnlock();
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is_running = true;
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for(;;) {
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chEvtWaitAny((eventmask_t) 1);
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#define HYST 0.15
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if (servodec_get_time_since_update() < 500) {
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float servo_val = servodec_get_servo_as_float(0);
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if (ev == EV_TYPE_SERVO) {
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float servo_val = servodec_get_servo(0);
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switch (ctrl_type) {
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case PPM_CTRL_TYPE_CURRENT_NOREV:
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@ -102,12 +125,12 @@ static msg_t ppm_thread(void *arg) {
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break;
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}
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servo_val /= (1.0 - HYST);
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servo_val /= (1.0 - hysteres);
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if (servo_val > HYST) {
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servo_val -= HYST;
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} else if (servo_val < -HYST) {
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servo_val += HYST;
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if (servo_val > hysteres) {
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servo_val -= hysteres;
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} else if (servo_val < -hysteres) {
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servo_val += hysteres;
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} else {
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servo_val = 0.0;
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}
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@ -144,9 +167,11 @@ static msg_t ppm_thread(void *arg) {
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break;
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}
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} else {
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if (pulse_timeout != 0 && servodec_get_time_since_update() > pulse_timeout) {
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mcpwm_set_current(0.0);
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}
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}
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}
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return 0;
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}
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@ -23,20 +23,16 @@
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*/
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#include "app.h"
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#include "ch.h"
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#include "hal.h"
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#include "stm32f4xx_conf.h"
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#include "servo_dec.h"
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#include "mcpwm.h"
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#include "utils.h"
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#include "packet.h"
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#include "buffer.h"
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#include "hw.h"
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#include <stdint.h>
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#include "mcpwm.h"
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#include "packet.h"
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#include "commands.h"
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#include <string.h>
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// Settings
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#define TIMEOUT_MSEC 1000
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#define BAUDRATE 115200
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#define PACKET_HANDLER 1
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#define SERIAL_RX_BUFFER_SIZE 1024
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@ -45,26 +41,21 @@
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static msg_t uart_thread(void *arg);
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static msg_t packet_process_thread(void *arg);
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static WORKING_AREA(uart_thread_wa, 1024);
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static WORKING_AREA(packet_process_thread_wa, 1024);
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static WORKING_AREA(packet_process_thread_wa, 4096);
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static Thread *process_tp;
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// Variables
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static volatile systime_t last_uart_update_time;
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static volatile systime_t timeout_msec = 1000;
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static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
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static int serial_rx_read_pos = 0;
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static int serial_rx_write_pos = 0;
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static int is_running = 0;
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// Private functions
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static void process_packet(unsigned char *buffer, unsigned char len);
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static void send_packet(unsigned char *buffer, unsigned char len);
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typedef enum {
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UARTCOMM_CMD_SET_DUTY = 0,
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UARTCOMM_CMD_SET_CURRENT,
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UARTCOMM_CMD_SET_CURRENT_BRAKE,
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UARTCOMM_CMD_SET_RPM
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} UARTCOMM_CMD;
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static void process_packet(unsigned char *data, unsigned char len);
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static void send_packet_wrapper(unsigned char *data, unsigned char len);
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static void send_packet(unsigned char *data, unsigned char len);
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/*
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* This callback is invoked when a transmission buffer has been completely
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@ -127,40 +118,27 @@ static UARTConfig uart_cfg = {
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0
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};
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static void process_packet(unsigned char *buffer, unsigned char len) {
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if (!len) {
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return;
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}
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int32_t ind = 1;
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switch (buffer[0]) {
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case UARTCOMM_CMD_SET_DUTY:
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mcpwm_set_duty((float)buffer_get_int32(buffer, &ind) / 100000.0);
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static void process_packet(unsigned char *data, unsigned char len) {
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commands_set_send_func(send_packet_wrapper);
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commands_process_packet(data, len);
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last_uart_update_time = chTimeNow();
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break;
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case UARTCOMM_CMD_SET_CURRENT:
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mcpwm_set_current((float)buffer_get_int32(buffer, &ind) / 1000.0);
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last_uart_update_time = chTimeNow();
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break;
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case UARTCOMM_CMD_SET_CURRENT_BRAKE:
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mcpwm_set_brake_current((float)buffer_get_int32(buffer, &ind) / 1000.0);
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last_uart_update_time = chTimeNow();
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break;
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case UARTCOMM_CMD_SET_RPM:
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mcpwm_set_pid_speed((float)buffer_get_int32(buffer, &ind));
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last_uart_update_time = chTimeNow();
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break;
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default:
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break;
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}
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}
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static void send_packet(unsigned char *buffer, unsigned char len) {
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static void send_packet_wrapper(unsigned char *data, unsigned char len) {
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packet_send_packet(data, len, PACKET_HANDLER);
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}
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static void send_packet(unsigned char *data, unsigned char len) {
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// Wait for the previous transmission to finish.
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while (HW_UART_DEV.txstate == UART_TX_ACTIVE) {
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chThdSleep(1);
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}
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// Copy this data to a new buffer in case the provided one is re-used
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// after this function returns.
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static uint8_t buffer[300];
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memcpy(buffer, data, len);
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uartStartSend(&HW_UART_DEV, len, buffer);
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}
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@ -170,8 +148,9 @@ void app_uartcomm_start(void) {
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chThdCreateStatic(packet_process_thread_wa, sizeof(packet_process_thread_wa), NORMALPRIO, packet_process_thread, NULL);
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}
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void app_uartcomm_configure(uint32_t baudrate) {
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void app_uartcomm_configure(uint32_t baudrate, uint32_t timeout) {
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uart_cfg.speed = baudrate;
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timeout_msec = timeout;
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if (is_running) {
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uartStart(&HW_UART_DEV, &uart_cfg);
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@ -198,8 +177,8 @@ static msg_t uart_thread(void *arg) {
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for(;;) {
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time += MS2ST(40);
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if (chTimeElapsedSince(last_uart_update_time) > MS2ST(TIMEOUT_MSEC)) {
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mcpwm_set_duty(0.0);
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if (timeout_msec != 0 && chTimeElapsedSince(last_uart_update_time) > MS2ST(timeout_msec)) {
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mcpwm_release_motor();
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}
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chThdSleepUntil(time);
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@ -0,0 +1,128 @@
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/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
|
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
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GNU General Public License for more details.
