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bldc/conf_general.c

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/*
Copyright 2016 - 2019 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/>.
*/
#include "conf_general.h"
#include "ch.h"
#include "eeprom.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "utils.h"
#include "stm32f4xx_conf.h"
#include "timeout.h"
#include "commands.h"
#include "encoder.h"
#include "comm_can.h"
#include "app.h"
#include "confgenerator.h"
#include "mempools.h"
#include "worker.h"
#include <string.h>
#include <math.h>
// EEPROM settings
#define EEPROM_BASE_MCCONF 1000
#define EEPROM_BASE_APPCONF 2000
#define EEPROM_BASE_HW 3000
#define EEPROM_BASE_CUSTOM 4000
#define EEPROM_BASE_MCCONF_2 5000
// Global variables
uint16_t VirtAddVarTab[NB_OF_VAR];
bool conf_general_permanent_nrf_found = false;
// Private functions
static bool read_eeprom_var(eeprom_var *v, int address, uint16_t base);
static bool store_eeprom_var(eeprom_var *v, int address, uint16_t base);
void conf_general_init(void) {
// First, make sure that all relevant virtual addresses are assigned for page swapping.
memset(VirtAddVarTab, 0, sizeof(VirtAddVarTab));
int ind = 0;
for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
VirtAddVarTab[ind++] = EEPROM_BASE_MCCONF + i;
}
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
VirtAddVarTab[ind++] = EEPROM_BASE_APPCONF + i;
}
for (unsigned int i = 0;i < (EEPROM_VARS_HW * 2);i++) {
VirtAddVarTab[ind++] = EEPROM_BASE_HW + i;
}
for (unsigned int i = 0;i < (EEPROM_VARS_CUSTOM * 2);i++) {
VirtAddVarTab[ind++] = EEPROM_BASE_CUSTOM + i;
}
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
EE_Init();
FLASH_Lock();
}
/**
* Read hw-specific variable from emulated EEPROM.
*
* @param v
* The variable to read the result from.
*
* @param address
* Mapped address in EEPROM. Range 0 to 63.
*
* @return
* true for success, false if variable was not found.
*/
bool conf_general_read_eeprom_var_hw(eeprom_var *v, int address) {
return read_eeprom_var(v, address, EEPROM_BASE_HW);
}
/**
* Read custom variable from emulated EEPROM.
*
* @param v
* The variable to read the result from.
*
* @param address
* Mapped address in EEPROM. Range 0 to 63.
*
* @return
* true for success, false if variable was not found.
*/
bool conf_general_read_eeprom_var_custom(eeprom_var *v, int address) {
return read_eeprom_var(v, address, EEPROM_BASE_CUSTOM);
}
/**
* Store hw-specific variable to emulated EEPROM.
*
* @param v
* The variable to store the result in.
*
* @param address
* Mapped address in EEPROM. Range 0 to 63.
*
* @return
* true for success, false if something went wrong.
*/
bool conf_general_store_eeprom_var_hw(eeprom_var *v, int address) {
return store_eeprom_var(v, address, EEPROM_BASE_HW);
}
/**
* Store custom variable to emulated EEPROM.
*
* @param v
* The variable to store the result in.
*
* @param address
* Mapped address in EEPROM. Range 0 to 63.
*
* @return
* true for success, false if something went wrong.
*/
bool conf_general_store_eeprom_var_custom(eeprom_var *v, int address) {
return store_eeprom_var(v, address, EEPROM_BASE_CUSTOM);
}
static bool read_eeprom_var(eeprom_var *v, int address, uint16_t base) {
bool is_ok = true;
uint16_t var0, var1;
if (EE_ReadVariable(base + 2 * address, &var0) == 0 &&
EE_ReadVariable(base + 2 * address + 1, &var1) == 0) {
uint32_t res = ((uint32_t)var0) << 16 | var1;
v->as_u32 = res;
} else {
is_ok = false;
}
return is_ok;
}
static bool store_eeprom_var(eeprom_var *v, int address, uint16_t base) {
bool is_ok = true;
uint16_t var0, var1;
var0 = v->as_u32 >> 16;
var1 = v->as_u32 & 0xFFFF;
timeout_configure_IWDT_slowest();
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
if (EE_WriteVariable(base + address * 2, var0) != FLASH_COMPLETE) {
is_ok = false;
}
if (is_ok) {
if (EE_WriteVariable(base + address * 2 + 1, var1) != FLASH_COMPLETE) {
is_ok = false;
}
}
FLASH_Lock();
timeout_configure_IWDT();
return is_ok;
}
/**
* Read app_configuration from EEPROM. If this fails, default values will be used.
*
* @param conf
* A pointer to a app_configuration struct to write the read configuration to.
*/
void conf_general_read_app_configuration(app_configuration *conf) {
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
if (EE_ReadVariable(EEPROM_BASE_APPCONF + i, &var) == 0) {
conf_addr[2 * i] = (var >> 8) & 0xFF;
conf_addr[2 * i + 1] = var & 0xFF;
} else {
is_ok = false;
break;
}
}
// Set the default configuration
if (!is_ok) {
confgenerator_set_defaults_appconf(conf);
}
}
/**
* Write app_configuration to EEPROM.
*
* @param conf
* A pointer to the configuration that should be stored.
