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commands.c
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/*
Copyright 2016 Benjamin Vedder [email protected]
Copyright Nico Ackermann added new parameters to app settings and support for android app by additional commands
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 "commands.h"
#include "ch.h"
#include "hal.h"
#include "mc_interface.h"
#include "stm32f4xx_conf.h"
#include "servo_simple.h"
#include "buffer.h"
#include "terminal.h"
#include "hw.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "app.h"
#include "timeout.h"
#include "servo_dec.h"
#include "comm_can.h"
#include "flash_helper.h"
#include "utils.h"
#include "packet.h"
#include "encoder.h"
#include "nrf_driver.h"
#include <math.h>
#include <string.h>
#include <stdarg.h>
#include <stdio.h>
// Threads
static THD_FUNCTION(detect_thread, arg);
static THD_WORKING_AREA(detect_thread_wa, 2048);
static thread_t *detect_tp;
// Private variables
static uint8_t send_buffer[PACKET_MAX_PL_LEN];
static float detect_cycle_int_limit;
static float detect_coupling_k;
static float detect_current;
static float detect_min_rpm;
static float detect_low_duty;
static int8_t detect_hall_table[8];
static int detect_hall_res;
static void(*send_func)(unsigned char *data, unsigned int len) = 0;
static void(*send_func_last)(unsigned char *data, unsigned int len) = 0;
static void(*appdata_func)(unsigned char *data, unsigned int len) = 0;
static disp_pos_mode display_position_mode;
static uint8_t remote_Mode;
void commands_init(void) {
chThdCreateStatic(detect_thread_wa, sizeof(detect_thread_wa), NORMALPRIO, detect_thread, NULL);
remote_Mode = 0;
}
/**
* Provide a function to use the next time there are packets to be sent.
*
* @param func
* A pointer to the packet sending function.
*/
void commands_set_send_func(void(*func)(unsigned char *data, unsigned int len)) {
send_func = func;
}
/**
* Send a packet using the set send function.
*
* @param data
* The packet data.
*
* @param len
* The data length.
*/
void commands_send_packet(unsigned char *data, unsigned int len) {
if (send_func) {
send_func(data, len);
}
}
/**
* Process a received buffer with commands and data.
*
* @param data
* The buffer to process.
*
* @param len
* The length of the buffer.
*/
void commands_process_packet(unsigned char *data, unsigned int len) {
if (!len) {
return;
}
COMM_PACKET_ID packet_id;
int32_t ind = 0;
static mc_configuration mcconf, mcconf_old; // Static to save some stack space
app_configuration appconf;
uint16_t flash_res;
uint32_t new_app_offset;
chuck_data chuck_d_tmp;
bool sendActualSpeedMode = false;
packet_id = data[0];
data++;
len--;
switch (packet_id) {
case COMM_FW_VERSION:
ind = 0;
send_buffer[ind++] = COMM_FW_VERSION;
send_buffer[ind++] = FW_VERSION_MAJOR;
send_buffer[ind++] = FW_VERSION_MINOR;
#ifdef HW_NAME
strcpy((char*)(send_buffer + ind), HW_NAME);
ind += strlen(HW_NAME) + 1;
memcpy(send_buffer + ind, STM32_UUID_8, 12);
ind += 12;
#endif
commands_send_packet(send_buffer, ind);
break;
case COMM_JUMP_TO_BOOTLOADER:
flash_helper_jump_to_bootloader();
break;
case COMM_ERASE_NEW_APP:
ind = 0;
flash_res = flash_helper_erase_new_app(buffer_get_uint32(data, &ind));
ind = 0;
send_buffer[ind++] = COMM_ERASE_NEW_APP;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
commands_send_packet(send_buffer, ind);
break;
case COMM_WRITE_NEW_APP_DATA:
ind = 0;
new_app_offset = buffer_get_uint32(data, &ind);
flash_res = flash_helper_write_new_app_data(new_app_offset, data + ind, len - ind);
ind = 0;
send_buffer[ind++] = COMM_WRITE_NEW_APP_DATA;
send_buffer[ind++] = flash_res == FLASH_COMPLETE ? 1 : 0;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_VALUES:
ind = 0;
send_buffer[ind++] = COMM_GET_VALUES;
buffer_append_float16(send_buffer, mc_interface_temp_fet_filtered(), 1e1, &ind);
buffer_append_float16(send_buffer, mc_interface_temp_motor_filtered(), 1e1, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_motor_current(), 1e2, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_input_current(), 1e2, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_id(), 1e2, &ind);