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|
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You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* comm.c
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*
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* Created on: 22 nov 2012
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* Author: benjamin
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*/
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#include "ch.h"
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#include "hal.h"
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#include "comm_usb.h"
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#include "packet.h"
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#include "myUSB.h"
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#include "commands.h"
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// Settings
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#define PACKET_HANDLER 0
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// Private variables
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#define SERIAL_RX_BUFFER_SIZE 2048
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static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
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static int serial_rx_read_pos = 0;
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static int serial_rx_write_pos = 0;
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static WORKING_AREA(serial_read_thread_wa, 512);
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static WORKING_AREA(serial_process_thread_wa, 4096);
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static Mutex send_mutex;
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static Thread *process_tp;
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// Private functions
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static void process_packet(unsigned char *data, unsigned char len);
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static void send_packet(unsigned char *buffer, unsigned char len);
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static void send_packet_wrapper(unsigned char *data, unsigned char len);
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static msg_t serial_read_thread(void *arg) {
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(void)arg;
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chRegSetThreadName("USB-Serial read");
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uint8_t buffer[128];
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int i;
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int len;
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int had_data = 0;
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for(;;) {
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len = chSequentialStreamRead(&SDU1, (uint8_t*) buffer, 1);
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for (i = 0;i < len;i++) {
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serial_rx_buffer[serial_rx_write_pos++] = buffer[i];
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if (serial_rx_write_pos == SERIAL_RX_BUFFER_SIZE) {
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serial_rx_write_pos = 0;
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}
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had_data = 1;
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}
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if (had_data) {
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chEvtSignal(process_tp, (eventmask_t) 1);
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had_data = 0;
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}
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}
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return 0;
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}
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static msg_t serial_process_thread(void *arg) {
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(void)arg;
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chRegSetThreadName("USB-Serial process");
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process_tp = chThdSelf();
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for(;;) {
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chEvtWaitAny((eventmask_t) 1);
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while (serial_rx_read_pos != serial_rx_write_pos) {
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packet_process_byte(serial_rx_buffer[serial_rx_read_pos++], PACKET_HANDLER);
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if (serial_rx_read_pos == SERIAL_RX_BUFFER_SIZE) {
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serial_rx_read_pos = 0;
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}
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}
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}
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return 0;
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}
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static void process_packet(unsigned char *data, unsigned char len) {
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commands_set_send_func(send_packet_wrapper);
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commands_process_packet(data, len);
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}
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static void send_packet_wrapper(unsigned char *data, unsigned char len) {
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packet_send_packet(data, len, PACKET_HANDLER);
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}
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static void send_packet(unsigned char *buffer, unsigned char len) {
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chMtxLock(&send_mutex);
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chSequentialStreamWrite(&SDU1, buffer, len);
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chMtxUnlock();
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}
|
||||
|
||||
void comm_usb_init(void) {
|
||||
myUSBinit();
|
||||
packet_init(send_packet, process_packet, PACKET_HANDLER);
|
||||
|
||||
chMtxInit(&send_mutex);
|
||||
|
||||
// Threads
|
||||
chThdCreateStatic(serial_read_thread_wa, sizeof(serial_read_thread_wa), NORMALPRIO, serial_read_thread, NULL);
|
||||
chThdCreateStatic(serial_process_thread_wa, sizeof(serial_process_thread_wa), NORMALPRIO, serial_process_thread, NULL);
|
||||
}
|
||||
|
|
@ -16,23 +16,18 @@
|
|||
*/
|
||||
|
||||
/*
|
||||
* comm.h
|
||||
* comm_usb.h
|
||||
*
|
||||
* Created on: 22 nov 2012
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#ifndef COMM_H_
|
||||
#define COMM_H_
|
||||
#ifndef COMM_USB_H_
|
||||
#define COMM_USB_H_
|
||||
|
||||
#include "conf_general.h"
|
||||
|
||||
// Functions
|
||||
void comm_init(void);
|
||||
void comm_printf(char* format, ...);
|
||||
void comm_send_samples(uint8_t *data, int len);
|
||||
void comm_send_rotor_pos(float rotor_pos);
|
||||
void comm_print_fault_code(mc_fault_code fault_code);
|
||||
void comm_send_experiment_samples(float *samples, int len);
|
||||
void comm_usb_init(void);
|
||||
|
||||
#endif /* COMM_INTERFACE_H_ */
|
||||
#endif /* COMM_USB_H_ */
|
||||
|
|
@ -1,35 +1,17 @@
|
|||
/*
|
||||
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
||||
|
||||
This program 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.
|
||||
|
||||
This program 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/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* comm.c
|
||||
* commands.c
|
||||
*
|
||||
* Created on: 22 nov 2012
|
||||
* Created on: 19 sep 2014
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#include "commands.h"
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
#include "comm.h"
|
||||
#include "main.h"
|
||||
#include "stm32f4xx_conf.h"
|
||||
#include "servo.h"
|
||||
#include "buffer.h"
|
||||
#include "packet.h"
|
||||
#include "myUSB.h"
|
||||
#include "terminal.h"
|
||||
#include "hw.h"
|
||||
|
|
@ -41,108 +23,40 @@
|
|||
#include <stdarg.h>
|
||||
#include <stdio.h>
|
||||
|
||||
// Internal data types
|
||||
typedef enum {
|
||||
COMM_GET_VALUES = 0,
|
||||
COMM_SET_DUTY,
|
||||
COMM_SET_CURRENT,
|
||||
COMM_SET_CURRENT_BRAKE,
|
||||
COMM_SET_RPM,
|
||||
COMM_SET_DETECT,
|
||||
COMM_SET_SERVO_OFFSET,
|
||||
COMM_SET_MCCONF,
|
||||
COMM_GET_MCCONF,
|
||||
COMM_SET_APPCONF,
|
||||
COMM_GET_APPCONF,
|
||||
COMM_SAMPLE_PRINT,
|
||||
COMM_TERMINAL_CMD,
|
||||
COMM_PRINT,
|
||||
COMM_ROTOR_POSITION,
|
||||
COMM_EXPERIMENT_SAMPLE,
|
||||
COMM_DETECT_MOTOR_PARAM,
|
||||
COMM_REBOOT
|
||||
} COMM_PACKET_ID;
|
||||
static void(*send_func)(unsigned char *data, unsigned char len) = 0;
|
||||
|
||||
// Settings
|
||||
#define PACKET_BUFFER_LEN 30
|
||||
#define PRINT_BUFFER_LEN 10
|
||||
#define PRINT_MAXLEN 240
|
||||
|
||||
// Private variables
|
||||
#define SERIAL_RX_BUFFER_SIZE 4096
|
||||
static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
|
||||
static int serial_rx_read_pos = 0;
|
||||
static int serial_rx_write_pos = 0;
|
||||
static WORKING_AREA(serial_read_thread_wa, 1024);
|
||||
static WORKING_AREA(serial_process_thread_wa, 4096);
|
||||
static Mutex send_mutex;
|
||||
static Thread *process_tp;
|
||||
|
||||
// Private functions
|
||||
static void process_packet(unsigned char *data, unsigned char len);
|
||||
static void send_packet(unsigned char *buffer, unsigned char len);
|
||||
|
||||
static msg_t serial_read_thread(void *arg) {
|
||||
(void)arg;
|
||||
|
||||
chRegSetThreadName("Serial read");
|
||||
|
||||
uint8_t buffer[128];
|
||||
int i;
|
||||
int len;
|
||||
int had_data = 0;
|
||||
|
||||
for(;;) {
|
||||
len = chSequentialStreamRead(&SDU1, (uint8_t*) buffer, 1);
|
||||
|
||||
for (i = 0;i < len;i++) {
|
||||
serial_rx_buffer[serial_rx_write_pos++] = buffer[i];
|
||||
|
||||
if (serial_rx_write_pos == SERIAL_RX_BUFFER_SIZE) {
|
||||
serial_rx_write_pos = 0;
|
||||
static void send_packet(unsigned char *data, unsigned char len) {
|
||||
if (send_func) {
|
||||
send_func(data, len);
|
||||
}
|
||||
|
||||
had_data = 1;
|
||||
}
|
||||
|
||||
if (had_data) {
|
||||
chEvtSignal(process_tp, (eventmask_t) 1);
|
||||
had_data = 0;
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
static msg_t serial_process_thread(void *arg) {
|
||||
(void)arg;
|
||||
|
||||
chRegSetThreadName("Serial process");
|
||||
|
||||
process_tp = chThdSelf();
|
||||
|
||||
for(;;) {
|
||||
chEvtWaitAny((eventmask_t) 1);
|
||||
|
||||
while (serial_rx_read_pos != serial_rx_write_pos) {
|
||||
packet_process_byte(serial_rx_buffer[serial_rx_read_pos++], 0);
|
||||
|
||||
if (serial_rx_read_pos == SERIAL_RX_BUFFER_SIZE) {
|
||||
serial_rx_read_pos = 0;
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
return 0;
|
||||
/**
|
||||
* Provide a function to use the next time there are packets to be sent.