*/
bool conf_general_store_app_configuration(app_configuration *conf) {
int motor_old = mc_interface_get_motor_thread();
mc_interface_select_motor_thread(1);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_lock();
mc_interface_select_motor_thread(2);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_lock();
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
var = (conf_addr[2 * i] << 8) & 0xFF00;
var |= conf_addr[2 * i + 1] & 0xFF;
if (EE_WriteVariable(EEPROM_BASE_APPCONF + i, var) != FLASH_COMPLETE) {
is_ok = false;
break;
}
}
FLASH_Lock();
timeout_configure_IWDT();
chThdSleepMilliseconds(100);
mc_interface_select_motor_thread(1);
mc_interface_unlock();
mc_interface_select_motor_thread(2);
mc_interface_unlock();
utils_sys_unlock_cnt();
mc_interface_select_motor_thread(motor_old);
return is_ok;
}
/**
* Read mc_configuration from EEPROM. If this fails, default values will be used.
*
* @param conf
* A pointer to a mc_configuration struct to write the read configuration to.
*/
void conf_general_read_mc_configuration(mc_configuration *conf, bool is_motor_2) {
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
unsigned int base = is_motor_2 ? EEPROM_BASE_MCCONF_2 : EEPROM_BASE_MCCONF;
for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
if (EE_ReadVariable(base + i, &var) == 0) {
conf_addr[2 * i] = (var >> 8) & 0xFF;
conf_addr[2 * i + 1] = var & 0xFF;
} else {
is_ok = false;
break;
}
}
if (!is_ok) {
confgenerator_set_defaults_mcconf(conf);
}
}
/**
* Write mc_configuration to EEPROM.
*
* @param conf
* A pointer to the configuration that should be stored.
*/
bool conf_general_store_mc_configuration(mc_configuration *conf, bool is_motor_2) {
int motor_old = mc_interface_get_motor_thread();
mc_interface_select_motor_thread(1);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_lock();
mc_interface_select_motor_thread(2);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_lock();
utils_sys_lock_cnt();
timeout_configure_IWDT_slowest();
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
unsigned int base = is_motor_2 ? EEPROM_BASE_MCCONF_2 : EEPROM_BASE_MCCONF;
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
uint16_t var = (conf_addr[2 * i] << 8) & 0xFF00;
var |= conf_addr[2 * i + 1] & 0xFF;
if (EE_WriteVariable(base + i, var) != FLASH_COMPLETE) {
is_ok = false;
break;
}
}
FLASH_Lock();
timeout_configure_IWDT();
chThdSleepMilliseconds(100);
mc_interface_select_motor_thread(1);
mc_interface_unlock();
mc_interface_select_motor_thread(2);
mc_interface_unlock();
utils_sys_unlock_cnt();
mc_interface_select_motor_thread(motor_old);
return is_ok;
}
bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty,
float *int_limit, float *bemf_coupling_k, int8_t *hall_table, int *hall_res) {
int ok_steps = 0;
const float spinup_to_duty = 0.5;
mc_configuration *mcconf = mempools_alloc_mcconf();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
*mcconf_old = *mcconf;
mcconf->motor_type = MOTOR_TYPE_BLDC;
mcconf->sensor_mode = SENSOR_MODE_SENSORLESS;
mcconf->comm_mode = COMM_MODE_INTEGRATE;
mcconf->sl_phase_advance_at_br = 1.0;
mcconf->sl_min_erpm = min_rpm;
mcconf->sl_bemf_coupling_k = 300;
mcconf->sl_cycle_int_limit = 50;
mcconf->sl_min_erpm_cycle_int_limit = 1100;
mcconf->m_invert_direction = false;
mc_interface_set_configuration(mcconf);
// Wait maximum 5s for fault code to disappear
for (int i = 0;i < 500;i++) {
if (mc_interface_get_fault() == FAULT_CODE_NONE) {
break;
}
chThdSleepMilliseconds(10);
}
// Wait one second for things to get ready after
// the fault disappears. (will fry things otherwise...)
chThdSleepMilliseconds(1000);
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
timeout_reset();
timeout_configure(60000, 0.0);
mc_interface_lock();
mc_interface_lock_override_once();
mc_interface_set_current(current);
// Try to spin up the motor. Up to three attempts with different settings are made.
bool started = false;
for (int i = 0;i < 3;i++) {
if (i == 1) {
mc_interface_lock_override_once();
mc_interface_release_motor();
mcconf->sl_min_erpm = 2 * min_rpm;
mcconf->sl_cycle_int_limit = 20;
mc_interface_lock_override_once();
mc_interface_set_configuration(mcconf);
chThdSleepMilliseconds(1000);
mc_interface_lock_override_once();
mc_interface_set_current(current);
} else if (i == 2) {
mc_interface_lock_override_once();
mc_interface_release_motor();
mcconf->sl_min_erpm = 4 * min_rpm;
mcconf->comm_mode = COMM_MODE_DELAY;
mc_interface_lock_override_once();
mc_interface_set_configuration(mcconf);
chThdSleepMilliseconds(1000);
mc_interface_lock_override_once();
