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Merge pull request #556 from luna-cycle/luna_m600 

luna_m600: Add hardware support files
This commit is contained in:
Benjamin Vedder 2022-11-20 07:53:41 +01:00 committed by GitHub
parent 858bdb9913 4df718310c
commit db7b39e0b7
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
20 changed files with 3488 additions and 475 deletions
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3
hwconf/hwconf.mk
View File

@ -5,7 +5,8 @@ HWSRC = \
hwconf/drv8305.c \
hwconf/drv8320s.c \
hwconf/drv8323s.c \
hwconf/luna/luna_display_serial.c \
hwconf/luna/bbshd/luna_display_serial.c \
hwconf/luna/m600/luna_m600_display.c \
hwconf/si8900.c \
hwconf/shutdown.c \

0
hwconf/luna/appconf_luna_bbshd.h → hwconf/luna/bbshd/appconf_luna_bbshd.h
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37
hwconf/luna/hw_luna_bbshd.c → hwconf/luna/bbshd/hw_luna_bbshd.c
View File

@ -21,12 +21,14 @@
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "utils_math.h"
#include "utils.h"
#include <math.h>
#include "mc_interface.h"
#include "terminal.h"
#include "commands.h"
#include "stdio.h"
#include "app.h"
#include "mempools.h"
#define EEPROM_ADDR_INITIAL_ASSIST_LEVEL 0
#define EEPROM_ADDR_MOTOR_HAS_PTC_SENSOR 1
@ -42,6 +44,7 @@ static void terminal_cmd_set_initial_assist_level(int argc, const char **argv);
static void terminal_cmd_read_initial_assist_level(int argc, const char **argv);
static void terminal_cmd_set_bbshd_has_PTC_sensor(int argc, const char **argv);
static void terminal_cmd_set_bbshd_use_fixed_throttle_level(int argc, const char **argv);
static void hw_override_pairing_done(void);
int8_t hw_read_initial_assist_level(void);
bool hw_bbshd_has_PTC_sensor(void);
@ -139,6 +142,7 @@ void hw_init_gpio(void) {
int8_t initial_assist_level = hw_read_initial_assist_level();
motor_has_PTC_sensor = true;// hw_bbshd_has_PTC_sensor();
hw_override_pairing_done();
luna_display_serial_start(initial_assist_level);
}
@ -275,6 +279,7 @@ void hw_try_restore_i2c(void) {
}
static float wheel_rpm_filtered = 0;
static float trip_odometer = 0;
void hw_update_speed_sensor(void) {
static float wheel_rpm = 0;
@ -289,12 +294,14 @@ void hw_update_speed_sensor(void) {
float revolution_duration = current_time - last_sensor_event_time;
if (revolution_duration > 0.05) { //ignore periods <50ms
last_sensor_event_time = current_time;
wheel_rpm = 60.0 / revolution_duration;
// Apply averaging filter
UTILS_LP_FAST(wheel_rpm_filtered, (float)wheel_rpm, 0.5);
const volatile mc_configuration *conf = mc_interface_get_configuration();
trip_odometer += conf->si_wheel_diameter * M_PI;
//trip_odometer += mc_interface_get_configuration()->si_wheel_diameter * M_PI; test this
}
} else {
// After 3 seconds without sensor signal, set RPM as zero
@ -312,6 +319,14 @@ float hw_get_speed(void) {
return speed;
}
/* Get trip distance in meters */
float hw_get_distance(void) {
return trip_odometer;
}
float hw_get_distance_abs(void) {
return trip_odometer;
}
/* Gear Shift sensor support
* Read the gear sensor and use it to override the brake adc signal to reduce motor
* power during shifting to extend gearing life.
@ -548,3 +563,17 @@ bool hw_bbshd_has_fixed_throttle_level(void) {
return true;
}
}
// Users are getting locked out because they don't know what pairing means. Lets disable the pairing
static void hw_override_pairing_done(void) {
if( app_get_configuration()->pairing_done == true) {
app_configuration *appconf = mempools_alloc_appconf();
*appconf = *app_get_configuration();
appconf->pairing_done = false;
conf_general_store_app_configuration(appconf);
app_set_configuration(appconf);
mempools_free_appconf(appconf);
}
}

13
hwconf/luna/hw_luna_bbshd.h → hwconf/luna/bbshd/hw_luna_bbshd.h
View File

@ -22,11 +22,11 @@
#define HW_LUNA_BBSHD_H_
#define HW_NAME "LUNA_BBSHD"
#include "mcconf_luna_bbshd_52v.h"
#include "mcconf_luna_bbshd.h"
#include "appconf_luna_bbshd.h"
#define QMLUI_SOURCE_HW "hwconf/luna/qmlui_luna_v1.c"
#define QMLUI_HEADER_HW "hwconf/luna/qmlui_luna_v1.h"
#define QMLUI_SOURCE_HW "hwconf/luna/bbshd/qmlui_luna_bbshd.c"
#define QMLUI_HEADER_HW "hwconf/luna/bbshd/qmlui_luna_bbshd.h"
#define QMLUI_HW_FULLSCREEN
// HW properties
@ -120,6 +120,11 @@
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
//log throttle data
#define NTC_TEMP_MOS2() ((float)ADC_VOLTS(ADC_IND_EXT))
// log gate driver supply voltage
#define NTC_TEMP_MOS3() GET_GATE_DRIVER_SUPPLY_VOLTAGE()
// Double samples in beginning and end for positive current measurement.
// Useful when the shunt sense traces have noise that causes offset.
#ifndef CURR1_DOUBLE_SAMPLE
@ -255,6 +260,8 @@
// HW-specific functions
void hw_update_speed_sensor(void);
float hw_get_speed(void);
float hw_get_distance(void);
float hw_get_distance_abs(void);
void hw_brake_override(float *brake);
float hw_read_motor_temp(float beta);
bool hw_bbshd_has_fixed_throttle_level(void);

2
hwconf/luna/luna_display_serial.c → hwconf/luna/bbshd/luna_display_serial.c
View File

@ -26,7 +26,7 @@
#include "packet.h"
#include "commands.h"
#include "mc_interface.h"
#include "utils_math.h"
#include "utils.h"
#include <math.h>
#include <string.h>
#include "comm_can.h"

0
hwconf/luna/luna_display_serial.h → hwconf/luna/bbshd/luna_display_serial.h
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2
hwconf/luna/mcconf_luna_bbshd_52v.h → hwconf/luna/bbshd/mcconf_luna_bbshd.h
View File

@ -478,7 +478,7 @@
#define MCCONF_SI_GEAR_RATIO 7
// Wheel Diameter
#define MCCONF_SI_WHEEL_DIAMETER 0.66
#define MCCONF_SI_WHEEL_DIAMETER 0.572 //banana bike wheel outer diameter
// Battery Type
#define MCCONF_SI_BATTERY_TYPE 0

379
hwconf/luna/bbshd/qmlui_luna_bbshd.c Normal file
View File

@ -0,0 +1,379 @@
// This file is autogenerated by VESC Tool
#include "qmlui_luna_bbshd.h"
uint8_t data_qml_hw[5953] = {
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0x28, 0xaf, 0x53, 0x07, 0xd0, 0x33, 0x18, 0xcb, 0xf3, 0x5b, 0xe8, 0xc2, 0xfb, 0x41, 0x78, 0x5b,
0x0b, 0xb0, 0x2e, 0xe7, 0xbf, 0x68, 0x82, 0x33, 0x73, 0xa0, 0x29, 0xc1, 0x58, 0x9c, 0xa5, 0x74,
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0x01, 0xcd, 0x5c, 0x96, 0xd2, 0xb9, 0x33, 0x55, 0x3d, 0xbf, 0x25, 0x43, 0x21, 0x7b, 0xb1, 0xb4,
0xb8, 0x28, 0xf8, 0x64, 0x3a, 0x33, 0xf7, 0x4a, 0xcb, 0xba, 0x38, 0xcd, 0xbd, 0xd2, 0x1a, 0xc0,
0x98, 0x7b, 0xa7, 0xcd, 0xbd, 0xd3, 0xe6, 0xde, 0xe9, 0xe5, 0x01, 0x33, 0xf7, 0x4e, 0x37, 0xbf,
0x77, 0xda, 0xdc, 0xff, 0x2c, 0x3d, 0x07, 0x6a, 0x37, 0x74, 0x3f, 0xe3, 0xbd, 0xd2, 0x32, 0x98,
0x32, 0x6b, 0x2d, 0x73, 0x13, 0xb5, 0x1c, 0x14, 0x73, 0x13, 0xb5, 0xb9, 0x89, 0xda, 0xdc, 0x44,
0xdd, 0x9c, 0x92, 0xcd, 0x4d, 0xd4, 0xe6, 0x26, 0x6a, 0x73, 0x13, 0x75, 0xc5, 0x80, 0x6d, 0xf2,
0x4d, 0xd4, 0xe6, 0x1a, 0x6a, 0x73, 0x0d, 0xf5, 0xcf, 0x77, 0x0d, 0x75, 0x81, 0xf3, 0xa6, 0xe5,
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0x5c, 0x43, 0xdd, 0x92, 0x9d, 0x64, 0xae, 0xa1, 0x36, 0xd7, 0x50, 0x37, 0x61, 0x6d, 0x73, 0x0d,
0xb5, 0xce, 0x6b, 0xa8, 0xcd, 0x15, 0xd3, 0xc0, 0x5c, 0x31, 0x6d, 0xae, 0x98, 0xd6, 0xc9, 0x97,
0x65, 0x2c, 0x69, 0xae, 0x86, 0xae, 0x4b, 0x5a, 0x9b, 0x73, 0x35, 0xb4, 0xb9, 0xfd, 0xd9, 0xdc,
0xfe, 0xdc, 0xf4, 0x38, 0x51, 0xf5, 0x9b, 0x24, 0xec, 0x30, 0x8c, 0x52, 0x2b, 0xd0, 0x2f, 0xc2,
0xe3, 0x90, 0x89, 0x66, 0x93, 0xbf, 0x32, 0x39, 0xb7, 0xf7, 0x77, 0xde, 0xc3, 0x7b, 0x8f, 0xbd,
0x75, 0x27, 0xfc, 0x27, 0xff, 0xb7, 0x64, 0xb9, 0x9d, 0x1c, 0x46, 0x2a, 0x3e, 0xb3, 0x94, 0x75,
0x51, 0xe4, 0x2f, 0x79, 0x3d, 0x11, 0x5f, 0x19, 0xde, 0xa6, 0x5b, 0xbe, 0x62, 0x5f, 0x0d, 0xb2,
0x09, 0x24, 0x92, 0x8d, 0xfe, 0xc1, 0x67, 0x7c, 0x4b, 0xef, 0xd7, 0x3e, 0x7d, 0xf8, 0x12, 0x90,
0x76, 0xc5, 0xdd, 0xda, 0xa5, 0xd3, 0xb6, 0xdc, 0xa7, 0xec, 0x6f, 0x11, 0x52, 0x4e, 0xcd, 0x2e,
0x6f, 0xbb, 0x08, 0x09, 0x4c, 0xe1, 0xe2, 0x22, 0x60, 0x86, 0xf8, 0x1c, 0x47, 0x7c, 0xb6, 0x68,
0x9f, 0xe7, 0x86, 0xed, 0x5a, 0x99, 0x10, 0xa1, 0x75, 0x82, 0x74, 0x01, 0x96, 0x13, 0x54, 0xb9,
0x7c, 0x5c, 0x66, 0x0f, 0x15, 0xb4, 0x91, 0x9a, 0x53, 0xc2, 0x0b, 0xc3, 0x3a, 0xc5, 0x88, 0x13,
0xa3, 0x76, 0x39, 0xad, 0x81, 0x60, 0x95, 0xf0, 0x6a, 0xf1, 0xe0, 0xcb, 0xe2, 0x7d, 0x92, 0x7b,
0x60, 0x70, 0x9c, 0x72, 0x62, 0x25, 0x09, 0x0c, 0xb2, 0xf4, 0x1d, 0x27, 0x41, 0xc8, 0xbe, 0x2d,
0x49, 0x48, 0x30, 0x0e, 0xc7, 0x80, 0x2b, 0xce, 0x14, 0xdd, 0x46, 0x4e, 0x26, 0x3e, 0x0c, 0x27,
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0x1d, 0xe4, 0xf5, 0x3b, 0xff, 0x76, 0x38, 0x15, 0xff, 0x74, 0xf2, 0xc7, 0x3d, 0xaf, 0xeb, 0x73,
0x5c, 0xd8, 0xed, 0x7e, 0x5e, 0xb7, 0x33, 0x83, 0x9b, 0x9b, 0xfa, 0xa1, 0xb8, 0xd3, 0x22, 0xc8,
0x5d, 0xe4, 0x26, 0x48, 0x0d, 0xb7, 0x15, 0x01, 0x16, 0xfb, 0x4d, 0x39, 0x43, 0xf2, 0xcb, 0xeb,
0x8a, 0x41, 0x59, 0x31, 0xb0, 0x39, 0x8e, 0xc6, 0x83, 0xdb, 0xeb, 0x3d, 0xc9, 0x0f, 0x60, 0x42,
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0xf2, 0xab, 0xf3, 0xf4, 0xfc, 0xc4, 0x47, 0x5b, 0x83, 0x09, 0xd2, 0xe6, 0x4a, 0x59, 0xea, 0xf5,
0x81, 0xde, 0x8c, 0x49, 0xbc, 0xf7, 0x99, 0x45, 0x9a, 0x4a, 0xa6, 0x85, 0x74, 0xe7, 0x5d, 0x2e,
0x50, 0x89, 0x83, 0x5d, 0x68, 0x9f, 0x38, 0x93, 0x6e, 0x87, 0xc3, 0xbc, 0x89, 0xd7, 0x94, 0x60,
0xd0, 0x91, 0xcc, 0x5a, 0xa4, 0x9a, 0x1b, 0x41, 0xb6, 0x01, 0xfd, 0xce, 0xae, 0xc6, 0x1b, 0xb7,
0x96, 0x26, 0x44, 0x2e, 0xb5, 0x46, 0xde, 0x2a, 0xa1, 0xfc, 0xec, 0xbe, 0x5c, 0xa3, 0x4a, 0x16,
0x12, 0x4a, 0x54, 0xf7, 0xb4, 0x53, 0x74, 0x16, 0xe4, 0x97, 0x58, 0xc7, 0x94, 0x91, 0x86, 0xfc,
0xc1, 0xf0, 0x12, 0x44, 0x89, 0x9a, 0x92, 0xc6, 0x54, 0x7e, 0xc9, 0xeb, 0x93, 0xb2, 0xe9, 0x5b,
0xa4, 0xc9, 0x09, 0x2b, 0xd2, 0xe3, 0x47, 0x9a, 0x0d, 0xa1, 0x52, 0xfd, 0x95, 0x37, 0x2e, 0x22,
0x5a, 0x06, 0x3a, 0x7e, 0x98, 0x85, 0x6f, 0x22, 0x32, 0xfe, 0xf0, 0x65, 0x6d, 0xa8, 0x2f, 0xc7,
0x1e, 0x97, 0xb0, 0xc2, 0xa5, 0x34, 0x11, 0x66, 0x94, 0xd0, 0x96, 0x00, 0xd3, 0xe8, 0x88, 0x3c,
0x9a, 0xec, 0x01, 0x2f, 0x38, 0x19, 0xea, 0xe6, 0x81, 0xe4, 0xb0, 0xec, 0x30, 0x71, 0x90, 0xa8,
0xc2, 0xd7, 0xc1, 0x5c, 0x99, 0x5b, 0xe5, 0xba, 0x56, 0x22, 0xbf, 0x55, 0x3c, 0x6c, 0xe2, 0x8a,
0xe0, 0x7c, 0xb6, 0xc9, 0xcc, 0x6e, 0x64, 0x3d, 0xec, 0xca, 0x96, 0x1c, 0x21, 0x36, 0xf7, 0x0b,
0x8a, 0x2f, 0xdd, 0x0e, 0x7c, 0xe6, 0xcc, 0x45, 0x76, 0xa4, 0x6e, 0xff, 0xf1, 0x94, 0x3f, 0xd5,
0x55, 0x6e, 0x1d, 0xfa, 0xb1, 0xa4, 0x41, 0xa5, 0x92, 0x4b, 0x8c, 0x52, 0x9e, 0xad, 0x53, 0xa5,
0xff, 0xab, 0x47, 0xab, 0xc6, 0x38, 0xa8, 0xf3, 0xc4, 0xd3, 0xce, 0xff, 0x03, 0x34, 0x47, 0xf2,
0x86,
};

17
hwconf/luna/bbshd/qmlui_luna_bbshd.h Normal file
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@ -0,0 +1,17 @@
// This file is autogenerated by VESC Tool
#ifndef QMLUI_LUNA_BBSHD_H_
#define QMLUI_LUNA_BBSHD_H_
#include "datatypes.h"
#include <stdint.h>
#include <stdbool.h>
// Constants
#define DATA_QML_HW_SIZE 5953
// Variables
extern uint8_t data_qml_hw[];
// QMLUI_LUNA_BBSHD_H_
#endif