|
||||
*
|
||||
* @param func
|
||||
* A pointer to the packet sending function.
|
||||
*/
|
||||
void commands_set_send_func(void(*func)(unsigned char *data, unsigned char len)) {
|
||||
send_func = func;
|
||||
}
|
||||
|
||||
static void process_packet(unsigned char *data, unsigned char len) {
|
||||
/**
|
||||
* Process a received buffer with commands and data.
|
||||
*
|
||||
* @param data
|
||||
* The buffer to process.
|
||||
*
|
||||
* @param len
|
||||
* The length of the buffer.
|
||||
*/
|
||||
void commands_process_packet(unsigned char *data, unsigned char len) {
|
||||
if (!len) {
|
||||
return;
|
||||
}
|
||||
|
||||
COMM_PACKET_ID packet_id;
|
||||
uint8_t send_buffer[256];
|
||||
static uint8_t send_buffer[256];
|
||||
int32_t ind = 0;
|
||||
uint16_t sample_len;
|
||||
uint8_t decimation;
|
||||
|
|
@ -177,7 +91,7 @@ static void process_packet(unsigned char *data, unsigned char len) {
|
|||
buffer_append_int16(send_buffer, (int16_t)(mcpwm_get_duty_cycle_now() * 1000.0), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)mcpwm_get_rpm(), &ind);
|
||||
buffer_append_int16(send_buffer, (int16_t)(GET_INPUT_VOLTAGE() * 10.0), &ind);
|
||||
packet_send_packet(send_buffer, ind, 0);
|
||||
send_packet(send_buffer, ind);
|
||||
break;
|
||||
|
||||
case COMM_SET_DUTY:
|
||||
|
|
@ -209,6 +123,8 @@ static void process_packet(unsigned char *data, unsigned char len) {
|
|||
break;
|
||||
|
||||
case COMM_SET_MCCONF:
|
||||
mcconf = *mcpwm_get_configuration();
|
||||
|
||||
ind = 0;
|
||||
mcconf.pwm_mode = data[ind++];
|
||||
mcconf.comm_mode = data[ind++];
|
||||
|
|
@ -298,15 +214,23 @@ static void process_packet(unsigned char *data, unsigned char len) {
|
|||
|
||||
buffer_append_int32(send_buffer, mcconf.m_fault_stop_time_ms, &ind);
|
||||
|
||||
packet_send_packet(send_buffer, ind, 0);
|
||||
send_packet(send_buffer, ind);
|
||||
break;
|
||||
|
||||
case COMM_SET_APPCONF:
|
||||
appconf = *app_get_configuration();
|
||||
|
||||
ind = 0;
|
||||
appconf.app_to_use = data[ind++];
|
||||
appconf.app_ppm_ctrl_type = data[ind++];
|
||||
appconf.app_ppm_pid_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
|
||||
appconf.app_ppm_hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
|
||||
appconf.app_ppm_timeout = buffer_get_uint32(data, &ind);
|
||||
appconf.app_ppm_pulse_start = (float)buffer_get_int32(data, &ind) / 1000.0;
|
||||
appconf.app_ppm_pulse_width = (float)buffer_get_int32(data, &ind) / 1000.0;
|
||||
|
||||
appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
|
||||
appconf.app_uart_timeout = buffer_get_uint32(data, &ind);
|
||||
|
||||
conf_general_store_app_configuration(&appconf);
|
||||
app_set_configuration(&appconf);
|
||||
|
|
@ -320,9 +244,15 @@ static void process_packet(unsigned char *data, unsigned char len) {
|
|||
send_buffer[ind++] = appconf.app_to_use;
|
||||
send_buffer[ind++] = appconf.app_ppm_ctrl_type;
|
||||
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_pid_max_erpm * 1000.0), &ind);
|
||||
buffer_append_uint32(send_buffer, appconf.app_uart_baudrate, &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_hyst * 1000.0), &ind);
|
||||
buffer_append_uint32(send_buffer, appconf.app_ppm_timeout, &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_pulse_start * 1000.0), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_pulse_width * 1000.0), &ind);
|
||||
|
||||
packet_send_packet(send_buffer, ind, 0);
|
||||
buffer_append_uint32(send_buffer, appconf.app_uart_baudrate, &ind);
|
||||
buffer_append_uint32(send_buffer, appconf.app_uart_timeout, &ind);
|
||||
|
||||
send_packet(send_buffer, ind);
|
||||
break;
|
||||
|
||||
case COMM_SAMPLE_PRINT:
|
||||
|
|
@ -354,7 +284,7 @@ static void process_packet(unsigned char *data, unsigned char len) {
|
|||
send_buffer[ind++] = COMM_DETECT_MOTOR_PARAM;
|
||||
buffer_append_int32(send_buffer, (int32_t)(detect_cycle_int_limit * 1000.0), &ind);
|
||||
buffer_append_int32(send_buffer, (int32_t)(detect_coupling_k * 1000.0), &ind);
|
||||
packet_send_packet(send_buffer, ind, 0);
|
||||
send_packet(send_buffer, ind);
|
||||
break;
|
||||
|
||||
case COMM_REBOOT:
|
||||
|
|
@ -368,24 +298,7 @@ static void process_packet(unsigned char *data, unsigned char len) {
|
|||
}
|
||||
}
|
||||
|
||||
static void send_packet(unsigned char *buffer, unsigned char len) {
|
||||
chMtxLock(&send_mutex);
|
||||
chSequentialStreamWrite(&SDU1, buffer, len);
|
||||
chMtxUnlock();
|
||||
}
|
||||
|
||||
void comm_init(void) {
|
||||
myUSBinit();
|
||||
packet_init(send_packet, process_packet, 0);
|
||||
|
||||
chMtxInit(&send_mutex);
|
||||
|
||||
// Threads
|
||||
chThdCreateStatic(serial_read_thread_wa, sizeof(serial_read_thread_wa), NORMALPRIO, serial_read_thread, NULL);
|
||||
chThdCreateStatic(serial_process_thread_wa, sizeof(serial_process_thread_wa), NORMALPRIO, serial_process_thread, NULL);
|
||||
}
|
||||
|
||||
void comm_printf(char* format, ...) {
|
||||
void commands_printf(char* format, ...) {
|
||||
va_list arg;
|
||||
va_start (arg, format);
|
||||
int len;
|
||||
|
|
@ -396,11 +309,11 @@ void comm_printf(char* format, ...) {
|
|||
va_end (arg);
|
||||
|
||||
