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bldc/mc_interface.c

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/*
Copyright 2016 - 2020 Benjamin Vedder benjamin@vedder.se
This file is part of the VESC firmware.
The VESC firmware is free software: you can redistribute it and/or modify
it under the terms of the GNU General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.
The VESC firmware is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
GNU General Public License for more details.
You should have received a copy of the GNU General Public License
along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "mc_interface.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "ledpwm.h"
#include "stm32f4xx_conf.h"
#include "hw.h"
#include "terminal.h"
#include "utils.h"
#include "ch.h"
#include "hal.h"
#include "commands.h"
#include "encoder.h"
#include "drv8301.h"
#include "drv8320s.h"
#include "drv8323s.h"
#include "buffer.h"
#include "gpdrive.h"
#include "comm_can.h"
#include "shutdown.h"
#include "app.h"
#include "utils.h"
#include "mempools.h"
#include <math.h>
#include <stdlib.h>
#include <string.h>
// Macros
#define DIR_MULT (motor_now()->m_conf.m_invert_direction ? -1.0 : 1.0)
// Global variables
volatile uint16_t ADC_Value[HW_ADC_CHANNELS + HW_ADC_CHANNELS_EXTRA];
volatile int ADC_curr_norm_value[6];
typedef struct {
volatile mc_configuration m_conf;
mc_fault_code m_fault_now;
int m_ignore_iterations;
unsigned int m_cycles_running;
bool m_lock_enabled;
bool m_lock_override_once;
float m_motor_current_sum;
float m_input_current_sum;
float m_motor_current_iterations;
float m_input_current_iterations;
float m_motor_id_sum;
float m_motor_iq_sum;
float m_motor_id_iterations;
float m_motor_iq_iterations;
float m_motor_vd_sum;
float m_motor_vq_sum;
float m_motor_vd_iterations;
float m_motor_vq_iterations;
float m_amp_seconds;
float m_amp_seconds_charged;
float m_watt_seconds;
float m_watt_seconds_charged;
float m_position_set;
float m_temp_fet;
float m_temp_motor;
float m_gate_driver_voltage;
float m_motor_current_unbalance;
float m_motor_current_unbalance_error_rate;
float m_f_samp_now;
} motor_if_state_t;
// Private variables
static volatile motor_if_state_t m_motor_1;
#ifdef HW_HAS_DUAL_MOTORS
static volatile motor_if_state_t m_motor_2;
#endif
// Sampling variables
#define ADC_SAMPLE_MAX_LEN 2000
__attribute__((section(".ram4"))) static volatile int16_t m_curr0_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_curr1_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph1_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph2_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph3_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_vzero_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile uint8_t m_status_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_curr_fir_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_f_sw_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int8_t m_phase_samples[ADC_SAMPLE_MAX_LEN];
static volatile int m_sample_len;
static volatile int m_sample_int;
static volatile debug_sampling_mode m_sample_mode;
static volatile debug_sampling_mode m_sample_mode_last;
static volatile int m_sample_now;
static volatile int m_sample_trigger;
static volatile float m_last_adc_duration_sample;
static volatile bool m_sample_is_second_motor;
static volatile mc_fault_code m_fault_stop_fault;
static volatile bool m_fault_stop_is_second_motor;
// Private functions
static void update_override_limits(volatile motor_if_state_t *motor, volatile mc_configuration *conf);
static void run_timer_tasks(volatile motor_if_state_t *motor);
static volatile motor_if_state_t *motor_now(void);
// Function pointers
static void(*pwn_done_func)(void) = 0;
// Threads
static THD_WORKING_AREA(timer_thread_wa, 1024);
static THD_FUNCTION(timer_thread, arg);
static THD_WORKING_AREA(sample_send_thread_wa, 512);
static THD_FUNCTION(sample_send_thread, arg);
static thread_t *sample_send_tp;
static THD_WORKING_AREA(fault_stop_thread_wa, 512);
static THD_FUNCTION(fault_stop_thread, arg);
static thread_t *fault_stop_tp;
void mc_interface_init(void) {
memset((void*)&m_motor_1, 0, sizeof(motor_if_state_t));
#ifdef HW_HAS_DUAL_MOTORS
memset((void*)&m_motor_2, 0, sizeof(motor_if_state_t));
#endif
conf_general_read_mc_configuration((mc_configuration*)&m_motor_1.m_conf, false);
#ifdef HW_HAS_DUAL_MOTORS
conf_general_read_mc_configuration((mc_configuration*)&m_motor_2.m_conf, true);
#endif
#ifdef HW_HAS_DUAL_MOTORS
m_motor_1.m_conf.motor_type = MOTOR_TYPE_FOC;
m_motor_2.m_conf.motor_type = MOTOR_TYPE_FOC;
#endif
m_last_adc_duration_sample = 0.0;
m_sample_len = 1000;
m_sample_int = 1;
m_sample_now = 0;
m_sample_trigger = 0;
m_sample_mode = DEBUG_SAMPLING_OFF;
m_sample_mode_last = DEBUG_SAMPLING_OFF;
m_sample_is_second_motor = false;
// Start threads
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO - 1, sample_send_thread, NULL);
chThdCreateStatic(fault_stop_thread_wa, sizeof(fault_stop_thread_wa), HIGHPRIO - 3, fault_stop_thread, NULL);
int motor_old = mc_interface_get_motor_thread();
mc_interface_select_motor_thread(1);
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8301_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8320s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8323s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
DRV8323S_CUSTOM_SETTINGS();
#endif
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
mc_interface_select_motor_thread(2);
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8301_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8320s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8323s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
DRV8323S_CUSTOM_SETTINGS();
#endif
#endif
mc_interface_select_motor_thread(motor_old);
// Initialize encoder
#if !WS2811_ENABLE
switch (motor_now()->m_conf.m_sensor_port_mode) {
case SENSOR_PORT_MODE_ABI:
encoder_init_abi(motor_now()->m_conf.m_encoder_counts);
break;
case SENSOR_PORT_MODE_AS5047_SPI:
encoder_init_as5047p_spi();
break;
case SENSOR_PORT_MODE_AD2S1205:
encoder_init_ad2s1205_spi();
break;
case SENSOR_PORT_MODE_SINCOS:
encoder_init_sincos(motor_now()->m_conf.foc_encoder_sin_gain, motor_now()->m_conf.foc_encoder_sin_offset,
motor_now()->m_conf.foc_encoder_cos_gain, motor_now()->m_conf.foc_encoder_cos_offset,
motor_now()->m_conf.foc_encoder_sincos_filter_constant);
break;
case SENSOR_PORT_MODE_TS5700N8501:
case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
app_configuration *appconf = mempools_alloc_appconf();
conf_general_read_app_configuration(appconf);
if (appconf->app_to_use == APP_ADC ||
appconf->app_to_use == APP_UART ||
appconf->app_to_use == APP_PPM_UART ||
appconf->app_to_use == APP_ADC_UART) {
appconf->app_to_use = APP_NONE;
conf_general_store_app_configuration(appconf);
}
mempools_free_appconf(appconf);
encoder_init_ts5700n8501();
} break;
default:
break;
}
#endif
// Initialize selected implementation
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_init(&motor_now()->m_conf);
break;
case MOTOR_TYPE_FOC:
#ifdef HW_HAS_DUAL_MOTORS
mcpwm_foc_init(&m_motor_1.m_conf, &m_motor_2.m_conf);
#else
mcpwm_foc_init(&m_motor_1.m_conf, &m_motor_1.m_conf);
#endif
break;
case MOTOR_TYPE_GPD:
gpdrive_init(&motor_now()->m_conf);
break;
default:
break;
}
}
int mc_interface_motor_now(void) {
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
int isr_motor = mcpwm_foc_isr_motor();
int thd_motor = chThdGetSelfX()->motor_selected;
if (isr_motor > 0) {
return isr_motor;
} else if (thd_motor > 0) {
return thd_motor;
} else {
return 1;
}
#else
return 1;
#endif
}
/**
* Select motor for current thread. When a thread has a motor selected,
* the mc_interface functions will use that motor for that thread. This
* is only relevant for dual motor hardware.