491
hwconf/luna/m600/appconf_luna_m600.h Normal file
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// This file is autogenerated by VESC Tool
#ifndef APPCONF_LUNA_M600_H_
#define APPCONF_LUNA_M600_H_
// VESC ID
#define APPCONF_CONTROLLER_ID 100
// Timeout
#define APPCONF_TIMEOUT_MSEC 1000
// Timeout Brake Current
#define APPCONF_TIMEOUT_BRAKE_CURRENT 0
// Can Status Message Mode
#define APPCONF_SEND_CAN_STATUS 0
// Can Status Rate
#define APPCONF_SEND_CAN_STATUS_RATE_HZ 50
// CAN Baud Rate
#define APPCONF_CAN_BAUD_RATE 1
// Pairing Done
#define APPCONF_PAIRING_DONE 0
// Enable Permanent UART
#define APPCONF_PERMANENT_UART_ENABLED 1
// Shutdown Mode
#define APPCONF_SHUTDOWN_MODE 6
// CAN Mode
#define APPCONF_CAN_MODE 0
// UAVCAN ESC Index
#define APPCONF_UAVCAN_ESC_INDEX 0
// UAVCAN Raw Throttle Mode
#define APPCONF_UAVCAN_RAW_MODE 0
// Enable Servo Output
#define APPCONF_SERVO_OUT_ENABLE 0
// APP to Use
#define APPCONF_APP_TO_USE 11
// Control Type
#define APPCONF_PPM_CTRL_TYPE 0
// PID Max ERPM
#define APPCONF_PPM_PID_MAX_ERPM 15000
// Input Deadband
#define APPCONF_PPM_HYST 0.15
// Pulselength Start
#define APPCONF_PPM_PULSE_START 1
// Pulselength End
#define APPCONF_PPM_PULSE_END 2
// Pulselength Center
#define APPCONF_PPM_PULSE_CENTER 1.5
// Median Filter
#define APPCONF_PPM_MEDIAN_FILTER 1
// Safe Start
#define APPCONF_PPM_SAFE_START 1
// Throttle Expo
#define APPCONF_PPM_THROTTLE_EXP 0
// Throttle Expo Brake
#define APPCONF_PPM_THROTTLE_EXP_BRAKE 0
// Throttle Expo Mode
#define APPCONF_PPM_THROTTLE_EXP_MODE 2
// Positive Ramping Time
#define APPCONF_PPM_RAMP_TIME_POS 0.4
// Negative Ramping Time
#define APPCONF_PPM_RAMP_TIME_NEG 0.2
// Multiple VESCs Over CAN
#define APPCONF_PPM_MULTI_ESC 1
// Traction Control
#define APPCONF_PPM_TC 0
// TC Max ERPM Difference
#define APPCONF_PPM_TC_MAX_DIFF 3000
// Max ERPM for direction switch
#define APPCONF_PPM_MAX_ERPM_FOR_DIR 4000
// Smart Reverse Max Duty Cycle
#define APPCONF_PPM_SMART_REV_MAX_DUTY 0.07
// Smart Reverse Ramp Time
#define APPCONF_PPM_SMART_REV_RAMP_TIME 3
// Control Type
#define APPCONF_ADC_CTRL_TYPE 8
// Input Deadband
#define APPCONF_ADC_HYST 0.02
// ADC1 Min Voltage
#define APPCONF_ADC_VOLTAGE_START 0.55
// ADC1 Max Voltage
#define APPCONF_ADC_VOLTAGE_END 2.76
// ADC1 Center Voltage
#define APPCONF_ADC_VOLTAGE_CENTER 1.64
// ADC2 Min Voltage
#define APPCONF_ADC_VOLTAGE2_START 0
// ADC2 Max Voltage
#define APPCONF_ADC_VOLTAGE2_END 2
// Use Filter
#define APPCONF_ADC_USE_FILTER 1
// Safe Start
#define APPCONF_ADC_SAFE_START 1
// Invert Cruise Control Button
#define APPCONF_ADC_CC_BUTTON_INVERTED 1
// Invert Reverse Button
#define APPCONF_ADC_REV_BUTTON_INVERTED 0
// Invert ADC1 Voltage
#define APPCONF_ADC_VOLTAGE_INVERTED 0
// Invert ADC2 Voltage
#define APPCONF_ADC_VOLTAGE2_INVERTED 1
// Throttle Expo
#define APPCONF_ADC_THROTTLE_EXP 0
// Throttle Expo Brake
#define APPCONF_ADC_THROTTLE_EXP_BRAKE 0
// Throttle Expo Mode
#define APPCONF_ADC_THROTTLE_EXP_MODE 2
// Positive Ramping Time
#define APPCONF_ADC_RAMP_TIME_POS 0.3
// Negative Ramping Time
#define APPCONF_ADC_RAMP_TIME_NEG 0.1
// Multiple VESCs Over CAN
#define APPCONF_ADC_MULTI_ESC 1
// Traction Control
#define APPCONF_ADC_TC 0
// TC Max ERPM Difference
#define APPCONF_ADC_TC_MAX_DIFF 3000
// Update Rate
#define APPCONF_ADC_UPDATE_RATE_HZ 500
// Baudrate
#define APPCONF_UART_BAUDRATE 115200
// Control Type
#define APPCONF_CHUK_CTRL_TYPE 1
// Input Deadband
#define APPCONF_CHUK_HYST 0.15
// Positive Ramping Time
#define APPCONF_CHUK_RAMP_TIME_POS 0.4
// Negative Ramping Time
#define APPCONF_CHUK_RAMP_TIME_NEG 0.2
// ERPM Per Second Cruise Control
#define APPCONF_STICK_ERPM_PER_S_IN_CC 3000
// Throttle Expo
#define APPCONF_CHUK_THROTTLE_EXP 0
// Throttle Expo Brake
#define APPCONF_CHUK_THROTTLE_EXP_BRAKE 0
// Throttle Expo Mode
#define APPCONF_CHUK_THROTTLE_EXP_MODE 2
// Multiple VESCs Over CAN
#define APPCONF_CHUK_MULTI_ESC 1
// Traction Control
#define APPCONF_CHUK_TC 0
// TC Max ERPM Difference
#define APPCONF_CHUK_TC_MAX_DIFF 3000
// Use Smart Reverse
#define APPCONF_CHUK_USE_SMART_REV 1
// Smart Reverse Max Duty Cycle
#define APPCONF_CHUK_SMART_REV_MAX_DUTY 0.07
// Smart Reverse Ramp Time
#define APPCONF_CHUK_SMART_REV_RAMP_TIME 3
// Speed
#define APPCONF_NRF_SPEED 1
// TX Power
#define APPCONF_NRF_POWER 3
// CRC
#define APPCONF_NRF_CRC 1
// Retry Delay
#define APPCONF_NRF_RETR_DELAY 0
// Retries
#define APPCONF_NRF_RETRIES 3
// Radio Channel
#define APPCONF_NRF_CHANNEL 76
// Address 0
#define APPCONF_NRF_ADDR_B0 198
// Address 1
#define APPCONF_NRF_ADDR_B1 199
// Address 2
#define APPCONF_NRF_ADDR_B2 0
// Send ACK
#define APPCONF_NRF_SEND_CRC_ACK 1
// P
#define APPCONF_BALANCE_KP 0
// I
#define APPCONF_BALANCE_KI 0
// D
#define APPCONF_BALANCE_KD 0
// Loop Hertz
#define APPCONF_BALANCE_HERTZ 1000
// Pitch Axis Fault Cutoff
#define APPCONF_BALANCE_FAULT_PITCH 20
// Roll Axis Fault Cutoff
#define APPCONF_BALANCE_FAULT_ROLL 45
// Duty Cycle Fault Cutoff
#define APPCONF_BALANCE_FAULT_DUTY 0.9
// ADC1 Switch Voltage
#define APPCONF_BALANCE_FAULT_ADC1 0
// ADC2 Switch Voltage
#define APPCONF_BALANCE_FAULT_ADC2 0
// Pitch Fault Delay
#define APPCONF_BALANCE_FAULT_DELAY_PITCH 0
// Roll Fault Delay
#define APPCONF_BALANCE_FAULT_DELAY_ROLL 0
// Duty Fault Delay
#define APPCONF_BALANCE_FAULT_DELAY_DUTY 0
// Half Switch Fault Delay
#define APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF 0
// Full Switch Fault Delay
#define APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL 0
// ADC Half State Fault ERPM
#define APPCONF_BALANCE_FAULT_ADC_HALF_ERPM 1000
// Tiltback Angle
#define APPCONF_BALANCE_TILTBACK_ANGLE 15
// Tiltback Speed
#define APPCONF_BALANCE_TILTBACK_SPEED 5
// Duty Cycle Tiltback
#define APPCONF_BALANCE_TILTBACK_DUTY 0.75
// High Voltage Tiltback
#define APPCONF_BALANCE_TILTBACK_HIGH_V 200
// Low Voltage Tiltback
#define APPCONF_BALANCE_TILTBACK_LOW_V 0
// Constant Tiltback
#define APPCONF_BALANCE_TILTBACK_CONSTANT 0
// Constant Tiltback ERPM
#define APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM 500
// Startup Pitch Axis Angle Tolerance
#define APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE 20
// Startup Roll Axis Angle Tolerance
#define APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE 8
// Startup Centering Speed
#define APPCONF_BALANCE_STARTUP_SPEED 30
// Deadzone
#define APPCONF_BALANCE_DEADZONE 0
// Multiple VESCs Over CAN
#define APPCONF_BALANCE_MULTI_ESC 0
// Yaw P
#define APPCONF_BALANCE_YAW_KP 0
// Yaw I
#define APPCONF_BALANCE_YAW_KI 0
// Yaw D
#define APPCONF_BALANCE_YAW_KD 0
// Roll Steer KP
#define APPCONF_BALANCE_ROLL_STEER_KP 0
// Roll Steer ERPM KP
#define APPCONF_BALANCE_ROLL_STEER_ERPM_KP 0
// Brake Current
#define APPCONF_BALANCE_BRAKE_CURRENT 0
// Yaw Current Clamp
#define APPCONF_BALANCE_YAW_CURRENT_CLAMP 0
// D term PT1 Filter
#define APPCONF_BALANCE_KD_PT1_FREQUENCY 0
// Start Angle
#define APPCONF_BALANCE_BOOSTER_ANGLE 8
// Ramp Up
#define APPCONF_BALANCE_BOOSTER_RAMP 1
// Current Boost
#define APPCONF_BALANCE_BOOSTER_CURRENT 0
// Start Current Threshold
#define APPCONF_BALANCE_TORQUETILT_START_CURRENT 10
// Tilitback Angle Limit
#define APPCONF_BALANCE_TORQUETILT_ANGLE_LIMIT 5
// Max Tiltback Speed
#define APPCONF_BALANCE_TORQUETILT_SPEED 5
// Strength
#define APPCONF_BALANCE_TORQUETILT_STRENGTH 0
// Current Filter
#define APPCONF_BALANCE_TORQUETILT_FILTER 0.95
// Strength
#define APPCONF_BALANCE_TURNTILT_STRENGTH 0
// Tilitback Angle Limit
#define APPCONF_BALANCE_TURNTILT_ANGLE_LIMIT 5
// Roll Angle Threshold
#define APPCONF_BALANCE_TURNTILT_START_ANGLE 1
// ERPM Threshold
#define APPCONF_BALANCE_TURNTILT_START_ERPM 100
// Max Tiltback Speed
#define APPCONF_BALANCE_TURNTILT_SPEED 5
// Speed Boost %
#define APPCONF_BALANCE_TURNTILT_ERPM_BOOST 20
// Speed Boost Max ERPM
#define APPCONF_BALANCE_TURNTILT_ERPM_BOOST_END 20000
// Control Type
#define APPCONF_PAS_CTRL_TYPE 2
// Sensor Type
#define APPCONF_PAS_SENSOR_TYPE 0
// PAS Max Current
#define APPCONF_PAS_CURRENT_SCALING 0.9
// Pedal RPM Start
#define APPCONF_PAS_PEDAL_RPM_START 10
// Pedal RPM End
#define APPCONF_PAS_PEDAL_RPM_END 120
// Invert Pedal Direction
#define APPCONF_PAS_INVERT_PEDAL_DIRECTION 0
// Sensor Magnets
#define APPCONF_PAS_MAGNETS 12
// Use Filter
#define APPCONF_PAS_USE_FILTER 1
// Positive Ramping Time
#define APPCONF_PAS_RAMP_TIME_POS 0.3
// Negative Ramping Time
#define APPCONF_PAS_RAMP_TIME_NEG 0.2
// Update Rate
#define APPCONF_PAS_UPDATE_RATE_HZ 500
// IMU Type
#define APPCONF_IMU_TYPE 1
// IMU AHRS Mode
#define APPCONF_IMU_AHRS_MODE 0
// Sample Rate
#define APPCONF_IMU_SAMPLE_RATE_HZ 200
// Accelerometer Confidence Decay
#define APPCONF_IMU_ACCEL_CONFIDENCE_DECAY 1
// Mahony KP
#define APPCONF_IMU_MAHONY_KP 0.3
// Mahony KI
#define APPCONF_IMU_MAHONY_KI 0
// Madgwick Beta
#define APPCONF_IMU_MADGWICK_BETA 0.1
// Imu Rotation Roll
#define APPCONF_IMU_ROT_ROLL 0
// Imu Rotation Pitch
#define APPCONF_IMU_ROT_PITCH 0
// Imu Rotation Yaw
#define APPCONF_IMU_ROT_YAW 0
// Accel Offset X
#define APPCONF_IMU_A_OFFSET_0 0
// Accel Offset Y
#define APPCONF_IMU_A_OFFSET_1 0
// Accel Offset Z
#define APPCONF_IMU_A_OFFSET_2 0
// Gyro Offset X
#define APPCONF_IMU_G_OFFSET_0 0
// Gyro Offset Y
#define APPCONF_IMU_G_OFFSET_1 0
// Gyro Offset Z
#define APPCONF_IMU_G_OFFSET_2 0
// Gyro Offset Comp X
#define APPCONF_IMU_G_OFFSET_COMP_FACT_0 0
// Gyro Offset Comp Y
#define APPCONF_IMU_G_OFFSET_COMP_FACT_1 0
// Gyro Offset Comp Z
#define APPCONF_IMU_G_OFFSET_COMP_FACT_2 0
// Gyro Offset Comp Clamp
#define APPCONF_IMU_G_OFFSET_COMP_CLAMP 5
// APPCONF_LUNA_M600_H_
#endif