if(len>0) {
|
||||
packet_send_packet((unsigned char*)print_buffer, (len<254)? len+1: 255, 0);
|
||||
send_packet((unsigned char*)print_buffer, (len<254)? len+1: 255);
|
||||
}
|
||||
}
|
||||
|
||||
void comm_send_samples(uint8_t *data, int len) {
|
||||
void commands_send_samples(uint8_t *data, int len) {
|
||||
uint8_t buffer[len + 1];
|
||||
int index = 0;
|
||||
|
||||
|
|
@ -410,31 +323,31 @@ void comm_send_samples(uint8_t *data, int len) {
|
|||
buffer[index++] = data[i];
|
||||
}
|
||||
|
||||
packet_send_packet(buffer, index, 0);
|
||||
send_packet(buffer, index);
|
||||
}
|
||||
|
||||
void comm_send_rotor_pos(float rotor_pos) {
|
||||
void commands_send_rotor_pos(float rotor_pos) {
|
||||
uint8_t buffer[5];
|
||||
int32_t index = 0;
|
||||
|
||||
buffer[index++] = COMM_ROTOR_POSITION;
|
||||
buffer_append_int32(buffer, (int32_t)(rotor_pos * 100000.0), &index);
|
||||
|
||||
packet_send_packet(buffer, index, 0);
|
||||
send_packet(buffer, index);
|
||||
}
|
||||
|
||||
void comm_print_fault_code(mc_fault_code fault_code) {
|
||||
void commands_print_fault_code(mc_fault_code fault_code) {
|
||||
switch (fault_code) {
|
||||
case FAULT_CODE_NONE: comm_printf("FAULT_CODE_NONE\n"); break;
|
||||
case FAULT_CODE_OVER_VOLTAGE: comm_printf("FAULT_CODE_OVER_VOLTAGE\n"); break;
|
||||
case FAULT_CODE_UNDER_VOLTAGE: comm_printf("FAULT_CODE_UNDER_VOLTAGE\n"); break;
|
||||
case FAULT_CODE_DRV8302: comm_printf("FAULT_CODE_DRV8302\n"); break;
|
||||
case FAULT_CODE_ABS_OVER_CURRENT: comm_printf("FAULT_CODE_ABS_OVER_CURRENT\n"); break;
|
||||
case FAULT_CODE_NONE: commands_printf("FAULT_CODE_NONE\n"); break;
|
||||
case FAULT_CODE_OVER_VOLTAGE: commands_printf("FAULT_CODE_OVER_VOLTAGE\n"); break;
|
||||
case FAULT_CODE_UNDER_VOLTAGE: commands_printf("FAULT_CODE_UNDER_VOLTAGE\n"); break;
|
||||
case FAULT_CODE_DRV8302: commands_printf("FAULT_CODE_DRV8302\n"); break;
|
||||
case FAULT_CODE_ABS_OVER_CURRENT: commands_printf("FAULT_CODE_ABS_OVER_CURRENT\n"); break;
|
||||
default: break;
|
||||
}
|
||||
}
|
||||
|
||||
void comm_send_experiment_samples(float *samples, int len) {
|
||||
void commands_send_experiment_samples(float *samples, int len) {
|
||||
if ((len * 4 + 1) > 256) {
|
||||
return;
|
||||
}
|
||||
|
|
@ -448,5 +361,5 @@ void comm_send_experiment_samples(float *samples, int len) {
|
|||
buffer_append_int32(buffer, (int32_t)(samples[i] * 10000.0), &index);
|
||||
}
|
||||
|
||||
packet_send_packet(buffer, index, 0);
|
||||
send_packet(buffer, index);
|
||||
}
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
/*
|
||||
* commands.h
|
||||
*
|
||||
* Created on: 19 sep 2014
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#ifndef COMMANDS_H_
|
||||
#define COMMANDS_H_
|
||||
|
||||
#include "datatypes.h"
|
||||
|
||||
// Functions
|
||||
void commands_set_send_func(void(*func)(unsigned char *data, unsigned char len));
|
||||
void commands_process_packet(unsigned char *data, unsigned char len);
|
||||
void commands_printf(char* format, ...);
|
||||
void commands_send_samples(uint8_t *data, int len);
|
||||
void commands_send_rotor_pos(float rotor_pos);
|
||||
void commands_print_fault_code(mc_fault_code fault_code);
|
||||
void commands_send_experiment_samples(float *samples, int len);
|
||||
|
||||
#endif /* COMMANDS_H_ */
|
||||
|
|
@ -136,7 +136,12 @@ void conf_general_read_app_configuration(app_configuration *conf) {
|
|||
conf->app_to_use = APP_NONE;
|
||||
conf->app_ppm_ctrl_type = PPM_CTRL_TYPE_CURRENT;
|
||||
conf->app_ppm_pid_max_erpm = 15000;
|
||||
conf->app_ppm_hyst = 0.15;
|
||||
conf->app_ppm_timeout = 1000.0;
|
||||
conf->app_ppm_pulse_start = 1.0;
|
||||
conf->app_ppm_pulse_width = 1.0;
|
||||
conf->app_uart_baudrate = 115200;
|
||||
conf->app_uart_timeout = 1000;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
30
datatypes.h
30
datatypes.h
|
|
@ -102,7 +102,8 @@ typedef struct {
|
|||
typedef enum {
|
||||
APP_NONE = 0,
|
||||
APP_PPM,
|
||||
APP_UARTCOMM,
|
||||
APP_UART,
|
||||
APP_PPM_UART,
|
||||
APP_CUSTOM
|
||||
} app_use;
|
||||
|
||||
|
|
@ -124,9 +125,36 @@ typedef struct {
|
|||
// PPM application settings
|
||||
ppm_control_type app_ppm_ctrl_type;
|
||||
float app_ppm_pid_max_erpm;
|
||||
float app_ppm_hyst;
|
||||
uint32_t app_ppm_timeout;
|
||||
float app_ppm_pulse_start;
|
||||
float app_ppm_pulse_width;
|
||||
|
||||
// UART application settings
|
||||
uint32_t app_uart_baudrate;
|
||||
uint32_t app_uart_timeout;
|
||||
} app_configuration;
|
||||
|
||||
// Communication commands
|
||||
typedef enum {
|
||||
COMM_GET_VALUES = 0,
|
||||
COMM_SET_DUTY,
|
||||
COMM_SET_CURRENT,
|
||||
COMM_SET_CURRENT_BRAKE,
|
||||
COMM_SET_RPM,
|
||||
COMM_SET_DETECT,
|
||||
COMM_SET_SERVO_OFFSET,
|
||||
COMM_SET_MCCONF,
|
||||
COMM_GET_MCCONF,
|
||||
COMM_SET_APPCONF,
|
||||
COMM_GET_APPCONF,
|
||||
COMM_SAMPLE_PRINT,
|
||||
COMM_TERMINAL_CMD,
|
||||
COMM_PRINT,
|
||||
COMM_ROTOR_POSITION,
|
||||
COMM_EXPERIMENT_SAMPLE,
|
||||
COMM_DETECT_MOTOR_PARAM,
|
||||
COMM_REBOOT
|
||||
} COMM_PACKET_ID;
|
||||
|
||||
#endif /* DATATYPES_H_ */
|
||||
|
|
|
|||
|
|
@ -94,7 +94,7 @@
|
|||
* @brief Enables the ICU subsystem.
