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Added more settings

This commit is contained in:
Benjamin Vedder 2023-10-01 20:12:00 +02:00
parent 9e6a9648df
commit fd47441472
2 changed files with 36 additions and 0 deletions
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4
lispBM/README.md
View File

@ -2792,6 +2792,8 @@ The following selection of app and motor parameters can be read and set from Lis
'si-motor-poles ; Number of motor poles, must be multiple of 2 'si-motor-poles ; Number of motor poles, must be multiple of 2
'si-gear-ratio ; Gear ratio (Added in FW 6.05) 'si-gear-ratio ; Gear ratio (Added in FW 6.05)
'si-wheel-diameter ; Wheel diameter in meters (Added in FW 6.05) 'si-wheel-diameter ; Wheel diameter in meters (Added in FW 6.05)
'si-battery-cells ; Number of battery cells in series (Added in FW 6.05)
'si-battery-ah ; Battery amp hours (Added in FW 6.05)
'foc-current-kp ; FOC current controller KP 'foc-current-kp ; FOC current controller KP
'foc-current-ki ; FOC current controller KI 'foc-current-ki ; FOC current controller KI
'foc-motor-l ; Motor inductance in microHenry 'foc-motor-l ; Motor inductance in microHenry
@ -2820,6 +2822,8 @@ The following selection of app and motor parameters can be read and set from Lis
'foc-sl-openloop-time ; Stay in openloop for this amount of time 'foc-sl-openloop-time ; Stay in openloop for this amount of time
'foc-temp-comp ; Use observer temperature compensation 'foc-temp-comp ; Use observer temperature compensation
'foc-temp-comp-base-temp ; Temperature at which parameters were measured 'foc-temp-comp-base-temp ; Temperature at which parameters were measured
'foc-fw-current-max ; Maximum field weakening current (Added in FW 6.05)
'foc-fw-duty-start ; Duty where field weakening starts (Added in FW 6.05)
'min-speed ; Minimum speed in meters per second (a negative value) 'min-speed ; Minimum speed in meters per second (a negative value)
'max-speed ; Maximum speed in meters per second 'max-speed ; Maximum speed in meters per second
'app-to-use ; App to use 'app-to-use ; App to use

