mirror of https://github.com/rusefi/bldc.git
462 lines
16 KiB
C
462 lines
16 KiB
C
/*
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Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
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This program is free software: you can redistribute it and/or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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/*
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* commands.c
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*
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* Created on: 19 sep 2014
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* Author: benjamin
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*/
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#include "commands.h"
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#include "ch.h"
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#include "hal.h"
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#include "main.h"
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#include "stm32f4xx_conf.h"
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#include "servo.h"
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#include "buffer.h"
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#include "myUSB.h"
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#include "terminal.h"
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#include "hw.h"
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#include "mcpwm.h"
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#include "app.h"
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#include "timeout.h"
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#include "servo_dec.h"
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#include <math.h>
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#include <string.h>
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#include <stdarg.h>
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#include <stdio.h>
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// Threads
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static msg_t detect_thread(void *arg);
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static WORKING_AREA(detect_thread_wa, 2048);
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static Thread *detect_tp;
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// Private variables
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static uint8_t send_buffer[256];
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static float detect_cycle_int_limit;
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static float detect_coupling_k;
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static float detect_current;
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static float detect_min_rpm;
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static float detect_low_duty;
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static void(*send_func)(unsigned char *data, unsigned char len) = 0;
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static void send_packet(unsigned char *data, unsigned char len) {
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if (send_func) {
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send_func(data, len);
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}
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}
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void commands_init(void) {
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chThdCreateStatic(detect_thread_wa, sizeof(detect_thread_wa), NORMALPRIO, detect_thread, NULL);
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}
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/**
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* Provide a function to use the next time there are packets to be sent.
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*
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* @param func
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* A pointer to the packet sending function.
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*/
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void commands_set_send_func(void(*func)(unsigned char *data, unsigned char len)) {
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send_func = func;
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}
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/**
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* Process a received buffer with commands and data.
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*
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* @param data
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* The buffer to process.
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*
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* @param len
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* The length of the buffer.
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*/
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void commands_process_packet(unsigned char *data, unsigned char len) {
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if (!len) {
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return;
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}
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COMM_PACKET_ID packet_id;
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int32_t ind = 0;
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uint16_t sample_len;
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uint8_t decimation;
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bool at_start;
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mc_configuration mcconf;
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app_configuration appconf;
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(void)len;
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packet_id = data[0];
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data++;
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len--;
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switch (packet_id) {
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case COMM_GET_VALUES:
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ind = 0;
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send_buffer[ind++] = COMM_GET_VALUES;
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS1) * 10.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS2) * 10.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS3) * 10.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS4) * 10.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS5) * 10.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_MOS6) * 10.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(NTC_TEMP(ADC_IND_TEMP_PCB) * 10.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcpwm_read_reset_avg_motor_current() * 100.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcpwm_read_reset_avg_input_current() * 100.0), &ind);
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buffer_append_int16(send_buffer, (int16_t)(mcpwm_get_duty_cycle_now() * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)mcpwm_get_rpm(), &ind);
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buffer_append_int16(send_buffer, (int16_t)(GET_INPUT_VOLTAGE() * 10.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcpwm_get_amp_hours(false) * 10000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcpwm_get_amp_hours_charged(false) * 10000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcpwm_get_watt_hours(false) * 10000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcpwm_get_watt_hours_charged(false) * 10000.0), &ind);
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buffer_append_int32(send_buffer, mcpwm_get_tachometer_value(false), &ind);
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buffer_append_int32(send_buffer, mcpwm_get_tachometer_abs_value(false), &ind);
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send_buffer[ind++] = mcpwm_get_fault();
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send_packet(send_buffer, ind);
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break;
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case COMM_SET_DUTY:
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ind = 0;
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mcpwm_set_duty((float)buffer_get_int32(data, &ind) / 100000.0);
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timeout_reset();
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break;
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case COMM_SET_CURRENT:
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ind = 0;
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mcpwm_set_current((float)buffer_get_int32(data, &ind) / 1000.0);
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timeout_reset();
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break;
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case COMM_SET_CURRENT_BRAKE:
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ind = 0;
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mcpwm_set_brake_current((float)buffer_get_int32(data, &ind) / 1000.0);
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timeout_reset();
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break;
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case COMM_SET_RPM:
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ind = 0;
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mcpwm_set_pid_speed((float)buffer_get_int32(data, &ind));
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timeout_reset();
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break;
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case COMM_SET_DETECT:
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mcpwm_set_detect();
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timeout_reset();
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break;
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case COMM_SET_SERVO_OFFSET:
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servos[0].offset = data[0];
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break;
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case COMM_SET_MCCONF:
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mcconf = *mcpwm_get_configuration();
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ind = 0;
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mcconf.pwm_mode = data[ind++];
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mcconf.comm_mode = data[ind++];
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mcconf.l_current_max = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_current_min = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_in_current_max = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_in_current_min = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_abs_current_max = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_max_erpm_fbrake = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_min_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_max_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_slow_abs_current = data[ind++];