|
||||
*/
|
||||
#if !defined(HAL_USE_ICU) || defined(__DOXYGEN__)
|
||||
#define HAL_USE_ICU FALSE
|
||||
#define HAL_USE_ICU TRUE
|
||||
#endif
|
||||
|
||||
/**
|
||||
|
|
|
|||
|
|
@ -107,4 +107,10 @@
|
|||
#define HW_UART_RX_PORT GPIOC
|
||||
#define HW_UART_RX_PIN 7
|
||||
|
||||
// ICU Peripheral for servo decoding
|
||||
#define HW_ICU_CHANNEL ICU_CHANNEL_2
|
||||
#define HW_ICU_GPIO_AF GPIO_AF_TIM3
|
||||
#define HW_ICU_GPIO GPIOB
|
||||
#define HW_ICU_PIN 5
|
||||
|
||||
#endif /* HW_40_H_ */
|
||||
|
|
|
|||
|
|
@ -99,4 +99,18 @@
|
|||
// Number of servo outputs
|
||||
#define HW_SERVO_NUM 2
|
||||
|
||||
// UART Peripheral
|
||||
#define HW_UART_DEV UARTD6
|
||||
#define HW_UART_GPIO_AF GPIO_AF_USART6
|
||||
#define HW_UART_TX_PORT GPIOC
|
||||
#define HW_UART_TX_PIN 6
|
||||
#define HW_UART_RX_PORT GPIOC
|
||||
#define HW_UART_RX_PIN 7
|
||||
|
||||
// ICU Peripheral for servo decoding
|
||||
#define HW_ICU_CHANNEL ICU_CHANNEL_2
|
||||
#define HW_ICU_GPIO_AF GPIO_AF_TIM3
|
||||
#define HW_ICU_GPIO GPIOB
|
||||
#define HW_ICU_PIN 5
|
||||
|
||||
#endif /* HW_40_H_ */
|
||||
|
|
|
|||
|
|
@ -117,4 +117,10 @@
|
|||
#define HW_UART_RX_PORT GPIOC
|
||||
#define HW_UART_RX_PIN 11
|
||||
|
||||
// ICU Peripheral for servo decoding
|
||||
#define HW_ICU_CHANNEL ICU_CHANNEL_2
|
||||
#define HW_ICU_GPIO_AF GPIO_AF_TIM3
|
||||
#define HW_ICU_GPIO GPIOB
|
||||
#define HW_ICU_PIN 5
|
||||
|
||||
#endif /* HW_R2_H_ */
|
||||
|
|
|
|||
|
|
@ -22,8 +22,6 @@
|
|||
#include "main.h"
|
||||
#include "mcpwm.h"
|
||||
#include "servo.h"
|
||||
#include "comm.h"
|
||||
#include "servo_dec.h"
|
||||
|
||||
CH_IRQ_HANDLER(TIM7_IRQHandler) {
|
||||
CH_IRQ_PROLOGUE();
|
||||
|
|
@ -38,35 +36,3 @@ CH_IRQ_HANDLER(ADC1_2_3_IRQHandler) {
|
|||
mcpwm_adc_inj_int_handler();
|
||||
CH_IRQ_EPILOGUE();
|
||||
}
|
||||
|
||||
CH_IRQ_HANDLER(EXTI3_IRQHandler) {
|
||||
CH_IRQ_PROLOGUE();
|
||||
if (EXTI_GetITStatus(EXTI_Line3) != RESET) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line3);
|
||||
servodec_int_handler();
|
||||
}
|
||||
CH_IRQ_EPILOGUE();
|
||||
}
|
||||
|
||||
CH_IRQ_HANDLER(EXTI15_10_IRQHandler) {
|
||||
CH_IRQ_PROLOGUE();
|
||||
if (EXTI_GetITStatus(EXTI_Line13) != RESET) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line13);
|
||||
servodec_int_handler();
|
||||
}
|
||||
|
||||
if (EXTI_GetITStatus(EXTI_Line14) != RESET) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line14);
|
||||
servodec_int_handler();
|
||||
}
|
||||
CH_IRQ_EPILOGUE();
|
||||
}
|
||||
|
||||
CH_IRQ_HANDLER(EXTI9_5_IRQHandler) {
|
||||
CH_IRQ_PROLOGUE();
|
||||
if (EXTI_GetITStatus(EXTI_Line5) != RESET) {
|
||||
EXTI_ClearITPendingBit(EXTI_Line5);
|
||||
servodec_int_handler();
|
||||
}
|
||||
CH_IRQ_EPILOGUE();
|
||||
}
|
||||
|
|
|
|||
11
main.c
11
main.c
|
|
@ -27,12 +27,13 @@
|
|||
#include "main.h"
|
||||
#include "mcpwm.h"
|
||||
#include "ledpwm.h"
|
||||
#include "comm.h"
|
||||
#include "comm_usb.h"
|
||||
#include "ledpwm.h"
|
||||
#include "terminal.h"
|
||||
#include "hw.h"
|
||||
#include "app.h"
|
||||
#include "packet.h"
|
||||
#include "commands.h"
|
||||
|
||||
/*
|
||||
* Timers used:
|
||||
|
|
@ -105,7 +106,7 @@ static msg_t periodic_thread(void *arg) {
|
|||
ledpwm_set_intensity(LED_RED, 1.0);
|
||||
if (!fault_print && AUTO_PRINT_FAULTS) {
|
||||
fault_print = 1;
|
||||
comm_print_fault_code(mcpwm_get_fault());
|
||||
commands_print_fault_code(mcpwm_get_fault());
|
||||
}
|
||||
} else {
|
||||
ledpwm_set_intensity(LED_RED, 0.0);
|
||||
|
|
@ -113,7 +114,7 @@ static msg_t periodic_thread(void *arg) {
|
|||
}
|
||||
|
||||
if (mcpwm_get_state() == MC_STATE_DETECTING) {
|
||||
comm_send_rotor_pos(mcpwm_get_detect_pos());
|
||||
commands_send_rotor_pos(mcpwm_get_detect_pos());
|
||||
}
|
||||
|
||||
chThdSleepMilliseconds(25);
|
||||
|
|
@ -154,7 +155,7 @@ static msg_t sample_send_thread(void *arg) {
|
|||
buffer[index++] = f_sw_samples[i] >> 8;
|
||||
buffer[index++] = f_sw_samples[i];
|
||||
|
||||
comm_send_samples(buffer, index);
|
||||
commands_send_samples(buffer, index);
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -278,7 +279,7 @@ int main(void) {
|
|||
conf_general_read_mc_configuration(&mcconf);
|
||||
mcpwm_init(&mcconf);
|
||||
|
||||
comm_init();
|
||||
comm_usb_init();
|
||||
|
||||
app_configuration appconf;
|
||||
conf_general_read_app_configuration(&appconf);
|
||||
|
|
|
|||
1
mcpwm.c
1
mcpwm.c
|
|
@ -34,7 +34,6 @@
|
|||
#include "digital_filter.h"
|
||||
#include "utils.h"
|
||||
#include "ledpwm.h"
|
||||
#include "comm.h"
|
||||
#include "hw.h"
|
||||
|
||||
// Structs
|
||||
|
|
|
|||
|
|
@ -152,7 +152,7 @@
|
|||
*/
|
||||
#define STM32_ICU_USE_TIM1 FALSE
|
||||
#define STM32_ICU_USE_TIM2 FALSE
|
||||
#define STM32_ICU_USE_TIM3 FALSE
|
||||
#define STM32_ICU_USE_TIM3 TRUE
|
||||
#define STM32_ICU_USE_TIM4 FALSE
|
||||
#define STM32_ICU_USE_TIM5 FALSE
|
||||
#define STM32_ICU_USE_TIM8 FALSE
|
||||
|
|
|
|||
241
servo_dec.c
241
servo_dec.c
|
|
@ -26,33 +26,59 @@
|
|||
#include "stm32f4xx_conf.h"
|
||||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
#include "hw.h"
|
||||
|
||||
/*
|
||||
* Settings
|
||||
*/
|
||||
#define USE_PROGRAMMING_CONN 0
|
||||
|
||||
#if USE_PROGRAMMING_CONN
|
||||
#define SERVO_NUM 3
|
||||
#else
|
||||
#define SERVO_NUM 1
|
||||
#endif
|
||||
|
||||
#define TIMER_FREQ 1000000
|
||||
#define INTERRUPT_TRESHOLD 3
|
||||
|
||||
// Private variables
|
||||
static volatile uint32_t interrupt_time = 0;
|
||||
static volatile int8_t servo_pos[SERVO_NUM];
|
||||
static volatile uint32_t time_since_update;
|
||||
static VirtualTimer vt;
|
||||
|
||||
// Private functions
|
||||
static void update_counters(void *p);
|
||||
static volatile systime_t last_update_time;
|
||||
static volatile float servo_pos[SERVO_NUM];
|
||||
static volatile float pulse_start = 1.0;
|
||||
static volatile float pulse_width = 1.0;
|
||||
|
||||
// Function pointers
|
||||
static void(*done_func)(void) = 0;
|
||||
|
||||
static void icuwidthcb(ICUDriver *icup) {
|
||||
float len = ((float)icuGetWidth(icup) / ((float)TIMER_FREQ / 1000.0)) - pulse_start;
|
||||
|
||||
if (len > pulse_width) {
|
||||
if (len < pulse_width * 1.2) {
|
||||
len = pulse_width;
|
||||
} else {
|
||||
// Too long pulse. Most likely something is wrong.
