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bldc/encoder/encoder.c

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/*
Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
Copyright 2022 Jakub Tomczak
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 "encoder.h"
#include "encoder_datatype.h"
#include "encoder_cfg.h"
#include "utils.h"
#include "utils_math.h"
#include "commands.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "mempools.h"
#include "terminal.h"
#include "app.h"
#include <math.h>
// These rates turn into even multiples of systicks
typedef enum {
routine_rate_1k = 0,
routine_rate_2k,
routine_rate_5k,
routine_rate_10k
} routine_rate_t;
volatile routine_rate_t m_routine_rate = routine_rate_1k;
static encoder_type_t m_encoder_type_now = ENCODER_TYPE_NONE;
static THD_WORKING_AREA(routine_thread_wa, 256);
static THD_FUNCTION(routine_thread, arg);
// Private functions
static void terminal_encoder(int argc, const char **argv);
static void terminal_encoder_clear_errors(int argc, const char **argv);
static void terminal_encoder_clear_multiturn(int argc, const char **argv);
static void timer_start(routine_rate_t rate);
// Function pointers
static float (*m_enc_custom_read_deg)(void) = NULL;
static bool (*m_enc_custom_fault)(void) = NULL;
static char* (*m_enc_custom_print_info)(void) = NULL;
bool encoder_init(volatile mc_configuration *conf) {
bool res = false;
if (m_encoder_type_now != ENCODER_TYPE_NONE) {
encoder_deinit();
}
nvicDisableVector(HW_ENC_EXTI_CH);
nvicDisableVector(HW_ENC_TIM_ISR_CH);
TIM_DeInit(HW_ENC_TIM);
switch (conf->m_sensor_port_mode) {
case SENSOR_PORT_MODE_ABI: {
SENSOR_PORT_5V();
encoder_cfg_ABI.counts = conf->m_encoder_counts;
if (!enc_abi_init(&encoder_cfg_ABI)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_ABI;
res = true;
} break;
case SENSOR_PORT_MODE_AS5047_SPI: {
SENSOR_PORT_3V3();
if (!enc_as504x_init(&encoder_cfg_as504x)) {
return false;
}
m_encoder_type_now = ENCODER_TYPE_AS504x;
timer_start(routine_rate_10k);
res = true;
} break;
case SENSOR_PORT_MODE_MT6816_SPI_HW: {
SENSOR_PORT_5V();
if (!enc_mt6816_init(&encoder_cfg_mt6816)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_MT6816;
timer_start(routine_rate_10k);
res = true;
} break;
// ssc (3 wire) sw spi on hall pins
case SENSOR_PORT_MODE_TLE5012_SSC_SW: {
SENSOR_PORT_5V();
// reuse global config, so must set up complete ssc config
spi_bb_state sw_ssc = {
HW_HALL_ENC_GPIO3, HW_HALL_ENC_PIN3, // nss
HW_HALL_ENC_GPIO1, HW_HALL_ENC_PIN1, // sck
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // mosi
HW_HALL_ENC_GPIO2, HW_HALL_ENC_PIN2, // miso
{{NULL, NULL}, NULL, NULL} // Mutex
};
encoder_cfg_tle5012.sw_spi = sw_ssc;
if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_TLE5012;
timer_start(routine_rate_5k); // slow down sw spi as transactions long
res = true;
} break;
// ssc (3 wire) hw spi w dma (sw spi using hw spi pins for now)
