mirror of https://github.com/rusefi/bldc.git
1006 lines
36 KiB
C
1006 lines
36 KiB
C
/*
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Copyright 2016 - 2020 Benjamin Vedder benjamin@vedder.se
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This file is part of the VESC firmware.
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The VESC firmware 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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The VESC firmware 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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#include "ch.h"
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#include "hal.h"
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#include "terminal.h"
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#include "mcpwm.h"
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#include "mcpwm_foc.h"
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#include "mc_interface.h"
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#include "commands.h"
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#include "hw.h"
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#include "comm_can.h"
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#include "utils.h"
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#include "timeout.h"
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#include "encoder.h"
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#include "drv8301.h"
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#include "drv8305.h"
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#include "drv8320s.h"
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#include "drv8323s.h"
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#include "app.h"
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#include "comm_usb.h"
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#include "comm_usb_serial.h"
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#include "mempools.h"
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#include <string.h>
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#include <stdio.h>
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#include <math.h>
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// Settings
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#define FAULT_VEC_LEN 25
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#define CALLBACK_LEN 40
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// Private types
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typedef struct _terminal_callback_struct {
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const char *command;
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const char *help;
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const char *arg_names;
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void(*cbf)(int argc, const char **argv);
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} terminal_callback_struct;
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// Private variables
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static volatile fault_data fault_vec[FAULT_VEC_LEN];
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static volatile int fault_vec_write = 0;
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static terminal_callback_struct callbacks[CALLBACK_LEN];
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static int callback_write = 0;
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void terminal_process_string(char *str) {
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enum { kMaxArgs = 64 };
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int argc = 0;
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char *argv[kMaxArgs];
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char *p2 = strtok(str, " ");
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while (p2 && argc < kMaxArgs) {
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argv[argc++] = p2;
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p2 = strtok(0, " ");
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}
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if (argc == 0) {
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commands_printf("No command received\n");
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return;
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}
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for (int i = 0;i < callback_write;i++) {
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if (callbacks[i].cbf != 0 && strcmp(argv[0], callbacks[i].command) == 0) {
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callbacks[i].cbf(argc, (const char**)argv);
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return;
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}
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}
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if (strcmp(argv[0], "ping") == 0) {
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commands_printf("pong\n");
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} else if (strcmp(argv[0], "stop") == 0) {
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mc_interface_set_duty(0);
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commands_printf("Motor stopped\n");
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} else if (strcmp(argv[0], "last_adc_duration") == 0) {
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commands_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
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commands_printf("Latest injected ADC duration: %.4f ms", (double)(mc_interface_get_last_inj_adc_isr_duration() * 1000.0));
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commands_printf("Latest sample ADC duration: %.4f ms\n", (double)(mc_interface_get_last_sample_adc_isr_duration() * 1000.0));
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} else if (strcmp(argv[0], "kv") == 0) {
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commands_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
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} else if (strcmp(argv[0], "mem") == 0) {
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size_t n, size;
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n = chHeapStatus(NULL, &size);
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commands_printf("core free memory : %u bytes", chCoreGetStatusX());
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commands_printf("heap fragments : %u", n);
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commands_printf("heap free total : %u bytes\n", size);
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} else if (strcmp(argv[0], "threads") == 0) {
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thread_t *tp;
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static const char *states[] = {CH_STATE_NAMES};
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commands_printf(" addr stack prio refs state name motor time ");
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commands_printf("-------------------------------------------------------------------");
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tp = chRegFirstThread();
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do {
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commands_printf("%.8lx %.8lx %4lu %4lu %9s %14s %5lu %lu (%.1f %%)",
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(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
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(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
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states[tp->p_state], tp->p_name, tp->motor_selected, (uint32_t)tp->p_time,
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(double)(100.0 * (float)tp->p_time / (float)chVTGetSystemTimeX()));
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tp = chRegNextThread(tp);
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} while (tp != NULL);
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commands_printf(" ");