mc_interface_set_current(current);
}
int cnt = 0;
bool switch_done = false;
started = true;
while (mc_interface_get_duty_cycle_now() < spinup_to_duty) {
chThdSleepMilliseconds(1);
cnt++;
if (mc_interface_get_duty_cycle_now() >= (spinup_to_duty / 2.0) && !switch_done) {
mcpwm_switch_comm_mode(COMM_MODE_DELAY);
switch_done = true;
}
if (cnt > 2000 && !switch_done) {
started = false;
break;
}
if (cnt >= 5000) {
started = false;
break;
}
}
if (switch_done) {
break;
}
}
if (!started) {
mc_interface_set_current(0.0);
timeout_configure(tout, tout_c);
mc_interface_set_configuration(mcconf_old);
mc_interface_unlock();
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return false;
}
ok_steps++;
// Reset hall sensor samples
mcpwm_reset_hall_detect_table();
// Run for a while to get hall sensor samples
mc_interface_lock_override_once();
mc_interface_set_duty(spinup_to_duty);
chThdSleepMilliseconds(400);
// Release the motor and wait a few commutations
mc_interface_lock_override_once();
mc_interface_set_current(0.0);
int tacho = mc_interface_get_tachometer_value(0);
for (int i = 0;i < 2000;i++) {
if ((mc_interface_get_tachometer_value(0) - tacho) < 3) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
// Average the cycle integrator for 50 commutations
mcpwm_read_reset_avg_cycle_integrator();
tacho = mc_interface_get_tachometer_value(false);
for (int i = 0;i < 3000;i++) {
if ((mc_interface_get_tachometer_value(false) - tacho) < 50) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
// Get hall detect result
*hall_res = mcpwm_get_hall_detect_result(hall_table);
*int_limit = mcpwm_read_reset_avg_cycle_integrator();
// Wait for the motor to slow down
for (int i = 0;i < 5000;i++) {
if (mc_interface_get_duty_cycle_now() > low_duty) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
mc_interface_lock_override_once();
mc_interface_set_duty(low_duty);
// Average the cycle integrator for 100 commutations
mcpwm_read_reset_avg_cycle_integrator();
tacho = mc_interface_get_tachometer_value(0);
float rpm_sum = 0.0;
float rpm_iterations = 0.0;
for (int i = 0;i < 3000;i++) {
if ((mc_interface_get_tachometer_value(0) - tacho) < 100) {
rpm_sum += mc_interface_get_rpm();
rpm_iterations += 1;
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
float avg_cycle_integrator_running = mcpwm_read_reset_avg_cycle_integrator();
float rpm = rpm_sum / rpm_iterations;
mc_interface_lock_override_once();
mc_interface_release_motor();
// Try to figure out the coupling factor
avg_cycle_integrator_running -= *int_limit;
avg_cycle_integrator_running /= (float)ADC_Value[ADC_IND_VIN_SENS];
avg_cycle_integrator_running *= rpm;
*bemf_coupling_k = avg_cycle_integrator_running;
// Restore settings
mc_interface_set_configuration(mcconf_old);
timeout_configure(tout, tout_c);
mc_interface_unlock();
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return ok_steps == 5 ? true : false;
}
/**
* Try to measure the motor flux linkage.
*
* @param current
* The current so spin up the motor with.
*
* @param duty
* The duty cycle to maintain.
*
* @param min_erpm
* The minimum ERPM for the delay commutation mode.
*
* @param res
* The motor phase resistance.
*
* @param linkage
* The calculated flux linkage.
*
* @return
* True for success, false otherwise.
*/
bool conf_general_measure_flux_linkage(float current, float duty,
float min_erpm, float res, float *linkage) {
mc_configuration *mcconf = mempools_alloc_mcconf();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
*mcconf_old = *mcconf;
mcconf->motor_type = MOTOR_TYPE_BLDC;
mcconf->sensor_mode = SENSOR_MODE_SENSORLESS;
mcconf->comm_mode = COMM_MODE_INTEGRATE;
mcconf->sl_phase_advance_at_br = 1.0;
mcconf->sl_min_erpm = min_erpm;
mcconf->m_bldc_f_sw_min = 10000.0;
mcconf->sl_bemf_coupling_k = 300;
mcconf->sl_cycle_int_limit = 50;
mcconf->sl_min_erpm_cycle_int_limit = 1100;
mc_interface_set_configuration(mcconf);
// Wait maximum 5s for fault code to disappear
for (int i = 0;i < 500;i++) {
if (mc_interface_get_fault() == FAULT_CODE_NONE) {
break;
}
chThdSleepMilliseconds(10);
}
if (mc_interface_get_fault() != FAULT_CODE_NONE) {
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return false;
}
// Wait one second for things to get ready after
// the fault disapears.
chThdSleepMilliseconds(1000);
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
timeout_reset();
timeout_configure(60000, 0.0);
mc_interface_lock();
mc_interface_lock_override_once();
mc_interface_set_current(current);
// Try to spin up the motor. Up to three attempts with different settings are made.