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mcconf.l_rpm_lim_neg_torque = data[ind++];
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mcconf.l_temp_fet_start = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_temp_fet_end = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_temp_motor_start = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.l_temp_motor_end = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.lo_current_max = mcconf.l_current_max;
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mcconf.lo_current_min = mcconf.l_current_min;
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mcconf.lo_in_current_max = mcconf.l_in_current_max;
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mcconf.lo_in_current_min = mcconf.l_in_current_min;
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mcconf.sl_is_sensorless = data[ind++];
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mcconf.sl_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.sl_min_erpm_cycle_int_limit = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.sl_max_fullbreak_current_dir_change = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.sl_cycle_int_limit = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.sl_cycle_int_limit_high_fac = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.sl_cycle_int_rpm_br = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.sl_bemf_coupling_k = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.hall_dir = data[ind++];
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mcconf.hall_fwd_add = data[ind++];
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mcconf.hall_rev_add = data[ind++];
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mcconf.s_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
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mcconf.s_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
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mcconf.s_pid_kd = (float)buffer_get_int32(data, &ind) / 1000000.0;
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mcconf.s_pid_min_rpm = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.cc_startup_boost_duty = (float)buffer_get_int32(data, &ind) / 1000000.0;
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mcconf.cc_min_current = (float)buffer_get_int32(data, &ind) / 1000.0;
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mcconf.cc_gain = (float)buffer_get_int32(data, &ind) / 1000000.0;
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mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
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conf_general_store_mc_configuration(&mcconf);
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mcpwm_set_configuration(&mcconf);
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break;
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case COMM_GET_MCCONF:
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mcconf = *mcpwm_get_configuration();
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ind = 0;
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send_buffer[ind++] = COMM_GET_MCCONF;
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send_buffer[ind++] = mcconf.pwm_mode;
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send_buffer[ind++] = mcconf.comm_mode;
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_current_max * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_current_min * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_in_current_max * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_in_current_min * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_abs_current_max * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_erpm * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_vin * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_vin * 1000.0), &ind);
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send_buffer[ind++] = mcconf.l_slow_abs_current;
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send_buffer[ind++] = mcconf.l_rpm_lim_neg_torque;
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_start * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_end * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_start * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_end * 1000.0), &ind);
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send_buffer[ind++] = mcconf.sl_is_sensorless;
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm_cycle_int_limit * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_max_fullbreak_current_dir_change * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_limit * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_limit_high_fac * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_cycle_int_rpm_br * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_bemf_coupling_k * 1000.0), &ind);
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send_buffer[ind++] = mcconf.hall_dir;
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send_buffer[ind++] = mcconf.hall_fwd_add;
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send_buffer[ind++] = mcconf.hall_rev_add;
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buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kp * 1000000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_ki * 1000000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kd * 1000000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_min_rpm * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_startup_boost_duty * 1000000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_min_current * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(mcconf.cc_gain * 1000000.0), &ind);
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buffer_append_int32(send_buffer, mcconf.m_fault_stop_time_ms, &ind);
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send_packet(send_buffer, ind);
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break;
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case COMM_SET_APPCONF:
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appconf = *app_get_configuration();
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ind = 0;
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appconf.timeout_msec = buffer_get_uint32(data, &ind);
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appconf.timeout_brake_current = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_to_use = data[ind++];
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appconf.app_ppm_ctrl_type = data[ind++];
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appconf.app_ppm_pid_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_ppm_hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_ppm_pulse_start = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_ppm_pulse_width = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_ppm_rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_ppm_rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
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appconf.app_chuk_ctrl_type = data[ind++];
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appconf.app_chuk_hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_chuk_rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
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appconf.app_chuk_rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
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conf_general_store_app_configuration(&appconf);
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app_set_configuration(&appconf);
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timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
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break;
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case COMM_GET_APPCONF:
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appconf = *app_get_configuration();
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ind = 0;
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send_buffer[ind++] = COMM_GET_APPCONF;
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buffer_append_uint32(send_buffer, appconf.timeout_msec, &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.timeout_brake_current * 1000.0), &ind);
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send_buffer[ind++] = appconf.app_to_use;
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send_buffer[ind++] = appconf.app_ppm_ctrl_type;
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_pid_max_erpm * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_hyst * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_pulse_start * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_pulse_width * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_rpm_lim_start * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_ppm_rpm_lim_end * 1000.0), &ind);
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buffer_append_uint32(send_buffer, appconf.app_uart_baudrate, &ind);
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send_buffer[ind++] = appconf.app_chuk_ctrl_type;
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_hyst * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_rpm_lim_start * 1000.0), &ind);
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buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_rpm_lim_end * 1000.0), &ind);
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send_packet(send_buffer, ind);
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break;
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case COMM_SAMPLE_PRINT:
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ind = 0;
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at_start = data[ind++];
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sample_len = buffer_get_uint16(data, &ind);
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decimation = data[ind++];
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main_sample_print_data(at_start, sample_len, decimation);
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break;
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case COMM_TERMINAL_CMD:
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data[len] = '\0';
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terminal_process_string((char*)data);
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break;
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case COMM_DETECT_MOTOR_PARAM:
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ind = 0;
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detect_current = (float)buffer_get_int32(data, &ind) / 1000.0;
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detect_min_rpm = (float)buffer_get_int32(data, &ind) / 1000.0;
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detect_low_duty = (float)buffer_get_int32(data, &ind) / 1000.0;
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chEvtSignal(detect_tp, (eventmask_t) 1);
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break;
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case COMM_REBOOT:
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// Lock the system and enter an infinite loop. The watchdog will reboot.