*
* @param motor
* 0: no specific motor selected, the last motor will be used.
* 1: motor 1 selected (default).
* 2: motor 2 selected.
*/
void mc_interface_select_motor_thread(int motor) {
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
if (motor == 0 || motor == 1 || motor == 2) {
chThdGetSelfX()->motor_selected = motor;
}
#else
(void)motor;
#endif
}
/**
* Get the motor selected for the current thread.
*
* @return
* 0: no specific motor selected, the last motor will be used.
* 1: motor 1 selected (default).
* 2: motor 2 selected.
*/
int mc_interface_get_motor_thread(void) {
return chThdGetSelfX()->motor_selected;
}
const volatile mc_configuration* mc_interface_get_configuration(void) {
return &motor_now()->m_conf;
}
void mc_interface_set_configuration(mc_configuration *configuration) {
volatile motor_if_state_t *motor = motor_now();
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
configuration->motor_type = MOTOR_TYPE_FOC;
#endif
#if !WS2811_ENABLE
if (motor->m_conf.m_sensor_port_mode != configuration->m_sensor_port_mode) {
encoder_deinit();
switch (configuration->m_sensor_port_mode) {
case SENSOR_PORT_MODE_ABI:
encoder_init_abi(configuration->m_encoder_counts);
break;
case SENSOR_PORT_MODE_AS5047_SPI:
encoder_init_as5047p_spi();
break;
case SENSOR_PORT_MODE_AD2S1205:
encoder_init_ad2s1205_spi();
break;
case SENSOR_PORT_MODE_SINCOS:
encoder_init_sincos(motor->m_conf.foc_encoder_sin_gain, motor->m_conf.foc_encoder_sin_offset,
motor->m_conf.foc_encoder_cos_gain, motor->m_conf.foc_encoder_cos_offset,
motor->m_conf.foc_encoder_sincos_filter_constant);
break;
case SENSOR_PORT_MODE_TS5700N8501:
case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
app_configuration *appconf = mempools_alloc_appconf();
*appconf = *app_get_configuration();
if (appconf->app_to_use == APP_ADC ||
appconf->app_to_use == APP_UART ||
appconf->app_to_use == APP_PPM_UART ||
appconf->app_to_use == APP_ADC_UART) {
appconf->app_to_use = APP_NONE;
conf_general_store_app_configuration(appconf);
app_set_configuration(appconf);
}
mempools_free_appconf(appconf);
encoder_init_ts5700n8501();
} break;
default:
break;
}
}
if (configuration->m_sensor_port_mode == SENSOR_PORT_MODE_ABI) {
encoder_set_counts(configuration->m_encoder_counts);
}
#endif
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8320s_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8323s_set_oc_adj(configuration->m_drv8301_oc_adj);
#endif
#ifdef HW_HAS_DUAL_PARALLEL
mc_interface_select_motor_thread(2);
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8320s_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8323s_set_oc_adj(configuration->m_drv8301_oc_adj);
#endif
mc_interface_select_motor_thread(1);
#endif
if (motor->m_conf.motor_type != configuration->motor_type) {
mcpwm_deinit();
mcpwm_foc_deinit();
gpdrive_deinit();
motor->m_conf = *configuration;
switch (motor->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_init(&motor->m_conf);
break;
case MOTOR_TYPE_FOC:
#ifdef HW_HAS_DUAL_MOTORS
mcpwm_foc_init(&m_motor_1.m_conf, &m_motor_2.m_conf);
#else
mcpwm_foc_init(&m_motor_1.m_conf, &m_motor_1.m_conf);
#endif
break;
case MOTOR_TYPE_GPD:
gpdrive_init(&motor->m_conf);
break;
default:
break;
}
} else {
motor->m_conf = *configuration;
}
update_override_limits(motor, &motor->m_conf);
switch (motor->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_configuration(&motor->m_conf);
break;
case MOTOR_TYPE_FOC:
#ifdef HW_HAS_DUAL_MOTORS
if (motor == &m_motor_1) {
m_motor_2.m_conf.foc_f_sw = motor->m_conf.foc_f_sw;
} else {
m_motor_1.m_conf.foc_f_sw = motor->m_conf.foc_f_sw;
}
#endif
mcpwm_foc_set_configuration(&motor->m_conf);
break;
case MOTOR_TYPE_GPD:
gpdrive_set_configuration(&motor->m_conf);
break;
default:
break;
}
}
bool mc_interface_dccal_done(void) {
bool ret = false;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_is_dccal_done();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_is_dccal_done();
break;
case MOTOR_TYPE_GPD:
ret = gpdrive_is_dccal_done();
break;
default:
break;
}
return ret;
}
/**
* Set a function that should be called after each PWM cycle.
*
* Note: this function is called from an interrupt.
*
* @param p_func
* The function to be called. 0 will not call any function.
*/
void mc_interface_set_pwm_callback(void (*p_func)(void)) {
pwn_done_func = p_func;
}
/**
* Lock the control by disabling all control commands.
*/
void mc_interface_lock(void) {
motor_now()->m_lock_enabled = true;
}
/**
* Unlock all control commands.
*/
void mc_interface_unlock(void) {
motor_now()->m_lock_enabled = false;
}
/**
* Allow just one motor control command in the locked state.
*/
void mc_interface_lock_override_once(void) {
motor_now()->m_lock_override_once = true;
}
mc_fault_code mc_interface_get_fault(void) {
return motor_now()->m_fault_now;
}
const char* mc_interface_fault_to_string(mc_fault_code fault) {
switch (fault) {
case FAULT_CODE_NONE: return "FAULT_CODE_NONE"; break;
case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE"; break;
case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE"; break;
case FAULT_CODE_DRV: return "FAULT_CODE_DRV"; break;
case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT"; break;
case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET"; break;
case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR"; break;
case FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE: return "FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE"; break;
case FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE: return "FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE"; break;
case FAULT_CODE_MCU_UNDER_VOLTAGE: return "FAULT_CODE_MCU_UNDER_VOLTAGE"; break;
case FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET: return "FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET"; break;
case FAULT_CODE_ENCODER_SPI: return "FAULT_CODE_ENCODER_SPI"; break;
case FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE: return "FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE"; break;
case FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE: return "FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE"; break;
case FAULT_CODE_FLASH_CORRUPTION: return "FAULT_CODE_FLASH_CORRUPTION";
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1";
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2";
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3";
case FAULT_CODE_UNBALANCED_CURRENTS: return "FAULT_CODE_UNBALANCED_CURRENTS";
case FAULT_CODE_BRK: return "FAULT_CODE_BRK";
default: return "FAULT_UNKNOWN"; break;
}
}
mc_state mc_interface_get_state(void) {
mc_state ret = MC_STATE_OFF;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_state();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_state();
break;
default:
break;
}
return ret;
}
void mc_interface_set_duty(float dutyCycle) {
if (fabsf(dutyCycle) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_duty(DIR_MULT * dutyCycle);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_duty(DIR_MULT * dutyCycle);
break;
default:
break;
}
}
void mc_interface_set_duty_noramp(float dutyCycle) {
if (fabsf(dutyCycle) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_duty_noramp(DIR_MULT * dutyCycle);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_duty_noramp(DIR_MULT * dutyCycle);
break;
default:
break;
}
}
void mc_interface_set_pid_speed(float rpm) {
if (fabsf(rpm) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_pid_speed(DIR_MULT * rpm);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_pid_speed(DIR_MULT * rpm);
break;
default:
break;
}
}
void mc_interface_set_pid_pos(float pos) {
SHUTDOWN_RESET();
if (mc_interface_try_input()) {
return;
}
motor_now()->m_position_set = pos;
pos *= DIR_MULT;
utils_norm_angle(&pos);
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_pid_pos(pos);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_pid_pos(pos);
break;
default:
break;
}
}
void mc_interface_set_current(float current) {
if (fabsf(current) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_current(DIR_MULT * current);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_current(DIR_MULT * current);
break;
default:
break;
}
}
void mc_interface_set_brake_current(float current) {
if (fabsf(current) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_brake_current(DIR_MULT * current);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_brake_current(DIR_MULT * current);
break;
case MOTOR_TYPE_GPD:
// For timeout to stop the output
gpdrive_set_mode(GPD_OUTPUT_MODE_NONE);
break;
default:
break;
}
}
/**
* Set current relative to the minimum and maximum current limits.