bool started = false;
for (int i = 0;i < 4;i++) {
if (i == 1) {
mc_interface_lock_override_once();
mc_interface_release_motor();
mcconf->sl_cycle_int_limit = 250;
mc_interface_lock_override_once();
mc_interface_set_configuration(mcconf);
chThdSleepMilliseconds(1000);
mc_interface_lock_override_once();
mc_interface_set_current(current);
} else if (i == 2) {
mc_interface_lock_override_once();
mc_interface_release_motor();
mcconf->sl_min_erpm = 2 * min_erpm;
mcconf->sl_cycle_int_limit = 20;
mc_interface_lock_override_once();
mc_interface_set_configuration(mcconf);
chThdSleepMilliseconds(1000);
mc_interface_lock_override_once();
mc_interface_set_current(current);
} else if (i == 3) {
mc_interface_lock_override_once();
mc_interface_release_motor();
mcconf->sl_min_erpm = 4 * min_erpm;
mcconf->comm_mode = COMM_MODE_DELAY;
mc_interface_lock_override_once();
mc_interface_set_configuration(mcconf);
chThdSleepMilliseconds(1000);
mc_interface_lock_override_once();
mc_interface_set_current(current);
}
int cnt = 0;
bool switch_done = false;
started = true;
while (mc_interface_get_duty_cycle_now() < duty) {
chThdSleepMilliseconds(1);
cnt++;
if (mc_interface_get_duty_cycle_now() >= (duty / 2.0) && !switch_done) {
mcpwm_switch_comm_mode(COMM_MODE_DELAY);
switch_done = true;
}
if (cnt > 2000 && !switch_done) {
started = false;
break;
}
if (cnt >= 5000) {
started = false;
break;
}
}
if (switch_done) {
break;
}
}
if (!started) {
mc_interface_set_current(0.0);
timeout_configure(tout, tout_c);
mc_interface_set_configuration(mcconf);
mc_interface_unlock();
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return false;
}
mc_interface_lock_override_once();
mc_interface_set_duty(duty);
float avg_voltage = 0.0;
float avg_rpm = 0.0;
float avg_current = 0.0;
float samples = 0.0;
for (int i = 0;i < 2000;i++) {
avg_voltage += GET_INPUT_VOLTAGE() * mc_interface_get_duty_cycle_now();
avg_rpm += mc_interface_get_rpm();
avg_current += mc_interface_get_tot_current();
samples += 1.0;
chThdSleepMilliseconds(1.0);
}
timeout_configure(tout, tout_c);
mc_interface_set_configuration(mcconf_old);
mc_interface_unlock();
mc_interface_set_current(0.0);
avg_voltage /= samples;
avg_rpm /= samples;
avg_current /= samples;
avg_voltage -= avg_current * res * 2.0;
*linkage = avg_voltage * 60.0 / (sqrtf(3.0) * 2.0 * M_PI * avg_rpm);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return true;
}
/* Calculate DTG register */
uint8_t conf_general_calculate_deadtime(float deadtime_ns, float core_clock_freq) {
uint8_t DTG = 0;
float timebase = 1.0 / (core_clock_freq / 1000000.0) * 1000.0;
if (deadtime_ns <= (timebase * 127.0)) {
DTG = deadtime_ns / timebase;
} else {
if (deadtime_ns <= ((63.0 + 64.0) * 2.0 * timebase)) {
DTG = deadtime_ns / (2.0 * timebase) - 64.0;
DTG |= 0x80;
} else {
if (deadtime_ns <= ((31.0 + 32.0) * 8.0 * timebase)) {
DTG = deadtime_ns / (8.0 * timebase) - 32.0;
DTG |= 0xC0;
} else {
if (deadtime_ns <= ((31.0 + 32) * 16 * timebase)) {
DTG = deadtime_ns / (16.0 * timebase) - 32.0;
DTG |= 0xE0;
} else {
// Deadtime requested is longer than max achievable. Set deadtime at
// longest possible value
DTG = 0xFF;
assert_param(1); //catch this
}
}
}
}
return DTG;
}
/**
* Try to measure the motor flux linkage using open loop FOC control.
*
* @param current
* The Q-axis current to spin up the motor.
*
* @param duty
* Duty cycle % to measure at
*
* @param erpm_per_sec
* Acceleration rate
*
* @param res
* The motor phase resistance.
*
* @param linkage
* The calculated flux linkage.
*
* @return
* True for success, false otherwise.
*/
bool conf_general_measure_flux_linkage_openloop(float current, float duty,
float erpm_per_sec, float res, float ind, float *linkage) {
bool result = false;
mc_configuration *mcconf = mempools_alloc_mcconf();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
*mcconf_old = *mcconf;
mcconf->motor_type = MOTOR_TYPE_FOC;
mcconf->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
mcconf->foc_current_kp = 0.0005;
mcconf->foc_current_ki = 1.0;
mcconf->foc_cc_decoupling = FOC_CC_DECOUPLING_DISABLED;
mc_interface_set_configuration(mcconf);
// Wait maximum 5s for fault code to disappear
for (int i = 0;i < 500;i++) {
if (mc_interface_get_fault() == FAULT_CODE_NONE) {
break;
}
chThdSleepMilliseconds(10);
}
if (mc_interface_get_fault() != FAULT_CODE_NONE) {
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return false;
}
// Wait one second for things to get ready after
// the fault disapears.
chThdSleepMilliseconds(1000);
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
timeout_reset();
timeout_configure(60000, 0.0);
mc_interface_lock();
int cnt = 0;
float rpm_now = 0;
// Start by locking the motor
mcpwm_foc_set_openloop(current, rpm_now);
float duty_still = 0;
float samples = 0;
for (int i = 0;i < 1000;i++) {
duty_still += fabsf(mc_interface_get_duty_cycle_now());
samples += 1.0;
chThdSleepMilliseconds(1);
}
duty_still /= samples;
float duty_max = 0.0;
const int max_time = 15000;
while (fabsf(mc_interface_get_duty_cycle_now()) < duty) {
rpm_now += erpm_per_sec / 1000.0;
mcpwm_foc_set_openloop(current, mcconf->m_invert_direction ? -rpm_now : rpm_now);
chThdSleepMilliseconds(1);
cnt++;
float duty_now = fabsf(mc_interface_get_duty_cycle_now());
if (duty_now > duty_max) {
duty_max = duty_now;
}
if (cnt >= max_time) {
*linkage = -1.0;
break;
}
if (cnt > 4000 && duty_now < (duty_max * 0.7)) {
cnt = max_time;
*linkage = -2.0;
break;
}
if (cnt > 4000 && duty < duty_still * 1.1) {
cnt = max_time;
*linkage = -3.0;
break;
}
if (rpm_now >= 12000) {
break;
}
}
chThdSleepMilliseconds(1000);
if (cnt < max_time) {
float vq_avg = 0.0;
float vd_avg = 0.0;
float iq_avg = 0.0;
float id_avg = 0.0;
float samples2 = 0.0;
for (int i = 0;i < 30000;i++) {
vq_avg += mcpwm_foc_get_vq();
vd_avg += mcpwm_foc_get_vd();
iq_avg += mcpwm_foc_get_iq();
id_avg += mcpwm_foc_get_id();
samples2 += 1.0;
chThdSleep(1);
}
vq_avg /= samples2;
vd_avg /= samples2;
iq_avg /= samples2;
id_avg /= samples2;
(void)ind;
*linkage = (sqrtf(SQ(vq_avg) + SQ(vd_avg)) - res *
sqrtf(SQ(iq_avg) + SQ(id_avg))) / (rpm_now * ((2.0 * M_PI) / 60.0));
// float rad_s = rpm_now * ((2.0 * M_PI) / 60.0);
// float v_mag = sqrtf(SQ(vq_avg) + SQ(vd_avg));
// float i_mag = sqrtf(SQ(iq_avg) + SQ(id_avg));
// *linkage = (v_mag - res * i_mag) / rad_s - i_mag * ind;
result = true;
}
timeout_configure(tout, tout_c);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return result;
}
/**
* Automatically detect sensors and apply settings in FOC mode.