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} else if (strcmp(argv[0], "fault") == 0) {
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commands_printf("%s\n", mc_interface_fault_to_string(mc_interface_get_fault()));
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} else if (strcmp(argv[0], "faults") == 0) {
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if (fault_vec_write == 0) {
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commands_printf("No faults registered since startup\n");
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} else {
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commands_printf("The following faults were registered since start:\n");
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for (int i = 0;i < fault_vec_write;i++) {
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commands_printf("Fault : %s", mc_interface_fault_to_string(fault_vec[i].fault));
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commands_printf("Motor : %d", fault_vec[i].motor);
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commands_printf("Current : %.1f", (double)fault_vec[i].current);
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commands_printf("Current filtered : %.1f", (double)fault_vec[i].current_filtered);
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commands_printf("Voltage : %.2f", (double)fault_vec[i].voltage);
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#ifdef HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
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commands_printf("Gate drv voltage : %.2f", (double)fault_vec[i].gate_driver_voltage);
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#endif
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commands_printf("Duty : %.3f", (double)fault_vec[i].duty);
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commands_printf("RPM : %.1f", (double)fault_vec[i].rpm);
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commands_printf("Tacho : %d", fault_vec[i].tacho);
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commands_printf("Cycles running : %d", fault_vec[i].cycles_running);
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commands_printf("TIM duty : %d", (int)((float)fault_vec[i].tim_top * fault_vec[i].duty));
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commands_printf("TIM val samp : %d", fault_vec[i].tim_val_samp);
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commands_printf("TIM current samp : %d", fault_vec[i].tim_current_samp);
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commands_printf("TIM top : %d", fault_vec[i].tim_top);
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commands_printf("Comm step : %d", fault_vec[i].comm_step);
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commands_printf("Temperature : %.2f", (double)fault_vec[i].temperature);
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#ifdef HW_HAS_DRV8301
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if (fault_vec[i].fault == FAULT_CODE_DRV) {
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commands_printf("DRV8301_FAULTS : %s", drv8301_faults_to_string(fault_vec[i].drv8301_faults));
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}
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#elif defined(HW_HAS_DRV8320S)
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if (fault_vec[i].fault == FAULT_CODE_DRV) {
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commands_printf("DRV8320S_FAULTS : %s", drv8320s_faults_to_string(fault_vec[i].drv8301_faults));
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}
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#elif defined(HW_HAS_DRV8323S)
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if (fault_vec[i].fault == FAULT_CODE_DRV) {
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commands_printf("DRV8323S_FAULTS : %s", drv8323s_faults_to_string(fault_vec[i].drv8301_faults));
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}
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#endif
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commands_printf(" ");
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}
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}
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} else if (strcmp(argv[0], "rpm") == 0) {
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commands_printf("Electrical RPM: %.2f rpm\n", (double)mc_interface_get_rpm());
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} else if (strcmp(argv[0], "tacho") == 0) {
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commands_printf("Tachometer counts: %i\n", mc_interface_get_tachometer_value(0));
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} else if (strcmp(argv[0], "tim") == 0) {
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chSysLock();
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volatile int t1_cnt = TIM1->CNT;
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volatile int t8_cnt = TIM8->CNT;
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volatile int t1_cnt2 = TIM1->CNT;
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volatile int t2_cnt = TIM2->CNT;
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volatile int dir1 = !!(TIM1->CR1 & (1 << 4));
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volatile int dir8 = !!(TIM8->CR1 & (1 << 4));
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chSysUnlock();
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int duty1 = TIM1->CCR1;
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int duty2 = TIM1->CCR2;
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int duty3 = TIM1->CCR3;
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int top = TIM1->ARR;
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int voltage_samp = TIM8->CCR1;
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int current1_samp = TIM1->CCR4;
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int current2_samp = TIM8->CCR2;
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commands_printf("Tim1 CNT: %i", t1_cnt);
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commands_printf("Tim8 CNT: %i", t8_cnt);
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commands_printf("Tim2 CNT: %i", t2_cnt);
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commands_printf("Amount off CNT: %i",top - (2*t8_cnt + t1_cnt + t1_cnt2)/2);
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commands_printf("Duty cycle1: %u", duty1);
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commands_printf("Duty cycle2: %u", duty2);
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commands_printf("Duty cycle3: %u", duty3);
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commands_printf("Top: %u", top);
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commands_printf("Dir1: %u", dir1);
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commands_printf("Dir8: %u", dir8);
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commands_printf("Voltage sample: %u", voltage_samp);
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commands_printf("Current 1 sample: %u", current1_samp);
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commands_printf("Current 2 sample: %u\n", current2_samp);
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} else if (strcmp(argv[0], "volt") == 0) {
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commands_printf("Input voltage: %.2f\n", (double)GET_INPUT_VOLTAGE());
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#ifdef HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
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commands_printf("Gate driver power supply output voltage: %.2f\n", (double)GET_GATE_DRIVER_SUPPLY_VOLTAGE());
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#endif
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} else if (strcmp(argv[0], "param_detect") == 0) {
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// Use COMM_MODE_DELAY and try to figure out the motor parameters.