buffer_append_float32(send_buffer, mc_interface_read_reset_avg_iq(), 1e2, &ind);
buffer_append_float16(send_buffer, mc_interface_get_duty_cycle_now(), 1e3, &ind);
buffer_append_float32(send_buffer, mc_interface_get_rpm(), 1e0, &ind);
buffer_append_float16(send_buffer, GET_INPUT_VOLTAGE(), 1e1, &ind);
buffer_append_float32(send_buffer, mc_interface_get_amp_hours(false), 1e4, &ind);
buffer_append_float32(send_buffer, mc_interface_get_amp_hours_charged(false), 1e4, &ind);
buffer_append_float32(send_buffer, mc_interface_get_watt_hours(false), 1e4, &ind);
buffer_append_float32(send_buffer, mc_interface_get_watt_hours_charged(false), 1e4, &ind);
buffer_append_int32(send_buffer, mc_interface_get_tachometer_value(false), &ind);
buffer_append_int32(send_buffer, mc_interface_get_tachometer_abs_value(false), &ind);
send_buffer[ind++] = mc_interface_get_fault();
buffer_append_float32(send_buffer, mc_interface_get_pid_pos_now(), 1e6, &ind);
send_buffer[ind++] = app_get_configuration()->controller_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_DUTY:
ind = 0;
mc_interface_set_duty((float)buffer_get_int32(data, &ind) / 100000.0);
timeout_reset();
break;
case COMM_SET_CURRENT:
ind = 0;
mc_interface_set_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
break;
case COMM_SET_CURRENT_BRAKE:
ind = 0;
mc_interface_set_brake_current((float)buffer_get_int32(data, &ind) / 1000.0);
timeout_reset();
break;
case COMM_SET_RPM:
ind = 0;
mc_interface_set_pid_speed((float)buffer_get_int32(data, &ind));
timeout_reset();
break;
case COMM_SET_POS:
ind = 0;
mc_interface_set_pid_pos((float)buffer_get_int32(data, &ind) / 1000000.0);
timeout_reset();
break;
case COMM_SET_HANDBRAKE:
ind = 0;
mc_interface_set_handbrake(buffer_get_float32(data, 1e3, &ind));
timeout_reset();
break;
case COMM_SET_DETECT:
mcconf = *mc_interface_get_configuration();
ind = 0;
display_position_mode = data[ind++];
if (mcconf.motor_type == MOTOR_TYPE_BLDC) {
if (display_position_mode == DISP_POS_MODE_NONE) {
mc_interface_release_motor();
} else if (display_position_mode == DISP_POS_MODE_INDUCTANCE) {
mcpwm_set_detect();
}
}
timeout_reset();
break;
case COMM_SET_SERVO_POS:
#if SERVO_OUT_ENABLE
ind = 0;
servo_simple_set_output(buffer_get_float16(data, 1000.0, &ind));
#endif
break;
case COMM_SET_MCCONF:
mcconf = *mc_interface_get_configuration();
ind = 0;
mcconf.pwm_mode = data[ind++];
mcconf.comm_mode = data[ind++];
mcconf.motor_type = data[ind++];
mcconf.sensor_mode = data[ind++];
mcconf.l_current_max = buffer_get_float32_auto(data, &ind);
mcconf.l_current_min = buffer_get_float32_auto(data, &ind);
mcconf.l_in_current_max = buffer_get_float32_auto(data, &ind);
mcconf.l_in_current_min = buffer_get_float32_auto(data, &ind);
mcconf.l_abs_current_max = buffer_get_float32_auto(data, &ind);
mcconf.l_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf.l_max_erpm = buffer_get_float32_auto(data, &ind);
mcconf.l_erpm_start = buffer_get_float32_auto(data, &ind);
mcconf.l_max_erpm_fbrake = buffer_get_float32_auto(data, &ind);
mcconf.l_max_erpm_fbrake_cc = buffer_get_float32_auto(data, &ind);
mcconf.l_min_vin = buffer_get_float32_auto(data, &ind);
mcconf.l_max_vin = buffer_get_float32_auto(data, &ind);
mcconf.l_battery_cut_start = buffer_get_float32_auto(data, &ind);
mcconf.l_battery_cut_end = buffer_get_float32_auto(data, &ind);
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_temp_fet_start = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_fet_end = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_motor_start = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_motor_end = buffer_get_float32_auto(data, &ind);
mcconf.l_temp_accel_dec = buffer_get_float32_auto(data, &ind);
mcconf.l_min_duty = buffer_get_float32_auto(data, &ind);
mcconf.l_max_duty = buffer_get_float32_auto(data, &ind);
mcconf.l_watt_max = buffer_get_float32_auto(data, &ind);
mcconf.l_watt_min = buffer_get_float32_auto(data, &ind);
mcconf.lo_current_max = mcconf.l_current_max;
mcconf.lo_current_min = mcconf.l_current_min;
mcconf.lo_in_current_max = mcconf.l_in_current_max;
mcconf.lo_in_current_min = mcconf.l_in_current_min;
mcconf.lo_current_motor_max_now = mcconf.l_current_max;