*
* @param current
* The relative current value, range [-1.0 1.0]
*/
void mc_interface_set_current_rel(float val) {
if (fabsf(val) > 0.001) {
SHUTDOWN_RESET();
}
mc_interface_set_current(val * motor_now()->m_conf.lo_current_motor_max_now);
}
/**
* Set brake current relative to the minimum current limit.
*
* @param current
* The relative current value, range [0.0 1.0]
*/
void mc_interface_set_brake_current_rel(float val) {
if (fabsf(val) > 0.001) {
SHUTDOWN_RESET();
}
mc_interface_set_brake_current(val * fabsf(motor_now()->m_conf.lo_current_motor_min_now));
}
/**
* Set open loop current vector to brake motor.
*
* @param current
* The current value.
*/
void mc_interface_set_handbrake(float current) {
if (fabsf(current) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
// TODO: Not implemented yet, use brake mode for now.
mcpwm_set_brake_current(current);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_handbrake(current);
break;
default:
break;
}
}
/**
* Set handbrake brake current relative to the minimum current limit.
*
* @param current
* The relative current value, range [0.0 1.0]
*/
void mc_interface_set_handbrake_rel(float val) {
if (fabsf(val) > 0.001) {
SHUTDOWN_RESET();
}
mc_interface_set_handbrake(val * fabsf(motor_now()->m_conf.lo_current_motor_min_now));
}
void mc_interface_brake_now(void) {
SHUTDOWN_RESET();
mc_interface_set_duty(0.0);
}
/**
* Disconnect the motor and let it turn freely.
*/
void mc_interface_release_motor(void) {
mc_interface_set_current(0.0);
}
/**
* Stop the motor and use braking.
*/
float mc_interface_get_duty_cycle_set(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_duty_cycle_set();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_duty_cycle_set();
break;
default:
break;
}
return DIR_MULT * ret;
}
float mc_interface_get_duty_cycle_now(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_duty_cycle_now();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_duty_cycle_now();
break;
default:
break;
}
return DIR_MULT * ret;
}
float mc_interface_get_sampling_frequency_now(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_switching_frequency_now();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_sampling_frequency_now();
break;
case MOTOR_TYPE_GPD:
ret = gpdrive_get_switching_frequency_now();
break;
default:
break;
}
return ret;
}
float mc_interface_get_rpm(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_rpm();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_rpm();
break;
default:
break;
}
return DIR_MULT * ret;
}
/**
* Get the amount of amp hours drawn from the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of amp hours drawn.
*/
float mc_interface_get_amp_hours(bool reset) {
float val = motor_now()->m_amp_seconds / 3600;
if (reset) {
motor_now()->m_amp_seconds = 0.0;
}
return val;
}
/**
* Get the amount of amp hours fed back into the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of amp hours fed back.
*/
float mc_interface_get_amp_hours_charged(bool reset) {
float val = motor_now()->m_amp_seconds_charged / 3600;
if (reset) {
motor_now()->m_amp_seconds_charged = 0.0;
}
return val;
}
/**
* Get the amount of watt hours drawn from the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of watt hours drawn.
*/
float mc_interface_get_watt_hours(bool reset) {
float val = motor_now()->m_watt_seconds / 3600;
if (reset) {
motor_now()->m_watt_seconds = 0.0;
}
return val;
}
/**
* Get the amount of watt hours fed back into the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of watt hours fed back.
*/
float mc_interface_get_watt_hours_charged(bool reset) {
float val = motor_now()->m_watt_seconds_charged / 3600;
if (reset) {
motor_now()->m_watt_seconds_charged = 0.0;
}
return val;
}
float mc_interface_get_tot_current(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current();
break;
default:
break;
}
return ret;
}
float mc_interface_get_tot_current_filtered(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current_filtered();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current_filtered();
break;
default:
break;
}
return ret;
}
float mc_interface_get_tot_current_directional(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current_directional();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current_directional();
break;
default:
break;
}
return DIR_MULT * ret;
}
float mc_interface_get_tot_current_directional_filtered(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current_directional_filtered();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current_directional_filtered();
break;
default:
break;
}
return DIR_MULT * ret;
}
float mc_interface_get_tot_current_in(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current_in();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current_in();
break;
default:
break;
}
return ret;
}
float mc_interface_get_tot_current_in_filtered(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tot_current_in_filtered();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tot_current_in_filtered();
break;
default:
break;
}
return ret;
}
float mc_interface_get_abs_motor_current_unbalance(void) {
float ret = 0.0;
#ifdef HW_HAS_3_SHUNTS
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_abs_motor_current_unbalance();
break;
default:
break;
}
#endif
return ret;
}
int mc_interface_set_tachometer_value(int steps) {
int ret = 0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_set_tachometer_value(DIR_MULT * steps);
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_set_tachometer_value(DIR_MULT * steps);
break;
default:
break;
}
return DIR_MULT * ret;
}
int mc_interface_get_tachometer_value(bool reset) {
int ret = 0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tachometer_value(reset);
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tachometer_value(reset);
break;
default:
break;
}
return DIR_MULT * ret;
}
int mc_interface_get_tachometer_abs_value(bool reset) {
int ret = 0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_tachometer_abs_value(reset);
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_tachometer_abs_value(reset);
break;
default:
break;
}
return ret;
}
float mc_interface_get_last_inj_adc_isr_duration(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_last_inj_adc_isr_duration();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_last_adc_isr_duration();
break;
case MOTOR_TYPE_GPD:
ret = gpdrive_get_last_adc_isr_duration();
break;
default:
break;
}
return ret;
}
float mc_interface_read_reset_avg_motor_current(void) {
if (motor_now()->m_conf.motor_type == MOTOR_TYPE_GPD) {
return gpdrive_get_current_filtered();
}
float res = motor_now()->m_motor_current_sum / motor_now()->m_motor_current_iterations;
motor_now()->m_motor_current_sum = 0.0;
motor_now()->m_motor_current_iterations = 0.0;
return res;
}
float mc_interface_read_reset_avg_input_current(void) {
if (motor_now()->m_conf.motor_type == MOTOR_TYPE_GPD) {
return gpdrive_get_current_filtered() * gpdrive_get_modulation();
}
float res = motor_now()->m_input_current_sum / motor_now()->m_input_current_iterations;
motor_now()->m_input_current_sum = 0.0;
motor_now()->m_input_current_iterations = 0.0;
return res;
}
/**
* Read and reset the average direct axis motor current. (FOC only)
*
* @return
* The average D axis current.
*/
float mc_interface_read_reset_avg_id(void) {
float res = motor_now()->m_motor_id_sum / motor_now()->m_motor_id_iterations;
motor_now()->m_motor_id_sum = 0.0;
motor_now()->m_motor_id_iterations = 0.0;
return DIR_MULT * res; // TODO: DIR_MULT?
}
/**
* Read and reset the average quadrature axis motor current. (FOC only)
*
* @return
* The average Q axis current.
*/
float mc_interface_read_reset_avg_iq(void) {
float res = motor_now()->m_motor_iq_sum / motor_now()->m_motor_iq_iterations;
motor_now()->m_motor_iq_sum = 0.0;
motor_now()->m_motor_iq_iterations = 0.0;
return DIR_MULT * res;
}
/**
* Read and reset the average direct axis motor voltage. (FOC only)
*
* @return
* The average D axis voltage.
*/
float mc_interface_read_reset_avg_vd(void) {
float res = motor_now()->m_motor_vd_sum / motor_now()->m_motor_vd_iterations;
motor_now()->m_motor_vd_sum = 0.0;
motor_now()->m_motor_vd_iterations = 0.0;
return DIR_MULT * res;
}
/**
* Read and reset the average quadrature axis motor voltage. (FOC only)
*
* @return
* The average Q axis voltage.