case SENSOR_PORT_MODE_TLE5012_SSC_HW: {
#ifdef HW_SPI_DEV
SENSOR_PORT_5V();
// reuse global config, so must set up complete ssc config
spi_bb_state sw_ssc = {
HW_SPI_PORT_NSS, HW_SPI_PIN_NSS, // nss
HW_SPI_PORT_SCK, HW_SPI_PIN_SCK, // sck
HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // mosi
HW_SPI_PORT_MOSI, HW_SPI_PIN_MOSI, // miso (shared dat line)
{{NULL, NULL}, NULL, NULL} // Mutex
};
encoder_cfg_tle5012.sw_spi = sw_ssc;
if (!enc_tle5012_init_sw_ssc(&encoder_cfg_tle5012)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_TLE5012;
// timer_start(10000);
timer_start(routine_rate_10k);
res = true;
#else
res = false;
#endif
} break;
case SENSOR_PORT_MODE_AD2S1205: {
SENSOR_PORT_5V();
if (!enc_ad2s1205_init(&encoder_cfg_ad2s1205)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_AD2S1205_SPI;
timer_start(routine_rate_10k);
res = true;
} break;
case SENSOR_PORT_MODE_SINCOS: {
SENSOR_PORT_5V();
encoder_cfg_sincos.s_gain = 1.0 / conf->m_encoder_sin_amp;
encoder_cfg_sincos.s_offset = conf->m_encoder_sin_offset;
encoder_cfg_sincos.c_gain = 1.0 /conf->m_encoder_cos_amp;
encoder_cfg_sincos.c_offset = conf->m_encoder_cos_offset;
encoder_cfg_sincos.filter_constant = conf->m_encoder_sincos_filter_constant;
sincosf(DEG2RAD_f(conf->m_encoder_sincos_phase_correction), &encoder_cfg_sincos.sph, &encoder_cfg_sincos.cph);
if (!enc_sincos_init(&encoder_cfg_sincos)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_SINCOS;
res = true;
} break;
case SENSOR_PORT_MODE_TS5700N8501:
case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
SENSOR_PORT_5V();
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;
app_set_configuration(appconf);
conf_general_store_app_configuration(appconf);
}
mempools_free_appconf(appconf);
if (!enc_ts5700n8501_init(&encoder_cfg_TS5700N8501)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_TS5700N8501;
res = true;
} break;
case SENSOR_PORT_MODE_AS5x47U_SPI: {
SENSOR_PORT_3V3();
if (!enc_as5x47u_init(&encoder_cfg_as5x47u)) {
return false;
}
m_encoder_type_now = ENCODER_TYPE_AS5x47U;
timer_start(routine_rate_10k);
res = true;
} break;
case SENSOR_PORT_MODE_BISSC: {
SENSOR_PORT_5V();
encoder_cfg_bissc.enc_res = conf->m_encoder_counts;
if (!enc_bissc_init(&encoder_cfg_bissc)) {
m_encoder_type_now = ENCODER_TYPE_NONE;
return false;
}
m_encoder_type_now = ENCODER_TYPE_BISSC;
timer_start(routine_rate_10k);
res = true;
} break;
case SENSOR_PORT_MODE_CUSTOM_ENCODER:
m_encoder_type_now = ENCODER_TYPE_CUSTOM;
break;
default:
SENSOR_PORT_5V();
m_encoder_type_now = ENCODER_TYPE_NONE;
break;
}
terminal_register_command_callback(
"encoder",
"Prints the status of the AS5047, AS5x47U, AD2S1205, TLE5012, MT6816, or TS5700N8501 encoder.",
0,
terminal_encoder);
terminal_register_command_callback(
"encoder_clear_errors",
"Clear error of the TS5700N8501 encoder.",
0,
terminal_encoder_clear_errors);
terminal_register_command_callback(