mcconf.lo_current_motor_min_now = mcconf.l_current_min;
mcconf.sl_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf.sl_min_erpm_cycle_int_limit = buffer_get_float32_auto(data, &ind);
mcconf.sl_max_fullbreak_current_dir_change = buffer_get_float32_auto(data, &ind);
mcconf.sl_cycle_int_limit = buffer_get_float32_auto(data, &ind);
mcconf.sl_phase_advance_at_br = buffer_get_float32_auto(data, &ind);
mcconf.sl_cycle_int_rpm_br = buffer_get_float32_auto(data, &ind);
mcconf.sl_bemf_coupling_k = buffer_get_float32_auto(data, &ind);
memcpy(mcconf.hall_table, data + ind, 8);
ind += 8;
mcconf.hall_sl_erpm = buffer_get_float32_auto(data, &ind);
mcconf.foc_current_kp = buffer_get_float32_auto(data, &ind);
mcconf.foc_current_ki = buffer_get_float32_auto(data, &ind);
mcconf.foc_f_sw = buffer_get_float32_auto(data, &ind);
mcconf.foc_dt_us = buffer_get_float32_auto(data, &ind);
mcconf.foc_encoder_inverted = data[ind++];
mcconf.foc_encoder_offset = buffer_get_float32_auto(data, &ind);
mcconf.foc_encoder_ratio = buffer_get_float32_auto(data, &ind);
mcconf.foc_sensor_mode = data[ind++];
mcconf.foc_pll_kp = buffer_get_float32_auto(data, &ind);
mcconf.foc_pll_ki = buffer_get_float32_auto(data, &ind);
mcconf.foc_motor_l = buffer_get_float32_auto(data, &ind);
mcconf.foc_motor_r = buffer_get_float32_auto(data, &ind);
mcconf.foc_motor_flux_linkage = buffer_get_float32_auto(data, &ind);
mcconf.foc_observer_gain = buffer_get_float32_auto(data, &ind);
mcconf.foc_observer_gain_slow = buffer_get_float32_auto(data, &ind);
mcconf.foc_duty_dowmramp_kp = buffer_get_float32_auto(data, &ind);
mcconf.foc_duty_dowmramp_ki = buffer_get_float32_auto(data, &ind);
mcconf.foc_openloop_rpm = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_openloop_hyst = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_openloop_time = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_d_current_duty = buffer_get_float32_auto(data, &ind);
mcconf.foc_sl_d_current_factor = buffer_get_float32_auto(data, &ind);
memcpy(mcconf.foc_hall_table, data + ind, 8);
ind += 8;
mcconf.foc_sl_erpm = buffer_get_float32_auto(data, &ind);
mcconf.foc_sample_v0_v7 = data[ind++];
mcconf.foc_sample_high_current = data[ind++];
mcconf.foc_sat_comp = buffer_get_float32_auto(data, &ind);
mcconf.foc_temp_comp = data[ind++];
mcconf.foc_temp_comp_base_temp = buffer_get_float32_auto(data, &ind);
mcconf.foc_current_filter_const = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_kp = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_ki = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_kd = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_kd_filter = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_min_erpm = buffer_get_float32_auto(data, &ind);
mcconf.s_pid_allow_braking = data[ind++];
mcconf.p_pid_kp = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_ki = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_kd = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_kd_filter = buffer_get_float32_auto(data, &ind);
mcconf.p_pid_ang_div = buffer_get_float32_auto(data, &ind);
mcconf.cc_startup_boost_duty = buffer_get_float32_auto(data, &ind);
mcconf.cc_min_current = buffer_get_float32_auto(data, &ind);
mcconf.cc_gain = buffer_get_float32_auto(data, &ind);
mcconf.cc_ramp_step_max = buffer_get_float32_auto(data, &ind);
mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind);
mcconf.m_duty_ramp_step = buffer_get_float32_auto(data, &ind);
mcconf.m_current_backoff_gain = buffer_get_float32_auto(data, &ind);
mcconf.m_encoder_counts = buffer_get_uint32(data, &ind);
mcconf.m_sensor_port_mode = data[ind++];
mcconf.m_invert_direction = data[ind++];
mcconf.m_drv8301_oc_mode = data[ind++];
mcconf.m_drv8301_oc_adj = data[ind++];
mcconf.m_bldc_f_sw_min = buffer_get_float32_auto(data, &ind);
mcconf.m_bldc_f_sw_max = buffer_get_float32_auto(data, &ind);
mcconf.m_dc_f_sw = buffer_get_float32_auto(data, &ind);
mcconf.m_ntc_motor_beta = buffer_get_float32_auto(data, &ind);
// Apply limits if they are defined
#ifndef DISABLE_HW_LIMITS
#ifdef HW_LIM_CURRENT
utils_truncate_number(&mcconf.l_current_max, HW_LIM_CURRENT);
utils_truncate_number(&mcconf.l_current_min, HW_LIM_CURRENT);
#endif