*
* @param current
* Current to use for detection.
*
* @param store_mcconf_on_success
* Store motor configuration in emulated EEPROM if the detection succeeds.
*
* @param send_mcconf_on_success
* Send motor configuration if the detection succeeds.
*
* @return
* 2: AS5147 detected successfully
* 1: Hall sensors detected successfully
* 0: No sensors detected and sensorless mode applied successfully
* -1: Detection failed
*/
int conf_general_autodetect_apply_sensors_foc(float current,
bool store_mcconf_on_success, bool send_mcconf_on_success) {
int result = -1;
mc_configuration *mcconf = mempools_alloc_mcconf();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
*mcconf_old = *mcconf;
mcconf->motor_type = MOTOR_TYPE_FOC;
mcconf->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
mcconf->foc_current_kp = 0.0005;
mcconf->foc_current_ki = 1.0;
mc_interface_set_configuration(mcconf);
// Wait maximum 5s for fault code to disappear
for (int i = 0;i < 500;i++) {
if (mc_interface_get_fault() == FAULT_CODE_NONE) {
break;
}
chThdSleepMilliseconds(10);
}
if (mc_interface_get_fault() != FAULT_CODE_NONE) {
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return -1;
}
// Wait one second for things to get ready after
// the fault disappears.
chThdSleepMilliseconds(1000);
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
timeout_reset();
timeout_configure(60000, 0.0);
mc_interface_lock();
// Hall sensors
mcconf->m_sensor_port_mode = SENSOR_PORT_MODE_HALL;
mc_interface_set_configuration(mcconf);
uint8_t hall_table[8];
bool res = mcpwm_foc_hall_detect(current, hall_table);
// Lock again, as hall detection will undo the lock
mc_interface_lock();
if (res) {
mcconf_old->m_sensor_port_mode = SENSOR_PORT_MODE_HALL;
mcconf_old->foc_sensor_mode = FOC_SENSOR_MODE_HALL;
for (int i = 0;i < 8;i++) {
mcconf_old->foc_hall_table[i] = hall_table[i];
}
result = 1;
}
// AS5047 encoder
if (!res) {
mcconf->m_sensor_port_mode = SENSOR_PORT_MODE_AS5047_SPI;
mc_interface_set_configuration(mcconf);
mcpwm_foc_set_openloop_phase(current, 0.0);
chThdSleepMilliseconds(1000);
float phase_start = encoder_read_deg();
float phase_mid = 0.0;
float phase_end = 0.0;
for (int i = 0;i < 180.0;i++) {
mcpwm_foc_set_openloop_phase(current, i);
chThdSleepMilliseconds(5);
if (i == 90) {
phase_mid = encoder_read_deg();
}
}
phase_end = encoder_read_deg();
float diff = fabsf(utils_angle_difference(phase_start, phase_end));
float diff_mid = fabsf(utils_angle_difference(phase_mid, phase_end));
if (diff > 2.0 && (diff_mid - diff / 2.0) < (diff / 4)) {
float offset, ratio;
bool inverted;
mcpwm_foc_encoder_detect(current, false, &offset, &ratio, &inverted);
mcconf_old->m_sensor_port_mode = SENSOR_PORT_MODE_AS5047_SPI;
mcconf_old->foc_sensor_mode = FOC_SENSOR_MODE_ENCODER;
mcconf_old->foc_encoder_offset = offset;
mcconf_old->foc_encoder_ratio = ratio;
mcconf_old->foc_encoder_inverted = inverted;
res = true;
result = 2;
}
}
// Sensorless
if (!res) {
mcconf_old->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
result = 0;
res = true;
}
timeout_configure(tout, tout_c);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_set_configuration(mcconf_old);
// On success store the mc configuration, also send it to VESC Tool.