"encoder_clear_multiturn",
"Clear multiturn counter of the TS5700N8501 encoder.",
0,
terminal_encoder_clear_multiturn);
return res;
}
void encoder_update_config(volatile mc_configuration *conf) {
switch (conf->m_sensor_port_mode) {
case SENSOR_PORT_MODE_SINCOS: {
encoder_cfg_sincos.s_gain = 1.0 / conf->m_encoder_sin_amp;
encoder_cfg_sincos.s_offset = conf->m_encoder_sin_offset;
encoder_cfg_sincos.c_gain = 1.0 /conf->m_encoder_cos_amp;
encoder_cfg_sincos.c_offset = conf->m_encoder_cos_offset;
encoder_cfg_sincos.filter_constant = conf->m_encoder_sincos_filter_constant;
sincosf(DEG2RAD_f(conf->m_encoder_sincos_phase_correction), &encoder_cfg_sincos.sph, &encoder_cfg_sincos.cph);
} break;
default:
break;
}
}
void encoder_deinit(void) {
nvicDisableVector(HW_ENC_EXTI_CH);
nvicDisableVector(HW_ENC_TIM_ISR_CH);
TIM_DeInit(HW_ENC_TIM);
if (m_encoder_type_now == ENCODER_TYPE_AS504x) {
enc_as504x_deinit(&encoder_cfg_as504x);
} else if (m_encoder_type_now == ENCODER_TYPE_MT6816) {
enc_mt6816_deinit(&encoder_cfg_mt6816);
} else if (m_encoder_type_now == ENCODER_TYPE_TLE5012) {
enc_tle5012_deinit(&encoder_cfg_tle5012);
} else if (m_encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
enc_ad2s1205_deinit(&encoder_cfg_ad2s1205);
} else if (m_encoder_type_now == ENCODER_TYPE_ABI) {
enc_abi_deinit(&encoder_cfg_ABI);
} else if (m_encoder_type_now == ENCODER_TYPE_SINCOS) {
enc_sincos_deinit(&encoder_cfg_sincos);
} else if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
enc_ts5700n8501_deinit(&encoder_cfg_TS5700N8501);
} else if (m_encoder_type_now == ENCODER_TYPE_AS5x47U) {
enc_as5x47u_deinit(&encoder_cfg_as5x47u);
} else if (m_encoder_type_now == ENCODER_TYPE_BISSC) {
enc_bissc_deinit(&encoder_cfg_bissc);
}
m_encoder_type_now = ENCODER_TYPE_NONE;
}
void encoder_set_custom_callbacks (
float (*read_deg)(void),
bool (*has_fault)(void),
char* (*print_info)(void)) {
if (utils_is_func_valid(read_deg)) {
m_enc_custom_read_deg = read_deg;
} else {
m_enc_custom_read_deg = NULL;
}
if (utils_is_func_valid(has_fault)) {
m_enc_custom_fault = has_fault;
} else {
m_enc_custom_fault = NULL;
}
if (utils_is_func_valid(print_info)) {
m_enc_custom_print_info = print_info;
} else {
m_enc_custom_print_info = NULL;
}
}
float encoder_read_deg(void) {
if (m_encoder_type_now == ENCODER_TYPE_AS504x) {
return AS504x_LAST_ANGLE(&encoder_cfg_as504x);
} else if (m_encoder_type_now == ENCODER_TYPE_MT6816) {
return MT6816_LAST_ANGLE(&encoder_cfg_mt6816);
} else if (m_encoder_type_now == ENCODER_TYPE_TLE5012) {
return TLE5012_LAST_ANGLE(&encoder_cfg_tle5012);
} else if (m_encoder_type_now == ENCODER_TYPE_AD2S1205_SPI) {
return AD2S1205_LAST_ANGLE(&encoder_cfg_ad2s1205);
} else if (m_encoder_type_now == ENCODER_TYPE_ABI) {
return enc_abi_read_deg(&encoder_cfg_ABI);
} else if (m_encoder_type_now == ENCODER_TYPE_SINCOS) {
return enc_sincos_read_deg(&encoder_cfg_sincos);
} else if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