32
lispBM/lispif_vesc_extensions.c
View File

@ -154,12 +154,16 @@ typedef struct {
lbm_uint foc_sl_openloop_time; lbm_uint foc_sl_openloop_time;
lbm_uint foc_temp_comp; lbm_uint foc_temp_comp;
lbm_uint foc_temp_comp_base_temp; lbm_uint foc_temp_comp_base_temp;
lbm_uint foc_fw_current_max;
lbm_uint foc_fw_duty_start;
lbm_uint m_invert_direction; lbm_uint m_invert_direction;
lbm_uint m_out_aux_mode; lbm_uint m_out_aux_mode;
lbm_uint m_ntc_motor_beta; lbm_uint m_ntc_motor_beta;
lbm_uint si_motor_poles; lbm_uint si_motor_poles;
lbm_uint si_gear_ratio; lbm_uint si_gear_ratio;
lbm_uint si_wheel_diameter; lbm_uint si_wheel_diameter;
lbm_uint si_battery_cells;
lbm_uint si_battery_ah;
lbm_uint min_speed; lbm_uint min_speed;
lbm_uint max_speed; lbm_uint max_speed;
lbm_uint controller_id; lbm_uint controller_id;
@ -418,6 +422,10 @@ static bool compare_symbol(lbm_uint sym, lbm_uint *comp) {
get_add_symbol("foc-temp-comp", comp); get_add_symbol("foc-temp-comp", comp);
} else if (comp == &syms_vesc.foc_temp_comp_base_temp) { } else if (comp == &syms_vesc.foc_temp_comp_base_temp) {
get_add_symbol("foc-temp-comp-base-temp", comp); get_add_symbol("foc-temp-comp-base-temp", comp);
} else if (comp == &syms_vesc.foc_fw_current_max) {
get_add_symbol("foc-fw-current-max", comp);
} else if (comp == &syms_vesc.foc_fw_duty_start) {
get_add_symbol("foc-fw-duty-start", comp);
} else if (comp == &syms_vesc.m_invert_direction) { } else if (comp == &syms_vesc.m_invert_direction) {
get_add_symbol("m-invert-direction", comp); get_add_symbol("m-invert-direction", comp);
} else if (comp == &syms_vesc.m_out_aux_mode) { } else if (comp == &syms_vesc.m_out_aux_mode) {
@ -430,6 +438,10 @@ static bool compare_symbol(lbm_uint sym, lbm_uint *comp) {
get_add_symbol("si-gear-ratio", comp); get_add_symbol("si-gear-ratio", comp);
} else if (comp == &syms_vesc.si_wheel_diameter) { } else if (comp == &syms_vesc.si_wheel_diameter) {
get_add_symbol("si-wheel-diameter", comp); get_add_symbol("si-wheel-diameter", comp);
} else if (comp == &syms_vesc.si_battery_cells) {
get_add_symbol("si-battery-cells", comp);
} else if (comp == &syms_vesc.si_battery_ah) {
get_add_symbol("si-battery-ah", comp);
} else if (comp == &syms_vesc.min_speed) { } else if (comp == &syms_vesc.min_speed) {
get_add_symbol("min-speed", comp); get_add_symbol("min-speed", comp);
} else if (comp == &syms_vesc.max_speed) { } else if (comp == &syms_vesc.max_speed) {
@ -2860,6 +2872,12 @@ static lbm_value ext_conf_set(lbm_value *args, lbm_uint argn) {
} else if (compare_symbol(name, &syms_vesc.si_wheel_diameter)) { } else if (compare_symbol(name, &syms_vesc.si_wheel_diameter)) {
mcconf->si_wheel_diameter = lbm_dec_as_float(args[1]); mcconf->si_wheel_diameter = lbm_dec_as_float(args[1]);
changed_mc = 1; changed_mc = 1;
} else if (compare_symbol(name, &syms_vesc.si_battery_cells)) {
mcconf->si_battery_cells = lbm_dec_as_i32(args[1]);
changed_mc = 1;
} else if (compare_symbol(name, &syms_vesc.si_battery_ah)) {
mcconf->si_battery_ah = lbm_dec_as_float(args[1]);
changed_mc = 1;
} else if (compare_symbol(name, &syms_vesc.controller_id)) { } else if (compare_symbol(name, &syms_vesc.controller_id)) {
appconf->controller_id = lbm_dec_as_i32(args[1]); appconf->controller_id = lbm_dec_as_i32(args[1]);
changed_app = 1; changed_app = 1;
@ -2963,6 +2981,12 @@ static lbm_value ext_conf_set(lbm_value *args, lbm_uint argn) {
} else if (compare_symbol(name, &syms_vesc.foc_temp_comp_base_temp)) { } else if (compare_symbol(name, &syms_vesc.foc_temp_comp_base_temp)) {
mcconf->foc_temp_comp_base_temp = lbm_dec_as_float(args[1]); mcconf->foc_temp_comp_base_temp = lbm_dec_as_float(args[1]);
changed_mc = 2; changed_mc = 2;
} else if (compare_symbol(name, &syms_vesc.foc_fw_current_max)) {
mcconf->foc_fw_current_max = lbm_dec_as_float(args[1]);
changed_mc = 2;
} else if (compare_symbol(name, &syms_vesc.foc_fw_duty_start)) {
mcconf->foc_fw_duty_start = lbm_dec_as_float(args[1]);
changed_mc = 2;
} else if (compare_symbol(name, &syms_vesc.app_to_use)) { } else if (compare_symbol(name, &syms_vesc.app_to_use)) {
appconf->app_to_use = lbm_dec_as_i32(args[1]); appconf->app_to_use = lbm_dec_as_i32(args[1]);
changed_app = 2; changed_app = 2;
@ -3235,6 +3259,10 @@ static lbm_value ext_conf_get(lbm_value *args, lbm_uint argn) {
res = lbm_enc_i(mcconf->foc_temp_comp); res = lbm_enc_i(mcconf->foc_temp_comp);
} else if (compare_symbol(name, &syms_vesc.foc_temp_comp_base_temp)) { } else if (compare_symbol(name, &syms_vesc.foc_temp_comp_base_temp)) {
res = lbm_enc_float(mcconf->foc_temp_comp_base_temp); res = lbm_enc_float(mcconf->foc_temp_comp_base_temp);
} else if (compare_symbol(name, &syms_vesc.foc_fw_current_max)) {
res = lbm_enc_float(mcconf->foc_fw_current_max);
} else if (compare_symbol(name, &syms_vesc.foc_fw_duty_start)) {
res = lbm_enc_float(mcconf->foc_fw_duty_start);
} else if (compare_symbol(name, &syms_vesc.m_invert_direction)) { } else if (compare_symbol(name, &syms_vesc.m_invert_direction)) {
res = lbm_enc_i(mcconf->m_invert_direction); res = lbm_enc_i(mcconf->m_invert_direction);
} else if (compare_symbol(name, &syms_vesc.m_out_aux_mode)) { } else if (compare_symbol(name, &syms_vesc.m_out_aux_mode)) {
@ -3247,6 +3275,10 @@ static lbm_value ext_conf_get(lbm_value *args, lbm_uint argn) {
res = lbm_enc_float(mcconf->si_gear_ratio); res = lbm_enc_float(mcconf->si_gear_ratio);
} else if (compare_symbol(name, &syms_vesc.si_wheel_diameter)) { } else if (compare_symbol(name, &syms_vesc.si_wheel_diameter)) {
res = lbm_enc_float(mcconf->si_wheel_diameter); res = lbm_enc_float(mcconf->si_wheel_diameter);
} else if (compare_symbol(name, &syms_vesc.si_battery_cells)) {
res = lbm_enc_i(mcconf->si_battery_cells);
} else if (compare_symbol(name, &syms_vesc.si_battery_ah)) {
res = lbm_enc_float(mcconf->si_battery_ah);
} else if (compare_symbol(name, &syms_vesc.min_speed)) { } else if (compare_symbol(name, &syms_vesc.min_speed)) {
res = lbm_enc_float(mcconf->l_min_erpm / speed_fact); res = lbm_enc_float(mcconf->l_min_erpm / speed_fact);
} else if (compare_symbol(name, &syms_vesc.max_speed)) { } else if (compare_symbol(name, &syms_vesc.max_speed)) {