if (res) {
if (store_mcconf_on_success) {
conf_general_store_mc_configuration(mcconf_old,
mc_interface_get_motor_thread() == 2);
}
if (send_mcconf_on_success) {
commands_send_mcconf(COMM_GET_MCCONF, mcconf_old);
}
}
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
return result;
}
void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float tc) {
float r = mcconf->foc_motor_r;
float l = mcconf->foc_motor_l;
float lambda = mcconf->foc_motor_flux_linkage;
float bw = 1.0 / (tc * 1e-6);
float kp = l * bw;
float ki = r * bw;
float gain = (0.00001 / r) / (lambda * lambda);
mcconf->foc_current_kp = kp;
mcconf->foc_current_ki = ki;
mcconf->foc_observer_gain = gain * 1e6;
}
static bool measure_r_l_imax(float current_min, float current_max,
float max_power_loss, float *r, float *l, float *i_max) {
float current_start = current_max / 50;
if (current_start < (current_min * 1.1)) {
current_start = current_min * 1.1;
}
float i_last = 0.0;
for (float i = current_start;i < current_max;i *= 1.5) {
float res_tmp = mcpwm_foc_measure_resistance(i, 5);
i_last = i;
if (mc_interface_get_fault() != FAULT_CODE_NONE) {
return false;
}
if ((i * i * res_tmp) >= (max_power_loss / 3.0)) {
break;
}
}
*r = mcpwm_foc_measure_resistance(i_last, 100);
*l = mcpwm_foc_measure_inductance_current(i_last, 100, 0, 0) * 1e-6;
*i_max = sqrtf(max_power_loss / *r);
utils_truncate_number(i_max, HW_LIM_CURRENT);
return true;
}
static bool wait_fault(int timeout_ms) {
int motor_last = mc_interface_get_motor_thread();
for (int i = 0;i < (timeout_ms / 10);i++) {
mc_interface_select_motor_thread(1);
mc_fault_code fault1 = mc_interface_get_fault();
mc_interface_select_motor_thread(2);
mc_fault_code fault2 = mc_interface_get_fault();
if (fault1 == FAULT_CODE_NONE && fault2 == FAULT_CODE_NONE) {
break;
}
chThdSleepMilliseconds(10);
}
mc_interface_select_motor_thread(1);
mc_fault_code fault1 = mc_interface_get_fault();
mc_interface_select_motor_thread(2);
mc_fault_code fault2 = mc_interface_get_fault();
mc_interface_select_motor_thread(motor_last);
return fault1 == FAULT_CODE_NONE && fault2 == FAULT_CODE_NONE;
}
static bool wait_motor_stop(int timeout_ms) {
int motor_last = mc_interface_get_motor_thread();
for (int i = 0;i < (timeout_ms / 10);i++) {
mc_interface_select_motor_thread(1);
float rpm1 = mc_interface_get_rpm();
mc_interface_select_motor_thread(2);
float rpm2 = mc_interface_get_rpm();
if (fabsf(rpm1) < 100.0 && fabsf(rpm2) < 100.0) {
break;
}
chThdSleepMilliseconds(10);
}
mc_interface_select_motor_thread(1);
float rpm1 = mc_interface_get_rpm();
mc_interface_select_motor_thread(2);
float rpm2 = mc_interface_get_rpm();
mc_interface_select_motor_thread(motor_last);
return fabsf(rpm1) < 100.0 && fabsf(rpm2) < 100.0;
}
#ifdef HW_HAS_DUAL_MOTORS
typedef struct {
float current_min;
float current_max;
float max_power_loss;
float r;
float l;
float i_max;
bool res;
int motor;
} measure_r_l_imax_arg_t;
static void measure_r_l_imax_task(void *arg) {
measure_r_l_imax_arg_t *args = (measure_r_l_imax_arg_t*)arg;
mc_interface_select_motor_thread(args->motor);
args->res = measure_r_l_imax(
args->current_min,
args->current_max,
args->max_power_loss,
&args->r, &args->l, &args->i_max);
}
typedef struct {
float current;
float duty;
float erpm_per_sec;
float res;
float ind;
float linkage;
bool result;
int motor;
} measure_flux_linkage_arg_t;
static void measure_flux_linkage_task(void *arg) {
measure_flux_linkage_arg_t *args = (measure_flux_linkage_arg_t*)arg;
mc_interface_select_motor_thread(args->motor);
args->result = conf_general_measure_flux_linkage_openloop(
args->current,
args->duty,
args->erpm_per_sec,
args->res,
args->ind,
&args->linkage);
}
typedef struct {
float current;
bool store_mcconf_on_success;
bool send_mcconf_on_success;
int res;
int motor;
} detect_sensors_arg_t;
static void detect_sensors_task(void *arg) {
detect_sensors_arg_t *args = (detect_sensors_arg_t*)arg;
mc_interface_select_motor_thread(args->motor);
args->res = conf_general_autodetect_apply_sensors_foc(
args->current,
args->store_mcconf_on_success,
args->send_mcconf_on_success);
}
#endif
/**
* Detect and apply all parameters, current limits and sensors. This is done for
* both motors on dual controllers.
*
* @param max_power_loss
* The maximum power loss to derive current limits, as well as detection currents, from.
*
* @param store_mcconf_on_success
* Store motor configuration in emulated EEPROM if the detection succeeds.
*
* @param send_mcconf_on_success
* Send motor configuration if the detection succeeds.
*
* @return
* >=0: Success, see conf_general_autodetect_apply_sensors_foc codes
* -10: Flux linkage detection failed
* -x: see conf_general_autodetect_apply_sensors_foc faults
*/
int conf_general_detect_apply_all_foc(float max_power_loss,
bool store_mcconf_on_success, bool send_mcconf_on_success) {
int result = -1;
int motor_last = mc_interface_get_motor_thread();
mc_interface_select_motor_thread(1);
mc_configuration *mcconf = mempools_alloc_mcconf();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
*mcconf_old = *mcconf;
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_configuration *mcconf_old_second = mempools_alloc_mcconf();
*mcconf_old_second = *mc_interface_get_configuration();
mc_interface_select_motor_thread(1);
#endif
mcconf->motor_type = MOTOR_TYPE_FOC;
mcconf->foc_sensor_mode = FOC_SENSOR_MODE_SENSORLESS;
mcconf->foc_f_sw = 10000.0; // Lower f_sw => less dead-time distortion
mcconf->foc_current_kp = 0.0005;
mcconf->foc_current_ki = 1.0;
mcconf->l_current_max = MCCONF_L_CURRENT_MAX;
mcconf->l_current_min = MCCONF_L_CURRENT_MIN;
mcconf->l_current_max_scale = MCCONF_L_CURRENT_MAX_SCALE;
mcconf->l_current_min_scale = MCCONF_L_CURRENT_MIN_SCALE;
mcconf->l_watt_max = MCCONF_L_WATT_MAX;
mcconf->l_watt_min = MCCONF_L_WATT_MIN;
mcconf->l_max_erpm = MCCONF_L_RPM_MAX;
mcconf->l_min_erpm = MCCONF_L_RPM_MIN;
mc_interface_set_configuration(mcconf);
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_interface_set_configuration(mcconf);
mc_interface_select_motor_thread(1);
#endif
// Wait maximum 5s for fault code to disappear
if (!wait_fault(5000)) {
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_interface_set_configuration(mcconf_old_second);
mc_interface_select_motor_thread(1);
mempools_free_mcconf(mcconf_old_second);
#endif
mc_interface_select_motor_thread(motor_last);
return -1;
}
// Wait one second for things to get ready after
// the fault disappears.
