rusefi
/
bldc
mirror of https://github.com/rusefi/bldc.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Made servo output a config option

This commit is contained in:
Benjamin Vedder 2021-03-31 16:28:46 +02:00
parent 69d3a1ba33
commit fcb7e12158
16 changed files with 68 additions and 38 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
CHANGELOG
View File

@ -12,6 +12,8 @@
* Added TEMP_SENSOR_KTY84_130.
* Major UAVCAN update. See: https://github.com/vedderb/bldc/pull/269
* Avoid numerical instability when mapping is done over a narrow range. See: https://github.com/vedderb/bldc/issues/262
* App Balance updates.
* Added servo_out_enable appconf option, so that the PPM port can be used to control servos with the default firmware.
=== FW 5.02 ===
* IMU calibration improvement.

3
appconf/appconf_default.h
View File

@ -42,6 +42,9 @@
#ifndef APPCONF_UAVCAN_RAW_MODE
#define APPCONF_UAVCAN_RAW_MODE UAVCAN_RAW_MODE_CURRENT
#endif
#ifndef APPCONF_SERVO_OUT_ENABLE
#define APPCONF_SERVO_OUT_ENABLE false
#endif
#ifndef APPCONF_SEND_CAN_STATUS_RATE_HZ
#define APPCONF_SEND_CAN_STATUS_RATE_HZ 50
#endif

9
applications/app.c
View File

@ -26,6 +26,7 @@
#include "comm_can.h"
#include "imu.h"
#include "crc.h"
#include "servo_simple.h"
// Private variables
static app_configuration appconf;
@ -70,6 +71,14 @@ void app_set_configuration(app_configuration *conf) {
imu_init(&conf->imu_conf);
if (appconf.app_to_use != APP_PPM &&
appconf.app_to_use != APP_PPM_UART &&
appconf.servo_out_enable) {
servo_simple_init();
} else {
servo_simple_stop();
}
// Configure balance app before starting it.
app_balance_configure(&appconf.app_balance_conf, &appconf.imu_conf);

18
applications/app_ppm.c
View File

@ -29,9 +29,6 @@
#include "comm_can.h"
#include <math.h>
// Only available if servo output is not active
#if !SERVO_OUT_ENABLE
// Settings
#define MAX_CAN_AGE 0.1
#define MIN_PULSES_WITHOUT_POWER 50
@ -54,10 +51,8 @@ static float input_val = 0.0;
static volatile float direction_hyst = 0;
// Private functions
#endif
void app_ppm_configure(ppm_config *conf) {
#if !SERVO_OUT_ENABLE
config = *conf;
pulses_without_power = 0;
@ -66,20 +61,14 @@ void app_ppm_configure(ppm_config *conf) {
}
direction_hyst = config.max_erpm_for_dir * 0.20;
#else
(void)conf;
#endif
}
void app_ppm_start(void) {
#if !SERVO_OUT_ENABLE
stop_now = false;
chThdCreateStatic(ppm_thread_wa, sizeof(ppm_thread_wa), NORMALPRIO, ppm_thread, NULL);
#endif
}
void app_ppm_stop(void) {
#if !SERVO_OUT_ENABLE
stop_now = true;
if (is_running) {
@ -90,18 +79,12 @@ void app_ppm_stop(void) {
while(is_running) {
chThdSleepMilliseconds(1);
}
#endif
}
float app_ppm_get_decoded_level(void) {
#if !SERVO_OUT_ENABLE
return input_val;
#else
return 0.0;
#endif
}
#if !SERVO_OUT_ENABLE
static void servodec_func(void) {
ppm_rx = true;
chSysLockFromISR();
@ -532,4 +515,3 @@ static THD_FUNCTION(ppm_thread, arg) {
}
}
#endif