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if (argc == 4) {
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float current = -1.0;
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float min_rpm = -1.0;
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float low_duty = -1.0;
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sscanf(argv[1], "%f", ¤t);
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sscanf(argv[2], "%f", &min_rpm);
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sscanf(argv[3], "%f", &low_duty);
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if (current > 0.0 && current < mc_interface_get_configuration()->l_current_max &&
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min_rpm > 10.0 && min_rpm < 3000.0 &&
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low_duty > 0.02 && low_duty < 0.8) {
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float cycle_integrator;
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float coupling_k;
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int8_t hall_table[8];
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int hall_res;
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if (conf_general_detect_motor_param(current, min_rpm, low_duty, &cycle_integrator, &coupling_k, hall_table, &hall_res)) {
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commands_printf("Cycle integrator limit: %.2f", (double)cycle_integrator);
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commands_printf("Coupling factor: %.2f", (double)coupling_k);
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if (hall_res == 0) {
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commands_printf("Detected hall sensor table:");
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commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n",
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hall_table[0], hall_table[1], hall_table[2], hall_table[3],
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hall_table[4], hall_table[5], hall_table[6], hall_table[7]);
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} else if (hall_res == -1) {
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commands_printf("Hall sensor detection failed:");
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commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n",
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hall_table[0], hall_table[1], hall_table[2], hall_table[3],
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hall_table[4], hall_table[5], hall_table[6], hall_table[7]);
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} else if (hall_res == -2) {
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commands_printf("WS2811 enabled. Hall sensors cannot be used.\n");
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} else if (hall_res == -3) {
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commands_printf("Encoder enabled. Hall sensors cannot be used.\n");
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}
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} else {
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commands_printf("Detection failed. Try again with different parameters.\n");
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}
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} else {
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commands_printf("Invalid argument(s).\n");
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}
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} else {
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commands_printf("This command requires three arguments.\n");
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}
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} else if (strcmp(argv[0], "rpm_dep") == 0) {
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mc_rpm_dep_struct rpm_dep = mcpwm_get_rpm_dep();
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commands_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit);
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commands_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running);
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commands_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max);
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} else if (strcmp(argv[0], "can_devs") == 0) {
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commands_printf("CAN devices seen on the bus the past second:\n");
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for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
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can_status_msg *msg = comm_can_get_status_msg_index(i);
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if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < 1.0) {
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commands_printf("ID : %i", msg->id);
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commands_printf("RX Time : %i", msg->rx_time);
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commands_printf("Age (milliseconds) : %.2f", (double)(UTILS_AGE_S(msg->rx_time) * 1000.0));
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commands_printf("RPM : %.2f", (double)msg->rpm);
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commands_printf("Current : %.2f", (double)msg->current);
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commands_printf("Duty : %.2f\n", (double)msg->duty);
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}
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}
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} else if (strcmp(argv[0], "foc_encoder_detect") == 0) {
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if (argc == 2) {
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float current = -1.0;
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sscanf(argv[1], "%f", ¤t);