return enc_ts5700n8501_read_deg(&encoder_cfg_TS5700N8501);
} else if (m_encoder_type_now == ENCODER_TYPE_AS5x47U) {
return AS5x47U_LAST_ANGLE(&encoder_cfg_as5x47u);
} else if (m_encoder_type_now == ENCODER_TYPE_BISSC) {
return BISSC_LAST_ANGLE(&encoder_cfg_bissc);
} else if (m_encoder_type_now == ENCODER_TYPE_BISSC) {
if (m_enc_custom_read_deg) {
return m_enc_custom_read_deg();
} else {
return 0.0;
}
}
return 0.0;
}
float encoder_read_deg_multiturn(void) {
if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
float ts_mt = (float)enc_ts5700n8501_get_abm(&encoder_cfg_TS5700N8501);
if (fabsf(ts_mt) > 5000.0) {
ts_mt = 0;
encoder_reset_multiturn();
}
ts_mt += 5000;
return encoder_read_deg() / 10000.0 + (360 * ts_mt) / 10000.0;
} else {
return encoder_read_deg();
}
}
encoder_type_t encoder_is_configured(void) {
return m_encoder_type_now;
}
bool encoder_index_found(void) {
if (m_encoder_type_now == ENCODER_TYPE_ABI) {
return encoder_cfg_ABI.state.index_found;
} else {
return true;
}
}
void encoder_reset_multiturn(void) {
if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
return enc_ts5700n8501_reset_multiturn(&encoder_cfg_TS5700N8501);
}
}
void encoder_reset_errors(void) {
if (m_encoder_type_now == ENCODER_TYPE_TS5700N8501) {
enc_ts5700n8501_reset_errors(&encoder_cfg_TS5700N8501);
}
}
float encoder_get_error_rate(void) {
float res = -1.0;
switch (m_encoder_type_now) {
case ENCODER_TYPE_AS504x:
res = encoder_cfg_as504x.state.spi_error_rate;
break;
case ENCODER_TYPE_MT6816:
res = encoder_cfg_mt6816.state.encoder_no_magnet_error_rate;
break;
case ENCODER_TYPE_TLE5012:
res = encoder_cfg_tle5012.state.spi_error_rate;
break;
case ENCODER_TYPE_AD2S1205_SPI:
res = encoder_cfg_ad2s1205.state.resolver_loss_of_tracking_error_rate;
if (encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_rate > res) {
res = encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_rate;
}
if (encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate > res) {
res = encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate;
}
break;
case ENCODER_TYPE_SINCOS:
res = encoder_cfg_sincos.state.signal_low_error_rate;
if (encoder_cfg_sincos.state.signal_above_max_error_rate > res) {
res = encoder_cfg_sincos.state.signal_above_max_error_rate;
}
break;
case ENCODER_TYPE_AS5x47U:
res = encoder_cfg_as5x47u.state.spi_error_rate;
break;
case ENCODER_TYPE_BISSC:
res = encoder_cfg_bissc.state.spi_comm_error_rate;
if (encoder_cfg_bissc.state.spi_data_error_rate > res) {
res = encoder_cfg_bissc.state.spi_data_error_rate;
}
break;
default:
break;
}
return res;
}
// Check for encoder faults that should stop the motor with a fault code.
void encoder_check_faults(volatile mc_configuration *m_conf, bool is_second_motor) {
// Only generate fault code when the encoder is being used. Note that encoder faults
// that occur above the sensorless ERPM won't stop the motor.