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/*
Copyright 2020 Marcos Chaparro mchaparro@powerdesigns.ca
Copyright 2018 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 HW_LUNA_M600_H_
#define HW_LUNA_M600_H_
#define FW_NAME "2022.11.18"
#include "mcconf_luna_m600.h"
#include "appconf_luna_m600.h"
#define QMLUI_SOURCE_HW "hwconf/luna/m600/qmlui_luna_m600.c"
#define QMLUI_HEADER_HW "hwconf/luna/m600/qmlui_luna_m600.h"
#define QMLUI_HW_FULLSCREEN
// HW properties
#define HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
#define HW_HAS_WHEEL_SPEED_SENSOR
#define HW_HAS_PAS_TORQUE_SENSOR
#define HW_HAS_LUNA_CANBUS_DISPLAY
#define HW_USE_BRK
#ifdef M600_Rev5
#define HW_NAME "LUNA_M600_V2_Rev5"
#define HW_HAS_3_SHUNTS
#define HW_HAS_PHASE_FILTERS
#define HW_PHASE_A_FILTER_GPIO GPIOB
#define HW_PHASE_A_FILTER_PIN 5
#define HW_PHASE_B_FILTER_GPIO GPIOB
#define HW_PHASE_B_FILTER_PIN 4
#define HW_PHASE_C_FILTER_GPIO GPIOD
#define HW_PHASE_C_FILTER_PIN 2
#define PHASE_FILTER_ON() palClearPad(HW_PHASE_A_FILTER_GPIO, HW_PHASE_A_FILTER_PIN); \
palClearPad(HW_PHASE_B_FILTER_GPIO, HW_PHASE_B_FILTER_PIN); \
palClearPad(HW_PHASE_C_FILTER_GPIO, HW_PHASE_C_FILTER_PIN)
#define PHASE_FILTER_OFF() palSetPad(HW_PHASE_A_FILTER_GPIO, HW_PHASE_A_FILTER_PIN); \
palSetPad(HW_PHASE_B_FILTER_GPIO, HW_PHASE_B_FILTER_PIN); \
palSetPad(HW_PHASE_C_FILTER_GPIO, HW_PHASE_C_FILTER_PIN)
#else
#define HW_NAME "LUNA_M600_V2"
#define HW_HAS_PHASE_SHUNTS
// Some batches had the phase C shunt amplifier DNP, so this fills the gap
// Ia + Ib + Ic = 0 so Ic = -Ia - Ib
#define HW_HAS_3_SHUNTS
#define GET_CURRENT3() (-(GET_CURRENT1() - 2048.0 + GET_CURRENT2() -2048.0) + 2048.0)
#endif
// Macros
#define LED_GREEN_GPIO GPIOB
#define LED_GREEN_PIN 2
#define LED_RED_GPIO GPIOB
#define LED_RED_PIN 11
#define LED_GREEN_ON() palSetPad(LED_GREEN_GPIO, LED_GREEN_PIN)
#define LED_GREEN_OFF() palClearPad(LED_GREEN_GPIO, LED_GREEN_PIN)
#define LED_RED_ON() palSetPad(LED_RED_GPIO, LED_RED_PIN)
#define LED_RED_OFF() palClearPad(LED_RED_GPIO, LED_RED_PIN)
#define AUX_GPIO GPIOC
#define AUX_PIN 14
#define AUX_ON() palSetPad(AUX_GPIO, AUX_PIN)
#define AUX_OFF() palClearPad(AUX_GPIO, AUX_PIN)
#define MT6816_PROG_EN_GPIO GPIOD
#define MT6816_PROG_EN_PIN 2
#define MT6816_PROG_EN() palSetPad(MT6816_PROG_EN_GPIO, MT6816_PROG_EN_PIN)
#define MT6816_PROG_DISABLE() palClearPad(MT6816_PROG_EN_GPIO, MT6816_PROG_EN_PIN)
#define CURRENT_FILTER_ON()
#define CURRENT_FILTER_OFF()
#define BRK_GPIO GPIOB
#define BRK_PIN 12
// Shutdown pin
#define HW_SHUTDOWN_GPIO GPIOC
#define HW_SHUTDOWN_PIN 15
#define HW_SHUTDOWN_HOLD_ON() palSetPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
#define HW_SHUTDOWN_HOLD_OFF() palClearPad(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN)
#define HW_SAMPLE_SHUTDOWN() !hw_luna_m600_shutdown_button_down()
// Hold shutdown pin early to wake up on short pulses
#define HW_EARLY_INIT() palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL); \
HW_SHUTDOWN_HOLD_ON();
#define HW_ADC_CHANNELS 18
#define HW_ADC_INJ_CHANNELS 3
#define HW_ADC_NBR_CONV 6
// ADC Indexes
#define ADC_IND_SENS1 0
#define ADC_IND_SENS2 1
#define ADC_IND_SENS3 2
#define ADC_IND_CURR1 3
#define ADC_IND_CURR2 4
#define ADC_IND_CURR3 5
#define ADC_IND_VIN_SENS 11
#define ADC_IND_VOUT_GATE_DRV 12
#define ADC_IND_EXT 10
#define ADC_IND_EXT2 6
#define ADC_IND_EXT3 13
#define ADC_IND_TEMP_MOS 15
#define ADC_IND_ON_OFF_BUTTON 8
#define ADC_IND_TEMP_MOS_3 16
#define ADC_IND_TEMP_MOTOR 9
#define ADC_IND_VREFINT 16
// ADC macros and settings
// Component parameters (can be overridden)
#ifndef V_REG
#define V_REG 3.3
#endif
#ifndef VIN_R1
#define VIN_R1 66500.0
#endif
#ifndef VIN_R2
#define VIN_R2 2000.0
#endif
#ifndef CURRENT_AMP_GAIN
#define CURRENT_AMP_GAIN 20.0
#endif
#ifndef CURRENT_SHUNT_RES
#define CURRENT_SHUNT_RES (0.0005 / 2.0)
#endif
// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
// 12V supply voltage
#define GET_GATE_DRIVER_SUPPLY_VOLTAGE() ((float)ADC_VOLTS(ADC_IND_VOUT_GATE_DRV) * 11.0)
// ON-OFF button sense
#define GET_ON_OFF_BUTTON_VOLTAGE() ((float)ADC_VOLTS(ADC_IND_ON_OFF_BUTTON) * 4.57)
// NTC Termistors
#define NTC_RES(adc_val) (10000.0 * adc_val / ( 4095.0 - adc_val))
#define NTC_TEMP(adc_ind) hw_get_mosfet_temp_filtered()
#define NTC_TEMP_MOTOR(beta) (1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
#define PTC_TEMP_MOTOR(res, con, tbase) (((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) - res) / NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR])) * 100.0 / con - 10.0)
#define PTC_TEMP_MOTOR_2(res, con, tbase) 0.0
#define MOTOR_TEMP_LPF 0.001
#define NTC_RES_MOTOR(adc_val) (1000.0 / ((4095.0 / (float)adc_val) - 1.0))
// Voltage on ADC channel
#define ADC_VOLTS(ch) ((float)ADC_Value[ch] / 4096.0 * V_REG)
// Use these temperature channels for extra logging insight
//log torque sensor data
#define NTC_TEMP_MOS1() hw_get_PAS_torque()
//log throttle data
#define NTC_TEMP_MOS2() ((float)ADC_VOLTS(ADC_IND_EXT))
// log gate driver supply voltage
//#define NTC_TEMP_MOS3() GET_GATE_DRIVER_SUPPLY_VOLTAGE()
#define NTC_TEMP_MOS3() hw_get_encoder_error()
// Double samples in beginning and end for positive current measurement.
// Useful when the shunt sense traces have noise that causes offset.
#ifndef CURR1_DOUBLE_SAMPLE
#define CURR1_DOUBLE_SAMPLE 0
#endif
#ifndef CURR2_DOUBLE_SAMPLE
#define CURR2_DOUBLE_SAMPLE 0
#endif
#ifndef CURR3_DOUBLE_SAMPLE
#define CURR3_DOUBLE_SAMPLE 0
#endif
// COMM-port ADC GPIOs
#define HW_ADC_EXT_GPIO GPIOC
#define HW_ADC_EXT_PIN 5
#define HW_ADC_EXT2_GPIO GPIOB
#define HW_ADC_EXT2_PIN 0
// UART Peripheral
#define HW_UART_DEV SD3
#define HW_UART_GPIO_AF GPIO_AF_USART3
#define HW_UART_TX_PORT GPIOD
#define HW_UART_TX_PIN 8
#define HW_UART_RX_PORT GPIOD
#define HW_UART_RX_PIN 9
// Permanent UART Peripheral (for NRF51)
#define HW_UART_P_BAUD 115200
#define HW_UART_P_DEV SD1
#define HW_UART_P_GPIO_AF GPIO_AF_USART1
#define HW_UART_P_TX_PORT GPIOB
#define HW_UART_P_TX_PIN 6
#define HW_UART_P_RX_PORT GPIOB
#define HW_UART_P_RX_PIN 7
// NRF SWD
#ifdef M600_Rev5
#define NRF5x_SWDIO_GPIO GPIOB
#define NRF5x_SWDIO_PIN 3
#define NRF5x_SWCLK_GPIO GPIOA
#define NRF5x_SWCLK_PIN 15
#else
#define NRF5x_SWDIO_GPIO GPIOA
#define NRF5x_SWDIO_PIN 15
#define NRF5x_SWCLK_GPIO GPIOB
#define NRF5x_SWCLK_PIN 3
#endif
// ICU Peripheral for servo decoding. Not used, routed to a pin not present in 64 pin
// package to free USART1 TX pad
#define HW_USE_SERVO_TIM4
#define HW_ICU_TIMER TIM4
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
#define HW_ICU_DEV ICUD4
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM4
#define HW_ICU_GPIO GPIOD
#define HW_ICU_PIN 12
// I2C Peripheral
#define HW_I2C_DEV I2CD2
#define HW_I2C_GPIO_AF GPIO_AF_I2C2
#define HW_I2C_SCL_PORT GPIOB
#define HW_I2C_SCL_PIN 10
#define HW_I2C_SDA_PORT GPIOB
#define HW_I2C_SDA_PIN 11
// Hall/encoder pins
#define HW_HALL_ENC_GPIO1 GPIOC
#define HW_HALL_ENC_PIN1 6
#define HW_HALL_ENC_GPIO2 GPIOC
#define HW_HALL_ENC_PIN2 7
#define HW_HALL_ENC_GPIO3 GPIOC
#define HW_HALL_ENC_PIN3 8
#define HW_ENC_TIM TIM3
#define HW_ENC_TIM_AF GPIO_AF_TIM3
#define HW_ENC_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#define HW_ENC_EXTI_PORTSRC EXTI_PortSourceGPIOC
#define HW_ENC_EXTI_PINSRC EXTI_PinSource8
#define HW_ENC_EXTI_CH EXTI9_5_IRQn
#define HW_ENC_EXTI_LINE EXTI_Line8
#define HW_ENC_EXTI_ISR_VEC EXTI9_5_IRQHandler
#define HW_ENC_TIM_ISR_CH TIM3_IRQn
#define HW_ENC_TIM_ISR_VEC TIM3_IRQHandler
// SPI pins
#define HW_SPI_DEV SPID3
#define HW_SPI_GPIO_AF GPIO_AF_SPI3
#define HW_SPI_PORT_NSS GPIOA
#define HW_SPI_PIN_NSS 4
#define HW_SPI_PORT_SCK GPIOC
#define HW_SPI_PIN_SCK 10
#define HW_SPI_PORT_MOSI GPIOC
#define HW_SPI_PIN_MOSI 12
#define HW_SPI_PORT_MISO GPIOC
#define HW_SPI_PIN_MISO 11
// Pedal Assist pins
#define HW_PAS1_PORT GPIOA
#define HW_PAS1_PIN 6
#define HW_PAS2_PORT GPIOA
#define HW_PAS2_PIN 7
#ifdef HW_HAS_WHEEL_SPEED_SENSOR
#define HW_SPEED_SENSOR_PORT GPIOC
#define HW_SPEED_SENSOR_PIN 9
#endif
// Measurement macros
#define ADC_V_L1 ADC_Value[ADC_IND_SENS1]
#define ADC_V_L2 ADC_Value[ADC_IND_SENS2]
#define ADC_V_L3 ADC_Value[ADC_IND_SENS3]
#define ADC_V_ZERO (ADC_Value[ADC_IND_VIN_SENS] / 2)
// Macros
#define READ_HALL1() palReadPad(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1)
#define READ_HALL2() palReadPad(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2)
#define READ_HALL3() palReadPad(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3)
// Override dead time.
#define HW_DEAD_TIME_NSEC 460.0
// Default setting overrides
#ifndef MCCONF_L_MAX_VOLTAGE
#define MCCONF_L_MAX_VOLTAGE 85.0 // Maximum input voltage
#endif
#ifndef MCCONF_DEFAULT_MOTOR_TYPE
#define MCCONF_DEFAULT_MOTOR_TYPE MOTOR_TYPE_FOC
#endif
#ifndef MCCONF_FOC_F_SW
#define MCCONF_FOC_F_SW 30000.0
#endif
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 250.0 // The maximum absolute current above which a fault is generated
#endif
#ifndef MCCONF_FOC_SAMPLE_V0_V7
#define MCCONF_FOC_SAMPLE_V0_V7 false // Run control loop in both v0 and v7 (requires phase shunts)
#endif
#ifndef MCCONF_L_IN_CURRENT_MAX
#define MCCONF_L_IN_CURRENT_MAX 150.0 // Input current limit in Amperes (Upper)
#endif
#ifndef MCCONF_L_IN_CURRENT_MIN
#define MCCONF_L_IN_CURRENT_MIN -150.0 // Input current limit in Amperes (Lower)
#endif
// Setting limits
#define HW_LIM_CURRENT -100.0, 100.0
#define HW_LIM_CURRENT_IN -60.0, 60.0
#define HW_LIM_CURRENT_ABS 0.0, 200.0
#define HW_LIM_VIN 6.0, 86.0
#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1
#define HW_LIM_DUTY_MAX 0.0, 0.99
#define HW_LIM_TEMP_FET -40.0, 95.0
#define HW_GATE_DRIVER_SUPPLY_MIN_VOLTAGE 11.0
#define HW_GATE_DRIVER_SUPPLY_MAX_VOLTAGE 13.6
// HW-specific functions
void hw_update_speed_sensor(void);
float hw_get_speed(void);
float hw_get_distance(void);
float hw_get_distance_abs(void);
float hw_get_mosfet_temp_filtered(void);
bool hw_luna_m600_shutdown_button_down(void);
bool hw_luna_m600_minus_button_down(void);
float hw_get_PAS_torque(void);
bool hw_m600_has_fixed_throttle_level(void);
void hw_recover_encoder_offset(void);
float hw_get_encoder_error(void);
#endif /* HW_LUNA_M600_H_ */

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/*
Copyright 2016 - 2022 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 HW_LUNA_M600_REV5_H_
#define HW_LUNA_M600_REV5_H_
#define M600_Rev5
#include "hw_luna_m600.h"
#endif /* HW_LUNA_M600_REV5_H_ */

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/*
Copyright 2020 Marcos Chaparro mchaparro@powerdesigns.ca
Copyright 2018 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/>.
*/
#include "hw.h"
#include "luna_m600_display.h"
#include "ch.h"
#include "hal.h"
#include "stm32f4xx_conf.h"
#include "utils.h"
#include <math.h>
#include "mc_interface.h"
#include "mempools.h"
#include "mcpwm_foc.h"
#include "app.h"
// for double pulse test:
#include "stdio.h"
#include "string.h"
#include "commands.h"
#include "terminal.h"
#define EEPROM_ADDR_FIXED_THROTTLE_LEVEL 2
// Variables
static volatile bool i2c_running = false;
// Private functions
static void terminal_cmd_set_m600_use_fixed_throttle_level(int argc, const char **argv);
static void terminal_cmd_m600_correct_encoder_offset(int argc, const char **argv);
static void hw_override_pairing_done(void);
// I2C configuration
static const I2CConfig i2cfg = {
OPMODE_I2C,
100000,
STD_DUTY_CYCLE
};
// Backup data that we want to preserve across firmware updates
typedef struct __attribute__((packed)) {
uint8_t encoder_offset_calibration_done;
float encoder_offset;
char fw_version[16];
}m600_backup_t;
// The config is stored in the backup struct so that it is stored while sleeping.
static volatile m600_backup_t *m600_backup = (m600_backup_t*)g_backup.hw_config;
void hw_init_gpio(void) {
//we can use __TIMESTAMP__ if we redefine it in the makefile gcc ... -Wno-builtin-macro-redefined -D__TIMESTAMP__=$(date +'"%Y-%m-%dT%H:%M:%S"') ...
// https://stackoverflow.com/questions/17498556/c-preprocessor-timestamp-in-iso-86012004/
// GPIO clock enable
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOA, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOB, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOC, ENABLE);
RCC_AHB1PeriphClockCmd(RCC_AHB1Periph_GPIOD, ENABLE);
// LEDs
palSetPadMode(LED_GREEN_GPIO, LED_GREEN_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(LED_RED_GPIO, LED_RED_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
// GPIOA Configuration: Channel 1 to 3 as alternate function push-pull
palSetPadMode(GPIOA, 8, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOA, 9, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOA, 10, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 13, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 14, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
palSetPadMode(GPIOB, 15, PAL_MODE_ALTERNATE(GPIO_AF_TIM1) | PAL_STM32_OSPEED_HIGHEST | PAL_STM32_PUDR_FLOATING);
// Hall sensors
palSetPadMode(HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, PAL_MODE_INPUT_PULLUP);
palSetPadMode(HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, PAL_MODE_INPUT_PULLUP);
#ifdef HW_USE_BRK
// BRK Fault pin
palSetPadMode(BRK_GPIO, BRK_PIN, PAL_MODE_ALTERNATE(GPIO_AF_TIM1));
#endif
#ifdef HW_HAS_WHEEL_SPEED_SENSOR
palSetPadMode(HW_SPEED_SENSOR_PORT, HW_SPEED_SENSOR_PIN, PAL_MODE_INPUT_PULLUP);
#endif
// Current filter
palSetPadMode(GPIOC, 13, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
CURRENT_FILTER_OFF();
#ifdef M600_Rev5
// Phase voltage filter. Disabled by default
palSetPadMode(HW_PHASE_A_FILTER_GPIO, HW_PHASE_A_FILTER_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(HW_PHASE_B_FILTER_GPIO, HW_PHASE_B_FILTER_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
palSetPadMode(HW_PHASE_C_FILTER_GPIO, HW_PHASE_C_FILTER_PIN, PAL_MODE_OUTPUT_OPENDRAIN | PAL_STM32_OSPEED_HIGHEST);
PHASE_FILTER_OFF();
#else
//MT6816 program enable
palSetPadMode(MT6816_PROG_EN_GPIO, MT6816_PROG_EN_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
MT6816_PROG_DISABLE();
#endif
// AUX pin
AUX_OFF();
palSetPadMode(AUX_GPIO, AUX_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
// Shutdown latch
palSetPadMode(HW_SHUTDOWN_GPIO, HW_SHUTDOWN_PIN, PAL_MODE_OUTPUT_PUSHPULL | PAL_STM32_OSPEED_HIGHEST);
HW_SHUTDOWN_HOLD_ON();
// ADC Pins
palSetPadMode(GPIOA, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 1, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 2, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOA, 3, PAL_MODE_INPUT_ANALOG); // ON-OFF button sense
palSetPadMode(GPIOA, 5, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOB, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOB, 1, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 0, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 1, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 2, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 3, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 4, PAL_MODE_INPUT_ANALOG);
palSetPadMode(GPIOC, 5, PAL_MODE_INPUT_ANALOG);
terminal_register_command_callback(
"fix_throttle",
"Usage: fix_throttle [1 or 0]",
0,
terminal_cmd_set_m600_use_fixed_throttle_level);
terminal_register_command_callback(
"correct_encoder",
"Detect and apply encoder offset",
0,
terminal_cmd_m600_correct_encoder_offset);
hw_override_pairing_done();
luna_canbus_start();
}
void hw_setup_adc_channels(void) {
// ADC1 regular channels
ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles); // 0 SENS1
ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles); // 3 CURR1
ADC_RegularChannelConfig(ADC1, ADC_Channel_8, 3, ADC_SampleTime_15Cycles); // 6 ADC_IND_EXT2
ADC_RegularChannelConfig(ADC1, ADC_Channel_14, 4, ADC_SampleTime_15Cycles); // 9 TEMP_MOTOR
ADC_RegularChannelConfig(ADC1, ADC_Channel_9, 5, ADC_SampleTime_15Cycles); // 12 V_GATE_DRIVER
ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 6, ADC_SampleTime_15Cycles); // 15 TEMP_FET
// ADC2 regular channels
ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles); // 1 SENS2
ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles); // 4 CURR2
ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 3, ADC_SampleTime_15Cycles); // 7 UNUSED
ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles); // 10 ADC_IND_EXT
ADC_RegularChannelConfig(ADC2, ADC_Channel_7, 5, ADC_SampleTime_15Cycles); // 13 ADC_IND_EXT3
ADC_RegularChannelConfig(ADC2, ADC_Channel_Vrefint, 6, ADC_SampleTime_15Cycles);// 16 ADC_IND_VREFINT
// ADC3 regular channels
ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles); // 2 SENS3
ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles); // 5 CURR3
ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 3, ADC_SampleTime_15Cycles); // 8 ON-OFF button
ADC_RegularChannelConfig(ADC3, ADC_Channel_13, 4, ADC_SampleTime_15Cycles); // 11 VBUS
ADC_RegularChannelConfig(ADC3, ADC_Channel_1, 5, ADC_SampleTime_15Cycles); // 14 UNUSED
ADC_RegularChannelConfig(ADC3, ADC_Channel_Vrefint, 6, ADC_SampleTime_15Cycles);// 18 UNUSED
// Injected channels
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 1, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 2, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 2, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 2, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
ADC_InjectedChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
}
void hw_start_i2c(void) {
i2cAcquireBus(&HW_I2C_DEV);
if (!i2c_running) {
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
i2cStart(&HW_I2C_DEV, &i2cfg);
i2c_running = true;
}
i2cReleaseBus(&HW_I2C_DEV);
}
void hw_stop_i2c(void) {
i2cAcquireBus(&HW_I2C_DEV);
if (i2c_running) {
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN, PAL_MODE_INPUT);
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN, PAL_MODE_INPUT);
i2cStop(&HW_I2C_DEV);
i2c_running = false;
}
i2cReleaseBus(&HW_I2C_DEV);
}
/**
* Try to restore the i2c bus
*/
void hw_try_restore_i2c(void) {
if (i2c_running) {
i2cAcquireBus(&HW_I2C_DEV);
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
chThdSleep(1);
for(int i = 0;i < 16;i++) {
palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
}
// Generate start then stop condition
palClearPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
chThdSleep(1);
palClearPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
palSetPad(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN);
chThdSleep(1);
palSetPad(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN);
palSetPadMode(HW_I2C_SCL_PORT, HW_I2C_SCL_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
palSetPadMode(HW_I2C_SDA_PORT, HW_I2C_SDA_PIN,
PAL_MODE_ALTERNATE(HW_I2C_GPIO_AF) |
PAL_STM32_OTYPE_OPENDRAIN |
PAL_STM32_OSPEED_MID1 |
PAL_STM32_PUDR_PULLUP);
HW_I2C_DEV.state = I2C_STOP;
i2cStart(&HW_I2C_DEV, &i2cfg);
i2cReleaseBus(&HW_I2C_DEV);
}
}
volatile float wheel_rpm_filtered = 0;
volatile float trip_odometer = 1.0; //avoids huge consumption numbers in the gauges
void hw_update_speed_sensor(void) {
static float wheel_rpm = 0;
static uint8_t sensor_state = 0;
static uint8_t sensor_state_old = 0;
static float last_sensor_event_time = 0;
float current_time = (float)chVTGetSystemTimeX() / (float)CH_CFG_ST_FREQUENCY;
sensor_state = palReadPad(HW_SPEED_SENSOR_PORT, HW_SPEED_SENSOR_PIN);
if(sensor_state == 0 && sensor_state_old == 1 ) {
float revolution_duration = current_time - last_sensor_event_time;
if (revolution_duration > 0.11) { //ignore periods <110ms, which is about 68km/h
last_sensor_event_time = current_time;
wheel_rpm = 60.0 / revolution_duration;
UTILS_LP_FAST(wheel_rpm_filtered, (float)wheel_rpm, 0.5);
// For some reason a race condition on startup crashes the OS if this is executed too soon.
// So don't track odometer for the first 4 seconds
if(current_time > 4.0) {
trip_odometer += mc_interface_get_configuration()->si_wheel_diameter * M_PI;
}
}
} else {
// After 3 seconds without sensor signal, set RPM as zero
if ( (current_time - last_sensor_event_time) > 3.0) {
wheel_rpm_filtered = 0.0;
}
}
sensor_state_old = sensor_state;
}
/* Get speed in m/s */
float hw_get_speed(void) {
const volatile mc_configuration *conf = mc_interface_get_configuration();
float speed = wheel_rpm_filtered * conf->si_wheel_diameter * M_PI / 60.0;
return speed;
}
/* Get trip distance in meters */
float hw_get_distance(void) {
return trip_odometer;
}
float hw_get_distance_abs(void) {
return trip_odometer;
}
float hw_get_mosfet_temp_filtered(void) {
static float mosfet_temp_filtered = 25.0;
float mosfet_temp = (1.0 / ((logf(NTC_RES(ADC_Value[ADC_IND_TEMP_MOS]) / 10000.0) / 3455.0) + (1.0 / 298.15)) - 273.15);
UTILS_LP_FAST(mosfet_temp_filtered, (float)mosfet_temp, 0.1);
return mosfet_temp_filtered;
}
bool hw_luna_m600_shutdown_button_down(void) {
static float button_filtered = 0.0;
UTILS_LP_FAST(button_filtered, GET_ON_OFF_BUTTON_VOLTAGE(), 0.01);
return (button_filtered < 1.35);
}
bool hw_luna_m600_minus_button_down(void) {
static float button_filtered = 0.0;
UTILS_LP_FAST(button_filtered, GET_ON_OFF_BUTTON_VOLTAGE(), 0.05);
return (button_filtered >= 1.35 && button_filtered < 2.0);
}
static void terminal_cmd_set_m600_use_fixed_throttle_level(int argc, const char **argv) {
(void)argc;
(void)argv;
eeprom_var use_fixed_throttle;
if( argc == 2 ) {
char throttle_type[32];
sscanf(argv[1], "%s", throttle_type);
use_fixed_throttle.as_i32 = (throttle_type[0] == '1') ? 1 : 0;
// Store data in eeprom
conf_general_store_eeprom_var_hw(&use_fixed_throttle, EEPROM_ADDR_FIXED_THROTTLE_LEVEL);
}
else {
commands_printf("1 argument required: 1 (fixed) or 0 (follow display level)");
}
return;
}
bool hw_m600_has_fixed_throttle_level(void) {
eeprom_var use_fixed_throttle;
bool var_not_found = !conf_general_read_eeprom_var_hw(&use_fixed_throttle, EEPROM_ADDR_FIXED_THROTTLE_LEVEL);
if( (use_fixed_throttle.as_i32 != 1) || var_not_found) {
return false;
} else {
return true;
}
}
float hw_get_PAS_torque(void) {
return luna_canbus_get_PAS_torque();
}
float hw_get_encoder_error(void) {
static float angle_diff_filtered = 0.0;
float angle_diff = 0.0;
// some batches have only 2 current sensors, so better rely only in
// the phase voltage tracker which runs with no modulation and is
// accurate at mid-high rpm
if(mc_interface_get_state() != MC_STATE_OFF && mc_interface_get_duty_cycle_now() > 0.4) {
angle_diff = utils_angle_difference(mcpwm_foc_get_phase_encoder(), mcpwm_foc_get_phase_observer());
}
UTILS_LP_FAST(angle_diff_filtered, angle_diff, 0.005);
return angle_diff_filtered;
}
void hw_recover_encoder_offset(void) {
if (mc_interface_get_configuration()->foc_encoder_offset > 360.0 ) {
//invalid encoder offset found in flash, probably its the first boot after a fw update
if (m600_backup->encoder_offset_calibration_done && m600_backup->encoder_offset <= 360.0) {
//invalid offset found in flash, but there is a valid offset backed up. Use it.
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mcconf->foc_encoder_offset = m600_backup->encoder_offset;
mc_interface_set_configuration(mcconf);
conf_general_store_mc_configuration(mcconf, false);
mempools_free_mcconf(mcconf);
}
}
else {
// encoder offset is valid, lets check that the backed up value is the same
float mc_conf_encoder_offset = mc_interface_get_configuration()->foc_encoder_offset;
if(mc_conf_encoder_offset <= 360.0) {
//user could have written a new offset angle. Update the backup.
if(m600_backup->encoder_offset_calibration_done == false || mc_conf_encoder_offset != m600_backup->encoder_offset) {
m600_backup->encoder_offset = mc_conf_encoder_offset;
m600_backup->encoder_offset_calibration_done = true;
conf_general_store_backup_data();
}
}
}
}
static void terminal_cmd_m600_correct_encoder_offset(int argc, const char **argv) {
(void)argc;
(void)argv;
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf_old = *mcconf;
float current = 15.0;
mcconf->motor_type = MOTOR_TYPE_FOC;
mcconf->foc_f_zv = 10000.0;
mcconf->foc_current_kp = 0.01;
mcconf->foc_current_ki = 10.0;
mc_interface_set_configuration(mcconf);
float offset = 0.0;
float ratio = 0.0;
bool inverted = false;
mcpwm_foc_encoder_detect(current, false, &offset, &ratio, &inverted);
mcconf_old->foc_encoder_offset = offset;
mcconf->foc_encoder_offset = offset;
mc_interface_set_configuration(mcconf_old);
mc_interface_set_configuration(mcconf);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return;
}
// Users are getting locked out because they don't know what pairing means. Lets disable the pairing
static void hw_override_pairing_done(void) {
if( app_get_configuration()->pairing_done == true) {
app_configuration *appconf = mempools_alloc_appconf();
*appconf = *app_get_configuration();
appconf->pairing_done = false;
conf_general_store_app_configuration(appconf);
app_set_configuration(appconf);
mempools_free_appconf(appconf);
}
}