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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if (current > 0.0 && current <= mcconf->l_current_max) {
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if (encoder_is_configured()) {
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mc_motor_type type_old = mcconf->motor_type;
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mcconf->motor_type = MOTOR_TYPE_FOC;
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mc_interface_set_configuration(mcconf);
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float offset = 0.0;
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float ratio = 0.0;
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bool inverted = false;
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mcpwm_foc_encoder_detect(current, true, &offset, &ratio, &inverted);
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mcconf->motor_type = type_old;
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mc_interface_set_configuration(mcconf);
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commands_printf("Offset : %.2f", (double)offset);
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commands_printf("Ratio : %.2f", (double)ratio);
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commands_printf("Inverted : %s\n", inverted ? "true" : "false");
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} else {
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commands_printf("Encoder not enabled.\n");
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}
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} else {
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commands_printf("Invalid argument(s).\n");
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}
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mempools_free_mcconf(mcconf);
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} else {
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commands_printf("This command requires one argument.\n");
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}
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} else if (strcmp(argv[0], "measure_res") == 0) {
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if (argc == 2) {
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float current = -1.0;
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sscanf(argv[1], "%f", ¤t);
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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mc_configuration *mcconf_old = mempools_alloc_mcconf();
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*mcconf_old = *mc_interface_get_configuration();
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if (current > 0.0 && current <= mcconf->l_current_max) {
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mcconf->motor_type = MOTOR_TYPE_FOC;
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mc_interface_set_configuration(mcconf);
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commands_printf("Resistance: %.6f ohm\n", (double)mcpwm_foc_measure_resistance(current, 2000, true));
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mc_interface_set_configuration(mcconf_old);
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} else {
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commands_printf("Invalid argument(s).\n");
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}
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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} else {
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commands_printf("This command requires one argument.\n");
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}
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} else if (strcmp(argv[0], "measure_ind") == 0) {
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if (argc == 2) {
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float duty = -1.0;
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sscanf(argv[1], "%f", &duty);
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if (duty > 0.0 && duty < 0.9) {
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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mc_configuration *mcconf_old = mempools_alloc_mcconf();
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*mcconf_old = *mc_interface_get_configuration();
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mcconf->motor_type = MOTOR_TYPE_FOC;
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mc_interface_set_configuration(mcconf);
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float curr, ld_lq_diff;
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float ind = mcpwm_foc_measure_inductance(duty, 400, &curr, &ld_lq_diff);
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commands_printf("Inductance: %.2f uH, ld_lq_diff: %.2f uH (%.2f A)\n",
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(double)ind, (double)ld_lq_diff, (double)curr);
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mc_interface_set_configuration(mcconf_old);
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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} else {
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commands_printf("Invalid argument(s).\n");
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}
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} else {
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commands_printf("This command requires one argument.\n");
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}
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} else if (strcmp(argv[0], "measure_linkage") == 0) {
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if (argc == 5) {
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float current = -1.0;
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float duty = -1.0;
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float min_erpm = -1.0;