*/
float mc_interface_read_reset_avg_vq(void) {
float res = motor_now()->m_motor_vq_sum / motor_now()->m_motor_vq_iterations;
motor_now()->m_motor_vq_sum = 0.0;
motor_now()->m_motor_vq_iterations = 0.0;
return DIR_MULT * res;
}
float mc_interface_get_pid_pos_set(void) {
return motor_now()->m_position_set;
}
float mc_interface_get_pid_pos_now(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = encoder_read_deg();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_pid_pos_now();
break;
default:
break;
}
ret *= DIR_MULT;
utils_norm_angle(&ret);
return ret;
}
float mc_interface_get_last_sample_adc_isr_duration(void) {
return m_last_adc_duration_sample;
}
void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation) {
if (len > ADC_SAMPLE_MAX_LEN) {
len = ADC_SAMPLE_MAX_LEN;
}
if (mode == DEBUG_SAMPLING_SEND_LAST_SAMPLES) {
chEvtSignal(sample_send_tp, (eventmask_t) 1);
} else {
m_sample_trigger = -1;
m_sample_now = 0;
m_sample_len = len;
m_sample_int = decimation;
m_sample_mode = mode;
#ifdef HW_HAS_DUAL_MOTORS
m_sample_is_second_motor = motor_now() == &m_motor_2;
#endif
}
}
/**
* Get filtered MOSFET temperature. The temperature is pre-calculated, so this
* functions is fast.
*
* @return
* The filtered MOSFET temperature.
*/
float mc_interface_temp_fet_filtered(void) {
return motor_now()->m_temp_fet;
}
/**
* Get filtered motor temperature. The temperature is pre-calculated, so this
* functions is fast.
*
* @return
* The filtered motor temperature.
*/
float mc_interface_temp_motor_filtered(void) {
return motor_now()->m_temp_motor;
}
/**
* Get the battery level, based on battery settings in configuration. Notice that
* this function is based on remaining watt hours, and not amp hours.
*
* @param wh_left
* Pointer to where to store the remaining watt hours, can be null.
*
* @return
* Battery level, range 0 to 1
*/
float mc_interface_get_battery_level(float *wh_left) {
const volatile mc_configuration *conf = mc_interface_get_configuration();
const float v_in = GET_INPUT_VOLTAGE();
float battery_avg_voltage = 0.0;
float battery_avg_voltage_left = 0.0;
float ah_left = 0;
float ah_tot = conf->si_battery_ah;
switch (conf->si_battery_type) {
case BATTERY_TYPE_LIION_3_0__4_2:
battery_avg_voltage = ((3.2 + 4.2) / 2.0) * (float)(conf->si_battery_cells);
battery_avg_voltage_left = ((3.2 * (float)(conf->si_battery_cells) + v_in) / 2.0);
float batt_left = utils_map(v_in / (float)(conf->si_battery_cells),
3.2, 4.2, 0.0, 1.0);
batt_left = utils_batt_liion_norm_v_to_capacity(batt_left);
ah_tot *= 0.85; // 0.85 because the battery is not fully depleted at 3.2V / cell
ah_left = batt_left * ah_tot;
break;
case BATTERY_TYPE_LIIRON_2_6__3_6:
battery_avg_voltage = ((2.8 + 3.6) / 2.0) * (float)(conf->si_battery_cells);
battery_avg_voltage_left = ((2.8 * (float)(conf->si_battery_cells) + v_in) / 2.0);
ah_left = utils_map(v_in / (float)(conf->si_battery_cells),
2.6, 3.6, 0.0, conf->si_battery_ah);
break;
case BATTERY_TYPE_LEAD_ACID:
// TODO: This does not really work for lead-acid batteries
battery_avg_voltage = ((2.1 + 2.36) / 2.0) * (float)(conf->si_battery_cells);
battery_avg_voltage_left = ((2.1 * (float)(conf->si_battery_cells) + v_in) / 2.0);
ah_left = utils_map(v_in / (float)(conf->si_battery_cells),
2.1, 2.36, 0.0, conf->si_battery_ah);
break;
default:
break;
}
const float wh_batt_tot = ah_tot * battery_avg_voltage;
const float wh_batt_left = ah_left * battery_avg_voltage_left;
if (wh_left) {
*wh_left = wh_batt_left;
}
return wh_batt_left / wh_batt_tot;
}
/**
* Get the speed based on wheel diameter, gearing and motor pole settings.
*
* @return
* Speed, in m/s
*/
float mc_interface_get_speed(void) {
const volatile mc_configuration *conf = mc_interface_get_configuration();
const float rpm = mc_interface_get_rpm() / (conf->si_motor_poles / 2.0);
return (rpm / 60.0) * conf->si_wheel_diameter * M_PI / conf->si_gear_ratio;
}
/**
* Get the distance traveled based on wheel diameter, gearing and motor pole settings.
*
* @return
* Distance traveled since boot, in meters
*/
float mc_interface_get_distance(void) {
const volatile mc_configuration *conf = mc_interface_get_configuration();
const float tacho_scale = (conf->si_wheel_diameter * M_PI) / (3.0 * conf->si_motor_poles * conf->si_gear_ratio);
return mc_interface_get_tachometer_value(false) * tacho_scale;
}
/**
* Get the absolute distance traveled based on wheel diameter, gearing and motor pole settings.
*
* @return
* Absolute distance traveled since boot, in meters
*/
float mc_interface_get_distance_abs(void) {
const volatile mc_configuration *conf = mc_interface_get_configuration();
const float tacho_scale = (conf->si_wheel_diameter * M_PI) / (3.0 * conf->si_motor_poles * conf->si_gear_ratio);
return mc_interface_get_tachometer_abs_value(false) * tacho_scale;
}
setup_values mc_interface_get_setup_values(void) {
setup_values val = {0};
val.num_vescs = 1;
val.ah_tot += mc_interface_get_amp_hours(false);
val.ah_charge_tot += mc_interface_get_amp_hours_charged(false);
val.wh_tot += mc_interface_get_watt_hours(false);
val.wh_charge_tot += mc_interface_get_watt_hours_charged(false);
val.current_tot += mc_interface_get_tot_current_filtered();
val.current_in_tot += mc_interface_get_tot_current_in_filtered();
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < 0.1) {
val.current_tot += msg->current;
val.num_vescs++;
}
can_status_msg_2 *msg2 = comm_can_get_status_msg_2_index(i);
if (msg2->id >= 0 && UTILS_AGE_S(msg2->rx_time) < 0.1) {
val.ah_tot += msg2->amp_hours;
val.ah_charge_tot += msg2->amp_hours_charged;
}
can_status_msg_3 *msg3 = comm_can_get_status_msg_3_index(i);
if (msg3->id >= 0 && UTILS_AGE_S(msg3->rx_time) < 0.1) {
val.wh_tot += msg3->watt_hours;
val.wh_charge_tot += msg3->watt_hours_charged;
}
can_status_msg_4 *msg4 = comm_can_get_status_msg_4_index(i);
if (msg4->id >= 0 && UTILS_AGE_S(msg4->rx_time) < 0.1) {
val.current_in_tot += msg4->current_in;
}
}
return val;
}
// MC implementation functions
/**
* A helper function that should be called before sending commands to control
* the motor. If the state is detecting, the detection will be stopped.
*
* @return
* The amount if milliseconds left until user commands are allowed again.