2
commands.c
View File

@ -451,10 +451,8 @@ void commands_process_packet(unsigned char *data, unsigned int len,
} break;
case COMM_SET_SERVO_POS: {
#if SERVO_OUT_ENABLE
int32_t ind = 0;
servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
#endif
} break;
case COMM_SET_MCCONF: {

13
conf_general.h
View File

@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 03
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 16
#define FW_TEST_VERSION_NUMBER 17
#include "datatypes.h"
@ -74,8 +74,8 @@
//#define HW60_IS_MK4
#define HW60_IS_MK5
//#define HW_SOURCE "hw_60.c"
//#define HW_HEADER "hw_60.h"
#define HW_SOURCE "hw_60.c"
#define HW_HEADER "hw_60.h"
//#define HW_SOURCE "hw_r2.c"
//#define HW_HEADER "hw_r2.h"
@ -123,8 +123,8 @@
//#define HW_SOURCE "hw_binar_v1.c"
//#define HW_HEADER "hw_binar_v1.h"
#define HW_SOURCE "hw_hd60.c"
#define HW_HEADER "hw_hd60.h"
//#define HW_SOURCE "hw_hd60.c"
//#define HW_HEADER "hw_hd60.h"
//#define HW_SOURCE "hw_hd75.c"
//#define HW_HEADER "hw_hd75.h"
@ -258,9 +258,6 @@
/*
* Servo output driver
*/
#ifndef SERVO_OUT_ENABLE
#define SERVO_OUT_ENABLE 0 // Enable servo output
#endif
#define SERVO_OUT_PULSE_MIN_US 1000 // Minimum pulse length in microseconds
#define SERVO_OUT_PULSE_MAX_US 2000 // Maximum pulse length in microseconds
#define SERVO_OUT_RATE_HZ 50 // Update rate in Hz

3
confgenerator.c
View File

@ -194,6 +194,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
buffer[ind++] = conf->can_mode;
buffer[ind++] = (uint8_t)conf->uavcan_esc_index;
buffer[ind++] = conf->uavcan_raw_mode;
buffer[ind++] = conf->servo_out_enable;
buffer[ind++] = conf->app_to_use;
buffer[ind++] = conf->app_ppm_conf.ctrl_type;
buffer_append_float32_auto(buffer, conf->app_ppm_conf.pid_max_erpm, &ind);
@ -535,6 +536,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
conf->can_mode = buffer[ind++];
conf->uavcan_esc_index = buffer[ind++];
conf->uavcan_raw_mode = buffer[ind++];
conf->servo_out_enable = buffer[ind++];
conf->app_to_use = buffer[ind++];
conf->app_ppm_conf.ctrl_type = buffer[ind++];
conf->app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(buffer, &ind);
@ -860,6 +862,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
conf->can_mode = APPCONF_CAN_MODE;
conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
conf->uavcan_raw_mode = APPCONF_UAVCAN_RAW_MODE;
conf->servo_out_enable = APPCONF_SERVO_OUT_ENABLE;
conf->app_to_use = APPCONF_APP_TO_USE;
conf->app_ppm_conf.ctrl_type = APPCONF_PPM_CTRL_TYPE;
conf->app_ppm_conf.pid_max_erpm = APPCONF_PPM_PID_MAX_ERPM;

2
confgenerator.h
View File

@ -9,7 +9,7 @@
// Constants
#define MCCONF_SIGNATURE 2835115562
#define APPCONF_SIGNATURE 3708020089
#define APPCONF_SIGNATURE 1729624904
// Functions
int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

1
datatypes.h
View File

@ -786,6 +786,7 @@ typedef struct {
bool pairing_done;
bool permanent_uart_enabled;
SHUTDOWN_MODE shutdown_mode;
bool servo_out_enable;
// CAN modes
CAN_MODE can_mode;