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hwconf/luna/m600/luna_m600_display.c Normal file
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/*
Copyright 2020 Marcos Chaparro mchaparro@powerdesigns.ca
Copyright 2021 Maximiliano Cordoba mcordoba@powerdesigns.ca
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/>.
*/
#include "conf_general.h"
#ifdef HW_HAS_LUNA_CANBUS_DISPLAY
#include "hw.h"
#include "luna_m600_display.h"
#include "app.h"
#include "ch.h"
#include "hal.h"
#include "packet.h"
#include "commands.h"
#include "mc_interface.h"
#include "utils.h"
#include <math.h>
#include <string.h>
#include "comm_can.h"
#include "shutdown.h"
#include "datatypes.h"
#include "timeout.h"
#include "mcpwm_foc.h" // for encoder angle error
#define LUNA_TORQUE_SENSOR_DEFAULT_TORQUE 0x02EE
#define LUNA_TORQUE_SENSOR_MINIMUM_TORQUE 0x0300
#define LUNA_TORQUE_SENSOR_MAXIMUM_TORQUE 0x0600
typedef enum {
PAS_LEVEL_0 = 0x00,
PAS_LEVEL_1 = 0x01,
PAS_LEVEL_2 = 0x0B,
PAS_LEVEL_3 = 0x0C,
PAS_LEVEL_4 = 0x0D,
PAS_LEVEL_5 = 0x02,
PAS_LEVEL_6 = 0x15,
PAS_LEVEL_7 = 0x16,
PAS_LEVEL_8 = 0x17,
PAS_LEVEL_9 = 0x03,
PAS_LEVEL_WALK = 0x06,
} LUNA_PAS_LEVEL;
typedef enum {
WRITE_LOW_BATTERY_ERROR = 0x00,
WRITE_MAX_CURRENT_ERROR = 0x01,
WRITE_ASSIST_LEVEL_ERROR = 0x02,
WRITE_ASSIST_SPEED_ERROR = 0x0C,
WRITE_SPEEDOMETER_ERROR = 0x16,
WRITE_SPEEDOMETER_SIGNAL_ERROR = 0x17,
WRITE_BASIC_SUCCESS = 0x18
} CMD_WRITE_BASIC_RESPONSE;
typedef enum {
LUNA_DISPLAY_ID1 = 0x03106300,
LUNA_TORQUE_SENSOR_ID = 0x01F83100,
} LUNA_CAN_IDs;
typedef enum {
LUNA_DISPLAY_ID1_LENGTH_BYTES = 4,
LUNA_TORQUE_SENSOR_ID_LENGTH_BYTES = 4,
} LUNA_CAN_IDs_LENGTH_BYTES;
typedef enum {
LUNA_LIGHT_MODE_OFF = 0,
LUNA_LIGHT_MODE_ON = 1,
LUNA_LIGHT_MODE_TURNING_OFF = 2,
LUNA_LIGHT_MODE_TURNING_ON = 3,
} LUNA_LIGHT_CONTROL_MODE;
typedef enum {
LUNA_ERROR_NONE = 0x00,
LUNA_ERROR_BRAKES = 0x03,
LUNA_ERROR_THROTTLE = 0x05,
LUNA_ERROR_UNDER_VOLTAGE = 0x06,
LUNA_ERROR_HIGH_VOLTAGE = 0x07,
LUNA_ERROR_ENCODER = 0x08,
LUNA_ERROR_MOTOR_OVERTEMP = 0x10,
LUNA_ERROR_MOSFET_OVERTEMP = 0x11,
LUNA_ERROR_CURRENT_SENSOR = 0x12,
LUNA_ERROR_BATTERY_TEMPERATURE = 0x13,
LUNA_ERROR_WHEEL_SPEED_DETECTION = 0x21,
LUNA_ERROR_BMS_COMMUNICATION = 0x22,
LUNA_ERROR_TORQUE_SENSOR = 0x25,
LUNA_ERROR_SPEED_SENSOR = 0x26,
LUNA_ERROR_COMMUNICATION = 0x30,
} LUNA_ERROR_CODES;
typedef enum{
SEND_BATTERY_RANGE_STATE,
SEND_SPEED_CURRENT_VOLTAGE_STATE,
SEND_SPEED_LIMIT_WHEEL_SIZE_STATE,
SEND_CALORIES_STATE,
SEND_ERROR_STATE,
SEND_SHUTDOWN_STATE,
}can_display_process_states_t;
typedef struct{
LUNA_LIGHT_CONTROL_MODE light_mode;
LUNA_PAS_LEVEL pas_level;
LUNA_ERROR_CODES error_code;
bool torque_sensor_is_active;
float pas_torque;
uint8_t assist_code;
}luna_settings_t;
static volatile luna_settings_t luna_settings = { .light_mode = LUNA_LIGHT_MODE_OFF,
.pas_level = PAS_LEVEL_0,
.error_code = LUNA_ERROR_NONE,
.torque_sensor_is_active = false,
.pas_torque = 0.0
};
static volatile bool display_thread_is_running = false;
static volatile bool display_uart_is_running = false;
// Threads
static THD_WORKING_AREA(display_process_thread_wa, 1024);
static THD_FUNCTION(display_process_thread, arg);
static bool check_light_mode(uint8_t light_mode);
static bool check_assist_level(uint8_t assist_code);
static void set_assist_level(uint8_t assist_code);
static void can_bus_display_process(uint32_t dt_ms);
static bool can_bus_rx_callback(uint32_t id, uint8_t *data, uint8_t len);
/**
* Initialize the display and torque sensor for M600 drive units
*/
void luna_canbus_start(void) {
if (!display_thread_is_running) {
chThdCreateStatic(display_process_thread_wa, sizeof(display_process_thread_wa),
NORMALPRIO, display_process_thread, NULL);
display_thread_is_running = true;
}
}
/**
* Get torque applied to the crank arms
*
* @return
* 0.0 for no torque applied, 1.0 for maximum torque applied
*/
float luna_canbus_get_PAS_torque(void){
return luna_settings.pas_torque / (LUNA_TORQUE_SENSOR_MAXIMUM_TORQUE - LUNA_TORQUE_SENSOR_MINIMUM_TORQUE);
}
uint16_t luna_canbus_get_max_torque_level(void){
return (LUNA_TORQUE_SENSOR_MAXIMUM_TORQUE - LUNA_TORQUE_SENSOR_MINIMUM_TORQUE);
}
/**
* Get the current Pedal Assist level
*
* @return
* Assist level from 0 (min) to 9 (max power).
*/
LUNA_PAS_LEVEL luna_canbus_get_pas_level(void){
return luna_settings.pas_level;
}
/**
* checks if the light mode is valid
*
* @param light_mode
* Parameter to check
*
* @return
* true if valid, false if not.
*/
static bool check_light_mode(uint8_t light_mode) {
bool ret = false;
switch (light_mode) {
case LUNA_LIGHT_MODE_OFF:
case LUNA_LIGHT_MODE_ON:
case LUNA_LIGHT_MODE_TURNING_OFF:
case LUNA_LIGHT_MODE_TURNING_ON:
ret = true;
break;
default:
break;
}
return ret;
}
/**
* Check if the assist code corresponds to a current level
*
* @param assist_code
* Parameter to check
*
* @return
* true if valid, false if not.
*/
static bool check_assist_level(uint8_t assist_code) {
bool ret = false;
switch (assist_code) {
case PAS_LEVEL_0:
case PAS_LEVEL_1:
case PAS_LEVEL_2:
case PAS_LEVEL_3:
case PAS_LEVEL_4:
case PAS_LEVEL_5:
case PAS_LEVEL_6:
case PAS_LEVEL_7:
case PAS_LEVEL_8:
case PAS_LEVEL_9:
case PAS_LEVEL_WALK:
ret = true;
break;
default:
break;
}
return ret;
}
/**
* Set the PAS level according to the assist code
*
* @param assist_code
* Assist level to apply
*/
static void set_assist_level(uint8_t assist_code) {
float current_scale;
volatile mc_configuration *mcconf = (volatile mc_configuration*) mc_interface_get_configuration();
luna_settings.assist_code = assist_code;
switch (assist_code) {
case PAS_LEVEL_0: current_scale = 0.0; break;
case PAS_LEVEL_1: current_scale = 1.0 / 9.0; break;
case PAS_LEVEL_2: current_scale = 2.0 / 9.0; break;
case PAS_LEVEL_3: current_scale = 3.0 / 9.0; break;
case PAS_LEVEL_4: current_scale = 4.0 / 9.0; break;
case PAS_LEVEL_5: current_scale = 5.0 / 9.0; break;
case PAS_LEVEL_6: current_scale = 6.0 / 9.0; break;
case PAS_LEVEL_7: current_scale = 7.0 / 9.0; break;
case PAS_LEVEL_8: current_scale = 8.0 / 9.0; break;
case PAS_LEVEL_9: current_scale = 1.0; break;
case PAS_LEVEL_WALK: current_scale = 1.0; break;
default: return;
}
if( hw_m600_has_fixed_throttle_level() ) {
mcconf->l_current_max_scale = 1.0;
app_pas_set_current_sub_scaling(current_scale);
} else {
mcconf->l_current_max_scale = current_scale;
}
// In level 0, both PAS and throttle should be disabled
if(current_scale == 0.0) {
mcconf->l_current_max_scale = current_scale;
}
}
float distance;
float time_since_display_change=0;
uint16_t distance_display;
/**
* State machine for display functions and error handling
*
* @param dt_ms
* Time since last call to this function
*/
static void can_bus_display_process(uint32_t dt_ms){
static uint8_t can_tx_buffer[8];
volatile mc_configuration *mcconf = (volatile mc_configuration*) mc_interface_get_configuration();
static can_display_process_states_t can_display_process_state = SEND_BATTERY_RANGE_STATE;
static uint32_t delay_between_states = 0;
static uint32_t delay_between_torque_sensor_message = 0;
//check if torque sensor is active or not
if(luna_settings.torque_sensor_is_active){
luna_settings.torque_sensor_is_active = false;
delay_between_torque_sensor_message = 0;
if( luna_settings.error_code == LUNA_ERROR_TORQUE_SENSOR){
luna_settings.error_code = LUNA_ERROR_NONE;
}
}else{
//fault if sensor data stops for >500ms, but also allow 3sec for sensor to boot
delay_between_torque_sensor_message += dt_ms;
float uptime = (float)chVTGetSystemTimeX() / (float)CH_CFG_ST_FREQUENCY;
if(delay_between_torque_sensor_message > 500 && uptime > 3.0){
delay_between_torque_sensor_message = 0;
//luna_settings.error_code = LUNA_ERROR_TORQUE_SENSOR;
}
}
if(luna_settings.error_code == LUNA_ERROR_NONE){
//check if vesc has got any faults
mc_fault_code vesc_fault = mc_interface_get_fault();
switch(vesc_fault){
case FAULT_CODE_NONE:{
break;
}
case FAULT_CODE_ABS_OVER_CURRENT:
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1:
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2:
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3:
case FAULT_CODE_UNBALANCED_CURRENTS:{
luna_settings.error_code = LUNA_ERROR_CURRENT_SENSOR;
break;
}
case FAULT_CODE_OVER_TEMP_FET:
luna_settings.error_code = LUNA_ERROR_MOSFET_OVERTEMP;
break;
case FAULT_CODE_OVER_TEMP_MOTOR:{
luna_settings.error_code = LUNA_ERROR_MOTOR_OVERTEMP;
break;
}
case FAULT_CODE_OVER_VOLTAGE:{
luna_settings.error_code = LUNA_ERROR_HIGH_VOLTAGE;
break;
}
case FAULT_CODE_UNDER_VOLTAGE:{
luna_settings.error_code = LUNA_ERROR_UNDER_VOLTAGE;
break;
}
case FAULT_CODE_ENCODER_SPI:
case FAULT_CODE_ENCODER_NO_MAGNET:{
luna_settings.error_code = LUNA_ERROR_ENCODER;
break;
}
default:
;//luna_settings.error_code = LUNA_ERROR_COMMUNICATION;
}
}
if(mc_interface_get_configuration()->foc_encoder_offset == 400.0) {
luna_settings.error_code = LUNA_ERROR_ENCODER;
}
if(hw_luna_m600_shutdown_button_down()) {
can_display_process_state = SEND_SHUTDOWN_STATE;
}
delay_between_states += dt_ms;
//packets are typically sent every 11 msec
if(delay_between_states > 50){
delay_between_states = 0;
switch(can_display_process_state){
case SEND_BATTERY_RANGE_STATE:{
// This packet is sent every 250ms
float wh_left;
float battery_level = mc_interface_get_battery_level(&wh_left) * 100.0;
utils_truncate_number((float*)&battery_level, 0.0, 100.0);
static float last_distance = 0.0;
float distance_abs = mc_interface_get_distance_abs();
distance = distance_abs - last_distance;
// what is sent is 1 / 10 of the value in meters
distance_display = (uint16_t) (distance / 10.0);
static uint16_t time_at_last_distance_change = 0;
static uint16_t last_display_distance = 0;
// if distance_display doesn't change for 5 seconds, we have to reset it to zero
if (distance_display != last_display_distance) {
time_at_last_distance_change = (float)chVTGetSystemTimeX() / (float)CH_CFG_ST_FREQUENCY;
} else {
float current_time = (float)chVTGetSystemTimeX() / (float)CH_CFG_ST_FREQUENCY;
time_since_display_change = current_time - time_at_last_distance_change;//for debug
if(current_time - time_at_last_distance_change > 5.0){
time_at_last_distance_change = (float)chVTGetSystemTimeX() / (float)CH_CFG_ST_FREQUENCY;
last_distance = distance_abs;
distance = 0;
distance_display = 0;
}
}
last_display_distance = distance_display;
if(distance_display < 5) {
//make sure the first zero is not skipped. Apparently it's important and needs 4 consecutive zeroes
//(or maybe its 1 full second of zeroes)
distance_display = 0;
}
static float distance_old = 0;
if(distance_abs != distance_old) {
// commands_printf("time_since_display_change: %.2f",(double)time_since_display_change);
// commands_printf("display_distance: %d",distance_display);
// commands_printf("distance: %.2f",(double)distance);
// commands_printf("odometer: %.2f\n", (double)distance_abs);
distance_old = distance_abs;
}
memset(can_tx_buffer, 0, 8);
can_tx_buffer[0] = (uint8_t) battery_level;
can_tx_buffer[1] = (uint8_t)(distance_display & 0x00ff);
can_tx_buffer[2] = (uint8_t) 0;
can_tx_buffer[3] = (uint8_t) 0;
can_tx_buffer[4] = (uint8_t) 0;
can_tx_buffer[5] = (uint8_t) 0;
can_tx_buffer[6] = (uint8_t) 0;
can_tx_buffer[7] = (uint8_t) 0;
// If the distance value exceeds 1000 meters, it overflows back to 0 meter
if(distance > 1020) {
last_distance += distance;
}
//TODO: support RANGE parameter. 0x1FF = 511 sets RANGE as 5.11 km or 3 miles.
//can_tx_buffer[6] = RANGE LSB
//can_tx_buffer[7] = RANGE MSB
comm_can_transmit_eid(0x02F83200, can_tx_buffer, 8);
can_display_process_state = SEND_SPEED_CURRENT_VOLTAGE_STATE;
break;
}
case SEND_SPEED_CURRENT_VOLTAGE_STATE:{
//this packet is sent every 280ms
memset(can_tx_buffer, 0, 8);
#ifdef HW_HAS_WHEEL_SPEED_SENSOR
//float wheel_rpm = hw_get_wheel_rpm();
//float wheelsize_in_meters = mcconf->si_wheel_diameter / 1000.0;
//float speed_km_h = (uint16_t)(wheel_rpm * wheelsize_in_meters * 60.0 / 1000.0);
//uint16_t speed_display = (uint16_t)(speed_km_h * 100.0);//the display needs [km_h * 100]
uint16_t speed_display = (uint16_t)(mc_interface_get_speed() * 3600.0 / 1000.0 * 100.0 ); //the display needs [km_h * 100]
can_tx_buffer[0] = (uint8_t)(speed_display & 0x00ff);
can_tx_buffer[1] = (uint8_t)((speed_display >> 8 ) & 0x00ff);
#endif
float current = mc_interface_get_tot_current_in_filtered();
uint16_t current_display = (uint16_t)(current * 100.0);
can_tx_buffer[2] = (uint8_t)(current_display & 0x00ff);
can_tx_buffer[3] = (uint8_t)((current_display >> 8 ) & 0x00ff);
float voltage = mc_interface_get_input_voltage_filtered();
uint16_t voltage_display = voltage * 100;
can_tx_buffer[4] = (uint8_t)(voltage_display & 0x00ff);
can_tx_buffer[5] = (uint8_t)((voltage_display >> 8 ) & 0x00ff);
can_tx_buffer[6] = (uint8_t) (mc_interface_temp_fet_filtered() - 40.0); // 10°C = 10+40=50(32Hex) = 32
can_tx_buffer[7] = (uint8_t) (mc_interface_temp_motor_filtered() - 40.0); // 20°C = 20+40=60(3CHex) = 3C
comm_can_transmit_eid(0x02F83201, can_tx_buffer, 8);
can_display_process_state = SEND_SPEED_LIMIT_WHEEL_SIZE_STATE;
break;
}
case SEND_SPEED_LIMIT_WHEEL_SIZE_STATE:{
memset(can_tx_buffer, 0, 8);
//"speed limit" parameter [kmh *100]
float speed_limit = 32.2;// dummy 32.2km/h (20mph)
uint16_t speed_limit_display = speed_limit * 100;
can_tx_buffer[0] = (uint8_t)(speed_limit_display & 0x00ff);
can_tx_buffer[1] = (uint8_t)((speed_limit_display >> 8 ) & 0x00ff);
// Arbitrary wheel size definitions from the display
uint16_t wheelsize_display;
if(mcconf->si_wheel_diameter <= 0.7){
wheelsize_display = 416; //26"
}
if(mcconf->si_wheel_diameter >= 0.7){
wheelsize_display = 437; //27.5"
}
if(mcconf->si_wheel_diameter >= 0.75){
wheelsize_display = 464; //29"
}
can_tx_buffer[2] = (uint8_t)(wheelsize_display & 0x00ff);
can_tx_buffer[3] = (uint8_t)((wheelsize_display >> 8 ) & 0x00ff);
//these values are fixed
can_tx_buffer[4] = 182;
can_tx_buffer[5] = 8;
comm_can_transmit_eid(0x02F83203, can_tx_buffer, 6);
can_display_process_state = SEND_CALORIES_STATE;
break;
}
case SEND_CALORIES_STATE:{
// this packet is sent every 300msec
memset(can_tx_buffer, 0, 8);
//TODO: support "KCAL" parameter in [kmh *100]
//conversion rate: KCAL = value * 0.621368.
//For example: 0xFFFF = 65535 sets KCAL as 40722
comm_can_transmit_eid(0x02F83205, can_tx_buffer, 2);
can_display_process_state = SEND_ERROR_STATE;
break;
}
case SEND_ERROR_STATE:{
// this packet is sent every 500msec
static uint8_t send_error_counter = 0;
memset(can_tx_buffer, 0, 8);
if(luna_settings.error_code != LUNA_ERROR_NONE){
can_tx_buffer[0] = luna_settings.error_code ;
comm_can_transmit_eid(0x02FF1200, can_tx_buffer, 1);
send_error_counter++;
if(send_error_counter > 3){
send_error_counter = 0;
can_display_process_state = SEND_BATTERY_RANGE_STATE;
}
}else{
send_error_counter = 0;
can_display_process_state = SEND_BATTERY_RANGE_STATE;
}
comm_can_transmit_eid(0x02FF1200, can_tx_buffer, 1);
break;
}
case SEND_SHUTDOWN_STATE:{
memset(can_tx_buffer, 0, 8);
can_tx_buffer[0] = 0;
comm_can_transmit_eid(0x02FF1204, can_tx_buffer, 1);
can_display_process_state = SEND_BATTERY_RANGE_STATE;
break;
}
}
}
}
static bool can_bus_rx_callback(uint32_t id, uint8_t *data, uint8_t len) {
bool used_data = false;
LUNA_CAN_IDs cmd_id = id;
switch(cmd_id){
case LUNA_DISPLAY_ID1:{
if(len == LUNA_DISPLAY_ID1_LENGTH_BYTES){
if(data != NULL){
used_data = true;
if(check_assist_level(data[1])){
luna_settings.pas_level = data[1];
set_assist_level(luna_settings.pas_level);
}
if(check_light_mode(data[2])){
luna_settings.light_mode = data[2];
}
}
}
break;
}
case LUNA_TORQUE_SENSOR_ID:{
if(len == LUNA_TORQUE_SENSOR_ID_LENGTH_BYTES){
if(data != NULL){
used_data = true;
luna_settings.torque_sensor_is_active = true;
uint16_t torque_raw_level = (((uint16_t)data[1] << 8 ) & 0xff00) | ((uint16_t)data[0]&0x00ff);
if(torque_raw_level > LUNA_TORQUE_SENSOR_MAXIMUM_TORQUE){
torque_raw_level = LUNA_TORQUE_SENSOR_MAXIMUM_TORQUE;
}
if(torque_raw_level > LUNA_TORQUE_SENSOR_MINIMUM_TORQUE){
torque_raw_level = torque_raw_level - LUNA_TORQUE_SENSOR_MINIMUM_TORQUE;
}else{
torque_raw_level = 0;
}
UTILS_LP_FAST(luna_settings.pas_torque, (float)torque_raw_level, 0.1);
}
}
break;
}
}
return used_data;
}
bool luna_display_shutdown_request(void) {
static uint16_t counter = 0;
bool button_down = hw_luna_m600_shutdown_button_down();
bool button_released = false;
static bool first_press = true;
// With the bike off, if you press the power button and never release it
// the bike shouldn't turn on and then power off, so ignore the first release
if (button_down && first_press) {
return false;
} else {
first_press = false;
}
// while button is pressed, increment a counter. If released, after 500ms reset the counter to 0
if(button_down) {
counter++;
} else {
button_released = true;
if (counter > 0) {
counter--;
if (counter < 50 ) {
counter = 0;
}
}
}
return (counter > 100 && button_released);
}
// If user long-presses the (-) button, walk mode is engaged.
// Controller will target a specific RPM and hold it until the button is released
// The speed control must have a slow ramp, the allowed current is TBD.
bool luna_display_walk_mode_long_pressed(void) {
static systime_t time_last_button_down = 0;
const float long_press_time_seconds = 0.5; // bafang uses 2 sec, lets make it more responsive
if( time_last_button_down == 0) {
time_last_button_down = chVTGetSystemTimeX();
}
if(hw_luna_m600_minus_button_down() == false) {
time_last_button_down = chVTGetSystemTimeX();
}
return (UTILS_AGE_S(time_last_button_down) > long_press_time_seconds);
}
// lets try using the sensorless observer to check if the encoder
// offset has been set correctly.
float encoder_error(void) {
static float angle_diff_filtered = 0.0;
float angle_diff = 0.0;
// some batches have only 2 current sensors, so better rely only in
// the phase voltage tracker which runs with no modulation and is
// accurate at mid-high rpm
if(/*mc_interface_get_state() != MC_STATE_OFF &&*/ mc_interface_get_duty_cycle_now() > 0.4) {
angle_diff = utils_angle_difference(mcpwm_foc_get_phase_encoder(), mcpwm_foc_get_phase_observer());
}
UTILS_LP_FAST(angle_diff_filtered, angle_diff, 0.01);
return angle_diff_filtered;
}
static THD_FUNCTION(display_process_thread, arg) {
(void)arg;
chRegSetThreadName("Luna CANbus display");
event_listener_t el;
chEvtRegisterMaskWithFlags(&HW_UART_DEV.event, &el, EVENT_MASK(0), CHN_INPUT_AVAILABLE);
// Set default power level
set_assist_level(PAS_LEVEL_1);
comm_can_set_eid_rx_callback( can_bus_rx_callback );
for(;;) {
float uptime = (float)chVTGetSystemTimeX() / (float)CH_CFG_ST_FREQUENCY;
chThdSleep(MS2ST(5));
can_bus_display_process(5);
static bool encoder_recovery_done = false;
if(encoder_recovery_done) {
// default motor config is set to an invalid 400° encoder offset. Make clear
// to the users that they need to run the encoder offset detection
if(mc_interface_get_configuration()->foc_encoder_offset == 400.0 /*|| fabsf(hw_get_encoder_error()) > 10.0*/) {
;//mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, false, false);
}
} else {
if (uptime > 1.0 && !encoder_recovery_done) {
// recover encoder offset across fw updates
hw_recover_encoder_offset();
encoder_recovery_done = true;
}
}
// when PAS level set to 0, the system would shut down after 10 minutes of non-assisted pedaling
// so we force it to stay ON if there is pedal activity
if(luna_canbus_get_PAS_torque() > 0.25) {
shutdown_reset_timer();
}
// consider shutting down in case of battery undervoltage. Power button can turn it on only if Vin>25V
// BMS typically trips at 2.8V/cell
if(luna_display_shutdown_request()) {
conf_general_store_backup_data();
HW_SHUTDOWN_HOLD_OFF(); // night night
}
if (luna_settings.assist_code == PAS_LEVEL_WALK) {
//disable ADC & PAS apps for 50 millisec
app_disable_output(50);
if(luna_display_walk_mode_long_pressed()) {
//send speed command. Sloow 500rpm/sec ramp
mc_interface_set_pid_speed(2500.0);
timeout_reset();
} else {
//quickly release the motor
mc_interface_release_motor();
}
}
}
}
#endif