|
||||
len = -1.0;
|
||||
}
|
||||
}
|
||||
|
||||
if (len > 0.0) {
|
||||
servo_pos[0] = (len * 2.0 - pulse_width) / pulse_width;
|
||||
last_update_time = chTimeNow();
|
||||
|
||||
if (done_func) {
|
||||
done_func();
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
static void icuperiodcb(ICUDriver *icup) {
|
||||
(void)icup;
|
||||
}
|
||||
|
||||
static ICUConfig icucfg = {
|
||||
ICU_INPUT_ACTIVE_HIGH,
|
||||
TIMER_FREQ,
|
||||
icuwidthcb,
|
||||
icuperiodcb,
|
||||
NULL,
|
||||
HW_ICU_CHANNEL,
|
||||
0
|
||||
};
|
||||
|
||||
/**
|
||||
* Initialize the serve decoding driver.
|
||||
*
|
||||
|
|
@ -61,188 +87,43 @@ static void(*done_func)(void) = 0;
|
|||
* decoded. Can be NULL.
|
||||
*/
|
||||
void servodec_init(void (*d_func)(void)) {
|
||||
// Initialize variables
|
||||
time_since_update = 0;
|
||||
interrupt_time = 0;
|
||||
|
||||
NVIC_InitTypeDef NVIC_InitStructure;
|
||||
EXTI_InitTypeDef EXTI_InitStructure;
|
||||
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
|
||||
uint16_t PrescalerValue = 0;
|
||||
|
||||
// ------------- EXTI -------------- //
|
||||
// Clocks
|
||||
RCC_APB2PeriphClockCmd(RCC_APB2Periph_SYSCFG, ENABLE);
|
||||
#if USE_PROGRAMMING_CONN
|
||||
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
|
||||
#endif
|
||||
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
|
||||
|
||||
#if USE_PROGRAMMING_CONN
|
||||
palSetPadMode(GPIOA, 13, PAL_MODE_INPUT);
|
||||
palSetPadMode(GPIOA, 14, PAL_MODE_INPUT);
|
||||
palSetPadMode(GPIOB, 3, PAL_MODE_INPUT);
|
||||
|
||||
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource13);
|
||||
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOA, EXTI_PinSource14);
|
||||
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOB, EXTI_PinSource3);
|
||||
|
||||
EXTI_InitStructure.EXTI_Line = EXTI_Line3 | EXTI_Line13 | EXTI_Line14;
|
||||
#else
|
||||
palSetPadMode(GPIOB, 5, PAL_MODE_INPUT);
|
||||
|
||||
SYSCFG_EXTILineConfig(EXTI_PortSourceGPIOB, EXTI_PinSource5);
|
||||
|
||||
EXTI_InitStructure.EXTI_Line = EXTI_Line5;
|
||||
#endif
|
||||
|
||||
EXTI_InitStructure.EXTI_Mode = EXTI_Mode_Interrupt;
|
||||
EXTI_InitStructure.EXTI_Trigger = EXTI_Trigger_Rising_Falling;
|
||||
EXTI_InitStructure.EXTI_LineCmd = ENABLE;
|
||||
EXTI_Init(&EXTI_InitStructure);
|
||||
|
||||
#if USE_PROGRAMMING_CONN
|
||||
NVIC_InitStructure.NVIC_IRQChannel = EXTI3_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
|
||||
NVIC_InitStructure.NVIC_IRQChannel = EXTI15_10_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
#else
|
||||
NVIC_InitStructure.NVIC_IRQChannel = EXTI9_5_IRQn;
|
||||
NVIC_InitStructure.NVIC_IRQChannelPreemptionPriority = 2;
|
||||
NVIC_InitStructure.NVIC_IRQChannelSubPriority = 2;
|
||||
NVIC_InitStructure.NVIC_IRQChannelCmd = ENABLE;
|
||||
NVIC_Init(&NVIC_InitStructure);
|
||||
#endif
|
||||
|
||||
// ------------- Timer3 ------------- //
|
||||
/* Compute the prescaler value */
|
||||
/* TIM3 clock enable */
|
||||
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
|
||||
|
||||
PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / TIMER_FREQ) - 1;
|
||||
|
||||
/* Time base configuration */
|
||||
TIM_TimeBaseStructure.TIM_Period = 65535;
|
||||
TIM_TimeBaseStructure.TIM_Prescaler = 0;
|
||||
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
|
||||
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
|
||||
|
||||
TIM_TimeBaseInit(TIM3, &TIM_TimeBaseStructure);
|
||||
|
||||
/* Prescaler configuration */
|
||||
TIM_PrescalerConfig(TIM3, PrescalerValue, TIM_PSCReloadMode_Immediate);
|
||||
|
||||
/* TIM3 enable counter */
|
||||
TIM_Cmd(TIM3, ENABLE);
|
||||
|
||||
// Set up a virtual timer to update the counters
|
||||
chSysLock();
|
||||
chVTSetI(&vt, MS2ST(1), update_counters, NULL);
|
||||
chSysUnlock();
|
||||
icuStart(&ICUD3, &icucfg);
|
||||
palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_ALTERNATE(HW_ICU_GPIO_AF));
|
||||
icuEnable(&ICUD3);
|
||||
|
||||
// Set our function pointer
|
||||
done_func = d_func;
|
||||
}
|
||||
|
||||
static void update_counters(void *p) {
|
||||
(void)p;
|
||||
|
||||
chSysLockFromIsr();
|
||||
chVTSetI(&vt, MS2ST(1), update_counters, p);
|
||||
chSysUnlockFromIsr();
|
||||
|
||||
interrupt_time++;
|
||||
time_since_update++;
|
||||
}
|
||||
|
||||
void servodec_int_handler(void) {
|
||||
static int curr_index = 0;
|
||||
|
||||
// Long time since last interrupt means that a new cycle has started
|
||||
if (interrupt_time >= INTERRUPT_TRESHOLD) {
|
||||
curr_index = 0;
|
||||
interrupt_time = 0;
|
||||
TIM3->CNT = 0;
|
||||
return;
|
||||
}
|
||||
|
||||
if (curr_index < SERVO_NUM) {
|
||||
// Use floating point because we can :)
|
||||
float time_ms = (float)(TIM3->CNT);
|
||||
time_ms = (time_ms * 1000.0) / (float)TIMER_FREQ;
|
||||
|
||||
if (time_ms < 0.4) {
|
||||
return;
|
||||
}
|
||||
|
||||
TIM3->CNT = 0;
|
||||
|
||||
// Check if pulse is within valid range
|
||||
if (time_ms > 0.8 && time_ms < 2.2) {
|
||||
|
||||
// Truncate (just in case)
|
||||
if (time_ms > 2.0) {
|
||||
time_ms = 2.0;
|
||||
}
|
||||
|
||||
if (time_ms < 1.0) {
|
||||
time_ms = 1.0;
|
||||
}
|
||||
|
||||
// Update position
|
||||
servo_pos[curr_index] = (int8_t)((time_ms - 1.5) * 255.0);
|
||||
}
|
||||
}
|
||||
|
||||
curr_index++;
|
||||
|
||||
if (curr_index == SERVO_NUM) {
|
||||
time_since_update = 0;
|
||||
|
||||
// Call the function pointer if it is not NULL.