bool is_foc_encoder = m_conf->motor_type == MOTOR_TYPE_FOC &&
m_conf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER &&
mcpwm_foc_is_using_encoder();
if (is_foc_encoder) {
switch (m_conf->m_sensor_port_mode) {
case SENSOR_PORT_MODE_AS5047_SPI:
if (encoder_cfg_as504x.state.spi_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
}
if (encoder_cfg_as504x.sw_spi.mosi_gpio != NULL) {
AS504x_diag diag = encoder_cfg_as504x.state.sensor_diag;
if (!diag.is_connected) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
}
if (diag.is_Comp_high) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, is_second_motor, false);
} else if(diag.is_Comp_low) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_MAGNET_TOO_STRONG, is_second_motor, false);
}
}
break;
case SENSOR_PORT_MODE_MT6816_SPI_HW:
if (encoder_cfg_mt6816.state.encoder_no_magnet_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, is_second_motor, false);
}
break;
case SENSOR_PORT_MODE_TLE5012_SSC_HW:
case SENSOR_PORT_MODE_TLE5012_SSC_SW:
if (encoder_cfg_tle5012.state.spi_error_rate > 0.10) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_FAULT, is_second_motor, false);
}
if (encoder_cfg_tle5012.state.last_status_error != NO_ERROR &&
encoder_cfg_tle5012.state.last_status_error != CRC_ERROR) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_FAULT, is_second_motor, false);
} // allow some crc errors below 10% error rate
break;
case SENSOR_PORT_MODE_SINCOS:
if (encoder_cfg_sincos.state.signal_low_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE, is_second_motor, false);
}
if (encoder_cfg_sincos.state.signal_above_max_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE, is_second_motor, false);
}
break;
case SENSOR_PORT_MODE_AD2S1205:
if (encoder_cfg_ad2s1205.state.resolver_loss_of_tracking_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOT, is_second_motor, false);
}
if (encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_RESOLVER_DOS, is_second_motor, false);
}
if (encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate > 0.04) {
mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOS, is_second_motor, false);
}
break;
case SENSOR_PORT_MODE_AS5x47U_SPI:
if (encoder_cfg_as5x47u.state.spi_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
}
AS5x47U_diag diag = encoder_cfg_as5x47u.state.sensor_diag;
if (!diag.is_connected) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
}
if (diag.is_Comp_high) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_NO_MAGNET, is_second_motor, false);
} else if (diag.is_Comp_low) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_MAGNET_TOO_STRONG, is_second_motor, false);
} else if (diag.is_broken_hall || diag.is_COF || diag.is_wdtst) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_FAULT, is_second_motor, false);
}
break;
case SENSOR_PORT_MODE_BISSC:
if (encoder_cfg_bissc.state.spi_comm_error_rate > 0.04) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_SPI, is_second_motor, false);
}
if (encoder_cfg_bissc.state.spi_data_error_rate > 0.05) {
mc_interface_fault_stop(FAULT_CODE_RESOLVER_LOT, is_second_motor, false);
}
break;
case SENSOR_PORT_MODE_CUSTOM_ENCODER:
if (m_enc_custom_fault) {
if (m_enc_custom_fault()) {
mc_interface_fault_stop(FAULT_CODE_ENCODER_FAULT, is_second_motor, false);
}
}
break;
default:
break;
}
}
}
void encoder_pin_isr(void) {
enc_abi_pin_isr(&encoder_cfg_ABI);
}
void encoder_tim_isr(void) {
// Use thread. Maybe use this one for encoders with a higher rate.
}
static void terminal_encoder(int argc, const char **argv) {