*
*/
int mc_interface_try_input(void) {
// TODO: Remove this later
if (mc_interface_get_state() == MC_STATE_DETECTING) {
mcpwm_stop_pwm();
motor_now()->m_ignore_iterations = MCPWM_DETECT_STOP_TIME;
}
int retval = motor_now()->m_ignore_iterations;
if (!motor_now()->m_ignore_iterations && motor_now()->m_lock_enabled) {
if (!motor_now()->m_lock_override_once) {
retval = 1;
} else {
motor_now()->m_lock_override_once = false;
}
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
if (!mcpwm_init_done()) {
retval = 1;
}
break;
case MOTOR_TYPE_FOC:
if (!mcpwm_foc_init_done()) {
retval = 1;
}
break;
default:
break;
}
return retval;
}
void mc_interface_fault_stop(mc_fault_code fault, bool is_second_motor, bool is_isr) {
m_fault_stop_fault = fault;
m_fault_stop_is_second_motor = is_second_motor;
if (is_isr) {
chSysLockFromISR();
chEvtSignalI(fault_stop_tp, (eventmask_t) 1);
chSysUnlockFromISR();
} else {
chEvtSignal(fault_stop_tp, (eventmask_t) 1);
}
}
void mc_interface_mc_timer_isr(bool is_second_motor) {
ledpwm_update_pwm();
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_if_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
#else
volatile motor_if_state_t *motor = &m_motor_1;
(void)is_second_motor;
#endif
volatile mc_configuration *conf_now = &motor->m_conf;
const float input_voltage = GET_INPUT_VOLTAGE();
// Check for faults that should stop the motor
static int wrong_voltage_iterations = 0;
if (input_voltage < conf_now->l_min_vin ||
input_voltage > conf_now->l_max_vin) {
wrong_voltage_iterations++;
if ((wrong_voltage_iterations >= 8)) {
mc_interface_fault_stop(input_voltage < conf_now->l_min_vin ?
FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE, is_second_motor, true);
}
} else {
wrong_voltage_iterations = 0;
}
// Fetch these values in a config-specific way to avoid some overhead of the general
// functions. That will make this interrupt run a bit faster.
mc_state state;
float current;
float current_filtered;
float current_in_filtered;
float abs_current;
float abs_current_filtered;
if (conf_now->motor_type == MOTOR_TYPE_FOC) {
state = mcpwm_foc_get_state_motor(is_second_motor);
current = mcpwm_foc_get_tot_current_motor(is_second_motor);
current_filtered = mcpwm_foc_get_tot_current_filtered_motor(is_second_motor);
current_in_filtered = mcpwm_foc_get_tot_current_in_filtered_motor(is_second_motor);
abs_current = mcpwm_foc_get_abs_motor_current_motor(is_second_motor);
abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered_motor(is_second_motor);
} else {
state = mcpwm_get_state();
current = mcpwm_get_tot_current();
current_filtered = mcpwm_get_tot_current_filtered();
current_in_filtered = mcpwm_get_tot_current_in_filtered();
abs_current = mcpwm_get_tot_current();
abs_current_filtered = current_filtered;
}
if (state == MC_STATE_RUNNING) {
motor->m_cycles_running++;
} else {
motor->m_cycles_running = 0;
}
if (pwn_done_func) {
pwn_done_func();
}
motor->m_motor_current_sum += current_filtered;
motor->m_input_current_sum += current_in_filtered;
motor->m_motor_current_iterations++;
motor->m_input_current_iterations++;
motor->m_motor_id_sum += mcpwm_foc_get_id();
motor->m_motor_iq_sum += mcpwm_foc_get_iq();
motor->m_motor_id_iterations++;
motor->m_motor_iq_iterations++;
motor->m_motor_vd_sum += mcpwm_foc_get_vd();
motor->m_motor_vq_sum += mcpwm_foc_get_vq();
motor->m_motor_vd_iterations++;
motor->m_motor_vq_iterations++;
// Current fault code
if (conf_now->l_slow_abs_current) {
if (fabsf(abs_current_filtered) > conf_now->l_abs_current_max) {
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT, is_second_motor, true);
}
} else {
if (fabsf(abs_current) > conf_now->l_abs_current_max) {
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT, is_second_motor, true);
}
}
// DRV fault code
#ifdef HW_HAS_DUAL_PARALLEL
if (IS_DRV_FAULT() || IS_DRV_FAULT_2()) {
#else
if (is_second_motor ? IS_DRV_FAULT_2() : IS_DRV_FAULT()) {
#endif
mc_interface_fault_stop(FAULT_CODE_DRV, is_second_motor, true);
}
#ifdef HW_USE_BRK
// BRK fault code
if (TIM_GetFlagStatus(TIM1, TIM_FLAG_Break) != RESET) {
mc_interface_fault_stop(FAULT_CODE_BRK, is_second_motor, true);
// latch the BRK/FAULT pin to low until next MCU reset
palSetPadMode(BRK_GPIO, BRK_PIN, PAL_MODE_OUTPUT_PUSHPULL);
palClearPad(BRK_GPIO, BRK_PIN);
}
#endif
#ifdef HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
if(motor->m_gate_driver_voltage > HW_GATE_DRIVER_SUPPLY_MAX_VOLTAGE) {
mc_interface_fault_stop(FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE, is_second_motor, true);
}
if(motor->m_gate_driver_voltage < HW_GATE_DRIVER_SUPPLY_MIN_VOLTAGE) {
mc_interface_fault_stop(FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE, is_second_motor, true);
}
#endif
float f_samp = motor->m_f_samp_now;
// Watt and ah counters
if (fabsf(current_filtered) > 1.0) {
// Some extra filtering
static float curr_diff_sum = 0.0;
static float curr_diff_samples = 0;
curr_diff_sum += current_in_filtered / f_samp;
curr_diff_samples += 1.0 / f_samp;
if (curr_diff_samples >= 0.01) {
if (curr_diff_sum > 0.0) {
motor->m_amp_seconds += curr_diff_sum;
motor->m_watt_seconds += curr_diff_sum * input_voltage;
} else {
motor->m_amp_seconds_charged -= curr_diff_sum;
motor->m_watt_seconds_charged -= curr_diff_sum * input_voltage;
}
curr_diff_samples = 0.0;
curr_diff_sum = 0.0;
}
}
bool sample = false;
debug_sampling_mode sample_mode =
m_sample_is_second_motor == is_second_motor ?