#ifdef HW_LIM_CURRENT_IN
utils_truncate_number(&mcconf.l_in_current_max, HW_LIM_CURRENT_IN);
utils_truncate_number(&mcconf.l_in_current_min, HW_LIM_CURRENT);
#endif
#ifdef HW_LIM_CURRENT_ABS
utils_truncate_number(&mcconf.l_abs_current_max, HW_LIM_CURRENT_ABS);
#endif
#ifdef HW_LIM_VIN
utils_truncate_number(&mcconf.l_max_vin, HW_LIM_VIN);
utils_truncate_number(&mcconf.l_min_vin, HW_LIM_VIN);
#endif
#ifdef HW_LIM_ERPM
utils_truncate_number(&mcconf.l_max_erpm, HW_LIM_ERPM);
utils_truncate_number(&mcconf.l_min_erpm, HW_LIM_ERPM);
#endif
#ifdef HW_LIM_DUTY_MIN
utils_truncate_number(&mcconf.l_min_duty, HW_LIM_DUTY_MIN);
#endif
#ifdef HW_LIM_DUTY_MAX
utils_truncate_number(&mcconf.l_max_duty, HW_LIM_DUTY_MAX);
#endif
#ifdef HW_LIM_TEMP_FET
utils_truncate_number(&mcconf.l_temp_fet_start, HW_LIM_TEMP_FET);
utils_truncate_number(&mcconf.l_temp_fet_end, HW_LIM_TEMP_FET);
#endif
#endif
conf_general_store_mc_configuration(&mcconf);
mc_interface_set_configuration(&mcconf);
chThdSleepMilliseconds(200);
ind = 0;
send_buffer[ind++] = packet_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_MCCONF:
case COMM_GET_MCCONF_DEFAULT:
if (packet_id == COMM_GET_MCCONF) {
mcconf = *mc_interface_get_configuration();
} else {
conf_general_get_default_mc_configuration(&mcconf);
}
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = mcconf.pwm_mode;
send_buffer[ind++] = mcconf.comm_mode;
send_buffer[ind++] = mcconf.motor_type;
send_buffer[ind++] = mcconf.sensor_mode;
buffer_append_float32_auto(send_buffer, mcconf.l_current_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_current_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_in_current_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_in_current_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_abs_current_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_min_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_erpm_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_erpm_fbrake, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_erpm_fbrake_cc, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_min_vin, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_vin, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_battery_cut_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_battery_cut_end, &ind);
send_buffer[ind++] = mcconf.l_slow_abs_current;
buffer_append_float32_auto(send_buffer, mcconf.l_temp_fet_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_fet_end, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_motor_start, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_motor_end, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_temp_accel_dec, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_min_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_max_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_watt_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.l_watt_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_min_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_min_erpm_cycle_int_limit, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_max_fullbreak_current_dir_change, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_cycle_int_limit, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_phase_advance_at_br, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_cycle_int_rpm_br, &ind);
buffer_append_float32_auto(send_buffer, mcconf.sl_bemf_coupling_k, &ind);
memcpy(send_buffer + ind, mcconf.hall_table, 8);
ind += 8;
buffer_append_float32_auto(send_buffer, mcconf.hall_sl_erpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_current_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_current_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_f_sw, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_dt_us, &ind);
send_buffer[ind++] = mcconf.foc_encoder_inverted;
buffer_append_float32_auto(send_buffer, mcconf.foc_encoder_offset, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_encoder_ratio, &ind);
send_buffer[ind++] = mcconf.foc_sensor_mode;