chThdSleepMilliseconds(1000);
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
timeout_reset();
timeout_configure(60000, 0.0);
mc_interface_lock();
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_interface_lock();
mc_interface_select_motor_thread(1);
#endif
#ifdef HW_HAS_DUAL_MOTORS
measure_r_l_imax_arg_t r_l_imax_args;
r_l_imax_args.current_min = mcconf->cc_min_current;
r_l_imax_args.current_max = mcconf->l_current_max;
r_l_imax_args.max_power_loss = max_power_loss;
r_l_imax_args.motor = 2;
worker_execute(measure_r_l_imax_task, &r_l_imax_args);
#endif
float r = 0.0;
float l = 0.0;
float i_max = 0.0;
bool res_r_l_imax_m1 = measure_r_l_imax(mcconf->cc_min_current,
mcconf->l_current_max, max_power_loss, &r, &l, &i_max);
#ifdef HW_HAS_DUAL_MOTORS
worker_wait();
bool res_r_l_imax_m2 = r_l_imax_args.res;
#else
bool res_r_l_imax_m2 = true;
#endif
if (!res_r_l_imax_m1 || !res_r_l_imax_m2) {
timeout_configure(tout, tout_c);
mc_interface_unlock();
mc_interface_release_motor();
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_interface_set_configuration(mcconf_old_second);
mc_interface_select_motor_thread(1);
mempools_free_mcconf(mcconf_old_second);
#endif
mc_interface_select_motor_thread(motor_last);
return -11;
}
// Increase switching frequency for flux linkage measurement
// as dead-time distortion has less effect at higher modulation.
// Having a smooth rotation is more important.
mcconf->foc_f_sw = 20000.0;
mc_interface_set_configuration(mcconf);
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_interface_set_configuration(mcconf);
mc_interface_select_motor_thread(1);
#endif
#ifdef HW_HAS_DUAL_MOTORS
measure_flux_linkage_arg_t linkage_args;
linkage_args.current = r_l_imax_args.i_max / 2.5;
linkage_args.duty = 0.3;
linkage_args.erpm_per_sec = 1800;
linkage_args.res = r_l_imax_args.r;
linkage_args.ind = r_l_imax_args.l;
linkage_args.motor = 2;
worker_execute(measure_flux_linkage_task, &linkage_args);
#endif
float lambda = 0.0;
int res = conf_general_measure_flux_linkage_openloop(i_max / 2.5, 0.3, 1800, r, l, &lambda);
#ifdef HW_HAS_DUAL_MOTORS
worker_wait();
bool res_linkage_m2 = linkage_args.result;
#else
bool res_linkage_m2 = true;
#endif
if (res && res_linkage_m2) {
mcconf_old->l_current_max = i_max;
mcconf_old->l_current_min = -i_max;
mcconf_old->motor_type = MOTOR_TYPE_FOC;
mcconf_old->foc_motor_r = r;
mcconf_old->foc_motor_l = l;
mcconf_old->foc_motor_flux_linkage = lambda;
conf_general_calc_apply_foc_cc_kp_ki_gain(mcconf_old, 1000);
mc_interface_set_configuration(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
mcconf_old_second->l_current_max = r_l_imax_args.i_max;
mcconf_old_second->l_current_min = -r_l_imax_args.i_max;
mcconf_old_second->motor_type = MOTOR_TYPE_FOC;
mcconf_old_second->foc_motor_r = r_l_imax_args.r;
mcconf_old_second->foc_motor_l = r_l_imax_args.l;
mcconf_old_second->foc_motor_flux_linkage = linkage_args.linkage;
conf_general_calc_apply_foc_cc_kp_ki_gain(mcconf_old_second, 1000);
mc_interface_select_motor_thread(2);
mc_interface_set_configuration(mcconf_old_second);
mc_interface_select_motor_thread(1);
#endif
// TODO: optionally apply temperature compensation here.