m_sample_mode : DEBUG_SAMPLING_OFF;
switch (sample_mode) {
case DEBUG_SAMPLING_NOW:
if (m_sample_now == m_sample_len) {
m_sample_mode = DEBUG_SAMPLING_OFF;
m_sample_mode_last = DEBUG_SAMPLING_NOW;
chSysLockFromISR();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromISR();
} else {
sample = true;
}
break;
case DEBUG_SAMPLING_START:
if (state == MC_STATE_RUNNING || m_sample_now > 0) {
sample = true;
}
if (m_sample_now == m_sample_len) {
m_sample_mode_last = m_sample_mode;
m_sample_mode = DEBUG_SAMPLING_OFF;
chSysLockFromISR();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromISR();
}
break;
case DEBUG_SAMPLING_TRIGGER_START:
case DEBUG_SAMPLING_TRIGGER_START_NOSEND: {
sample = true;
int sample_last = -1;
if (m_sample_trigger >= 0) {
sample_last = m_sample_trigger - m_sample_len;
if (sample_last < 0) {
sample_last += ADC_SAMPLE_MAX_LEN;
}
}
if (m_sample_now == sample_last) {
m_sample_mode_last = m_sample_mode;
sample = false;
if (m_sample_mode == DEBUG_SAMPLING_TRIGGER_START) {
chSysLockFromISR();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromISR();
}
m_sample_mode = DEBUG_SAMPLING_OFF;
}
if (state == MC_STATE_RUNNING && m_sample_trigger < 0) {
m_sample_trigger = m_sample_now;
}
} break;
case DEBUG_SAMPLING_TRIGGER_FAULT:
case DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND: {
sample = true;
int sample_last = -1;
if (m_sample_trigger >= 0) {
sample_last = m_sample_trigger - m_sample_len;
if (sample_last < 0) {
sample_last += ADC_SAMPLE_MAX_LEN;
}
}
if (m_sample_now == sample_last) {
m_sample_mode_last = m_sample_mode;
sample = false;
if (m_sample_mode == DEBUG_SAMPLING_TRIGGER_FAULT) {
chSysLockFromISR();
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
chSysUnlockFromISR();
}
m_sample_mode = DEBUG_SAMPLING_OFF;
}
if (motor->m_fault_now != FAULT_CODE_NONE && m_sample_trigger < 0) {
m_sample_trigger = m_sample_now;
}
} break;
default:
break;
}
if (sample) {
static int a = 0;
a++;
if (a >= m_sample_int) {
a = 0;
if (m_sample_now >= ADC_SAMPLE_MAX_LEN) {
m_sample_now = 0;
}
int16_t zero;
if (conf_now->motor_type == MOTOR_TYPE_FOC) {
if (is_second_motor) {
zero = (ADC_V_L4 + ADC_V_L5 + ADC_V_L6) / 3;
} else {
zero = (ADC_V_L1 + ADC_V_L2 + ADC_V_L3) / 3;
}
m_phase_samples[m_sample_now] = (uint8_t)(mcpwm_foc_get_phase() / 360.0 * 250.0);
// m_phase_samples[m_sample_now] = (uint8_t)(mcpwm_foc_get_phase_observer() / 360.0 * 250.0);
// float ang = utils_angle_difference(mcpwm_foc_get_phase_observer(), mcpwm_foc_get_phase_encoder()) + 180.0;
// m_phase_samples[m_sample_now] = (uint8_t)(ang / 360.0 * 250.0);
} else {
zero = mcpwm_vzero;
m_phase_samples[m_sample_now] = 0;
}
if (state == MC_STATE_DETECTING) {
m_curr0_samples[m_sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1];
m_curr1_samples[m_sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1];
m_ph1_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[0];
m_ph2_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[1];
m_ph3_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[2];
} else {
if (is_second_motor) {
m_curr0_samples[m_sample_now] = ADC_curr_norm_value[3];
m_curr1_samples[m_sample_now] = ADC_curr_norm_value[4];
m_ph1_samples[m_sample_now] = ADC_V_L4 - zero;
m_ph2_samples[m_sample_now] = ADC_V_L5 - zero;
m_ph3_samples[m_sample_now] = ADC_V_L6 - zero;
} else {
m_curr0_samples[m_sample_now] = ADC_curr_norm_value[0];
m_curr1_samples[m_sample_now] = ADC_curr_norm_value[1];
m_ph1_samples[m_sample_now] = ADC_V_L1 - zero;
m_ph2_samples[m_sample_now] = ADC_V_L2 - zero;
m_ph3_samples[m_sample_now] = ADC_V_L3 - zero;
}
}
m_vzero_samples[m_sample_now] = zero;
m_curr_fir_samples[m_sample_now] = (int16_t)(current * (8.0 / FAC_CURRENT));
m_f_sw_samples[m_sample_now] = (int16_t)(f_samp / 10.0);
m_status_samples[m_sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3);
m_sample_now++;
m_last_adc_duration_sample = mc_interface_get_last_inj_adc_isr_duration();
}
}
}
void mc_interface_adc_inj_int_handler(void) {
switch (m_motor_1.m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_adc_inj_int_handler();
break;
case MOTOR_TYPE_FOC:
break;
default:
break;
}
}
/**
* Update the override limits for a configuration based on MOSFET temperature etc.
*
* @param conf
* The configaration to update.
*/
static void update_override_limits(volatile motor_if_state_t *motor, volatile mc_configuration *conf) {
bool is_motor_1 = motor == &m_motor_1;
const float v_in = GET_INPUT_VOLTAGE();
const float rpm_now = mc_interface_get_rpm();
const float duty_now_abs = fabsf(mc_interface_get_duty_cycle_now());
UTILS_LP_FAST(motor->m_temp_fet, NTC_TEMP(is_motor_1 ? ADC_IND_TEMP_MOS : ADC_IND_TEMP_MOS_M2), 0.1);
float temp_motor = 0.0;
switch(conf->m_motor_temp_sens_type) {
case TEMP_SENSOR_NTC_10K_25C:
temp_motor = is_motor_1 ? NTC_TEMP_MOTOR(conf->m_ntc_motor_beta) : NTC_TEMP_MOTOR_2(conf->m_ntc_motor_beta);
break;
case TEMP_SENSOR_PTC_1K_100C:
temp_motor = is_motor_1 ? PTC_TEMP_MOTOR(1000.0, conf->m_ptc_motor_coeff, 100) : PTC_TEMP_MOTOR_2(1000.0, conf->m_ptc_motor_coeff, 100);
break;
case TEMP_SENSOR_KTY83_122: {
// KTY83_122 datasheet used to approximate resistance at given temperature to cubic polynom
// https://docs.google.com/spreadsheets/d/1iJA66biczfaXRNClSsrVF9RJuSAKoDG-bnRZFMOcuwU/edit?usp=sharing
// Thanks to: https://vasilisks.wordpress.com/2017/12/14/getting-temperature-from-ntc-kty83-kty84-on-mcu/#more-645
// You can change pull up resistor and update NTC_RES_MOTOR for your hardware without changing polynom
float res = NTC_RES_MOTOR(ADC_Value[is_motor_1 ? ADC_IND_TEMP_MOTOR : ADC_IND_TEMP_MOTOR_2]);
float pow2 = res * res;
temp_motor = 0.0000000102114874947423 * pow2 * res - 0.000069967997703501 * pow2 +
0.243402040973194 * res - 160.145048329356;
}
break;
}
// If the reading is messed up (by e.g. reading 0 on the ADC and dividing by 0) we avoid putting an
// invalid value in the filter, as it will never recover. It is probably safest to keep running the
// motor even if the temperature reading fails. A config option to reduce power on invalid temperature
// readings might be useful.
if (UTILS_IS_NAN(temp_motor) || UTILS_IS_INF(temp_motor) || temp_motor > 600.0 || temp_motor < -200.0) {
temp_motor = -100.0;
}
UTILS_LP_FAST(motor->m_temp_motor, temp_motor, MOTOR_TEMP_LPF);
#ifdef HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
UTILS_LP_FAST(motor->m_gate_driver_voltage, GET_GATE_DRIVER_SUPPLY_VOLTAGE(), 0.01);
#endif
const float l_current_min_tmp = conf->l_current_min * conf->l_current_min_scale;
const float l_current_max_tmp = conf->l_current_max * conf->l_current_max_scale;
// Temperature MOSFET
float lo_min_mos = l_current_min_tmp;
float lo_max_mos = l_current_max_tmp;
if (motor->m_temp_fet < conf->l_temp_fet_start) {