10
hwconf/hw.h
View File

@ -491,6 +491,16 @@
#define HW_PAS2_PIN HW_UART_TX_PIN
#endif
#ifndef HW_ICU_TIMER
#ifdef HW_USE_SERVO_TIM4
#define HW_ICU_TIMER TIM4
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE)
#else
#define HW_ICU_TIMER TIM3
#define HW_ICU_TIM_CLK_EN() RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE)
#endif
#endif
// Functions
void hw_init_gpio(void);
void hw_setup_adc_channels(void);

1
hwconf/hw_stormcore_100d.h
View File

@ -273,6 +273,7 @@
// ICU Peripheral for servo decoding
#define HW_ICU_TIMER TIM9
#define HW_ICU_TIM_CLK_EN() RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE)
#define HW_ICU_DEV ICUD9
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM9

1
hwconf/hw_stormcore_60d.h
View File

@ -301,6 +301,7 @@
// ICU Peripheral for servo decoding
#define HW_ICU_TIMER TIM9
#define HW_ICU_TIM_CLK_EN() RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE)
#define HW_ICU_DEV ICUD9
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM9

1
hwconf/hw_unity.h
View File

@ -199,6 +199,7 @@
// ICU Peripheral for servo decoding
#define HW_ICU_TIMER TIM9
#define HW_ICU_TIM_CLK_EN() RCC_APB2PeriphClockCmd(RCC_APB2Periph_TIM9, ENABLE)
#define HW_ICU_DEV ICUD9
#define HW_ICU_CHANNEL ICU_CHANNEL_1
#define HW_ICU_GPIO_AF GPIO_AF_TIM9

4
main.c
View File

@ -268,10 +268,6 @@ int main(void) {
#endif
#endif
#if SERVO_OUT_ENABLE
servo_simple_init();
#endif
// Threads
chThdCreateStatic(periodic_thread_wa, sizeof(periodic_thread_wa), NORMALPRIO, periodic_thread, NULL);
chThdCreateStatic(flash_integrity_check_thread_wa, sizeof(flash_integrity_check_thread_wa), LOWPRIO, flash_integrity_check_thread, NULL);

30
servo_simple.c
View File

@ -1,5 +1,5 @@
/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
Copyright 2016 - 2021 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
@ -24,10 +24,15 @@
#include "stm32f4xx_conf.h"
#include "utils.h"
/**
* TODO: Use the chibios driver instead of the ST-driver.
*/
// Settings
#define TIM_CLOCK 1000000 // Hz
#if SERVO_OUT_ENABLE
// Private variables
static volatile bool m_is_running = false;
void servo_simple_init(void) {
TIM_TimeBaseInitTypeDef TIM_TimeBaseStructure;
@ -63,9 +68,28 @@ void servo_simple_init(void) {
servo_simple_set_output(0.5);
TIM_Cmd(HW_ICU_TIMER, ENABLE);
m_is_running = true;
}
void servo_simple_stop(void) {
if (m_is_running) {
palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_INPUT);
TIM_Cmd(HW_ICU_TIMER, DISABLE);
TIM_DeInit(HW_ICU_TIMER);
m_is_running = false;
}
}
bool servo_simple_is_running(void) {
return m_is_running;
}
void servo_simple_set_output(float out) {
if (!m_is_running) {
return;
}
utils_truncate_number(&out, 0.0, 1.0);
float us = (float)SERVO_OUT_PULSE_MIN_US + out *
@ -78,5 +102,3 @@ void servo_simple_set_output(float out) {
HW_ICU_TIMER->CCR2 = (uint32_t)us;
}
}
#endif

6
servo_simple.h
View File

@ -1,5 +1,5 @@
/*
Copyright 2016 Benjamin Vedder benjamin@vedder.se
Copyright 2016 - 2021 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
@ -20,8 +20,12 @@
#ifndef SERVO_SIMPLE_H_
#define SERVO_SIMPLE_H_
#include <stdbool.h>
// Functions
void servo_simple_init(void);
void servo_simple_stop(void);
bool servo_simple_is_running(void);
void servo_simple_set_output(float out);
#endif /* SERVO_SIMPLE_H_ */