|
||||
if (done_func) {
|
||||
done_func();
|
||||
}
|
||||
}
|
||||
|
||||
interrupt_time = 0;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a decoded servo value as an integer.
|
||||
* Change the limits of how the servo pulses should be decoded.
|
||||
*
|
||||
* @param servo_num
|
||||
* The servo index. If it is out of range, 0 will be returned.
|
||||
* @param start
|
||||
* The amount of milliseconds the pulse starts at (default is 1.0)
|
||||
*
|
||||
* @return
|
||||
* The servo value in the range [-128 127].
|
||||
* @param width
|
||||
* The width of the pulse in milliseconds (default is 1.0)
|
||||
*/
|
||||
int8_t servodec_get_servo(int servo_num) {
|
||||
if (servo_num < SERVO_NUM) {
|
||||
return servo_pos[servo_num];
|
||||
} else {
|
||||
return 0;
|
||||
}
|
||||
void servodec_set_pulse_options(float start, float width) {
|
||||
pulse_start = start;
|
||||
pulse_width = width;
|
||||
}
|
||||
|
||||
/**
|
||||
* Get a decoded servo value as a float.
|
||||
* Get a decoded servo value.
|
||||
*
|
||||
* @param servo_num
|
||||
* The servo index. If it is out of range, 0 will be returned.
|
||||
* The servo index. If it is out of range, 0.0 will be returned.
|
||||
*
|
||||
* @return
|
||||
* The servo value in the range [-1.0 1.0].
|
||||
*/
|
||||
float servodec_get_servo_as_float(int servo_num) {
|
||||
return (float)servodec_get_servo(servo_num) / 128.0;
|
||||
float servodec_get_servo(int servo_num) {
|
||||
if (servo_num < SERVO_NUM) {
|
||||
return servo_pos[servo_num];
|
||||
} else {
|
||||
return 0.0;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -253,5 +134,5 @@ float servodec_get_servo_as_float(int servo_num) {
|
|||
* The amount of milliseconds that have passed since an update.
|
||||
*/
|
||||
uint32_t servodec_get_time_since_update(void) {
|
||||
return time_since_update;
|
||||
return chTimeElapsedSince(last_update_time) / (CH_FREQUENCY / 1000);
|
||||
}
|
||||
|
|
|
|||
10
servo_dec.h
10
servo_dec.h
|
|
@ -28,16 +28,10 @@
|
|||
#include <stdint.h>
|
||||
#include <conf_general.h>
|
||||
|
||||
// Servo function indexes
|
||||
#define SERVODEC_IND_STEERING 0
|
||||
#define SERVODEC_IND_THROTTLE 1
|
||||
#define SERVODEC_IND_AUX 2
|
||||
|
||||
// Functions
|
||||
void servodec_init(void (*d_func)(void));
|
||||
void servodec_int_handler(void);
|
||||
int8_t servodec_get_servo(int servo_num);
|
||||
float servodec_get_servo_as_float(int servo_num);
|
||||
void servodec_set_pulse_options(float start, float width);
|
||||
float servodec_get_servo(int servo_num);
|
||||
uint32_t servodec_get_time_since_update(void);
|
||||
|
||||
#endif /* SERVO_DEC_H_ */
|
||||
|
|
|
|||
144
terminal.c
144
terminal.c
|
|
@ -25,7 +25,7 @@
|
|||
#include "ch.h"
|
||||
#include "hal.h"
|
||||
#include "terminal.h"
|
||||
#include "comm.h"
|
||||
#include "commands.h"
|
||||
#include "mcpwm.h"
|
||||
#include "main.h"
|
||||
#include "hw.h"
|
||||
|
|
@ -45,47 +45,47 @@ void terminal_process_string(char *str) {
|
|||
}
|
||||
|
||||
if (argc == 0) {
|
||||
comm_printf("No command received\n");
|
||||
commands_printf("No command received\n");
|
||||
return;
|
||||
}
|
||||
|
||||
if (strcmp(argv[0], "ping") == 0) {
|
||||
comm_printf("pong\n");
|
||||
commands_printf("pong\n");
|
||||
} else if (strcmp(argv[0], "stop") == 0) {
|
||||
mcpwm_set_duty(0);
|
||||
comm_printf("Motor stopped\n");
|
||||
commands_printf("Motor stopped\n");
|
||||
} else if (strcmp(argv[0], "last_adc_duration") == 0) {
|
||||
comm_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
|
||||
comm_printf("Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0));
|
||||
comm_printf("Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0));
|
||||
commands_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
|
||||
commands_printf("Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0));
|
||||
commands_printf("Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0));
|
||||
} else if (strcmp(argv[0], "kv") == 0) {
|
||||
comm_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
|
||||
commands_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
|
||||
} else if (strcmp(argv[0], "mem") == 0) {
|
||||
size_t n, size;
|
||||
n = chHeapStatus(NULL, &size);
|
||||
comm_printf("core free memory : %u bytes", chCoreStatus());
|
||||
comm_printf("heap fragments : %u", n);
|
||||
comm_printf("heap free total : %u bytes\n", size);
|
||||
commands_printf("core free memory : %u bytes", chCoreStatus());
|
||||
commands_printf("heap fragments : %u", n);
|
||||
commands_printf("heap free total : %u bytes\n", size);
|
||||
} else if (strcmp(argv[0], "threads") == 0) {
|
||||
Thread *tp;
|
||||
static const char *states[] = {THD_STATE_NAMES};
|
||||
comm_printf(" addr stack prio refs state name time ");
|
||||
comm_printf("-------------------------------------------------------------");
|
||||
commands_printf(" addr stack prio refs state name time ");
|
||||
commands_printf("-------------------------------------------------------------");
|
||||
tp = chRegFirstThread();
|
||||
do {
|
||||
comm_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu",
|
||||
commands_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu",
|
||||
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
|
||||
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
|
||||
states[tp->p_state], tp->p_name, (uint32_t)tp->p_time);
|
||||
tp = chRegNextThread(tp);
|
||||
} while (tp != NULL);
|
||||
comm_printf("");
|
||||
commands_printf("");
|
||||
} else if (strcmp(argv[0], "fault") == 0) {
|
||||
comm_print_fault_code(mcpwm_get_fault());
|
||||
commands_print_fault_code(mcpwm_get_fault());
|
||||
} else if (strcmp(argv[0], "rpm") == 0) {
|
||||
comm_printf("Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm());
|
||||
commands_printf("Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm());
|
||||
} else if (strcmp(argv[0], "tacho") == 0) {
|
||||
comm_printf("Tachometer counts: %i\n", mcpwm_get_tachometer_value(0));
|
||||
commands_printf("Tachometer counts: %i\n", mcpwm_get_tachometer_value(0));
|
||||
} else if (strcmp(argv[0], "tim") == 0) {
|
||||
chSysLock();
|
||||
volatile int t1_cnt = TIM1->CNT;
|
||||
|
|
@ -96,15 +96,15 @@ void terminal_process_string(char *str) {
|
|||
int voltage_samp = TIM8->CCR1;
|
||||
int current1_samp = TIM1->CCR4;
|
||||
int current2_samp = TIM8->CCR2;
|
||||
comm_printf("Tim1 CNT: %i", t1_cnt);
|
||||
comm_printf("Tim8 CNT: %u", t8_cnt);
|
||||
comm_printf("Duty cycle: %u", duty);
|
||||
comm_printf("Top: %u", top);
|
||||
comm_printf("Voltage sample: %u", voltage_samp);
|
||||
comm_printf("Current 1 sample: %u", current1_samp);
|
||||
comm_printf("Current 2 sample: %u\n", current2_samp);
|
||||
commands_printf("Tim1 CNT: %i", t1_cnt);
|
||||
commands_printf("Tim8 CNT: %u", t8_cnt);
|
||||
commands_printf("Duty cycle: %u", duty);
|
||||
commands_printf("Top: %u", top);
|
||||
commands_printf("Voltage sample: %u", voltage_samp);
|
||||
commands_printf("Current 1 sample: %u", current1_samp);
|
||||
commands_printf("Current 2 sample: %u\n", current2_samp);
|
||||
} else if (strcmp(argv[0], "volt") == 0) {
|
||||
comm_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE());
|
||||
commands_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE());
|
||||
} else if (strcmp(argv[0], "param_detect") == 0) {
|
||||
// Use COMM_MODE_DELAY and try to figure out the motor parameters.