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__disable_irq();
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for(;;){};
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break;
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case COMM_ALIVE:
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timeout_reset();
|
|
break;
|
|
|
|
case COMM_GET_DECODED_PPM:
|
|
ind = 0;
|
|
send_buffer[ind++] = COMM_GET_DECODED_PPM;
|
|
buffer_append_int32(send_buffer, (int32_t)(servodec_get_servo(0) * 1000000.0), &ind);
|
|
send_packet(send_buffer, ind);
|
|
break;
|
|
|
|
case COMM_GET_DECODED_CHUK:
|
|
ind = 0;
|
|
send_buffer[ind++] = COMM_GET_DECODED_CHUK;
|
|
buffer_append_int32(send_buffer, (int32_t)(app_nunchuk_get_decoded_chuk() * 1000000.0), &ind);
|
|
send_packet(send_buffer, ind);
|
|
break;
|
|
|
|
default:
|
|
break;
|
|
}
|
|
}
|
|
|
|
void commands_printf(char* format, ...) {
|
|
va_list arg;
|
|
va_start (arg, format);
|
|
int len;
|
|
static char print_buffer[255];
|
|
|
|
print_buffer[0] = COMM_PRINT;
|
|
len = vsnprintf(print_buffer+1, 254, format, arg);
|
|
va_end (arg);
|
|
|
|
if(len>0) {
|
|
send_packet((unsigned char*)print_buffer, (len<254)? len+1: 255);
|
|
}
|
|
}
|
|
|
|
void commands_send_samples(uint8_t *data, int len) {
|
|
uint8_t buffer[len + 1];
|
|
int index = 0;
|
|
|
|
buffer[index++] = COMM_SAMPLE_PRINT;
|
|
|
|
for (int i = 0;i < len;i++) {
|
|
buffer[index++] = data[i];
|
|
}
|
|
|
|
send_packet(buffer, index);
|
|
}
|
|
|
|
void commands_send_rotor_pos(float rotor_pos) {
|
|
uint8_t buffer[5];
|
|
int32_t index = 0;
|
|
|
|
buffer[index++] = COMM_ROTOR_POSITION;
|
|
buffer_append_int32(buffer, (int32_t)(rotor_pos * 100000.0), &index);
|
|
|
|
send_packet(buffer, index);
|
|
}
|
|
|
|
void commands_send_experiment_samples(float *samples, int len) {
|
|
if ((len * 4 + 1) > 256) {
|
|
return;
|
|
}
|
|
|
|
uint8_t buffer[len * 4 + 1];
|
|
int32_t index = 0;
|
|
|
|
buffer[index++] = COMM_EXPERIMENT_SAMPLE;
|
|
|
|
for (int i = 0;i < len;i++) {
|
|
buffer_append_int32(buffer, (int32_t)(samples[i] * 10000.0), &index);
|
|
}
|
|
|
|
send_packet(buffer, index);
|
|
}
|
|
|
|
static msg_t detect_thread(void *arg) {
|
|
(void)arg;
|
|
|
|
chRegSetThreadName("Detect");
|
|
|
|
detect_tp = chThdSelf();
|
|
|
|
for(;;) {
|
|
chEvtWaitAny((eventmask_t) 1);
|
|
|
|
if (!conf_general_detect_motor_param(detect_current, detect_min_rpm,
|
|
detect_low_duty, &detect_cycle_int_limit, &detect_coupling_k)) {
|
|
detect_cycle_int_limit = 0.0;
|
|
detect_coupling_k = 0.0;
|
|
}
|
|
|
|
int32_t ind = 0;
|
|
send_buffer[ind++] = COMM_DETECT_MOTOR_PARAM;
|
|
buffer_append_int32(send_buffer, (int32_t)(detect_cycle_int_limit * 1000.0), &ind);
|
|
buffer_append_int32(send_buffer, (int32_t)(detect_coupling_k * 1000.0), &ind);
|
|
send_packet(send_buffer, ind);
|
|
}
|
|
|
|
return 0;
|
|
}
|