buffer_append_float32_auto(send_buffer, mcconf.foc_pll_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_pll_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_motor_l, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_motor_r, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_motor_flux_linkage, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_observer_gain, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_observer_gain_slow, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_duty_dowmramp_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_duty_dowmramp_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_openloop_rpm, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_openloop_hyst, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_openloop_time, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_d_current_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_d_current_factor, &ind);
memcpy(send_buffer + ind, mcconf.foc_hall_table, 8);
ind += 8;
buffer_append_float32_auto(send_buffer, mcconf.foc_sl_erpm, &ind);
send_buffer[ind++] = mcconf.foc_sample_v0_v7;
send_buffer[ind++] = mcconf.foc_sample_high_current;
buffer_append_float32_auto(send_buffer, mcconf.foc_sat_comp, &ind);
send_buffer[ind++] = mcconf.foc_temp_comp;
buffer_append_float32_auto(send_buffer, mcconf.foc_temp_comp_base_temp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.foc_current_filter_const, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_kd, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_kd_filter, &ind);
buffer_append_float32_auto(send_buffer, mcconf.s_pid_min_erpm, &ind);
send_buffer[ind++] = mcconf.s_pid_allow_braking;
buffer_append_float32_auto(send_buffer, mcconf.p_pid_kp, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_ki, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_kd, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_kd_filter, &ind);
buffer_append_float32_auto(send_buffer, mcconf.p_pid_ang_div, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_startup_boost_duty, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_min_current, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_gain, &ind);
buffer_append_float32_auto(send_buffer, mcconf.cc_ramp_step_max, &ind);
buffer_append_int32(send_buffer, mcconf.m_fault_stop_time_ms, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_duty_ramp_step, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_current_backoff_gain, &ind);
buffer_append_uint32(send_buffer, mcconf.m_encoder_counts, &ind);
send_buffer[ind++] = mcconf.m_sensor_port_mode;
send_buffer[ind++] = mcconf.m_invert_direction;
send_buffer[ind++] = mcconf.m_drv8301_oc_mode;
send_buffer[ind++] = mcconf.m_drv8301_oc_adj;
buffer_append_float32_auto(send_buffer, mcconf.m_bldc_f_sw_min, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_bldc_f_sw_max, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_dc_f_sw, &ind);
buffer_append_float32_auto(send_buffer, mcconf.m_ntc_motor_beta, &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_APPCONF:
appconf = *app_get_configuration();
ind = 0;
appconf.controller_id = data[ind++];
appconf.timeout_msec = buffer_get_uint32(data, &ind);
appconf.timeout_brake_current = buffer_get_float32_auto(data, &ind);
appconf.send_can_status = data[ind++];
appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind);
appconf.can_baud_rate = data[ind++];
appconf.app_to_use = data[ind++];
appconf.app_ppm_conf.ctrl_type = data[ind++];
appconf.app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.hyst = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.pulse_start = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.pulse_end = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.pulse_center = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.median_filter = data[ind++];
appconf.app_ppm_conf.safe_start = data[ind++];
appconf.app_ppm_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.throttle_exp_mode = data[ind++];
appconf.app_ppm_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.multi_esc = data[ind++];
appconf.app_ppm_conf.tc = data[ind++];
appconf.app_ppm_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.ctrl_type = data[ind++];
