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bldc/terminal.c

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/*
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
This program is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
This program is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
/*
* terminal.c
*
* Created on: 26 dec 2013
* Author: benjamin
*/
#include "ch.h"
#include "hal.h"
#include "terminal.h"
#include "comm.h"
#include "mcpwm.h"
#include "main.h"
#include "hw.h"
#include <string.h>
#include <stdio.h>
void terminal_process_string(char *str) {
enum { kMaxArgs = 64 };
int argc = 0;
char *argv[kMaxArgs];
char *p2 = strtok(str, " ");
while (p2 && argc < kMaxArgs) {
argv[argc++] = p2;
p2 = strtok(0, " ");
}
if (argc == 0) {
comm_printf("No command received\n");
return;
}
if (strcmp(argv[0], "ping") == 0) {
comm_printf("pong\n");
} else if (strcmp(argv[0], "stop") == 0) {
mcpwm_set_duty(0);
comm_printf("Motor stopped\n");
} else if (strcmp(argv[0], "last_adc_duration") == 0) {
comm_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
comm_printf("Latest injected ADC duration: %.4f ms", (double)(mcpwm_get_last_inj_adc_isr_duration() * 1000.0));
comm_printf("Latest main ADC duration: %.4f ms\n", (double)(main_get_last_adc_isr_duration() * 1000.0));
} else if (strcmp(argv[0], "kv") == 0) {
comm_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
} else if (strcmp(argv[0], "mem") == 0) {
size_t n, size;
n = chHeapStatus(NULL, &size);
comm_printf("core free memory : %u bytes", chCoreStatus());
comm_printf("heap fragments : %u", n);
comm_printf("heap free total : %u bytes\n", size);
} else if (strcmp(argv[0], "threads") == 0) {
Thread *tp;
static const char *states[] = {THD_STATE_NAMES};
comm_printf(" addr stack prio refs state name time ");
comm_printf("-------------------------------------------------------------");
tp = chRegFirstThread();
do {
comm_printf("%.8lx %.8lx %4lu %4lu %9s %14s %lu",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], tp->p_name, (uint32_t)tp->p_time);
tp = chRegNextThread(tp);
} while (tp != NULL);
comm_printf("");
} else if (strcmp(argv[0], "fault") == 0) {
comm_print_fault_code(mcpwm_get_fault());
} else if (strcmp(argv[0], "rpm") == 0) {
comm_printf("Electrical RPM: %.2f rpm\n", (double)mcpwm_get_rpm());
} else if (strcmp(argv[0], "tacho") == 0) {
comm_printf("Tachometer counts: %i\n", mcpwm_get_tachometer_value(0));
} else if (strcmp(argv[0], "tim") == 0) {
chSysLock();
volatile int t1_cnt = TIM1->CNT;
volatile int t8_cnt = TIM8->CNT;
chSysUnlock();
int duty = TIM1->CCR1;
int top = TIM1->ARR;
int voltage_samp = TIM8->CCR1;
int current1_samp = TIM1->CCR4;
int current2_samp = TIM8->CCR2;
comm_printf("Tim1 CNT: %i", t1_cnt);
comm_printf("Tim8 CNT: %u", t8_cnt);
comm_printf("Duty cycle: %u", duty);
comm_printf("Top: %u", top);
comm_printf("Voltage sample: %u", voltage_samp);
comm_printf("Current 1 sample: %u", current1_samp);
comm_printf("Current 2 sample: %u\n", current2_samp);
} else if (strcmp(argv[0], "volt") == 0) {
comm_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE());
} else if (strcmp(argv[0], "param_detect") == 0) {
// Use COMM_MODE_DELAY and try to figure out the motor parameters.