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float res = -1.0;
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sscanf(argv[1], "%f", ¤t);
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sscanf(argv[2], "%f", &duty);
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sscanf(argv[3], "%f", &min_erpm);
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sscanf(argv[4], "%f", &res);
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if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max &&
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min_erpm > 0.0 && duty > 0.02 && res >= 0.0) {
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float linkage;
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conf_general_measure_flux_linkage(current, duty, min_erpm, res, &linkage);
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commands_printf("Flux linkage: %.7f\n", (double)linkage);
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} else {
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commands_printf("Invalid argument(s).\n");
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}
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} else {
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commands_printf("This command requires four arguments.\n");
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}
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} else if (strcmp(argv[0], "measure_res_ind") == 0) {
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mc_configuration *mcconf = mempools_alloc_mcconf();
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*mcconf = *mc_interface_get_configuration();
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mc_configuration *mcconf_old = mempools_alloc_mcconf();
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*mcconf_old = *mc_interface_get_configuration();
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mcconf->motor_type = MOTOR_TYPE_FOC;
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mc_interface_set_configuration(mcconf);
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float res = 0.0;
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float ind = 0.0;
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mcpwm_foc_measure_res_ind(&res, &ind);
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commands_printf("Resistance: %.6f ohm", (double)res);
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commands_printf("Inductance: %.2f microhenry\n", (double)ind);
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mc_interface_set_configuration(mcconf_old);
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mempools_free_mcconf(mcconf);
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mempools_free_mcconf(mcconf_old);
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} else if (strcmp(argv[0], "measure_linkage_foc") == 0) {
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if (argc == 2) {
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float duty = -1.0;
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sscanf(argv[1], "%f", &duty);
|
|
|
|
if (duty > 0.0) {
|
|
mc_configuration *mcconf = mempools_alloc_mcconf();
|
|
*mcconf = *mc_interface_get_configuration();
|
|
mc_configuration *mcconf_old = mempools_alloc_mcconf();
|
|
*mcconf_old = *mc_interface_get_configuration();
|
|
|
|
mcconf->motor_type = MOTOR_TYPE_FOC;
|
|
mc_interface_set_configuration(mcconf);
|
|
const float res = (3.0 / 2.0) * mcconf->foc_motor_r;
|
|
|
|
// Disable timeout
|
|
systime_t tout = timeout_get_timeout_msec();
|
|
float tout_c = timeout_get_brake_current();
|
|
timeout_reset();
|
|
timeout_configure(60000, 0.0);
|
|
|
|
for (int i = 0;i < 100;i++) {
|
|
mc_interface_set_duty(((float)i / 100.0) * duty);
|
|
chThdSleepMilliseconds(20);
|
|
}
|
|
|
|
float vq_avg = 0.0;
|
|
float rpm_avg = 0.0;
|
|
float samples = 0.0;
|
|
float iq_avg = 0.0;
|
|
for (int i = 0;i < 1000;i++) {
|
|
vq_avg += mcpwm_foc_get_vq();
|
|
rpm_avg += mc_interface_get_rpm();
|
|
iq_avg += mc_interface_get_tot_current_directional();
|
|
samples += 1.0;
|
|
chThdSleepMilliseconds(1);
|
|
}
|
|
|
|
mc_interface_release_motor();
|
|
mc_interface_set_configuration(mcconf_old);
|
|
|
|
mempools_free_mcconf(mcconf);
|
|
mempools_free_mcconf(mcconf_old);
|
|
|
|
// Enable timeout
|
|
timeout_configure(tout, tout_c);
|
|
|
|
vq_avg /= samples;
|
|
rpm_avg /= samples;
|
|
iq_avg /= samples;
|
|
|
|
float linkage = (vq_avg - res * iq_avg) / (rpm_avg * ((2.0 * M_PI) / 60.0));
|
|
|
|
commands_printf("Flux linkage: %.7f\n", (double)linkage);
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires one argument.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "measure_linkage_openloop") == 0) {
|
|
if (argc == 6) {
|
|
float current = -1.0;
|
|
float duty = -1.0;
|
|
float erpm_per_sec = -1.0;
|
|
float res = -1.0;
|
|
float ind = -1.0;
|
|
sscanf(argv[1], "%f", ¤t);
|
|
sscanf(argv[2], "%f", &duty);
|
|
sscanf(argv[3], "%f", &erpm_per_sec);
|
|
sscanf(argv[4], "%f", &res);
|
|
sscanf(argv[5], "%f", &ind);
|
|
|
|
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max &&
|
|
erpm_per_sec > 0.0 && duty > 0.02 && res >= 0.0 && ind >= 0.0) {
|
|
float linkage;
|
|
conf_general_measure_flux_linkage_openloop(current, duty, erpm_per_sec, res, ind, &linkage);
|
|
commands_printf("Flux linkage: %.7f\n", (double)linkage);
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires five arguments.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "foc_state") == 0) {
|
|
mcpwm_foc_print_state();
|
|
commands_printf(" ");
|
|
} else if (strcmp(argv[0], "hw_status") == 0) {
|
|
commands_printf("Firmware: %d.%d", FW_VERSION_MAJOR, FW_VERSION_MINOR);
|
|
#ifdef HW_NAME
|
|
commands_printf("Hardware: %s", HW_NAME);
|
|
#endif
|
|
commands_printf("UUID: %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X",
|
|
STM32_UUID_8[0], STM32_UUID_8[1], STM32_UUID_8[2], STM32_UUID_8[3],
|
|
STM32_UUID_8[4], STM32_UUID_8[5], STM32_UUID_8[6], STM32_UUID_8[7],
|
|