appconf.app_adc_conf.hyst = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage_start = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage_end = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage_center = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage2_start = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.voltage2_end = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.use_filter = data[ind++];
appconf.app_adc_conf.safe_start = data[ind++];
appconf.app_adc_conf.cc_button_inverted = data[ind++];
appconf.app_adc_conf.rev_button_inverted = data[ind++];
appconf.app_adc_conf.voltage_inverted = data[ind++];
appconf.app_adc_conf.voltage2_inverted = data[ind++];
appconf.app_adc_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.throttle_exp_mode = data[ind++];
appconf.app_adc_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.multi_esc = data[ind++];
appconf.app_adc_conf.tc = data[ind++];
appconf.app_adc_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.update_rate_hz = buffer_get_uint16(data, &ind);
appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
appconf.app_chuk_conf.ctrl_type = data[ind++];
appconf.app_chuk_conf.hyst = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.throttle_exp = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.throttle_exp_brake = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.throttle_exp_mode = data[ind++];
appconf.app_chuk_conf.multi_esc = data[ind++];
appconf.app_chuk_conf.tc = data[ind++];
appconf.app_chuk_conf.tc_max_diff = buffer_get_float32_auto(data, &ind);
appconf.app_nrf_conf.speed = data[ind++];
appconf.app_nrf_conf.power = data[ind++];
appconf.app_nrf_conf.crc_type = data[ind++];
appconf.app_nrf_conf.retry_delay = data[ind++];
appconf.app_nrf_conf.retries = data[ind++];
appconf.app_nrf_conf.channel = data[ind++];
memcpy(appconf.app_nrf_conf.address, data + ind, 3);
ind += 3;
appconf.app_nrf_conf.send_crc_ack = data[ind++];
// new config
appconf.app_ppm_conf.tc_offset = buffer_get_float32_auto(data, &ind);
appconf.app_ppm_conf.cruise_left = data[ind++];
appconf.app_ppm_conf.cruise_right = data[ind++];
appconf.app_ppm_conf.max_erpm_for_dir_active = data[ind++];
appconf.app_ppm_conf.max_erpm_for_dir = buffer_get_float32_auto(data, &ind);
appconf.app_adc_conf.tc_offset = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.tc_offset = buffer_get_float32_auto(data, &ind);
appconf.app_chuk_conf.buttons_mirrored = data[ind++];
// new config end
conf_general_store_app_configuration(&appconf);
app_set_configuration(&appconf);
timeout_configure(appconf.timeout_msec, appconf.timeout_brake_current);
chThdSleepMilliseconds(200);
ind = 0;
send_buffer[ind++] = packet_id;
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_APPCONF:
case COMM_GET_APPCONF_DEFAULT:
if (packet_id == COMM_GET_APPCONF) {
appconf = *app_get_configuration();
} else {
conf_general_get_default_app_configuration(&appconf);
}
commands_send_appconf(packet_id, &appconf);
break;
case COMM_SAMPLE_PRINT: {
uint16_t sample_len;
uint8_t decimation;
debug_sampling_mode mode;
ind = 0;
mode = data[ind++];
sample_len = buffer_get_uint16(data, &ind);
decimation = data[ind++];
mc_interface_sample_print_data(mode, sample_len, decimation);
} break;
case COMM_TERMINAL_CMD:
data[len] = '\0';
terminal_process_string((char*)data);
break;
case COMM_DETECT_MOTOR_PARAM:
ind = 0;
detect_current = buffer_get_float32(data, 1e3, &ind);
detect_min_rpm = buffer_get_float32(data, 1e3, &ind);
detect_low_duty = buffer_get_float32(data, 1e3, &ind);
send_func_last = send_func;
chEvtSignal(detect_tp, (eventmask_t) 1);
break;
case COMM_DETECT_MOTOR_R_L: {
mcconf = *mc_interface_get_configuration();
mcconf_old = mcconf;
send_func_last = send_func;
mcconf.motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(&mcconf);
float r = 0.0;
float l = 0.0;
bool res = mcpwm_foc_measure_res_ind(&r, &l);
mc_interface_set_configuration(&mcconf_old);
if (!res) {
r = 0.0;
l = 0.0;
}
ind = 0;
send_buffer[ind++] = COMM_DETECT_MOTOR_R_L;
buffer_append_float32(send_buffer, r, 1e6, &ind);
buffer_append_float32(send_buffer, l, 1e3, &ind);
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
commands_send_packet(send_buffer, ind);
}
}
break;
case COMM_DETECT_MOTOR_FLUX_LINKAGE: {