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hwconf/luna/m600/luna_m600_display.h Normal file
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/*
Copyright 2020 Marcos Chaparro mchaparro@powerdesigns.ca
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_LUNA_DISPLAY_CANBUS_H_
#define APP_LUNA_DISPLAY_CANBUS_H_
#include "stdint.h"
void luna_canbus_start(void);
float luna_canbus_get_PAS_torque(void);
float get_encoder_error(void);
#endif /* APP_LUNA_DISPLAY_CANBUS_H_ */

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hwconf/luna/m600/mcconf_luna_m600.h Normal file
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// This file is autogenerated by VESC Tool
#ifndef MCCONF_LUNA_M600_H_
#define MCCONF_LUNA_M600_H_
// PWM Mode
#define MCCONF_PWM_MODE 1
// Commutation Mode
#define MCCONF_COMM_MODE 0
// Motor Type
#define MCCONF_DEFAULT_MOTOR_TYPE 2
// Sensor Mode
#define MCCONF_SENSOR_MODE 0
// Motor Current Max
#define MCCONF_L_CURRENT_MAX 100
// Motor Current Max Brake
#define MCCONF_L_CURRENT_MIN -20
// Battery Current Max
#define MCCONF_L_IN_CURRENT_MAX 60
// Battery Current Max Regen
#define MCCONF_L_IN_CURRENT_MIN -20
// Absolute Maximum Current
#define MCCONF_L_MAX_ABS_CURRENT 200
// Max ERPM Reverse
#define MCCONF_L_RPM_MIN -100000
// Max ERPM
#define MCCONF_L_RPM_MAX 100000
// ERPM Limit Start
#define MCCONF_L_RPM_START 0.8
// Max ERPM Full Brake
#define MCCONF_L_CURR_MAX_RPM_FBRAKE 300
// Max ERPM Full Brake Current Control
#define MCCONF_L_CURR_MAX_RPM_FBRAKE_CC 1500
// Minimum Input Voltage
#define MCCONF_L_MIN_VOLTAGE 30
// Maximum Input Voltage
#define MCCONF_L_MAX_VOLTAGE 60.0
// Battery Voltage Cutoff Start
#define MCCONF_L_BATTERY_CUT_START 40.0
// Battery Voltage Cutoff End
#define MCCONF_L_BATTERY_CUT_END 39.0
// Slow ABS Current Limit
#define MCCONF_L_SLOW_ABS_OVERCURRENT 0
// MOSFET Temp Cutoff Start
#define MCCONF_L_LIM_TEMP_FET_START 85
// MOSFET Temp Cutoff End
#define MCCONF_L_LIM_TEMP_FET_END 95
// Motor Temp Cutoff Start
#define MCCONF_L_LIM_TEMP_MOTOR_START 105
// Motor Temp Cutoff End
#define MCCONF_L_LIM_TEMP_MOTOR_END 120
// Acceleration Temperature Decrease
#define MCCONF_L_LIM_TEMP_ACCEL_DEC 0
// Minimum Duty Cycle
#define MCCONF_L_MIN_DUTY 0.005
// Maximum Duty Cycle
#define MCCONF_L_MAX_DUTY 0.95
// Maximum Wattage
#define MCCONF_L_WATT_MAX 2500
// Maximum Braking Wattage
#define MCCONF_L_WATT_MIN -2500
// Max Current Scale
#define MCCONF_L_CURRENT_MAX_SCALE 1.0
// Min Current Scale
#define MCCONF_L_CURRENT_MIN_SCALE 1
// Duty Cycle Current Limit Start
#define MCCONF_L_DUTY_START 1
// Minimum ERPM
#define MCCONF_SL_MIN_RPM 150
// Minimum ERPM Integrator
#define MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT 1100
// Max Brake Current at Direction Change
#define MCCONF_SL_MAX_FB_CURR_DIR_CHANGE 10
// Cycle Integrator Limit
#define MCCONF_SL_CYCLE_INT_LIMIT 62
// Phase Advance at BR ERPM
#define MCCONF_SL_PHASE_ADVANCE_AT_BR 0.8
// BR ERPM
#define MCCONF_SL_CYCLE_INT_BR 80000
// BEMF Coupling
#define MCCONF_SL_BEMF_COUPLING_K 600
// Hall Table [0]
#define MCCONF_HALL_TAB_0 -1
// Hall Table [1]
#define MCCONF_HALL_TAB_1 1
// Hall Table [2]
#define MCCONF_HALL_TAB_2 3
// Hall Table [3]
#define MCCONF_HALL_TAB_3 2
// Hall Table [4]
#define MCCONF_HALL_TAB_4 5
// Hall Table [5]
#define MCCONF_HALL_TAB_5 6
// Hall Table [6]
#define MCCONF_HALL_TAB_6 4
// Hall Table [7]
#define MCCONF_HALL_TAB_7 -1
// Sensorless ERPM Hybrid
#define MCCONF_HALL_ERPM 2000
// Current KP
#define MCCONF_FOC_CURRENT_KP 0.106
// Current KI
#define MCCONF_FOC_CURRENT_KI 47.69
// Switching Frequency
#define MCCONF_FOC_F_ZV 30000
// Dead Time Compensation
#define MCCONF_FOC_DT_US 0.23
// Encoder Inverted
#define MCCONF_FOC_ENCODER_INVERTED 1
// Encoder Offset
#define MCCONF_FOC_ENCODER_OFFSET 400.0
// Encoder Ratio
#define MCCONF_FOC_ENCODER_RATIO 4
// Sin/Cos Sine Gain Compensation
#define MCCONF_FOC_ENCODER_SIN_GAIN 1
// Sin/Cos Cosine Gain Compensation
#define MCCONF_FOC_ENCODER_COS_GAIN 1
// Sin/Cos Sine Offset
#define MCCONF_FOC_ENCODER_SIN_OFFSET 1.65
// Sin/Cos Cosine Offset
#define MCCONF_FOC_ENCODER_COS_OFFSET 1.65
// Sin/Cos Filter Constant
#define MCCONF_FOC_ENCODER_SINCOS_FILTER 0.5
// Sensor Mode
#define MCCONF_FOC_SENSOR_MODE 1
// Speed Tracker Kp
#define MCCONF_FOC_PLL_KP 2000
// Speed Tracker Ki
#define MCCONF_FOC_PLL_KI 30000
// Motor Inductance (L)
#define MCCONF_FOC_MOTOR_L 0.00010601
// Motor Inductance Difference (Ld - Lq)
#define MCCONF_FOC_MOTOR_LD_LQ_DIFF 0.0
// Motor Resistance (R)
#define MCCONF_FOC_MOTOR_R 0.0477
// Motor Flux Linkage (λ)
#define MCCONF_FOC_MOTOR_FLUX_LINKAGE 0.013687
// Observer Gain (x1M)
#define MCCONF_FOC_OBSERVER_GAIN 5.34e+06
// Observer Gain At Minimum Duty
#define MCCONF_FOC_OBSERVER_GAIN_SLOW 0.05
// Duty Downramp Kp
#define MCCONF_FOC_DUTY_DOWNRAMP_KP 10
// Duty Downramp Ki
#define MCCONF_FOC_DUTY_DOWNRAMP_KI 200
// Openloop ERPM
#define MCCONF_FOC_OPENLOOP_RPM 1500
// Openloop ERPM at Min Current
#define MCCONF_FOC_OPENLOOP_RPM_LOW 0
// D Axis Gain Scaling Start
#define MCCONF_FOC_D_GAIN_SCALE_START 1
// D Axis Gain Scaling at Max Mod
#define MCCONF_FOC_D_GAIN_SCALE_MAX_MOD 0.2
// Openloop Hysteresis
#define MCCONF_FOC_SL_OPENLOOP_HYST 0.1
// Openloop Lock Time
#define MCCONF_FOC_SL_OPENLOOP_T_LOCK 0
// Openloop Ramp Time
#define MCCONF_FOC_SL_OPENLOOP_T_RAMP 0.1
// Openloop Time
#define MCCONF_FOC_SL_OPENLOOP_TIME 0.05
// Hall Table [0]
#define MCCONF_FOC_HALL_TAB_0 255
// Hall Table [1]
#define MCCONF_FOC_HALL_TAB_1 255
// Hall Table [2]
#define MCCONF_FOC_HALL_TAB_2 255
// Hall Table [3]
#define MCCONF_FOC_HALL_TAB_3 255
// Hall Table [4]
#define MCCONF_FOC_HALL_TAB_4 255
// Hall Table [5]
#define MCCONF_FOC_HALL_TAB_5 255
// Hall Table [6]
#define MCCONF_FOC_HALL_TAB_6 255
// Hall Table [7]
#define MCCONF_FOC_HALL_TAB_7 255
// Hall Interpolation ERPM
#define MCCONF_FOC_HALL_INTERP_ERPM 500
// Sensorless ERPM
#define MCCONF_FOC_SL_ERPM 30000
// Sample in V0 and V7
#define MCCONF_FOC_SAMPLE_V0_V7 0
// High Current Sampling Mode
#define MCCONF_FOC_SAMPLE_HIGH_CURRENT 0
// Stator Saturation Compensation
#define MCCONF_FOC_SAT_COMP 0
// Temp Comp
#define MCCONF_FOC_TEMP_COMP 0
// Temp Comp Base Temp
#define MCCONF_FOC_TEMP_COMP_BASE_TEMP 25
// Current Filter Constant
#define MCCONF_FOC_CURRENT_FILTER_CONST 0.1
// Current Controller Decoupling
#define MCCONF_FOC_CC_DECOUPLING 0
// Observer Type
#define MCCONF_FOC_OBSERVER_TYPE 0
// HFI Start Voltage
#define MCCONF_FOC_HFI_VOLTAGE_START 20
// HFI Run Voltage
#define MCCONF_FOC_HFI_VOLTAGE_RUN 4
// HFI Max Voltage
#define MCCONF_FOC_HFI_VOLTAGE_MAX 10
// Sensorless ERPM HFI
#define MCCONF_FOC_SL_ERPM_HFI 2000
// HFI Start Samples
#define MCCONF_FOC_HFI_START_SAMPLES 65
// HFI Observer Override Time
#define MCCONF_FOC_HFI_OBS_OVR_SEC 0.001
// HFI Samples
#define MCCONF_FOC_HFI_SAMPLES 1
// Run calibration at boot
#define MCCONF_FOC_OFFSETS_CAL_ON_BOOT 1
// Current Offset 0
#define MCCONF_FOC_OFFSETS_CURRENT_0 2048.0
// Current Offset 1
#define MCCONF_FOC_OFFSETS_CURRENT_1 2048.0
// Current Offset 2
#define MCCONF_FOC_OFFSETS_CURRENT_2 2048.0
// Voltage Offset 0
#define MCCONF_FOC_OFFSETS_VOLTAGE_0 0.0
// Voltage Offset 1
#define MCCONF_FOC_OFFSETS_VOLTAGE_1 0.0
// Voltage Offset 2
#define MCCONF_FOC_OFFSETS_VOLTAGE_2 0.0
// Voltage Offset Undriven 0
#define MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_0 0
// Voltage Offset Undriven 1
#define MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_1 0
// Voltage Offset Undriven 2
#define MCCONF_FOC_OFFSETS_VOLTAGE_UNDRIVEN_2 0
// Enable Phase Filters
#define MCCONF_FOC_PHASE_FILTER_ENABLE 1
// Maximum ERPM for phase filters
#define MCCONF_FOC_PHASE_FILTER_MAX_ERPM 2500
// Field Weakening Current Max
#define MCCONF_FOC_FW_CURRENT_MAX 7
// Field Weakening Duty Start
#define MCCONF_FOC_FW_DUTY_START 0.9
// Field Weakening Ramp Time
#define MCCONF_FOC_FW_RAMP_TIME 0.2
// Q Axis Current Factor
#define MCCONF_FOC_FW_Q_CURRENT_FACTOR 0.02
// Buffer Notification Length
#define MCCONF_GPD_BUFFER_NOTIFY_LEFT 200
// Buffer Sampling Interpolation
#define MCCONF_GPD_BUFFER_INTERPOL 0
// Current Filter Constant
#define MCCONF_GPD_CURRENT_FILTER_CONST 0.1
// Current KP
#define MCCONF_GPD_CURRENT_KP 0.03
// Current KI
#define MCCONF_GPD_CURRENT_KI 50
// Speed PID Kp
#define MCCONF_S_PID_KP 0.004
// Speed PID Ki
#define MCCONF_S_PID_KI 0.004
// Speed PID Kd
#define MCCONF_S_PID_KD 0.0001
// Speed PID Kd Filer
#define MCCONF_S_PID_KD_FILTER 0.2
// Minimum ERPM
#define MCCONF_S_PID_MIN_RPM 100
// Allow Braking
#define MCCONF_S_PID_ALLOW_BRAKING 1
// Ramp eRPMs per second
#define MCCONF_S_PID_RAMP_ERPMS_S 1500
// Position PID Kp
#define MCCONF_P_PID_KP 0.03
// Position PID Ki
#define MCCONF_P_PID_KI 0
// Position PID Kd
#define MCCONF_P_PID_KD 0.0004
// Position PID Kd Filer
#define MCCONF_P_PID_KD_FILTER 0.2
// Position Angle Division
#define MCCONF_P_PID_ANG_DIV 1
// Gain Decrease Angle
#define MCCONF_P_PID_GAIN_DEC_ANGLE 0
// Startup boost
#define MCCONF_CC_STARTUP_BOOST_DUTY 0.01
// Minimum Current
#define MCCONF_CC_MIN_CURRENT 0.05
// Current Controller Gain
#define MCCONF_CC_GAIN 0.0046
// Current Control Ramp Step Max
#define MCCONF_CC_RAMP_STEP 0.04
// Fault Stop Time
#define MCCONF_M_FAULT_STOP_TIME 500
// Duty Ramp Step Max
#define MCCONF_M_RAMP_STEP 0.02
// Current Backoff Gain
#define MCCONF_M_CURRENT_BACKOFF_GAIN 0.5
// ABI Encoder Counts
#define MCCONF_M_ENCODER_COUNTS 8192
// Sensor Port Mode
#define MCCONF_M_SENSOR_PORT_MODE 7
// Invert Motor Direction
#define MCCONF_M_INVERT_DIRECTION 0
// DRV8301 OC Mode
#define MCCONF_M_DRV8301_OC_MODE 0
// DRV8301 OC Adjustment
#define MCCONF_M_DRV8301_OC_ADJ 16
// Minimum Switching Frequency
#define MCCONF_M_BLDC_F_SW_MIN 3000
// Maximum Switching Frequency
#define MCCONF_M_BLDC_F_SW_MAX 35000
// Switching Frequency
#define MCCONF_M_DC_F_SW 25000
// Beta Value for Motor Thermistor
#define MCCONF_M_NTC_MOTOR_BETA 3380
// Auxiliary Output Mode
#define MCCONF_M_OUT_AUX_MODE 0
// Motor Temperature Sensor Type
#define MCCONF_M_MOTOR_TEMP_SENS_TYPE 1
// Coefficient for PTC Motor Thermistor
#define MCCONF_M_PTC_MOTOR_COEFF 0.25
// Hall Sensor Extra Samples
#define MCCONF_M_HALL_EXTRA_SAMPLES 1
// Motor Poles
#define MCCONF_SI_MOTOR_POLES 8
// Gear Ratio
#define MCCONF_SI_GEAR_RATIO 7
// Wheel Diameter
#define MCCONF_SI_WHEEL_DIAMETER 0.714
// Battery Type
#define MCCONF_SI_BATTERY_TYPE 0
// Battery Cells Series
#define MCCONF_SI_BATTERY_CELLS 13
// Battery Capacity
#define MCCONF_SI_BATTERY_AH 14.5
// BMS Type
#define MCCONF_BMS_TYPE 1
// Temperature Limit Start
#define MCCONF_BMS_T_LIMIT_START 45
// Temperature Limit End
#define MCCONF_BMS_T_LIMIT_END 65
// SOC Limit Start
#define MCCONF_BMS_SOC_LIMIT_START 0.05
// SOC Limit End
#define MCCONF_BMS_SOC_LIMIT_END 0
// Forward CAN to Local
#define MCCONF_BMS_FWD_CAN_MODE 0
// MCCONF_LUNA_M600_H_
#endif