(void)argc; (void)argv;
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
switch (mcconf->m_sensor_port_mode) {
case SENSOR_PORT_MODE_AS5047_SPI:
commands_printf("SPI encoder value: %d, errors: %d, error rate: %.3f %%",
encoder_cfg_as504x.state.spi_val,
encoder_cfg_as504x.state.spi_communication_error_count,
(double)(encoder_cfg_as504x.state.spi_error_rate * 100.0));
if (encoder_cfg_as504x.sw_spi.mosi_gpio != NULL) {
commands_printf("\nAS5047 DIAGNOSTICS:\n"
"Connected : %u\n"
"AGC : %u\n"
"Magnitude : %u\n"
"COF : %u\n"
"OCF : %u\n"
"COMP_low : %u\n"
"COMP_high : %u",
encoder_cfg_as504x.state.sensor_diag.is_connected,
encoder_cfg_as504x.state.sensor_diag.AGC_value,
encoder_cfg_as504x.state.sensor_diag.magnitude,
encoder_cfg_as504x.state.sensor_diag.is_COF,
encoder_cfg_as504x.state.sensor_diag.is_OCF,
encoder_cfg_as504x.state.sensor_diag.is_Comp_low,
encoder_cfg_as504x.state.sensor_diag.is_Comp_high);
}
break;
case SENSOR_PORT_MODE_MT6816_SPI_HW:
commands_printf("Low flux error (no magnet): errors: %d, error rate: %.3f %%",
encoder_cfg_mt6816.state.encoder_no_magnet_error_cnt,
(double)(encoder_cfg_mt6816.state.encoder_no_magnet_error_rate * 100.0));
break;
case SENSOR_PORT_MODE_TLE5012_SSC_HW:
case SENSOR_PORT_MODE_TLE5012_SSC_SW: ;
uint8_t status = encoder_cfg_tle5012.state.last_status_error; // get before other queries
double temperature = 0;
uint16_t magnet_magnitude = 0;
enc_tle5012_get_temperature(&encoder_cfg_tle5012, &temperature);
enc_tle5012_get_magnet_magnitude(&encoder_cfg_tle5012, &magnet_magnitude);
commands_printf("Last error: %d, ssc error rate: %.3f %%, magnet strength: %d, temp %.2f C",
status,
(double)(encoder_cfg_tle5012.state.spi_error_rate * 100.0),
magnet_magnitude,
temperature);
// todo, get/report status word (reg 0x00), make "last error" verbose
break;
case SENSOR_PORT_MODE_TS5700N8501:
case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: {
char sf[9];
char almc[9];
utils_byte_to_binary(enc_ts5700n8501_get_raw_status(&encoder_cfg_TS5700N8501)[0], sf);
utils_byte_to_binary(enc_ts5700n8501_get_raw_status(&encoder_cfg_TS5700N8501)[7], almc);
commands_printf("TS5700N8501 ABM: %d, SF: %s, ALMC: %s", enc_ts5700n8501_get_abm(&encoder_cfg_TS5700N8501), sf, almc);
} break;
case SENSOR_PORT_MODE_SINCOS:
commands_printf("Sin/Cos encoder signal below minimum amplitude: errors: %d, error rate: %.3f %%",
encoder_cfg_sincos.state.signal_below_min_error_cnt,
(double)(encoder_cfg_sincos.state.signal_low_error_rate * 100.0));
commands_printf("Sin/Cos encoder signal above maximum amplitude: errors: %d, error rate: %.3f %%",
encoder_cfg_sincos.state.signal_above_max_error_cnt,
(double)(encoder_cfg_sincos.state.signal_above_max_error_rate * 100.0));
break;
case SENSOR_PORT_MODE_AD2S1205:
commands_printf("Resolver Loss Of Tracking (>5%c error): errors: %d, error rate: %.3f %%", 0xB0,
encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_cnt,
(double)(encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate * 100.0));
commands_printf("Resolver Degradation Of Signal (>33%c error): errors: %d, error rate: %.3f %%", 0xB0,
encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_cnt,
(double)(encoder_cfg_ad2s1205.state.resolver_degradation_of_signal_error_rate * 100.0));
commands_printf("Resolver Loss Of Signal (>57%c error): errors: %d, error rate: %.3f %%", 0xB0,
encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_cnt,
(double)(encoder_cfg_ad2s1205.state.resolver_loss_of_signal_error_rate * 100.0));
break;
case SENSOR_PORT_MODE_ABI:
commands_printf("Index found: %d", encoder_index_found());
break;
case SENSOR_PORT_MODE_AS5x47U_SPI:
commands_printf("SPI AS5x47U encoder value: %d, errors: %d, error rate: %.3f %%",
encoder_cfg_as5x47u.state.spi_val, encoder_cfg_as5x47u.state.spi_communication_error_count,
(double)(encoder_cfg_as5x47u.state.spi_error_rate * 100.0));
commands_printf("\nAS5x47U DIAGNOSTICS:\n"
"Connected : %u\n"
"AGC : %u\n"
"Magnitude : %u\n"
"COF : %u\n"
"Hall_Broken : %u\n"
"Error : %u\n"
"COMP_low : %u\n"
"COMP_high : %u\n"
"WatchdogTest: %u\n"
"CRC Error : %u\n"
"MagHalf : %u\n"
"Error Flags : %04X\n"
"Diag Flags : %04X\n",
encoder_cfg_as5x47u.state.sensor_diag.is_connected,
encoder_cfg_as5x47u.state.sensor_diag.AGC_value,
encoder_cfg_as5x47u.state.sensor_diag.magnitude,
encoder_cfg_as5x47u.state.sensor_diag.is_COF,
encoder_cfg_as5x47u.state.sensor_diag.is_broken_hall,
encoder_cfg_as5x47u.state.sensor_diag.is_error,
encoder_cfg_as5x47u.state.sensor_diag.is_Comp_low,
encoder_cfg_as5x47u.state.sensor_diag.is_Comp_high,
encoder_cfg_as5x47u.state.sensor_diag.is_wdtst,
encoder_cfg_as5x47u.state.sensor_diag.is_crc_error,
encoder_cfg_as5x47u.state.sensor_diag.is_mag_half,
encoder_cfg_as5x47u.state.sensor_diag.serial_error_flgs,
encoder_cfg_as5x47u.state.sensor_diag.serial_diag_flgs);
break;
case SENSOR_PORT_MODE_BISSC:
commands_printf("BissC Loss SPI communication (>4%c error): errors: %d, error rate: %.3f %%", 0xB0,
encoder_cfg_bissc.state.spi_comm_error_cnt,
(double)(encoder_cfg_bissc.state.spi_comm_error_rate * 100.0));
commands_printf("BissC Degradation Of Signal (>5%c error): errors: %d, error rate: %.3f %%", 0xB0,
encoder_cfg_bissc.state.spi_data_error_cnt,
(double)(encoder_cfg_bissc.state.spi_data_error_rate * 100.0));
break;
case SENSOR_PORT_MODE_CUSTOM_ENCODER:
if (m_enc_custom_print_info) {
commands_printf("%s", m_enc_custom_print_info);
}
break;
default:
commands_printf("No encoder debug info available.");
break;
}
commands_printf(" ");
}
static void terminal_encoder_clear_errors(int argc, const char **argv) {
(void)argc; (void)argv;
encoder_reset_errors();
commands_printf("Done!\n");
}
static void terminal_encoder_clear_multiturn(int argc, const char **argv) {
(void)argc; (void)argv;
encoder_reset_multiturn();
commands_printf("Done!\n");
}
static THD_FUNCTION(routine_thread, arg) {
(void)arg;
chRegSetThreadName("Enc Routine");
for (;;) {
switch (m_encoder_type_now) {
case ENCODER_TYPE_AS504x:
enc_as504x_routine(&encoder_cfg_as504x);
break;
case ENCODER_TYPE_MT6816:
enc_mt6816_routine(&encoder_cfg_mt6816);
break;
case ENCODER_TYPE_TLE5012:
enc_tle5012_routine(&encoder_cfg_tle5012);
break;
case ENCODER_TYPE_AD2S1205_SPI:
enc_ad2s1205_routine(&encoder_cfg_ad2s1205);
break;
case ENCODER_TYPE_AS5x47U:
enc_as5x47u_routine(&encoder_cfg_as5x47u);
break;
case ENCODER_TYPE_BISSC:
enc_bissc_routine(&encoder_cfg_bissc);
break;
default:
break;
}
switch (m_routine_rate) {
case routine_rate_1k: chThdSleep(CH_CFG_ST_FREQUENCY / 1000); break;
case routine_rate_2k: chThdSleep(CH_CFG_ST_FREQUENCY / 2000); break;
case routine_rate_5k: chThdSleep(CH_CFG_ST_FREQUENCY / 5000); break;
case routine_rate_10k: chThdSleep(CH_CFG_ST_FREQUENCY / 10000); break;
default: chThdSleep(5);
}
}
}
static void timer_start(routine_rate_t rate) {
m_routine_rate = rate;
static bool routine_running = false;
if (!routine_running) {
routine_running = true;
chThdCreateStatic(routine_thread_wa, sizeof(routine_thread_wa), NORMALPRIO + 5, routine_thread, NULL);
}
}
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