ind = 0;
float current = buffer_get_float32(data, 1e3, &ind);
float min_rpm = buffer_get_float32(data, 1e3, &ind);
float duty = buffer_get_float32(data, 1e3, &ind);
float resistance = buffer_get_float32(data, 1e6, &ind);
send_func_last = send_func;
float linkage;
bool res = conf_general_measure_flux_linkage(current, duty, min_rpm, resistance, &linkage);
if (!res) {
linkage = 0.0;
}
ind = 0;
send_buffer[ind++] = COMM_DETECT_MOTOR_FLUX_LINKAGE;
buffer_append_float32(send_buffer, linkage, 1e7, &ind);
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
commands_send_packet(send_buffer, ind);
}
}
break;
case COMM_DETECT_ENCODER: {
if (encoder_is_configured()) {
mcconf = *mc_interface_get_configuration();
mcconf_old = mcconf;
send_func_last = send_func;
ind = 0;
float current = buffer_get_float32(data, 1e3, &ind);
mcconf.motor_type = MOTOR_TYPE_FOC;
mcconf.foc_f_sw = 10000.0;
mcconf.foc_current_kp = 0.01;
mcconf.foc_current_ki = 10.0;
mc_interface_set_configuration(&mcconf);
float offset = 0.0;
float ratio = 0.0;
bool inverted = false;
mcpwm_foc_encoder_detect(current, false, &offset, &ratio, &inverted);
mc_interface_set_configuration(&mcconf_old);
ind = 0;
send_buffer[ind++] = COMM_DETECT_ENCODER;
buffer_append_float32(send_buffer, offset, 1e6, &ind);
buffer_append_float32(send_buffer, ratio, 1e6, &ind);
send_buffer[ind++] = inverted;
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
commands_send_packet(send_buffer, ind);
}
} else {
ind = 0;
send_buffer[ind++] = COMM_DETECT_ENCODER;
buffer_append_float32(send_buffer, 1001.0, 1e6, &ind);
buffer_append_float32(send_buffer, 0.0, 1e6, &ind);
send_buffer[ind++] = false;
commands_send_packet(send_buffer, ind);
}
}
break;
case COMM_DETECT_HALL_FOC: {
mcconf = *mc_interface_get_configuration();
if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_HALL) {
mcconf_old = mcconf;
ind = 0;
float current = buffer_get_float32(data, 1e3, &ind);
send_func_last = send_func;
mcconf.motor_type = MOTOR_TYPE_FOC;
mcconf.foc_f_sw = 10000.0;
mcconf.foc_current_kp = 0.01;
mcconf.foc_current_ki = 10.0;
mc_interface_set_configuration(&mcconf);
uint8_t hall_tab[8];
bool res = mcpwm_foc_hall_detect(current, hall_tab);
mc_interface_set_configuration(&mcconf_old);
ind = 0;
send_buffer[ind++] = COMM_DETECT_HALL_FOC;
memcpy(send_buffer + ind, hall_tab, 8);
ind += 8;
send_buffer[ind++] = res ? 0 : 1;
if (send_func_last) {
send_func_last(send_buffer, ind);
} else {
commands_send_packet(send_buffer, ind);
}
} else {
ind = 0;
send_buffer[ind++] = COMM_DETECT_HALL_FOC;
memset(send_buffer, 255, 8);
ind += 8;
send_buffer[ind++] = 0;
}
}
break;
case COMM_REBOOT:
// Lock the system and enter an infinite loop. The watchdog will reboot.
__disable_irq();
for(;;){};
break;
case COMM_ALIVE:
timeout_reset();
break;
case COMM_GET_DECODED_PPM:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_PPM;
buffer_append_int32(send_buffer, (int32_t)(app_ppm_get_decoded_level() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(servodec_get_last_pulse_len(0) * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_DECODED_ADC:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_ADC;
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_decoded_level2() * 1000000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(app_adc_get_voltage2() * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_GET_DECODED_CHUK:
ind = 0;
send_buffer[ind++] = COMM_GET_DECODED_CHUK;
buffer_append_int32(send_buffer, (int32_t)(app_nunchuk_get_decoded_chuk() * 1000000.0), &ind);
commands_send_packet(send_buffer, ind);
break;
case COMM_FORWARD_CAN:
comm_can_send_buffer(data[0], data + 1, len - 1, false);
break;
case COMM_SET_CHUCK_DATA:
ind = 0;
chuck_d_tmp.js_x = data[ind++];
chuck_d_tmp.js_y = data[ind++];
chuck_d_tmp.bt_c = data[ind++];
chuck_d_tmp.bt_z = data[ind++];
chuck_d_tmp.acc_x = buffer_get_int16(data, &ind);
chuck_d_tmp.acc_y = buffer_get_int16(data, &ind);
chuck_d_tmp.acc_z = buffer_get_int16(data, &ind);
app_nunchuk_update_output(&chuck_d_tmp);
break;
case COMM_CUSTOM_APP_DATA:
if (appdata_func) {
appdata_func(data, len);
}
break;
case COMM_NRF_START_PAIRING:
ind = 0;
nrf_driver_start_pairing(buffer_get_int32(data, &ind));