422
hwconf/luna/m600/qmlui_luna_m600.c Normal file
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@ -0,0 +1,422 @@
// This file is autogenerated by VESC Tool
#include "qmlui_luna_m600.h"
uint8_t data_qml_hw[6655] = {
0x00, 0x01, 0x70, 0x84, 0x78, 0xda, 0xed, 0x5d, 0x6d, 0x53, 0xe3, 0x38, 0xb6, 0xfe, 0xce, 0xaf,
0xd0, 0xe4, 0xd6, 0x6e, 0x25, 0x3b, 0x19, 0x93, 0x84, 0x86, 0x9e, 0x66, 0x2e, 0xbb, 0xd5, 0x4d,
0x37, 0x3d, 0xd4, 0x85, 0x6d, 0x06, 0xe8, 0xe6, 0x0b, 0x55, 0x94, 0xb0, 0x95, 0xc4, 0x85, 0xdf,
0xda, 0x56, 0x08, 0xec, 0x2c, 0xff, 0x69, 0x7f, 0xc3, 0xfe, 0xb2, 0x2b, 0xc9, 0xef, 0xef, 0xb2,
0x23, 0x07, 0x42, 0x2b, 0x3b, 0x33, 0x1b, 0x6c, 0xe9, 0x48, 0x96, 0xce, 0x39, 0x8f, 0xce, 0x91,
0xfc, 0x44, 0x37, 0x1d, 0xdb, 0xc5, 0xe0, 0x1b, 0xd2, 0x34, 0xe4, 0x2a, 0xf7, 0xc8, 0x53, 0xd9,
0x7f, 0x74, 0x0b, 0x23, 0x77, 0x0a, 0x55, 0x04, 0xc6, 0xca, 0xe8, 0x37, 0xdd, 0x2f, 0xd4, 0xfb,
0xee, 0xaa, 0xfb, 0xdb, 0xa6, 0x7d, 0xab, 0x1b, 0xa8, 0x17, 0x5e, 0xfc, 0x03, 0xff, 0xb1, 0xd0,
0xd5, 0x3b, 0x30, 0x51, 0xde, 0x6e, 0xa5, 0x2f, 0x29, 0x87, 0xb6, 0x85, 0x5d, 0xdb, 0xf0, 0xc8,
0xbd, 0x49, 0xf6, 0xde, 0x09, 0x7c, 0xb4, 0x17, 0xd8, 0x23, 0xe2, 0x77, 0xe2, 0x5b, 0x8a, 0x01,
0x6f, 0x3d, 0xc5, 0x43, 0x18, 0xeb, 0xd6, 0x8c, 0xde, 0x1b, 0x01, 0xe8, 0x81, 0x3f, 0x2e, 0x82,
0x0b, 0x61, 0xc1, 0xca, 0xce, 0x16, 0x15, 0xba, 0x35, 0xd0, 0x02, 0x92, 0x6b, 0x25, 0xb7, 0x55,
0xdb, 0x34, 0xa1, 0xa5, 0x79, 0xe5, 0xf7, 0xad, 0xa9, 0x3e, 0x73, 0xa0, 0x0b, 0xcd, 0xd2, 0x32,
0x0b, 0xac, 0x1b, 0x3a, 0x7e, 0x64, 0xb7, 0x8f, 0x31, 0x32, 0xc1, 0x9f, 0x5b, 0x80, 0x7c, 0x74,
0x6d, 0x1f, 0x98, 0x50, 0xb7, 0xe8, 0x25, 0x76, 0x01, 0x5a, 0xea, 0xdc, 0x76, 0x3d, 0x65, 0xaa,
0x1b, 0xc6, 0x3e, 0x20, 0x32, 0x91, 0x85, 0xd9, 0x8d, 0xed, 0xed, 0xf0, 0x96, 0x09, 0xdd, 0x99,
0x6e, 0x79, 0xfb, 0x60, 0x3c, 0xf2, 0x6f, 0x4c, 0xf5, 0x07, 0x80, 0xe7, 0xba, 0xc7, 0xca, 0x39,
0xae, 0xed, 0x20, 0x97, 0xb4, 0xf4, 0xc1, 0x40, 0x5f, 0xe9, 0x43, 0x99, 0xe4, 0xcb, 0x3e, 0xe9,
0x8b, 0xa7, 0x1e, 0x4f, 0xe9, 0x93, 0x7e, 0x44, 0xf7, 0xba, 0x8a, 0xfa, 0x83, 0x74, 0xe9, 0xc3,
0xf0, 0x19, 0xcd, 0xf0, 0x5b, 0x54, 0x27, 0x7c, 0xfc, 0x6c, 0x95, 0x7b, 0xe8, 0x82, 0xe9, 0xf2,
0x1b, 0x72, 0x3d, 0xdd, 0xb6, 0xf6, 0xe3, 0x8a, 0xca, 0x0c, 0xe1, 0xa3, 0xf0, 0x7a, 0xbe, 0x1d,
0x3a, 0x56, 0x67, 0xfe, 0x58, 0x99, 0xa7, 0x2a, 0xfd, 0x3b, 0x6a, 0xc9, 0x54, 0xfd, 0xdb, 0xd5,
0x95, 0xde, 0x3b, 0x4e, 0xaa, 0x16, 0xf4, 0xff, 0xae, 0xab, 0x76, 0x6c, 0x4d, 0xed, 0x54, 0x3d,
0x3d, 0xb8, 0x90, 0xaf, 0x78, 0x6b, 0xdb, 0x06, 0xd0, 0xbd, 0xdf, 0x6d, 0x57, 0xff, 0x17, 0xd1,
0x51, 0x48, 0x66, 0x62, 0xa9, 0x6b, 0x78, 0x0e, 0xfe, 0x0e, 0xe6, 0x48, 0x9f, 0xcd, 0x71, 0x41,
0x71, 0x4f, 0x9d, 0x23, 0x6d, 0x61, 0x20, 0x2a, 0xf1, 0xca, 0xd5, 0x31, 0x19, 0xf3, 0x29, 0x34,
0x3c, 0x54, 0x50, 0x94, 0xcc, 0x17, 0xd2, 0x2e, 0xe7, 0xae, 0x8d, 0xb1, 0x51, 0x5c, 0x8c, 0x0e,
0xad, 0x3f, 0xf7, 0x97, 0xf0, 0xf6, 0x03, 0x74, 0x43, 0x4d, 0x50, 0x30, 0xfb, 0x33, 0xd2, 0x16,
0xfa, 0x61, 0x5f, 0xc8, 0xd8, 0x3b, 0xb6, 0x45, 0x4b, 0xd8, 0x16, 0xfd, 0x6e, 0x20, 0x8c, 0x88,
0x6a, 0xfd, 0x19, 0x95, 0x4a, 0x4a, 0x53, 0xee, 0x75, 0x4f, 0x27, 0x9a, 0x00, 0x0e, 0x00, 0x76,
0x17, 0xa8, 0xb8, 0x0c, 0xb2, 0x20, 0x29, 0xa2, 0x65, 0xcb, 0xb8, 0x08, 0x6a, 0xa1, 0xbd, 0x05,
0xc3, 0xf6, 0xb4, 0x15, 0x74, 0xc1, 0x58, 0x98, 0x96, 0x6f, 0xb7, 0x89, 0x86, 0x0b, 0x15, 0x3a,
0xba, 0xeb, 0x37, 0x96, 0x28, 0x1e, 0x1a, 0x85, 0xff, 0xa0, 0xa9, 0xcb, 0x7e, 0xdd, 0xfd, 0x54,
0x37, 0x53, 0x05, 0x8a, 0x9a, 0x0a, 0x07, 0x28, 0xfc, 0xa8, 0x0b, 0x97, 0x5e, 0x3e, 0xb6, 0x34,
0xf4, 0xb0, 0x0f, 0xbc, 0xa5, 0xee, 0xa0, 0x6f, 0x3a, 0x5a, 0x2a, 0xc9, 0xeb, 0xa9, 0x0a, 0xfe,
0x03, 0x31, 0x99, 0x57, 0x54, 0x07, 0xf6, 0xd3, 0xe3, 0xc1, 0xfa, 0x4b, 0xc6, 0x5b, 0x57, 0x75,
0x1c, 0xdc, 0x1f, 0xa5, 0x1b, 0x34, 0x74, 0x27, 0xa8, 0x93, 0x7e, 0x9a, 0x70, 0xae, 0x89, 0x77,
0x02, 0xb7, 0x0b, 0x8c, 0x6d, 0x6a, 0xd2, 0x6f, 0xea, 0xca, 0x04, 0x6d, 0x8c, 0x47, 0xa3, 0xb4,
0x38, 0x3a, 0x1c, 0xac, 0x40, 0x66, 0x2c, 0xe9, 0x07, 0xa3, 0x07, 0x32, 0x6c, 0xdf, 0xbd, 0x4b,
0xb7, 0xdf, 0x3b, 0xd7, 0x35, 0xd4, 0x1b, 0xe4, 0x8a, 0x2c, 0x7d, 0xb1, 0xa7, 0x10, 0xcf, 0x89,
0x7f, 0x79, 0xe8, 0xfb, 0xc3, 0xaf, 0x24, 0xda, 0x1c, 0x06, 0x97, 0x7c, 0x43, 0xd8, 0x06, 0xa9,
0x12, 0x5e, 0x5a, 0xe2, 0x53, 0xab, 0xae, 0x5d, 0x2e, 0xac, 0x97, 0xda, 0xb5, 0x0f, 0xfa, 0x1d,
0x02, 0x87, 0x47, 0x9f, 0x5f, 0x68, 0xf7, 0x8e, 0x74, 0xd7, 0x5c, 0x12, 0x75, 0x5f, 0x63, 0xf7,
0x9e, 0x62, 0xf5, 0xbb, 0x08, 0x8d, 0xa8, 0xc0, 0x8c, 0x23, 0x03, 0xab, 0x30, 0xc2, 0xa0, 0x41,
0x1e, 0x0b, 0xfc, 0x9d, 0x79, 0xdf, 0x02, 0x13, 0xe4, 0xb0, 0xd2, 0x84, 0x21, 0x82, 0x82, 0xcf,
0x19, 0x9c, 0xa1, 0x82, 0x61, 0x0e, 0x3f, 0xe7, 0xf8, 0x23, 0xc4, 0x90, 0x78, 0xbe, 0x85, 0x53,
0x51, 0xaa, 0x12, 0xc1, 0xcb, 0x3e, 0x0b, 0x47, 0x83, 0x18, 0x51, 0xf1, 0x65, 0x0e, 0x09, 0x1c,
0x1c, 0x64, 0xbc, 0x4a, 0xb9, 0xce, 0x14, 0x5f, 0x2d, 0x79, 0xba, 0x5b, 0xa8, 0xde, 0xcd, 0x5c,
0x7b, 0x61, 0x91, 0xa9, 0x3a, 0x47, 0x2a, 0x86, 0xd6, 0xcc, 0x28, 0x1b, 0x05, 0xdb, 0x81, 0xc4,
0xc7, 0x3d, 0x12, 0xff, 0xa6, 0xe4, 0xfb, 0xf2, 0xb4, 0x95, 0xbb, 0x54, 0x82, 0x07, 0x45, 0x43,
0x85, 0x6d, 0xe7, 0x94, 0x2d, 0x6a, 0xf6, 0xc1, 0x6e, 0x65, 0xc1, 0x5b, 0x02, 0x99, 0xb6, 0x19,
0x96, 0x1d, 0x6f, 0x71, 0x8f, 0x7f, 0x61, 0x49, 0x5f, 0x23, 0x62, 0xf8, 0xcd, 0x7e, 0x3c, 0xfa,
0xc4, 0xd6, 0x8c, 0x76, 0xaa, 0xf0, 0x7e, 0x21, 0x78, 0x65, 0x2d, 0x80, 0xf8, 0x70, 0xd2, 0x13,
0xe4, 0x65, 0xc1, 0xaa, 0xdc, 0x1e, 0x82, 0x1a, 0x17, 0xf5, 0xd8, 0x54, 0x88, 0x15, 0x74, 0xed,
0x60, 0x40, 0x0f, 0x9f, 0xf9, 0x62, 0x02, 0xa1, 0x5c, 0x32, 0x38, 0xac, 0x88, 0x1b, 0xf7, 0x1a,
0x98, 0x5e, 0x39, 0x1c, 0xee, 0x34, 0x29, 0x5f, 0x06, 0x8d, 0xbc, 0x1e, 0xb5, 0xcc, 0xbb, 0x5e,
0x60, 0x17, 0x21, 0x7c, 0x6d, 0x19, 0x68, 0x06, 0x8d, 0x02, 0x17, 0x5b, 0xe5, 0x6e, 0x2b, 0x0b,
0xa7, 0x1f, 0x27, 0xd4, 0x92, 0x94, 0x6f, 0x6e, 0x53, 0x3f, 0x74, 0xe4, 0x79, 0x99, 0xde, 0xa0,
0xa1, 0x13, 0x69, 0x3b, 0x64, 0x97, 0x2e, 0xd4, 0xe5, 0x50, 0x71, 0x0d, 0xd5, 0xc9, 0x42, 0xd3,
0x55, 0xe2, 0x82, 0xbd, 0x1f, 0x6b, 0xb8, 0x8a, 0xaf, 0x96, 0x2d, 0x25, 0x4a, 0x9c, 0xea, 0x45,
0xe1, 0xea, 0xa2, 0xd6, 0xb3, 0x7a, 0x95, 0xcb, 0x8d, 0xa6, 0x4b, 0x8f, 0x15, 0x1c, 0x28, 0x87,
0x5f, 0xdc, 0xde, 0x06, 0xbe, 0xff, 0x01, 0x27, 0xd4, 0xfd, 0x94, 0x96, 0x63, 0x00, 0x5f, 0x7a,
0xb7, 0x5a, 0x1d, 0x39, 0x90, 0xba, 0x15, 0x6a, 0xb7, 0x45, 0xf0, 0x76, 0x68, 0xde, 0x04, 0xd9,
0x9b, 0xa0, 0x7c, 0x4a, 0x3f, 0x89, 0xa5, 0x1a, 0x46, 0x8d, 0x82, 0xa6, 0xa7, 0xaf, 0xf1, 0x72,
0xb0, 0x81, 0x72, 0xa4, 0x8a, 0xdb, 0x16, 0x26, 0xa2, 0x03, 0xb5, 0x0b, 0xd2, 0x05, 0xcc, 0x60,
0xb9, 0xaa, 0x97, 0x69, 0x3a, 0x57, 0xe5, 0x86, 0x0a, 0xb4, 0x92, 0x22, 0xad, 0xaa, 0x50, 0xab,
0x29, 0x56, 0x1b, 0x05, 0x0b, 0x3f, 0x41, 0xd6, 0xa5, 0xc1, 0x9c, 0x36, 0x55, 0xcf, 0xf0, 0x93,
0x48, 0x30, 0xf2, 0x7e, 0xa8, 0x9f, 0x21, 0x2d, 0x21, 0xb7, 0x51, 0xad, 0x86, 0xfe, 0x4e, 0x84,
0x8b, 0xe5, 0x88, 0x3c, 0xca, 0x3e, 0x9f, 0x09, 0xcc, 0x3a, 0x1f, 0xec, 0x87, 0x86, 0x43, 0xc3,
0xe2, 0x58, 0xe6, 0x83, 0x2f, 0x6d, 0xf7, 0xfb, 0x02, 0x11, 0x09, 0x22, 0x06, 0xa9, 0x91, 0x8c,
0x73, 0x7b, 0xd9, 0xd8, 0xbc, 0x12, 0x53, 0xbb, 0x92, 0xa5, 0xe5, 0x7d, 0x59, 0x5b, 0x9b, 0x13,
0x63, 0x7b, 0xab, 0xd8, 0x60, 0x81, 0x55, 0x35, 0xad, 0x7a, 0x49, 0x16, 0x6f, 0x2d, 0x66, 0x21,
0x5e, 0xf7, 0xf5, 0xc2, 0xd4, 0xef, 0xb5, 0xf5, 0xde, 0x74, 0xbc, 0x5e, 0x2b, 0x51, 0xaa, 0x6d,
0xd8, 0xee, 0xfe, 0x9f, 0xec, 0xff, 0x0e, 0xbe, 0xfa, 0x9b, 0x0b, 0x34, 0xf1, 0xfe, 0xde, 0x71,
0x7e, 0x47, 0x0f, 0x87, 0xf4, 0x72, 0xbf, 0x67, 0x50, 0x7b, 0xa2, 0xfd, 0xed, 0x0d, 0x9e, 0x5a,
0xb5, 0x32, 0x8f, 0x32, 0xe0, 0xef, 0x89, 0x2c, 0xcb, 0x64, 0xf9, 0x57, 0x2a, 0x50, 0x61, 0x7f,
0xff, 0x7e, 0x88, 0xe8, 0xd6, 0x4a, 0x2b, 0xd1, 0x81, 0x55, 0x98, 0xba, 0xa5, 0x9b, 0x0b, 0x33,
0x11, 0xbb, 0x35, 0x15, 0xd4, 0xfc, 0xc9, 0x2e, 0x0c, 0x5d, 0x43, 0x6e, 0xcb, 0x39, 0xcc, 0x7a,
0x03, 0x5f, 0x58, 0x2b, 0x51, 0x1e, 0x46, 0xce, 0x85, 0xfe, 0x2f, 0x44, 0x9f, 0xbb, 0x95, 0x80,
0xa9, 0x6b, 0x9b, 0xfb, 0x60, 0xd2, 0xae, 0xf2, 0x3d, 0x34, 0x16, 0xa4, 0xe9, 0x9d, 0x76, 0xb5,
0xb1, 0xcd, 0x66, 0x8b, 0x38, 0x05, 0x12, 0x8c, 0x00, 0x67, 0x0e, 0x3d, 0x04, 0x20, 0xd1, 0xe6,
0x55, 0x74, 0x61, 0x25, 0x0f, 0x19, 0x99, 0xa7, 0x6d, 0x1b, 0x97, 0xba, 0xd3, 0x72, 0x76, 0x93,
0xfb, 0x0c, 0xf9, 0x59, 0x56, 0xe6, 0xd0, 0xd2, 0x0c, 0xd4, 0x5a, 0x72, 0xb4, 0x02, 0x28, 0x10,
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0x3a, 0xd2, 0x8d, 0xd8, 0xca, 0x6a, 0xb5, 0xc2, 0xa9, 0x56, 0x88, 0x96, 0xba, 0xe0, 0x34, 0x52,
0x83, 0x29, 0x87, 0x06, 0xb4, 0x9a, 0xfc, 0xc2, 0x0c, 0x7d, 0xf3, 0x85, 0x49, 0x71, 0x02, 0xbe,
0x21, 0x96, 0x57, 0xe5, 0xd6, 0x1b, 0x2c, 0x73, 0xea, 0x93, 0xe5, 0xad, 0xd6, 0x3b, 0x75, 0x99,
0xf0, 0x16, 0x0b, 0x9f, 0x8a, 0x14, 0x70, 0x93, 0x85, 0x42, 0xa4, 0xcf, 0xfa, 0xb4, 0x5f, 0xd6,
0x05, 0x32, 0xe4, 0x2c, 0xa9, 0x4e, 0xea, 0xf9, 0x59, 0x75, 0x52, 0xed, 0x7f, 0x0f, 0xe8, 0x7b,
0xfb, 0x83, 0x3f, 0x2b, 0xb3, 0xed, 0x07, 0xa3, 0xa7, 0x3a, 0x33, 0x6a, 0xd8, 0xec, 0xdf, 0xb9,
0x9a, 0x1d, 0x77, 0xd3, 0xec, 0x6e, 0x5d, 0xbb, 0x93, 0xa7, 0x58, 0x7c, 0x7a, 0x61, 0x49, 0x04,
0xec, 0xec, 0x8d, 0x94, 0x71, 0x12, 0x0f, 0xcb, 0x77, 0x0d, 0xc0, 0x41, 0x2a, 0xbc, 0xce, 0x15,