wait_motor_stop(10000);
#ifdef HW_HAS_DUAL_MOTORS
detect_sensors_arg_t sensors_args;
sensors_args.current = r_l_imax_args.i_max / 3.0;
sensors_args.store_mcconf_on_success = store_mcconf_on_success;
sensors_args.send_mcconf_on_success = send_mcconf_on_success;
sensors_args.motor = 2;
worker_execute(detect_sensors_task, &sensors_args);
#endif
// This will also store the settings to emulated eeprom and send them to vesc tool
result = conf_general_autodetect_apply_sensors_foc(i_max / 3.0,
store_mcconf_on_success, send_mcconf_on_success);
#ifdef HW_HAS_DUAL_MOTORS
worker_wait();
int res_sensors_m2 = sensors_args.res;
#else
int res_sensors_m2 = 0;
#endif
if (res_sensors_m2 < 0) {
result = res_sensors_m2;
}
} else {
result = -10;
}
timeout_configure(tout, tout_c);
mc_interface_unlock();
mc_interface_release_motor();
if (result < 0) {
mc_interface_set_configuration(mcconf_old);
}
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
if (result < 0) {
mc_interface_set_configuration(mcconf_old_second);
}
mc_interface_select_motor_thread(1);
#endif
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
#ifdef HW_HAS_DUAL_MOTORS
mempools_free_mcconf(mcconf_old_second);
#endif
mc_interface_select_motor_thread(motor_last);
return result;
}
/**
* Same as conf_general_detect_apply_all_foc, but also start detection in VESCs found on the CAN-bus.
*
* @param detect_can
* Run detection on VESCs found on the CAN-bus as well. Setting this to false makes
* this function behave like conf_general_detect_apply_all_foc, with the convenience
* of also applying the settings.
*
* @param max_power_loss
* The maximum power loss to derive current limits, as well as detection currents, from.
*
* @param min_current_in
* Minimum input current (negative value). 0 means leave it unchanged.
*
* @param max_current_in
* MAximum input current. 0 means leave it unchanged.
*
* @param openloop_rpm
* FOC openloop ERPM in sensorless mode. 0 means leave it unchanged.
*
* @param sl_erpm
* FOC ERPM above which sensorless should be used in sensored modes. 0 means leave it unchanged.
*
* @return
* Same as conf_general_detect_apply_all_foc, and
* -50: CAN detection timed out
* -51: CAN detection failed
*/
int conf_general_detect_apply_all_foc_can(bool detect_can, float max_power_loss,
float min_current_in, float max_current_in, float openloop_rpm, float sl_erpm) {
int motor_last = mc_interface_get_motor_thread();
mc_interface_select_motor_thread(1);
app_configuration *appconf = mempools_alloc_appconf();
*appconf = *app_get_configuration();
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
uint8_t id_new = appconf->controller_id;
if (fabsf(min_current_in) > 0.001) {
mcconf->l_in_current_min = min_current_in;
} else {
mcconf->l_in_current_min = MCCONF_L_IN_CURRENT_MIN;
}
if (fabsf(max_current_in) > 0.001) {
mcconf->l_in_current_max = max_current_in;
} else {
mcconf->l_in_current_max = MCCONF_L_IN_CURRENT_MAX;
}
if (fabsf(openloop_rpm) > 0.001) {
mcconf->foc_openloop_rpm = openloop_rpm;
} else {
mcconf->foc_openloop_rpm = MCCONF_FOC_OPENLOOP_RPM;
}
if (fabsf(sl_erpm) > 0.001) {
mcconf->foc_sl_erpm = sl_erpm;
} else {
mcconf->foc_sl_erpm = MCCONF_FOC_SL_ERPM;
}
mc_interface_set_configuration(mcconf);
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mc_interface_set_configuration(mcconf);
mc_interface_select_motor_thread(1);
#endif
int can_devs = 0;
comm_can_detect_all_foc_res_clear();
if (detect_can) {
for (int i = 0;i < 255;i++) {
#ifdef HW_HAS_DUAL_MOTORS
if (i == utils_second_motor_id()) {
continue;
}
#endif
if (comm_can_ping(i)) {
comm_can_conf_current_limits_in(i, false, mcconf->l_in_current_min, mcconf->l_in_current_max);
comm_can_conf_foc_erpms(i, false, mcconf->foc_openloop_rpm, mcconf->foc_sl_erpm);
comm_can_detect_apply_all_foc(i, true, max_power_loss);
can_devs++;
if (i == id_new) {
// Add 2 in case this was a dual controller
id_new++;
if (id_new == 255) {
id_new = 0;
}
id_new++;
if (id_new == 255) {
id_new = 0;
}
}
}
}
}
int res = conf_general_detect_apply_all_foc(max_power_loss, false, false);
// Wait for all VESCs on the CAN-bus to finish detection
int timeout = true;
for (int i = 0;i < 4000;i++) {
if (comm_can_detect_all_foc_res_size() >= can_devs) {
timeout = false;
break;
}
chThdSleepMilliseconds(10);
}
if (timeout) {
res = -50;
} else {
for (int i = 0;i < can_devs;i++) {
if (comm_can_detect_all_foc_res(i) < 0) {
res = -51;
}
}
}
// Store and send settings
if (res >= 0) {
if (appconf->controller_id != id_new || appconf->send_can_status != CAN_STATUS_1_2_3_4) {
appconf->controller_id = id_new;
appconf->send_can_status = CAN_STATUS_1_2_3_4;
conf_general_store_app_configuration(appconf);
app_set_configuration(appconf);
commands_send_appconf(COMM_GET_APPCONF, appconf);
chThdSleepMilliseconds(1000);
}
*mcconf = *mc_interface_get_configuration();
conf_general_store_mc_configuration(mcconf, mc_interface_get_motor_thread() == 2);
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
*mcconf = *mc_interface_get_configuration();
conf_general_store_mc_configuration(mcconf, mc_interface_get_motor_thread() == 2);
mc_interface_select_motor_thread(1);
*mcconf = *mc_interface_get_configuration();
#endif
commands_send_mcconf(COMM_GET_MCCONF, mcconf);
chThdSleepMilliseconds(1000);
}
mempools_free_mcconf(mcconf);
mempools_free_appconf(appconf);
mc_interface_select_motor_thread(motor_last);
return res;
}
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