if (argc == 4) {
float current = -1.0;
float min_rpm = -1.0;
float low_duty = -1.0;
sscanf(argv[1], "%f", &current);
sscanf(argv[2], "%f", &min_rpm);
sscanf(argv[3], "%f", &low_duty);
if (current > 0.0 && current < MCPWM_CURRENT_MAX &&
min_rpm > 10.0 && min_rpm < 3000.0 &&
low_duty > 0.02 && low_duty < 0.8) {
mc_comm_mode comm_mode_last = mcpwm_get_comm_mode();
mcpwm_set_min_rpm(min_rpm);
mcpwm_set_comm_mode(COMM_MODE_DELAY);
mcpwm_set_current(current);
// Spin up the motor
for (int i = 0;i < 5000;i++) {
if (mcpwm_get_duty_cycle_now() < 0.6) {
chThdSleepMilliseconds(1);
} else {
break;
}
}
// Release the motor and wait a few commutations
mcpwm_set_current(0.0);
int tacho = mcpwm_get_tachometer_value(0);
for (int i = 0;i < 2000;i++) {
if ((mcpwm_get_tachometer_value(0) - tacho) < 3) {
chThdSleepMilliseconds(1);
} else {
break;
}
}
// Average the cycle integrator for 50 commutations
mcpwm_read_reset_avg_cycle_integrator();
tacho = mcpwm_get_tachometer_value(0);
for (int i = 0;i < 3000;i++) {
if ((mcpwm_get_tachometer_value(0) - tacho) < 50) {
chThdSleepMilliseconds(1);
} else {
break;
}
}
float avg_cycle_integrator = mcpwm_read_reset_avg_cycle_integrator();
comm_printf("Cycle integrator limit: %.2f", (double)avg_cycle_integrator);
// Wait for the motor to slow down
for (int i = 0;i < 5000;i++) {
if (mcpwm_get_duty_cycle_now() > low_duty) {
chThdSleepMilliseconds(1);
} else {
break;
}
}
mcpwm_set_duty(low_duty);
// Average the cycle integrator for 100 commutations
mcpwm_read_reset_avg_cycle_integrator();
tacho = mcpwm_get_tachometer_value(0);
for (int i = 0;i < 3000;i++) {
if ((mcpwm_get_tachometer_value(0) - tacho) < 100) {
chThdSleepMilliseconds(1);
} else {
break;
}
}
float avg_cycle_integrator_running = mcpwm_read_reset_avg_cycle_integrator();
float rpm = mcpwm_get_rpm();
mcpwm_set_current(0.0);
// Try to figure out the coupling factor
avg_cycle_integrator_running -= avg_cycle_integrator;
avg_cycle_integrator_running /= (float)ADC_Value[ADC_IND_VIN_SENS];
avg_cycle_integrator_running *= rpm;
comm_printf("Coupling factor: %.2f\n", (double)avg_cycle_integrator_running);
// Restore settings
mcpwm_set_comm_mode(comm_mode_last);
mcpwm_set_min_rpm(MCPWM_MIN_RPM);
} else {
comm_printf("Invalid argument(s).\n");
}
} else {
comm_printf("This command requires three arguments.\n");
}
} else if (strcmp(argv[0], "rpm_dep") == 0) {
mc_rpm_dep_struct rpm_dep = mcpwm_get_rpm_dep();
comm_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit);
comm_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running);
comm_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max);
}
// Setters
else if (strcmp(argv[0], "set_hall_table") == 0) {
if (argc == 4) {
int dir = -1;
int fwd_add = -1;
int rev_add = -1;
sscanf(argv[1], "%i", &dir);
sscanf(argv[2], "%i", &fwd_add);
sscanf(argv[3], "%i", &rev_add);
if (dir >= 0 && fwd_add >= 0 && rev_add >= 0) {
mcpwm_init_hall_table(dir, fwd_add, rev_add);
comm_printf("New hall sensor dir: %i fwd_add %i rev_add %i\n",
dir, fwd_add, rev_add);
} else {
comm_printf("Invalid argument(s).\n");
}
} else {
comm_printf("This command requires three arguments.\n");
}
}
// The help command
else if (strcmp(argv[0], "help") == 0) {
comm_printf("Valid commands are:");
comm_printf("help");
comm_printf(" Show this help");
comm_printf("ping");
comm_printf(" Print pong here to see if the reply works");
comm_printf("stop");
comm_printf(" Stop the motor");
comm_printf("last_adc_duration");
comm_printf(" The time the latest ADC interrupt consumed");
comm_printf("kv");
comm_printf(" The calculated kv of the motor");
comm_printf("mem");
comm_printf(" Show memory usage");
comm_printf("threads");
comm_printf(" List all threads");
comm_printf("fault");
comm_printf(" Prints the current fault code");
comm_printf("rpm");
comm_printf(" Prints the current electrical RPM");
comm_printf("tacho");
comm_printf(" Prints tachometer value");
comm_printf("tim");
comm_printf(" Prints tim1 and tim8 settings");
comm_printf("set_hall_table [dir] [fwd_add] [rev_add]");
comm_printf(" Update the hall sensor lookup table");
comm_printf("volt");
comm_printf(" Prints different voltages");
comm_printf("param_detect [current] [min_rpm] [low_duty]");
comm_printf(" Spin up the motor in COMM_MODE_DELAY and compute its parameters.");
comm_printf(" This test should be performed without load on the motor.");
comm_printf(" Example: param_detect 5.0 600 0.06");
comm_printf("rpm_dep");
comm_printf(" Prints some rpm-dep values\n");
} else {
comm_printf("Invalid command: %s\n"
"type help to list all available commands\n", argv[0]);
}
}
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