0xf4, 0x99, 0x5f, 0xc0, 0x41, 0xef, 0xd3, 0xf9, 0xf9, 0x97, 0x73, 0xd0, 0xef, 0x95, 0x17, 0xf5,
0x5f, 0xe7, 0x25, 0x45, 0xff, 0xfb, 0x9f, 0x41, 0x5c, 0x0c, 0xc3, 0xdb, 0xec, 0x19, 0x36, 0xd2,
0xe6, 0xa4, 0x44, 0x4c, 0x69, 0x6e, 0xa9, 0xf7, 0x3f, 0xd3, 0xe9, 0xbb, 0xdd, 0x77, 0xbb, 0xbd,
0x38, 0x77, 0x54, 0x7a, 0x54, 0x37, 0x78, 0xd7, 0x1e, 0x1c, 0x92, 0xa8, 0xee, 0xd6, 0x85, 0x4c,
0x51, 0xcf, 0xd1, 0xf7, 0x05, 0x51, 0x45, 0xad, 0x37, 0xec, 0x7d, 0xb6, 0xe9, 0xb9, 0xd9, 0x0f,
0xc7, 0xff, 0xf7, 0x09, 0x1c, 0x1e, 0x7d, 0xa6, 0x1d, 0x1c, 0xd2, 0xb7, 0x50, 0x40, 0x41, 0x2d,
0x12, 0x7f, 0x13, 0xaf, 0x84, 0x2c, 0xc0, 0x32, 0x60, 0x20, 0x3a, 0xa5, 0x78, 0x6d, 0x5d, 0x5b,
0x27, 0xa4, 0x2c, 0xb9, 0x47, 0xe3, 0x7a, 0xd7, 0xdf, 0x09, 0x02, 0xc4, 0x7d, 0xd1, 0xfc, 0xc3,
0x94, 0x2c, 0x88, 0x8c, 0x47, 0xa0, 0x2d, 0x5c, 0x52, 0x18, 0xa8, 0xb1, 0x3c, 0xa5, 0x37, 0xcc,
0x1f, 0xa8, 0xcd, 0x1d, 0x55, 0xae, 0x9c, 0xac, 0xf4, 0x5c, 0xa7, 0x31, 0xa2, 0x7c, 0xf2, 0xf8,
0x66, 0xad, 0x57, 0x2a, 0x4b, 0x54, 0xca, 0x8f, 0xbe, 0x2e, 0x11, 0x67, 0x44, 0x32, 0xa9, 0xc8,
0x60, 0x08, 0x3a, 0x4e, 0x6e, 0x10, 0x7b, 0x29, 0x3b, 0x5b, 0x49, 0x97, 0x0d, 0xa3, 0xa4, 0xd9,
0x84, 0x76, 0xbb, 0x60, 0x79, 0xa5, 0x8a, 0x4c, 0xc6, 0xb0, 0x3c, 0x94, 0xe1, 0x13, 0x16, 0x25,
0x53, 0x86, 0xa5, 0xb1, 0x13, 0x9f, 0xa0, 0x28, 0x37, 0x32, 0x04, 0xbf, 0x94, 0x05, 0x20, 0x7f,
0x0b, 0xc7, 0x8b, 0x4b, 0x66, 0x41, 0x34, 0x39, 0x2c, 0x8c, 0x0e, 0x12, 0xd2, 0xc2, 0xfc, 0x43,
0x81, 0xb8, 0xca, 0x04, 0xcc, 0xb0, 0x24, 0x18, 0xda, 0xe6, 0x19, 0xdf, 0x9a, 0x46, 0x4b, 0x32,
0x33, 0x43, 0x8e, 0xd8, 0x6a, 0x00, 0x04, 0x7d, 0x9a, 0x8f, 0x50, 0x71, 0x67, 0x4b, 0x16, 0xe7,
0x2f, 0xa2, 0x9f, 0x16, 0x9a, 0xd5, 0xf5, 0x93, 0xcc, 0xe7, 0x64, 0xfd, 0x7d, 0x2d, 0x4e, 0x7c,
0x0d, 0x41, 0x3f, 0xcc, 0x9b, 0x55, 0x47, 0xb2, 0x34, 0xd9, 0xc8, 0x12, 0x64, 0xb1, 0xca, 0xa5,
0x72, 0x29, 0xe0, 0x80, 0xeb, 0xe0, 0x67, 0x32, 0xa0, 0xa9, 0xf4, 0x44, 0xe3, 0x96, 0x9e, 0xa8,
0x2c, 0x3e, 0x6e, 0xec, 0x88, 0x4a, 0xc2, 0xf1, 0xe6, 0x7e, 0xa8, 0x24, 0xac, 0x15, 0xe0, 0x86,
0x0a, 0xc2, 0x4e, 0x21, 0x5e, 0xa8, 0x30, 0xc2, 0xde, 0xe6, 0x18, 0xda, 0xb6, 0x3e, 0xa8, 0x36,
0x5e, 0x1f, 0xac, 0xee, 0x3a, 0xaa, 0xc2, 0xfa, 0x17, 0xe4, 0x39, 0x2a, 0xb3, 0x0f, 0xbc, 0x8e,
0x43, 0x9c, 0x53, 0xa8, 0xcc, 0x58, 0x70, 0xf8, 0x04, 0x8e, 0x43, 0xa5, 0xd9, 0x3c, 0x47, 0xa5,
0x5b, 0x98, 0xb4, 0x75, 0x0b, 0x02, 0x3c, 0x82, 0x23, 0x62, 0x51, 0xd2, 0x85, 0x1f, 0x98, 0x8a,
0x77, 0x01, 0x4e, 0xde, 0xfa, 0x3b, 0x31, 0xfc, 0x6e, 0x6d, 0xde, 0x79, 0xf1, 0xe6, 0xee, 0x94,
0x5a, 0xfa, 0xaf, 0xe0, 0x67, 0x12, 0x9b, 0x8e, 0x77, 0x07, 0x02, 0x8d, 0xb9, 0xbd, 0x1d, 0x4f,
0x39, 0x51, 0xbd, 0xd2, 0x10, 0x32, 0x49, 0xa9, 0x61, 0x71, 0x5e, 0x6b, 0x50, 0x26, 0xa8, 0x38,
0x2b, 0x35, 0x2c, 0x49, 0x6b, 0x0d, 0xea, 0xfb, 0x13, 0x66, 0xa4, 0x86, 0x55, 0x39, 0x2d, 0x0e,
0x39, 0xf9, 0x64, 0xd4, 0xb0, 0x3e, 0xbd, 0xd5, 0x50, 0x2e, 0xcd, 0x47, 0x0d, 0xeb, 0xb2, 0x5b,
0xb5, 0x32, 0xf3, 0x29, 0x97, 0x61, 0x9e, 0xbf, 0x92, 0x86, 0xb3, 0xfd, 0xca, 0xfc, 0xcb, 0x20,
0x69, 0xa1, 0x35, 0xde, 0x2a, 0xb3, 0x97, 0x37, 0x2c, 0x8f, 0xef, 0x4b, 0xc5, 0x95, 0x26, 0xd5,
0x86, 0x15, 0xc9, 0xb9, 0x01, 0x97, 0xf1, 0x7a, 0x44, 0x85, 0xb5, 0x05, 0x51, 0x69, 0xd2, 0xa4,
0x9f, 0xe5, 0x08, 0x5e, 0xb7, 0x0e, 0x4e, 0x58, 0x90, 0xeb, 0x96, 0x2f, 0x3b, 0xf9, 0x4e, 0x26,
0x99, 0x4c, 0x32, 0x46, 0xfb, 0x61, 0x5f, 0x63, 0xab, 0x09, 0x63, 0x7b, 0xdb, 0xf2, 0x0f, 0x63,
0x68, 0xfd, 0xec, 0x4b, 0xe5, 0xd4, 0x40, 0x19, 0x93, 0x88, 0x62, 0xb2, 0xba, 0xe7, 0x0f, 0xd9,
0x17, 0xbc, 0xa3, 0xb3, 0x13, 0x1c, 0xed, 0x07, 0x1e, 0xa1, 0x5d, 0x07, 0xa0, 0x5f, 0x39, 0xee,
0x41, 0x71, 0x17, 0xb2, 0xbc, 0x27, 0x3a, 0x7b, 0x1f, 0x10, 0xe2, 0x85, 0xc7, 0xee, 0xc4, 0xd7,
0x23, 0x72, 0x92, 0xf1, 0x5e, 0xe2, 0x70, 0x58, 0xc4, 0x70, 0x92, 0x3e, 0x41, 0x12, 0xb2, 0xa4,
0xa4, 0xaf, 0x56, 0x30, 0x96, 0xa8, 0xfe, 0x48, 0x10, 0x2f, 0x94, 0x38, 0xb3, 0x13, 0xe4, 0x46,
0xc8, 0x60, 0x1c, 0x86, 0xb7, 0xcf, 0x6c, 0x17, 0xd3, 0x63, 0x3c, 0x99, 0xc3, 0x5d, 0x51, 0x75,
0x7a, 0xee, 0x26, 0x91, 0x57, 0x7b, 0x33, 0xa5, 0xff, 0xeb, 0xf1, 0x3f, 0xfa, 0x42, 0x2f, 0x7d,
0xec, 0x51, 0xd1, 0x63, 0xa7, 0xe6, 0xb6, 0x90, 0x1b, 0xa6, 0xe4, 0xa1, 0x6b, 0x7b, 0x12, 0xcd,
0xa4, 0x80, 0xbe, 0x6c, 0xe5, 0x8e, 0x46, 0xdf, 0x12, 0xa3, 0x03, 0xa1, 0x8e, 0x66, 0xe7, 0x29,
0x5d, 0x2a, 0x52, 0xa4, 0xd2, 0x62, 0xa4, 0x63, 0x2c, 0xdf, 0x45, 0x7a, 0x71, 0x41, 0x1d, 0x57,
0x8a, 0x65, 0xaf, 0x62, 0xd2, 0x63, 0xc6, 0x15, 0x16, 0x40, 0x7d, 0x86, 0x8b, 0x19, 0xfa, 0xea,
0xa1, 0x7f, 0xa2, 0x19, 0xc4, 0xfa, 0x3d, 0x62, 0x6e, 0xc3, 0x2b, 0x22, 0x61, 0x21, 0xcb, 0xc8,
0xa2, 0xd4, 0xeb, 0x4f, 0x64, 0x09, 0xb9, 0x53, 0xc4, 0xf3, 0x90, 0x60, 0xa9, 0xd2, 0x3d, 0xaa,
0x42, 0x91, 0x3e, 0xf5, 0xd9, 0xd6, 0x5a, 0xac, 0x68, 0x27, 0xd0, 0xc3, 0x47, 0xcb, 0xf3, 0x07,
0xe6, 0x99, 0xbc, 0xfe, 0x40, 0x99, 0x2f, 0x2f, 0x1f, 0x1d, 0xe2, 0xe0, 0x5d, 0x52, 0xf2, 0x80,
0xc8, 0xef, 0x7d, 0xfb, 0x74, 0x71, 0xd8, 0x2b, 0x23, 0x93, 0x20, 0x1d, 0xcb, 0xf9, 0x9c, 0x2a,
0xe2, 0x09, 0x52, 0x3e, 0x39, 0x70, 0xac, 0x85, 0x51, 0x1d, 0x53, 0x45, 0x7c, 0x7a, 0xca, 0x8b,
0xce, 0x55, 0xd5, 0xd3, 0x53, 0xa5, 0xdb, 0xa9, 0xe0, 0x51, 0xe1, 0xa2, 0x97, 0x28, 0xea, 0xf8,
0x98, 0x87, 0x62, 0xa3, 0xfc, 0x50, 0x58, 0x83, 0xce, 0x57, 0x9f, 0x69, 0xe5, 0xe6, 0xc7, 0x28,
0x7a, 0x88, 0x09, 0x2f, 0x4f, 0x48, 0x6a, 0x16, 0xc2, 0x33, 0x6c, 0x6c, 0x1a, 0x1a, 0xad, 0x2d,
0x1b, 0x3c, 0xf5, 0x8e, 0x58, 0x62, 0x31, 0xf2, 0xf4, 0xa9, 0x75, 0x5f, 0x13, 0x82, 0x94, 0xe4,
0xc3, 0x5b, 0xc4, 0x67, 0xbb, 0x24, 0x0a, 0x82, 0xc6, 0xa1, 0xa9, 0x91, 0x55, 0x81, 0xfe, 0x70,
0x13, 0x2e, 0x45, 0xc1, 0xb8, 0xc7, 0x49, 0xee, 0xd5, 0x94, 0xd2, 0x84, 0xb7, 0x03, 0xa3, 0xde,
0x40, 0xe0, 0xaf, 0x22, 0x66, 0x26, 0x84, 0x8f, 0xd8, 0xa6, 0x68, 0x11, 0x52, 0xfd, 0x5a, 0x01,
0xef, 0xdb, 0x20, 0xe5, 0xa3, 0xd9, 0x44, 0xeb, 0x9e, 0x4a, 0x3c, 0x19, 0xe8, 0xff, 0x14, 0x02,
0x44, 0x95, 0x6a, 0xf0, 0x1b, 0x74, 0x45, 0x43, 0x11, 0xc6, 0x70, 0xb7, 0x14, 0x9f, 0x1a, 0x6d,
0x77, 0xa0, 0x37, 0x8b, 0xc3, 0x65, 0x30, 0xec, 0xe2, 0x32, 0x10, 0xde, 0x15, 0xb9, 0x1c, 0xa8,
0x43, 0xa9, 0x5a, 0x54, 0xe3, 0xa0, 0x62, 0x0b, 0xbb, 0x4e, 0xf4, 0x6f, 0xb7, 0x58, 0x75, 0x53,
0x23, 0x1c, 0xc0, 0xef, 0x80, 0xb7, 0xe4, 0x05, 0xc2, 0x0b, 0xa7, 0xa0, 0x78, 0xa5, 0x6d, 0xd3,
0x67, 0x28, 0xdc, 0x45, 0xad, 0xc1, 0xc1, 0xfa, 0x67, 0x69, 0xd8, 0xcb, 0xf6, 0x5a, 0xb3, 0x15,
0x9f, 0xc3, 0xa7, 0x3b, 0xb4, 0x19, 0xfd, 0xc9, 0xf2, 0x83, 0x27, 0x8e, 0x96, 0x91, 0x8e, 0x41,
0x57, 0xf3, 0xf7, 0x1f, 0xbd, 0xfd, 0xa0, 0xba, 0xf2, 0xe5, 0x0e, 0xfc, 0x3b, 0xfc, 0x7e, 0x08,
0x2d, 0x35, 0xf1, 0x8b, 0x03, 0xa6, 0xad, 0x51, 0xc5, 0x4b, 0xe9, 0x13, 0x09, 0xc2, 0x16, 0x5e,
0xe6, 0x1a, 0xe3, 0x8a, 0x3c, 0xb3, 0x0d, 0x5d, 0x7d, 0xdc, 0x07, 0x67, 0xb6, 0xb3, 0x70, 0x94,
0x43, 0x7a, 0xe9, 0x8b, 0xf5, 0xc9, 0x53, 0xa1, 0x93, 0x38, 0xd9, 0x14, 0x32, 0xc0, 0xb2, 0x0e,
0x82, 0x53, 0x38, 0xb3, 0x10, 0xd6, 0x55, 0x10, 0xd0, 0xee, 0x07, 0xbb, 0xc6, 0xf1, 0xf2, 0xf9,
0x81, 0xfd, 0xc8, 0x7c, 0xf8, 0x17, 0x11, 0x7e, 0x0a, 0xf1, 0x5c, 0x21, 0x81, 0x76, 0xbf, 0xef,
0x9f, 0x39, 0x57, 0xe6, 0xec, 0x45, 0x10, 0xf0, 0x0b, 0xf0, 0xbf, 0xd0, 0xdc, 0xc3, 0x64, 0x48,
0x2a, 0x0d, 0x12, 0x87, 0x6e, 0x5c, 0xc6, 0x3d, 0x4c, 0x0c, 0x98, 0x74, 0x90, 0x6d, 0x1d, 0x5f,
0xe9, 0x96, 0x66, 0x2f, 0x15, 0xfa, 0xae, 0xa7, 0x01, 0x1f, 0xa3, 0x92, 0x4b, 0xff, 0x15, 0x91,
0x40, 0x32, 0xfb, 0x8b, 0x08, 0x9e, 0x24, 0xd6, 0x96, 0x05, 0x2c, 0xcd, 0x74, 0xcc, 0xfd, 0xf1,
0x3e, 0x81, 0xe6, 0xad, 0x06, 0x4f, 0xe0, 0x6d, 0x62, 0x04, 0xfd, 0x58, 0x61, 0x15, 0x46, 0x24,
0x1a, 0xa3, 0x92, 0x6e, 0x17, 0xb3, 0x28, 0x7f, 0x2b, 0x60, 0x51, 0xae, 0x3d, 0x9a, 0xbf, 0x74,
0xa1, 0x43, 0x23, 0xf3, 0x40, 0xd0, 0x95, 0xed, 0x6a, 0x57, 0xe4, 0xd2, 0x56, 0xee, 0x5d, 0xa0,
0x9c, 0x76, 0xf6, 0x2e, 0xe7, 0xba, 0x07, 0xc8, 0x3f, 0x33, 0x9b, 0x6e, 0xc6, 0x63, 0x1b, 0xe0,
0x85, 0x6b, 0xb1, 0x8d, 0x7b, 0x16, 0x39, 0x03, 0xcf, 0xb0, 0x97, 0xc6, 0xa3, 0x02, 0x4e, 0xf4,
0x69, 0x6e, 0x3f, 0x9f, 0x6e, 0xff, 0x9b, 0xf0, 0x0e, 0x81, 0x1e, 0xf8, 0x39, 0x2f, 0xd9, 0x5b,
0xb8, 0x88, 0xd4, 0x80, 0x18, 0x58, 0x36, 0x9e, 0x53, 0xe9, 0xb4, 0x25, 0x5f, 0xf6, 0x12, 0x3e,
0x2a, 0xd7, 0xd6, 0xfb, 0x29, 0x79, 0xd2, 0x60, 0xa8, 0xc9, 0x1c, 0x0e, 0xfd, 0x1d, 0x6f, 0x56,
0xc0, 0x0b, 0x79, 0x8e, 0x68, 0x1b, 0x2c, 0xaf, 0xaa, 0x3e, 0xaa, 0x86, 0x7f, 0x8f, 0xe0, 0x03,
0x76, 0x6d, 0xc3, 0x40, 0x6e, 0x32, 0x2a, 0x4b, 0xb8, 0xc7, 0xf7, 0xaa, 0x8a, 0x9c, 0x82, 0x37,
0x3c, 0xb6, 0xb7, 0x2b, 0x30, 0x3f, 0xf8, 0xe1, 0x81, 0x30, 0x1d, 0x91, 0x01, 0xfd, 0xb8, 0xa2,
0x89, 0x20, 0x7d, 0xb2, 0x40, 0xbf, 0xfb, 0xe3, 0xdd, 0x64, 0x56, 0xac, 0xd0, 0xa8, 0x6b, 0x42,
0xf4, 0x50, 0xf2, 0x56, 0x51, 0x90, 0x1e, 0x34, 0xc3, 0x62, 0x09, 0x12, 0x98, 0x22, 0x12, 0xd3,
0x68, 0x7d, 0x17, 0x79, 0x83, 0xe2, 0x38, 0x88, 0x1e, 0xf6, 0xb8, 0x60, 0xa1, 0x77, 0x70, 0xe4,
0x23, 0xfa, 0xfd, 0x0b, 0x70, 0x8e, 0xbc, 0x85, 0x81, 0x41, 0x28, 0x84, 0xed, 0x24, 0x64, 0x17,
0xfc, 0x95, 0x47, 0x2b, 0x48, 0xab, 0x8a, 0x9f, 0xa3, 0xa9, 0xae, 0x53, 0x70, 0xaa, 0x82, 0xe3,
0x64, 0x45, 0xc1, 0xea, 0x22, 0x57, 0x23, 0xe4, 0xf9, 0xcf, 0xc5, 0x1e, 0xdd, 0x9c, 0xc6, 0x68,
0xf1, 0x8a, 0x57, 0xc1, 0x31, 0x9c, 0xf8, 0xd7, 0x54, 0xfe, 0x1f, 0x5d, 0xdf, 0xbf, 0xf4,
};