STM32_UUID_8[8], STM32_UUID_8[9], STM32_UUID_8[10], STM32_UUID_8[11]);
|
|
commands_printf("Permanent NRF found: %s", conf_general_permanent_nrf_found ? "Yes" : "No");
|
|
|
|
int curr0_offset;
|
|
int curr1_offset;
|
|
int curr2_offset;
|
|
|
|
mcpwm_foc_get_current_offsets(&curr0_offset, &curr1_offset, &curr2_offset,
|
|
mc_interface_get_motor_thread() == 2);
|
|
|
|
commands_printf("FOC Current Offsets: %d %d %d",
|
|
curr0_offset, curr1_offset, curr2_offset);
|
|
|
|
#ifdef COMM_USE_USB
|
|
commands_printf("USB config events: %d", comm_usb_serial_configured_cnt());
|
|
commands_printf("USB write timeouts: %u", comm_usb_get_write_timeout_cnt());
|
|
#else
|
|
commands_printf("USB not enabled on hardware.");
|
|
#endif
|
|
|
|
commands_printf("Mempool mcconf now: %d highest: %d (max %d)",
|
|
mempools_mcconf_allocated_num(), mempools_mcconf_highest(), MEMPOOLS_MCCONF_NUM - 1);
|
|
commands_printf("Mempool appconf now: %d highest: %d (max %d)",
|
|
mempools_appconf_allocated_num(), mempools_appconf_highest(), MEMPOOLS_APPCONF_NUM - 1);
|
|
|
|
commands_printf(" ");
|
|
} else if (strcmp(argv[0], "foc_openloop") == 0) {
|
|
if (argc == 3) {
|
|
float current = -1.0;
|
|
float erpm = -1.0;
|
|
sscanf(argv[1], "%f", ¤t);
|
|
sscanf(argv[2], "%f", &erpm);
|
|
|
|
if (current >= 0.0 && erpm >= 0.0) {
|
|
timeout_reset();
|
|
mcpwm_foc_set_openloop(current, erpm);
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires two arguments.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "foc_openloop_duty") == 0) {
|
|
if (argc == 3) {
|
|
float duty = -1.0;
|
|
float erpm = -1.0;
|
|
sscanf(argv[1], "%f", &duty);
|
|
sscanf(argv[2], "%f", &erpm);
|
|
|
|
if (duty >= 0.0 && erpm >= 0.0) {
|
|
timeout_reset();
|
|
mcpwm_foc_set_openloop_duty(duty, erpm);
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires two arguments.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "nrf_ext_set_enabled") == 0) {
|
|
if (argc == 2) {
|
|
int enabled = -1;
|
|
sscanf(argv[1], "%d", &enabled);
|
|
|
|
if (enabled >= 0) {
|
|
uint8_t buffer[2];
|
|
buffer[0] = COMM_EXT_NRF_SET_ENABLED;
|
|
buffer[1] = enabled;
|
|
commands_send_packet_nrf(buffer, 2);
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires one argument.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "foc_sensors_detect_apply") == 0) {
|
|
if (argc == 2) {
|
|
float current = -1.0;
|
|
sscanf(argv[1], "%f", ¤t);
|
|
|
|
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max) {
|
|
int res = conf_general_autodetect_apply_sensors_foc(current, true, true);
|
|
|
|
if (res == 0) {
|
|
commands_printf("No sensors found, using sensorless mode.\n");
|
|
} else if (res == 1) {
|
|
commands_printf("Found hall sensors, using them.\n");
|
|
} else if (res == 2) {
|
|
commands_printf("Found AS5047 encoder, using it.\n");
|
|
} else {
|
|
commands_printf("Detection error: %d\n", res);
|
|
}
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires one argument.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "rotor_lock_openloop") == 0) {
|
|
if (argc == 4) {
|
|
float current = -1.0;
|
|
float time = -1.0;
|
|
float angle = -1.0;
|
|
sscanf(argv[1], "%f", ¤t);
|
|
sscanf(argv[2], "%f", &time);
|
|
sscanf(argv[3], "%f", &angle);
|
|
|
|
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max &&
|
|
angle >= 0.0 && angle <= 360.0) {
|
|
if (time <= 1e-6) {
|
|
timeout_reset();
|
|
mcpwm_foc_set_openloop_phase(current, angle);
|
|
commands_printf("OK\n");
|
|
} else {
|
|
int print_div = 0;
|
|
for (float t = 0.0;t < time;t += 0.002) {
|
|
timeout_reset();
|
|
mcpwm_foc_set_openloop_phase(current, angle);
|
|
chThdSleepMilliseconds(2);
|
|
|
|
print_div++;
|
|
if (print_div >= 200) {
|
|
print_div = 0;
|
|
commands_printf("T left: %.2f s", (double)(time - t));
|
|
}
|
|
}
|
|
|
|
commands_printf("Done\n");
|
|
}
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires three arguments.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "foc_detect_apply_all") == 0) {
|
|
if (argc == 2) {
|
|
float max_power_loss = -1.0;
|
|
sscanf(argv[1], "%f", &max_power_loss);
|
|
|
|
if (max_power_loss > 0.0) {
|
|
commands_printf("Running detection...");
|
|
int res = conf_general_detect_apply_all_foc(max_power_loss, true, true);
|
|
|
|
commands_printf("Res: %d", res);
|
|
|
|
if (res >= 0) {
|
|
commands_printf("Detection finished and applied. Results:");
|
|
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
|
|
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
|
|
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
|
|
commands_printf("Motor L : %.2f microH", (double)(mcconf->foc_motor_l * 1e6));
|
|
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
|
|
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
|
|
if (mcconf->foc_temp_comp) {
|
|
commands_printf("Temp Comp Base Temp : %.1f degC", (double)mcconf->foc_temp_comp_base_temp);
|
|
}
|
|
|
|
if (res == 0) {
|
|
commands_printf("No sensors found, using sensorless mode.\n");
|
|
} else if (res == 1) {
|
|
commands_printf("Found hall sensors, using them.\n");
|
|
} else if (res == 2) {
|
|
commands_printf("Found AS5047 encoder, using it.\n");
|
|
} else {
|
|
commands_printf("Detection error: %d\n", res);
|
|
}
|
|
} else {
|
|
if (res == -10) {
|
|
commands_printf("Could not measure flux linkage.");
|
|
} else if (res == -11) {
|
|
commands_printf("Fault code occured during detection.");
|
|
}
|
|
|
|
commands_printf("Detection failed.\n");
|
|
}
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires one argument.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "can_scan") == 0) {
|
|
bool found = false;
|
|
for (int i = 0;i < 254;i++) {
|
|
if (comm_can_ping(i)) {
|
|
commands_printf("Found VESC with ID: %d", i);
|
|
found = true;
|
|
}
|
|
}
|
|
|
|
if (found) {
|
|
commands_printf("Done\n");
|
|
} else {
|
|
commands_printf("No CAN devices found\n");
|
|
}
|
|
} else if (strcmp(argv[0], "foc_detect_apply_all_can") == 0) {
|
|
if (argc == 2) {
|
|
float max_power_loss = -1.0;
|
|