// Keep values
} else if (motor->m_temp_fet > conf->l_temp_fet_end) {
lo_min_mos = 0.0;
lo_max_mos = 0.0;
mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_FET, !is_motor_1, false);
} else {
float maxc = fabsf(l_current_max_tmp);
if (fabsf(l_current_min_tmp) > maxc) {
maxc = fabsf(l_current_min_tmp);
}
maxc = utils_map(motor->m_temp_fet, conf->l_temp_fet_start, conf->l_temp_fet_end, maxc, 0.0);
if (fabsf(l_current_min_tmp) > maxc) {
lo_min_mos = SIGN(l_current_min_tmp) * maxc;
}
if (fabsf(l_current_max_tmp) > maxc) {
lo_max_mos = SIGN(l_current_max_tmp) * maxc;
}
}
// Temperature MOTOR
float lo_min_mot = l_current_min_tmp;
float lo_max_mot = l_current_max_tmp;
if (motor->m_temp_motor < conf->l_temp_motor_start) {
// Keep values
} else if (motor->m_temp_motor > conf->l_temp_motor_end) {
lo_min_mot = 0.0;
lo_max_mot = 0.0;
mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_MOTOR, !is_motor_1, false);
} else {
float maxc = fabsf(l_current_max_tmp);
if (fabsf(l_current_min_tmp) > maxc) {
maxc = fabsf(l_current_min_tmp);
}
maxc = utils_map(motor->m_temp_motor, conf->l_temp_motor_start, conf->l_temp_motor_end, maxc, 0.0);
if (fabsf(l_current_min_tmp) > maxc) {
lo_min_mot = SIGN(l_current_min_tmp) * maxc;
}
if (fabsf(l_current_max_tmp) > maxc) {
lo_max_mot = SIGN(l_current_max_tmp) * maxc;
}
}
// Decreased temperatures during acceleration
// in order to still have braking torque available
const float temp_fet_accel_start = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_fet_start, 25.0);
const float temp_fet_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_fet_end, 25.0);
const float temp_motor_accel_start = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_start, 25.0);
const float temp_motor_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_end, 25.0);
float lo_fet_temp_accel = 0.0;
if (motor->m_temp_fet < temp_fet_accel_start) {
lo_fet_temp_accel = l_current_max_tmp;
} else if (motor->m_temp_fet > temp_fet_accel_end) {
lo_fet_temp_accel = 0.0;
} else {
lo_fet_temp_accel = utils_map(motor->m_temp_fet, temp_fet_accel_start,
temp_fet_accel_end, l_current_max_tmp, 0.0);
}
float lo_motor_temp_accel = 0.0;
if (motor->m_temp_motor < temp_motor_accel_start) {
lo_motor_temp_accel = l_current_max_tmp;
} else if (motor->m_temp_motor > temp_motor_accel_end) {
lo_motor_temp_accel = 0.0;
} else {
lo_motor_temp_accel = utils_map(motor->m_temp_motor, temp_motor_accel_start,
temp_motor_accel_end, l_current_max_tmp, 0.0);
}
// RPM max
float lo_max_rpm = 0.0;
const float rpm_pos_cut_start = conf->l_max_erpm * conf->l_erpm_start;
const float rpm_pos_cut_end = conf->l_max_erpm;
if (rpm_now < rpm_pos_cut_start) {
lo_max_rpm = l_current_max_tmp;
} else if (rpm_now > rpm_pos_cut_end) {
lo_max_rpm = 0.0;
} else {
lo_max_rpm = utils_map(rpm_now, rpm_pos_cut_start, rpm_pos_cut_end, l_current_max_tmp, 0.0);
}
// RPM min
float lo_min_rpm = 0.0;
const float rpm_neg_cut_start = conf->l_min_erpm * conf->l_erpm_start;
const float rpm_neg_cut_end = conf->l_min_erpm;
if (rpm_now > rpm_neg_cut_start) {
lo_min_rpm = l_current_max_tmp;
} else if (rpm_now < rpm_neg_cut_end) {
lo_min_rpm = 0.0;
} else {
lo_min_rpm = utils_map(rpm_now, rpm_neg_cut_start, rpm_neg_cut_end, l_current_max_tmp, 0.0);
}
// Duty max
float lo_max_duty = 0.0;
if (duty_now_abs < conf->l_duty_start) {
lo_max_duty = l_current_max_tmp;
} else {
lo_max_duty = utils_map(duty_now_abs, conf->l_duty_start, conf->l_max_duty, l_current_max_tmp, 0.0);
}
float lo_max = utils_min_abs(lo_max_mos, lo_max_mot);
float lo_min = utils_min_abs(lo_min_mos, lo_min_mot);
lo_max = utils_min_abs(lo_max, lo_max_rpm);
lo_max = utils_min_abs(lo_max, lo_min_rpm);
lo_max = utils_min_abs(lo_max, lo_fet_temp_accel);
lo_max = utils_min_abs(lo_max, lo_motor_temp_accel);
lo_max = utils_min_abs(lo_max, lo_max_duty);
if (lo_max < conf->cc_min_current) {
lo_max = conf->cc_min_current;
}
if (lo_min > -conf->cc_min_current) {
lo_min = -conf->cc_min_current;
}
conf->lo_current_max = lo_max;
conf->lo_current_min = lo_min;
// Battery cutoff
float lo_in_max_batt = 0.0;
if (v_in > conf->l_battery_cut_start) {
lo_in_max_batt = conf->l_in_current_max;
} else if (v_in < conf->l_battery_cut_end) {
lo_in_max_batt = 0.0;
} else {
lo_in_max_batt = utils_map(v_in, conf->l_battery_cut_start,
conf->l_battery_cut_end, conf->l_in_current_max, 0.0);
}
// Wattage limits
const float lo_in_max_watt = conf->l_watt_max / v_in;
const float lo_in_min_watt = conf->l_watt_min / v_in;
const float lo_in_max = utils_min_abs(lo_in_max_watt, lo_in_max_batt);
const float lo_in_min = lo_in_min_watt;
conf->lo_in_current_max = utils_min_abs(conf->l_in_current_max, lo_in_max);
conf->lo_in_current_min = utils_min_abs(conf->l_in_current_min, lo_in_min);
// Maximum current right now
// float duty_abs = fabsf(mc_interface_get_duty_cycle_now());
//
// // TODO: This is not an elegant solution.
// if (m_conf.motor_type == MOTOR_TYPE_FOC) {
// duty_abs *= SQRT3_BY_2;
// }
//
// if (duty_abs > 0.001) {
// conf->lo_current_motor_max_now = utils_min_abs(conf->lo_current_max, conf->lo_in_current_max / duty_abs);
// conf->lo_current_motor_min_now = utils_min_abs(conf->lo_current_min, conf->lo_in_current_min / duty_abs);
// } else {
// conf->lo_current_motor_max_now = conf->lo_current_max;
// conf->lo_current_motor_min_now = conf->lo_current_min;
// }
// Note: The above code should work, but many people have reported issues with it. Leaving it
// disabled for now until I have done more investigation.
conf->lo_current_motor_max_now = conf->lo_current_max;
conf->lo_current_motor_min_now = conf->lo_current_min;
}
static volatile motor_if_state_t *motor_now(void) {
#ifdef HW_HAS_DUAL_MOTORS
return mc_interface_motor_now() == 1 ? &m_motor_1 : &m_motor_2;
#else
return &m_motor_1;
#endif
}
static void run_timer_tasks(volatile motor_if_state_t *motor) {
bool is_motor_1 = motor == &m_motor_1;
mc_interface_select_motor_thread(is_motor_1 ? 1 : 2);
motor->m_f_samp_now = mc_interface_get_sampling_frequency_now();
// Decrease fault iterations
if (motor->m_ignore_iterations > 0) {
motor->m_ignore_iterations--;
} else {
if (!(is_motor_1 ? IS_DRV_FAULT() : IS_DRV_FAULT_2())) {
motor->m_fault_now = FAULT_CODE_NONE;
}
}
update_override_limits(motor, &motor->m_conf);
// Update auxiliary output
switch (motor->m_conf.m_out_aux_mode) {
case OUT_AUX_MODE_OFF:
AUX_OFF();
break;
case OUT_AUX_MODE_ON_AFTER_2S:
if (chVTGetSystemTimeX() >= MS2ST(2000)) {
AUX_ON();
}
break;
case OUT_AUX_MODE_ON_AFTER_5S:
if (chVTGetSystemTimeX() >= MS2ST(5000)) {
AUX_ON();
}
break;
case OUT_AUX_MODE_ON_AFTER_10S:
if (chVTGetSystemTimeX() >= MS2ST(10000)) {
AUX_ON();
}
break;
default:
break;
}
// Trigger encoder error rate fault, using 1% errors as threshold.