8
hwconf/luna/qmlui_luna_v1.h → hwconf/luna/m600/qmlui_luna_m600.h
View File

@ -1,17 +1,17 @@
// This file is autogenerated by VESC Tool
#ifndef QMLUI_LUNA_V1_H_
#define QMLUI_LUNA_V1_H_
#ifndef QMLUI_LUNA_M600_H_
#define QMLUI_LUNA_M600_H_
#include "datatypes.h"
#include <stdint.h>
#include <stdbool.h>
// Constants
#define DATA_QML_HW_SIZE 7270
#define DATA_QML_HW_SIZE 6655
// Variables
extern uint8_t data_qml_hw[];
// QMLUI_LUNA_V1_H_
// QMLUI_LUNA_M600_H_
#endif

461
hwconf/luna/qmlui_luna_v1.c
View File

@ -1,461 +0,0 @@
// This file is autogenerated by VESC Tool
#include "qmlui_luna_v1.h"
uint8_t data_qml_hw[7270] = {
0x00, 0x01, 0x92, 0x40, 0x78, 0xda, 0xed, 0x3d, 0xdb, 0x72, 0xdb, 0xb8, 0x92, 0xef, 0xfe, 0x0a,
0x44, 0x5b, 0x9b, 0x23, 0x4d, 0x1c, 0x4a, 0xb6, 0x63, 0x67, 0x46, 0x67, 0x73, 0x52, 0xb1, 0x13,
0x67, 0x5c, 0xe5, 0xcc, 0x78, 0x2c, 0x27, 0x79, 0x38, 0x39, 0xe5, 0xa2, 0x45, 0x48, 0x42, 0x85,
0xb7, 0x01, 0x21, 0x5f, 0xce, 0xac, 0xab, 0xf6, 0x03, 0xf6, 0x2b, 0xf7, 0x4b, 0xb6, 0x01, 0x92,
0x12, 0x49, 0xf1, 0x02, 0xde, 0x6c, 0xc9, 0x01, 0x33, 0x93, 0xd8, 0x24, 0xd0, 0x0d, 0x34, 0x1a,
0xdd, 0x8d, 0x46, 0x37, 0x40, 0x2c, 0xd7, 0xa1, 0x0c, 0x7d, 0xc1, 0x86, 0x81, 0xa9, 0x76, 0x8d,
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};

3
package_firmware.py
View File

@ -61,6 +61,9 @@ package_dict["A200S_V4"] = [['a200s_v4', default_name]]
package_dict["100_250"] = [['100_250', default_name],
['100_250_no_limits', no_limits_name]]
package_dict["LUNA_BBSHD"] = [['luna_bbshd', default_name]]
package_dict["LUNA_M600"] = [['luna_m600', default_name]]
package_dict["LUNA_M600_V2"] = [['luna_m600', default_name]]
package_dict["LUNA_M600_V2_Rev5"] = [['luna_m600_Rev5', default_name]]
package_dict["UNITY"] = [['unity', default_name],
['unity_no_limits', no_limits_name]]
package_dict["Cheap_FOCer_2"] = [['Cheap_FOCer_2', default_name]]