sscanf(argv[1], "%f", &max_power_loss);
|
|
|
|
if (max_power_loss > 0.0) {
|
|
commands_printf("Running detection...");
|
|
int res = conf_general_detect_apply_all_foc_can(true, max_power_loss, 0.0, 0.0, 0.0, 0.0);
|
|
|
|
commands_printf("Res: %d", res);
|
|
|
|
if (res >= 0) {
|
|
commands_printf("Detection finished and applied. Results:");
|
|
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
|
|
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
|
|
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
|
|
commands_printf("Motor L : %.2f microH", (double)(mcconf->foc_motor_l * 1e6));
|
|
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
|
|
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
|
|
if (mcconf->foc_temp_comp) {
|
|
commands_printf("Temp Comp Base Temp : %.1f degC", (double)mcconf->foc_temp_comp_base_temp);
|
|
}
|
|
|
|
if (res == 0) {
|
|
commands_printf("No sensors found, using sensorless mode.\n");
|
|
} else if (res == 1) {
|
|
commands_printf("Found hall sensors, using them.\n");
|
|
} else if (res == 2) {
|
|
commands_printf("Found AS5047 encoder, using it.\n");
|
|
} else {
|
|
commands_printf("Detection error: %d\n", res);
|
|
}
|
|
} else {
|
|
if (res == -10) {
|
|
commands_printf("Could not measure flux linkage.");
|
|
} else if (res == -11) {
|
|
commands_printf("Fault code occured during detection.");
|
|
}
|
|
|
|
commands_printf("Detection failed.\n");
|
|
}
|
|
} else {
|
|
commands_printf("Invalid argument(s).\n");
|
|
}
|
|
} else {
|
|
commands_printf("This command requires one argument.\n");
|
|
}
|
|
} else if (strcmp(argv[0], "encoder") == 0) {
|
|
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
|
|
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI ||
|
|
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AD2S1205 ||
|
|
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501 ||
|
|
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501_MULTITURN) {
|
|
commands_printf("SPI encoder value: %d, errors: %d, error rate: %.3f %%",
|
|
(unsigned int)encoder_spi_get_val(),
|
|
encoder_spi_get_error_cnt(),
|
|
(double)encoder_spi_get_error_rate() * (double)100.0);
|
|
|
|
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501 ||
|
|
mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501_MULTITURN) {
|
|
char sf[9];
|
|
char almc[9];
|
|
utils_byte_to_binary(encoder_ts5700n8501_get_raw_status()[0], sf);
|
|
utils_byte_to_binary(encoder_ts5700n8501_get_raw_status()[7], almc);
|
|
commands_printf("TS5700N8501 ABM: %d, SF: %s, ALMC: %s\n", encoder_ts57n8501_get_abm(), sf, almc);
|
|
}
|
|
}
|
|
|
|
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_SINCOS) {
|
|
commands_printf("Sin/Cos encoder signal below minimum amplitude: errors: %d, error rate: %.3f %%",
|
|
encoder_sincos_get_signal_below_min_error_cnt(),
|
|
(double)encoder_sincos_get_signal_below_min_error_rate() * (double)100.0);
|
|
|
|
commands_printf("Sin/Cos encoder signal above maximum amplitude: errors: %d, error rate: %.3f %%",
|
|
encoder_sincos_get_signal_above_max_error_cnt(),
|
|
(double)encoder_sincos_get_signal_above_max_error_rate() * (double)100.0);
|
|
}
|
|
|
|
if (mcconf->m_sensor_port_mode == SENSOR_PORT_MODE_AD2S1205) {
|
|
commands_printf("Resolver Loss Of Tracking (>5%c error): errors: %d, error rate: %.3f %%", 0xB0,
|
|
encoder_resolver_loss_of_tracking_error_cnt(),
|
|
(double)encoder_resolver_loss_of_tracking_error_rate() * (double)100.0);
|
|
commands_printf("Resolver Degradation Of Signal (>33%c error): errors: %d, error rate: %.3f %%", 0xB0,
|
|
encoder_resolver_degradation_of_signal_error_cnt(),
|
|
(double)encoder_resolver_degradation_of_signal_error_rate() * (double)100.0);
|
|
commands_printf("Resolver Loss Of Signal (>57%c error): errors: %d, error rate: %.3f %%", 0xB0,
|
|
encoder_resolver_loss_of_signal_error_cnt(),
|
|
(double)encoder_resolver_loss_of_signal_error_rate() * (double)100.0);
|
|
}
|
|
} else if (strcmp(argv[0], "encoder_clear_errors") == 0) {
|
|
encoder_ts57n8501_reset_errors();
|
|
commands_printf("Done!\n");
|
|
} else if (strcmp(argv[0], "encoder_clear_multiturn") == 0) {
|
|
encoder_ts57n8501_reset_multiturn();
|
|
commands_printf("Done!\n");
|
|
} else if (strcmp(argv[0], "uptime") == 0) {
|
|
commands_printf("Uptime: %.2f s\n", (double)chVTGetSystemTimeX() / (double)CH_CFG_ST_FREQUENCY);
|
|
}
|
|
|
|
// The help command
|
|
else if (strcmp(argv[0], "help") == 0) {
|
|
commands_printf("Valid commands are:");
|
|
commands_printf("help");
|
|
commands_printf(" Show this help");
|
|
|
|
commands_printf("ping");
|
|
commands_printf(" Print pong here to see if the reply works");
|
|
|
|
commands_printf("stop");
|
|
commands_printf(" Stop the motor");
|
|
|
|
commands_printf("last_adc_duration");
|
|
commands_printf(" The time the latest ADC interrupt consumed");
|
|
|
|
commands_printf("kv");
|
|
commands_printf(" The calculated kv of the motor");
|
|
|
|
commands_printf("mem");
|
|
commands_printf(" Show memory usage");
|
|
|
|
commands_printf("threads");
|
|
commands_printf(" List all threads");
|
|
|
|
commands_printf("fault");
|
|
commands_printf(" Prints the current fault code");
|
|
|
|
commands_printf("faults");
|
|
commands_printf(" Prints all stored fault codes and conditions when they arrived");
|
|
|
|
commands_printf("rpm");
|
|
commands_printf(" Prints the current electrical RPM");
|
|
|
|
commands_printf("tacho");
|
|
commands_printf(" Prints tachometer value");
|
|
|
|
commands_printf("tim");
|
|
commands_printf(" Prints tim1 and tim8 settings");
|
|
|
|
commands_printf("volt");
|
|
commands_printf(" Prints different voltages");
|
|
|
|
commands_printf("param_detect [current] [min_rpm] [low_duty]");
|
|
commands_printf(" Spin up the motor in COMM_MODE_DELAY and compute its parameters.");
|
|
commands_printf(" This test should be performed without load on the motor.");
|
|
commands_printf(" Example: param_detect 5.0 600 0.06");
|
|
|
|
commands_printf("rpm_dep");
|
|
commands_printf(" Prints some rpm-dep values");
|
|
|
|
commands_printf("can_devs");