// Relevant only in FOC mode with encoder enabled
if(motor->m_conf.motor_type == MOTOR_TYPE_FOC &&
motor->m_conf.foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
mcpwm_foc_is_using_encoder() &&
encoder_spi_get_error_rate() > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, !is_motor_1, false);
}
if(motor->m_conf.motor_type == MOTOR_TYPE_FOC &&
motor->m_conf.foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
motor->m_conf.m_sensor_port_mode == SENSOR_PORT_MODE_SINCOS) {
if (encoder_sincos_get_signal_below_min_error_rate() > 0.05)
mc_interface_fault_stop(FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE, !is_motor_1, false);
if (encoder_sincos_get_signal_above_max_error_rate() > 0.05)
mc_interface_fault_stop(FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE, !is_motor_1, false);
}
if(motor->m_conf.motor_type == MOTOR_TYPE_FOC &&
motor->m_conf.foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
motor->m_conf.m_sensor_port_mode == SENSOR_PORT_MODE_AD2S1205) {
if (encoder_resolver_loss_of_tracking_error_rate() > 0.05)
mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOT, !is_motor_1, false);
if (encoder_resolver_degradation_of_signal_error_rate() > 0.05)
mc_interface_fault_stop(FAULT_CODE_RESOLVER_DOS, !is_motor_1, false);
if (encoder_resolver_loss_of_signal_error_rate() > 0.04)
mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOS, !is_motor_1, false);
}
// TODO: Implement for BLDC and GPDRIVE
if(motor->m_conf.motor_type == MOTOR_TYPE_FOC) {
int curr0_offset;
int curr1_offset;
int curr2_offset;
#ifdef HW_HAS_DUAL_MOTORS
mcpwm_foc_get_current_offsets(&curr0_offset, &curr1_offset, &curr2_offset, motor == &m_motor_2);
#else
mcpwm_foc_get_current_offsets(&curr0_offset, &curr1_offset, &curr2_offset, false);
#endif
#ifdef HW_HAS_DUAL_PARALLEL
#define MIDDLE_ADC 4096
#else
#define MIDDLE_ADC 2048
#endif
if (abs(curr0_offset - MIDDLE_ADC) > HW_MAX_CURRENT_OFFSET) {
mc_interface_fault_stop(FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1, !is_motor_1, false);
}
if (abs(curr1_offset - MIDDLE_ADC) > HW_MAX_CURRENT_OFFSET) {
mc_interface_fault_stop(FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2, !is_motor_1, false);
}
#ifdef HW_HAS_3_SHUNTS
if (abs(curr2_offset - MIDDLE_ADC) > HW_MAX_CURRENT_OFFSET) {
mc_interface_fault_stop(FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3, !is_motor_1, false);
}
#endif
}
// Monitor currents balance. The sum of the 3 currents should be zero
#ifdef HW_HAS_3_SHUNTS
if (!motor->m_conf.foc_sample_high_current) { // This won't work when high current sampling is used
motor->m_motor_current_unbalance = mc_interface_get_abs_motor_current_unbalance();
if (motor->m_motor_current_unbalance > MCCONF_MAX_CURRENT_UNBALANCE) {
UTILS_LP_FAST(motor->m_motor_current_unbalance_error_rate, 1.0, (1 / 1000.0));
} else {
UTILS_LP_FAST(motor->m_motor_current_unbalance_error_rate, 0.0, (1 / 1000.0));
}
if (motor->m_motor_current_unbalance_error_rate > MCCONF_MAX_CURRENT_UNBALANCE_RATE) {
mc_interface_fault_stop(FAULT_CODE_UNBALANCED_CURRENTS, !is_motor_1, false);
}
}
#endif
}
static THD_FUNCTION(timer_thread, arg) {
(void)arg;
chRegSetThreadName("mcif timer");
for(;;) {
run_timer_tasks(&m_motor_1);
#ifdef HW_HAS_DUAL_MOTORS
run_timer_tasks(&m_motor_2);
#endif
chThdSleepMilliseconds(1);
}
}
static THD_FUNCTION(sample_send_thread, arg) {
(void)arg;
chRegSetThreadName("SampleSender");
sample_send_tp = chThdGetSelfX();
for(;;) {
chEvtWaitAny((eventmask_t) 1);
int len = 0;
int offset = 0;
switch (m_sample_mode_last) {
case DEBUG_SAMPLING_NOW:
case DEBUG_SAMPLING_START:
len = m_sample_len;
break;
case DEBUG_SAMPLING_TRIGGER_START:
case DEBUG_SAMPLING_TRIGGER_FAULT:
case DEBUG_SAMPLING_TRIGGER_START_NOSEND:
case DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND:
len = ADC_SAMPLE_MAX_LEN;
offset = m_sample_trigger - m_sample_len;
break;
default:
break;
}
for (int i = 0;i < len;i++) {
uint8_t buffer[40];
int32_t index = 0;
int ind_samp = i + offset;
while (ind_samp >= ADC_SAMPLE_MAX_LEN) {
ind_samp -= ADC_SAMPLE_MAX_LEN;
}
while (ind_samp < 0) {
ind_samp += ADC_SAMPLE_MAX_LEN;
}
buffer[index++] = COMM_SAMPLE_PRINT;
buffer_append_float32_auto(buffer, (float)m_curr0_samples[ind_samp] * FAC_CURRENT, &index);
buffer_append_float32_auto(buffer, (float)m_curr1_samples[ind_samp] * FAC_CURRENT, &index);
buffer_append_float32_auto(buffer, ((float)m_ph1_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
buffer_append_float32_auto(buffer, ((float)m_ph2_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
buffer_append_float32_auto(buffer, ((float)m_ph3_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
buffer_append_float32_auto(buffer, ((float)m_vzero_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
buffer_append_float32_auto(buffer, (float)m_curr_fir_samples[ind_samp] / (8.0 / FAC_CURRENT), &index);
buffer_append_float32_auto(buffer, (float)m_f_sw_samples[ind_samp] * 10.0, &index);
buffer[index++] = m_status_samples[ind_samp];
buffer[index++] = m_phase_samples[ind_samp];
commands_send_packet(buffer, index);
}
}
}
static THD_FUNCTION(fault_stop_thread, arg) {
(void)arg;
chRegSetThreadName("Fault Stop");
fault_stop_tp = chThdGetSelfX();
for(;;) {
chEvtWaitAny((eventmask_t) 1);
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_if_state_t *motor = m_fault_stop_is_second_motor ? &m_motor_2 : &m_motor_1;
#else
volatile motor_if_state_t *motor = &m_motor_1;
#endif
mc_interface_select_motor_thread(m_fault_stop_is_second_motor ? 2 : 1);
if (motor->m_fault_now == m_fault_stop_fault) {
motor->m_ignore_iterations = motor->m_conf.m_fault_stop_time_ms;
continue;
}
if (mc_interface_dccal_done() && motor->m_fault_now == FAULT_CODE_NONE) {
// Sent to terminal fault logger so that all faults and their conditions
// can be printed for debugging.
utils_sys_lock_cnt();
volatile int val_samp = TIM8->CCR1;
volatile int current_samp = TIM1->CCR4;
volatile int tim_top = TIM1->ARR;
utils_sys_unlock_cnt();
fault_data fdata;
fdata.motor = m_fault_stop_is_second_motor ? 2 : 1;
fdata.fault = m_fault_stop_fault;
fdata.current = mc_interface_get_tot_current();
fdata.current_filtered = mc_interface_get_tot_current_filtered();
fdata.voltage = GET_INPUT_VOLTAGE();
fdata.gate_driver_voltage = motor->m_gate_driver_voltage;
fdata.duty = mc_interface_get_duty_cycle_now();
fdata.rpm = mc_interface_get_rpm();
fdata.tacho = mc_interface_get_tachometer_value(false);
fdata.cycles_running = motor->m_cycles_running;
fdata.tim_val_samp = val_samp;
fdata.tim_current_samp = current_samp;
fdata.tim_top = tim_top;
fdata.comm_step = mcpwm_get_comm_step();
fdata.temperature = NTC_TEMP(ADC_IND_TEMP_MOS);
#ifdef HW_HAS_DRV8301
if (m_fault_stop_fault == FAULT_CODE_DRV) {
fdata.drv8301_faults = drv8301_read_faults();
}
#elif defined(HW_HAS_DRV8320S)
if (m_fault_stop_fault == FAULT_CODE_DRV) {
fdata.drv8301_faults = drv8320s_read_faults();
}
#elif defined(HW_HAS_DRV8323S)
if (m_fault_stop_fault == FAULT_CODE_DRV) {
fdata.drv8301_faults = drv8323s_read_faults();
}
#endif
terminal_add_fault_data(&fdata);
}
motor->m_ignore_iterations = motor->m_conf.m_fault_stop_time_ms;
switch (motor->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_stop_pwm();
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_stop_pwm(m_fault_stop_is_second_motor);
break;
case MOTOR_TYPE_GPD:
gpdrive_set_mode(GPD_OUTPUT_MODE_NONE);
break;
default:
break;
}
motor->m_fault_now = m_fault_stop_fault;
}
}
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