|
||||
if (argc == 4) {
|
||||
|
|
@ -115,7 +115,7 @@ void terminal_process_string(char *str) {
|
|||
sscanf(argv[2], "%f", &min_rpm);
|
||||
sscanf(argv[3], "%f", &low_duty);
|
||||
|
||||
const mc_configuration *mcconf = mcpwm_get_configuration();
|
||||
const volatile mc_configuration *mcconf = mcpwm_get_configuration();
|
||||
|
||||
if (current > 0.0 && current < mcconf->l_current_max &&
|
||||
min_rpm > 10.0 && min_rpm < 3000.0 &&
|
||||
|
|
@ -124,22 +124,22 @@ void terminal_process_string(char *str) {
|
|||
float cycle_integrator;
|
||||
float coupling_k;
|
||||
if (conf_general_detect_motor_param(current, min_rpm, low_duty, &cycle_integrator, &coupling_k)) {
|
||||
comm_printf("Cycle integrator limit: %.2f", (double)cycle_integrator);
|
||||
comm_printf("Coupling factor: %.2f\n", (double)coupling_k);
|
||||
commands_printf("Cycle integrator limit: %.2f", (double)cycle_integrator);
|
||||
commands_printf("Coupling factor: %.2f\n", (double)coupling_k);
|
||||
} else {
|
||||
comm_printf("Detection failed. Try again with different parameters.\n");
|
||||
commands_printf("Detection failed. Try again with different parameters.\n");
|
||||
}
|
||||
} else {
|
||||
comm_printf("Invalid argument(s).\n");
|
||||
commands_printf("Invalid argument(s).\n");
|
||||
}
|
||||
} else {
|
||||
comm_printf("This command requires three arguments.\n");
|
||||
commands_printf("This command requires three arguments.\n");
|
||||
}
|
||||
} else if (strcmp(argv[0], "rpm_dep") == 0) {
|
||||
mc_rpm_dep_struct rpm_dep = mcpwm_get_rpm_dep();
|
||||
comm_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit);
|
||||
comm_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running);
|
||||
comm_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max);
|
||||
commands_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit);
|
||||
commands_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running);
|
||||
commands_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max);
|
||||
}
|
||||
|
||||
// Setters
|
||||
|
|
@ -154,67 +154,67 @@ void terminal_process_string(char *str) {
|
|||
|
||||
if (dir >= 0 && fwd_add >= 0 && rev_add >= 0) {
|
||||
mcpwm_init_hall_table(dir, fwd_add, rev_add);
|
||||
comm_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n",
|
||||
commands_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n",
|
||||
dir, fwd_add, rev_add);
|
||||
} else {
|
||||
comm_printf("Invalid argument(s).\n");
|
||||
commands_printf("Invalid argument(s).\n");
|
||||
}
|
||||
} else {
|
||||
comm_printf("This command requires three arguments.\n");
|
||||
commands_printf("This command requires three arguments.\n");
|
||||
}
|
||||
}
|
||||
|
||||
// The help command
|
||||
else if (strcmp(argv[0], "help") == 0) {
|
||||
comm_printf("Valid commands are:");
|
||||
comm_printf("help");
|
||||
comm_printf(" Show this help");
|
||||
commands_printf("Valid commands are:");
|
||||
commands_printf("help");
|
||||
commands_printf(" Show this help");
|
||||
|
||||
comm_printf("ping");
|
||||
comm_printf(" Print pong here to see if the reply works");
|
||||
commands_printf("ping");
|
||||
commands_printf(" Print pong here to see if the reply works");
|
||||
|
||||
comm_printf("stop");
|
||||
comm_printf(" Stop the motor");
|
||||
commands_printf("stop");
|
||||
commands_printf(" Stop the motor");
|
||||
|
||||
comm_printf("last_adc_duration");
|
||||
comm_printf(" The time the latest ADC interrupt consumed");
|
||||
commands_printf("last_adc_duration");
|
||||
commands_printf(" The time the latest ADC interrupt consumed");
|
||||
|
||||
comm_printf("kv");
|
||||
comm_printf(" The calculated kv of the motor");
|
||||
commands_printf("kv");
|
||||
commands_printf(" The calculated kv of the motor");
|
||||
|
||||
comm_printf("mem");
|
||||
comm_printf(" Show memory usage");
|
||||
commands_printf("mem");
|
||||
commands_printf(" Show memory usage");
|
||||
|
||||
comm_printf("threads");
|
||||
comm_printf(" List all threads");
|
||||
commands_printf("threads");
|
||||
commands_printf(" List all threads");
|
||||
|
||||
comm_printf("fault");
|
||||
comm_printf(" Prints the current fault code");
|
||||
commands_printf("fault");
|
||||
commands_printf(" Prints the current fault code");
|
||||
|
||||
comm_printf("rpm");
|
||||
comm_printf(" Prints the current electrical RPM");
|
||||
commands_printf("rpm");
|
||||
commands_printf(" Prints the current electrical RPM");
|
||||
|
||||
comm_printf("tacho");
|
||||
comm_printf(" Prints tachometer value");
|
||||
commands_printf("tacho");
|
||||
commands_printf(" Prints tachometer value");
|
||||
|
||||
comm_printf("tim");
|
||||
comm_printf(" Prints tim1 and tim8 settings");
|
||||
commands_printf("tim");
|
||||
commands_printf(" Prints tim1 and tim8 settings");
|
||||
|
||||
comm_printf("set_hall_table [dir] [fwd_add] [rev_add]");
|
||||
comm_printf(" Update the hall sensor lookup table");
|
||||
commands_printf("set_hall_table [dir] [fwd_add] [rev_add]");
|
||||
commands_printf(" Update the hall sensor lookup table");
|
||||
|
||||
comm_printf("volt");
|
||||
comm_printf(" Prints different voltages");
|
||||
commands_printf("volt");
|
||||
commands_printf(" Prints different voltages");
|
||||
|
||||
comm_printf("param_detect [current] [min_rpm] [low_duty]");
|
||||
comm_printf(" Spin up the motor in COMM_MODE_DELAY and compute its parameters.");
|
||||
comm_printf(" This test should be performed without load on the motor.");
|
||||
comm_printf(" Example: param_detect 5.0 600 0.06");
|
||||
commands_printf("param_detect [current] [min_rpm] [low_duty]");
|
||||
commands_printf(" Spin up the motor in COMM_MODE_DELAY and compute its parameters.");
|
||||
commands_printf(" This test should be performed without load on the motor.");
|
||||
commands_printf(" Example: param_detect 5.0 600 0.06");
|
||||
|
||||
comm_printf("rpm_dep");
|
||||
comm_printf(" Prints some rpm-dep values\n");
|
||||
commands_printf("rpm_dep");
|
||||
commands_printf(" Prints some rpm-dep values\n");
|
||||
} else {
|
||||
comm_printf("Invalid command: %s\n"
|
||||
commands_printf("Invalid command: %s\n"
|
||||
"type help to list all available commands\n", argv[0]);
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in New Issue