|
|
commands_printf(" Prints all CAN devices seen on the bus the past second");
|
|
|
|
commands_printf("foc_encoder_detect [current]");
|
|
commands_printf(" Run the motor at 1Hz on open loop and compute encoder settings");
|
|
|
|
commands_printf("measure_res [current]");
|
|
commands_printf(" Lock the motor with a current and calculate its resistance");
|
|
|
|
commands_printf("measure_ind [duty]");
|
|
commands_printf(" Send short voltage pulses, measure the current and calculate the motor inductance");
|
|
|
|
commands_printf("measure_linkage [current] [duty] [min_erpm] [motor_res]");
|
|
commands_printf(" Run the motor in BLDC delay mode and measure the flux linkage");
|
|
commands_printf(" example measure_linkage 5 0.5 700 0.076");
|
|
commands_printf(" tip: measure the resistance with measure_res first");
|
|
|
|
commands_printf("measure_res_ind");
|
|
commands_printf(" Measure the motor resistance and inductance with an incremental adaptive algorithm.");
|
|
|
|
commands_printf("measure_linkage_foc [duty]");
|
|
commands_printf(" Run the motor with FOC and measure the flux linkage.");
|
|
|
|
commands_printf("measure_linkage_openloop [current] [duty] [erpm_per_sec] [motor_res] [motor_ind]");
|
|
commands_printf(" Run the motor in openloop FOC and measure the flux linkage");
|
|
commands_printf(" example measure_linkage 5 0.5 1000 0.076 0.000015");
|
|
commands_printf(" tip: measure the resistance with measure_res first");
|
|
|
|
commands_printf("foc_state");
|
|
commands_printf(" Print some FOC state variables.");
|
|
|
|
commands_printf("hw_status");
|
|
commands_printf(" Print some hardware status information.");
|
|
|
|
commands_printf("foc_openloop [current] [erpm]");
|
|
commands_printf(" Create an open loop rotating current vector.");
|
|
|
|
commands_printf("foc_openloop_duty [duty] [erpm]");
|
|
commands_printf(" Create an open loop rotating voltage vector.");
|
|
|
|
commands_printf("nrf_ext_set_enabled [enabled]");
|
|
commands_printf(" Enable or disable external NRF51822.");
|
|
|
|
commands_printf("foc_sensors_detect_apply [current]");
|
|
commands_printf(" Automatically detect FOC sensors, and apply settings on success.");
|
|
|
|
commands_printf("rotor_lock_openloop [current_A] [time_S] [angle_DEG]");
|
|
commands_printf(" Lock the motor with a current for a given time. Time 0 means forever, or");
|
|
commands_printf(" or until the heartbeat packets stop.");
|
|
|
|
commands_printf("foc_detect_apply_all [max_power_loss_W]");
|
|
commands_printf(" Detect and apply all motor settings, based on maximum resistive motor power losses.");
|
|
|
|
commands_printf("can_scan");
|
|
commands_printf(" Scan CAN-bus using ping commands, and print all devices that are found.");
|
|
|
|
commands_printf("foc_detect_apply_all_can [max_power_loss_W]");
|
|
commands_printf(" Detect and apply all motor settings, based on maximum resistive motor power losses. Also");
|
|
commands_printf(" initiates detection in all VESCs found on the CAN-bus.");
|
|
|
|
commands_printf("encoder");
|
|
commands_printf(" Prints the status of the AS5047, AD2S1205, or TS5700N8501 encoder.");
|
|
|
|
commands_printf("encoder_clear_errors");
|
|
commands_printf(" Clear error of the TS5700N8501 encoder.)");
|
|
|
|
commands_printf("encoder_clear_multiturn");
|
|
commands_printf(" Clear multiturn counter of the TS5700N8501 encoder.)");
|
|
|
|
commands_printf("uptime");
|
|
commands_printf(" Prints how many seconds have passed since boot.");
|
|
|
|
for (int i = 0;i < callback_write;i++) {
|
|
if (callbacks[i].cbf == 0) {
|
|
continue;
|
|
}
|
|
|
|
if (callbacks[i].arg_names) {
|
|
commands_printf("%s %s", callbacks[i].command, callbacks[i].arg_names);
|
|
} else {
|
|
commands_printf(callbacks[i].command);
|
|
}
|
|
|
|
if (callbacks[i].help) {
|
|
commands_printf(" %s", callbacks[i].help);
|
|
} else {
|
|
commands_printf(" There is no help available for this command.");
|
|
}
|
|
}
|
|
|
|
commands_printf(" ");
|
|
} else {
|
|
commands_printf("Invalid command: %s\n"
|
|
"type help to list all available commands\n", argv[0]);
|
|
}
|
|
}
|
|
|
|
void terminal_add_fault_data(fault_data *data) {
|
|
fault_vec[fault_vec_write++] = *data;
|
|
if (fault_vec_write >= FAULT_VEC_LEN) {
|
|
fault_vec_write = 0;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Register a custom command callback to the terminal. If the command
|
|
* is already registered the old command callback will be replaced.
|
|
*
|
|
* @param command
|
|
* The command name.
|
|
*
|
|
* @param help
|
|
* A help text for the command. Can be NULL.
|
|
*
|
|
* @param arg_names
|
|
* The argument names for the command, e.g. [arg_a] [arg_b]
|
|
* Can be NULL.
|
|
*
|
|
* @param cbf
|
|
* The callback function for the command.
|
|
*/
|
|
void terminal_register_command_callback(
|
|
const char* command,
|
|
const char *help,
|
|
const char *arg_names,
|
|
void(*cbf)(int argc, const char **argv)) {
|
|
|
|
int callback_num = callback_write;
|
|
|
|
for (int i = 0;i < callback_write;i++) {
|
|
// First check the address in case the same callback is registered more than once.
|
|
if (callbacks[i].command == command) {
|
|
callback_num = i;
|
|
break;
|
|
}
|
|
|
|
// Check by string comparison.
|
|
if (strcmp(callbacks[i].command, command) == 0) {
|
|
callback_num = i;
|
|
break;
|
|
}
|
|
|
|
// Check if the callback is empty (unregistered)
|
|
if (callbacks[i].cbf == 0) {
|
|
callback_num = i;
|
|
break;
|
|
}
|
|
}
|
|
|
|
callbacks[callback_num].command = command;
|
|
callbacks[callback_num].help = help;
|
|
callbacks[callback_num].arg_names = arg_names;
|
|
callbacks[callback_num].cbf = cbf;
|
|
|
|
if (callback_num == callback_write) {
|
|
callback_write++;
|
|
if (callback_write >= CALLBACK_LEN) {
|
|
callback_write = 0;
|
|
}
|
|
}
|
|
}
|
|
|
|
void terminal_unregister_callback(void(*cbf)(int argc, const char **argv)) {
|
|
for (int i = 0;i < callback_write;i++) {
|
|
if (callbacks[i].cbf == cbf) {
|
|
callbacks[i].cbf = 0;
|
|
}
|
|
}
|
|
}
|
|
|