ind = 0;
send_buffer[ind++] = packet_id;
send_buffer[ind++] = NRF_PAIR_STARTED;
commands_send_packet(send_buffer, ind);
break;
case COMM_SET_SPEED_MODE:
ind = 0;
uint8_t new_remote_Mode = data[ind++];
uint8_t new_control_mode_int = data[ind++];
float watt_max = buffer_get_float16(data, 1, &ind);
float cur_mot_max = buffer_get_float16(data, 10, &ind);
float cur_bat_max = buffer_get_float16(data, 10, &ind);
float cur_mot_min = buffer_get_float16(data, 10, &ind);
float cur_bat_min = buffer_get_float16(data, 10, &ind);
float max_erpm = buffer_get_float16(data, 0.1, &ind);
bool useSpecialThrottleCurve = data[ind++];
float throttle_exp = 0.0, throttle_exp_brake = 0.0;
thr_exp_mode throttle_exp_mode = THR_EXP_NATURAL;
if (useSpecialThrottleCurve) {
throttle_exp = buffer_get_float16(data, 100.0, &ind);
throttle_exp_brake = buffer_get_float16(data, 100.0, &ind);
throttle_exp_mode = data[ind++];
}
bool useSpecialPIDBrakingEnabled = data[ind++];
bool pidBrakingEnabled = false;
if (useSpecialPIDBrakingEnabled) {
pidBrakingEnabled = data[ind++];
}
bool useSpecialSpeedPID = data[ind++];
float speed_pid_kp = 0.0, speed_pid_ki = 0.0, speed_pid_kd = 0.0;
if (useSpecialSpeedPID) {
speed_pid_kp = buffer_get_float32(data, 1000000.0, &ind);
speed_pid_ki = buffer_get_float32(data, 1000000.0, &ind);
speed_pid_kd = buffer_get_float32(data, 1000000.0, &ind);
}
uint8_t front_controller_first = data[ind++];
uint8_t front_controller_second = data[ind++];
float front_watt_max = 0.0, front_cur_mot_max = 0.0, front_cur_bat_max = 0.0, front_cur_mot_min = 0.0, front_cur_bat_min = 0.0;
if (front_controller_first != 9 || front_controller_second != 9) {
front_watt_max = buffer_get_float16(data, 1, &ind);
front_cur_mot_max = buffer_get_float16(data, 10, &ind);
front_cur_bat_max = buffer_get_float16(data, 10, &ind);
front_cur_mot_min = buffer_get_float16(data, 10, &ind);
front_cur_bat_min = buffer_get_float16(data, 10, &ind);
}
appconf = *app_get_configuration();
if (appconf.app_to_use == APP_PPM_UART
|| appconf.app_to_use == APP_PPM
|| appconf.app_to_use == APP_NONE
|| appconf.app_to_use == APP_UART
|| appconf.app_to_use == APP_NUNCHUK
|| appconf.app_to_use == APP_NRF
|| appconf.app_to_use == APP_ADC
|| appconf.app_to_use == APP_ADC_UART) {
app_configuration saved_appconf;
conf_general_read_app_configuration(&saved_appconf);
mcconf = *mc_interface_get_configuration();
mc_configuration saved_mcconf;
// gett base settings for motor
conf_general_read_mc_configuration(&saved_mcconf);
// reset app ppm
appconf.app_ppm_conf.ctrl_type = saved_appconf.app_ppm_conf.ctrl_type;
// reset app chuk
appconf.app_chuk_conf.ctrl_type = saved_appconf.app_chuk_conf.ctrl_type;
// reset app adc
appconf.app_adc_conf.ctrl_type = saved_appconf.app_adc_conf.ctrl_type;
// reset throttle curve
appconf.app_ppm_conf.throttle_exp = saved_appconf.app_ppm_conf.throttle_exp;
appconf.app_ppm_conf.throttle_exp_brake = saved_appconf.app_ppm_conf.throttle_exp_brake;
appconf.app_ppm_conf.throttle_exp_mode = saved_appconf.app_ppm_conf.throttle_exp_mode;
appconf.app_ppm_conf.pid_max_erpm = saved_appconf.app_ppm_conf.pid_max_erpm;
appconf.app_adc_conf.throttle_exp = saved_appconf.app_adc_conf.throttle_exp;
appconf.app_adc_conf.throttle_exp_brake = saved_appconf.app_adc_conf.throttle_exp_brake;
appconf.app_adc_conf.throttle_exp_mode = saved_appconf.app_adc_conf.throttle_exp_mode;
appconf.app_chuk_conf.throttle_exp = saved_appconf.app_chuk_conf.throttle_exp;
appconf.app_chuk_conf.throttle_exp_brake = saved_appconf.app_chuk_conf.throttle_exp_brake;
appconf.app_chuk_conf.throttle_exp_mode = saved_appconf.app_chuk_conf.throttle_exp_mode;
// reset motor
mcconf.l_current_max = saved_mcconf.l_current_max;
mcconf.l_current_min = saved_mcconf.l_current_min;
mcconf.l_in_current_max = saved_mcconf.l_in_current_max;
mcconf.l_in_current_min = saved_mcconf.l_in_current_min;
mcconf.l_max_erpm = saved_mcconf.l_max_erpm;
mcconf.l_min_erpm = saved_mcconf.l_min_erpm;
mcconf.l_watt_max = saved_mcconf.l_watt_max;
mcconf.s_pid_allow_braking = saved_mcconf.s_pid_allow_braking;
mcconf.s_pid_kp = saved_mcconf.s_pid_kp;
mcconf.s_pid_ki = saved_mcconf.s_pid_ki;
mcconf.s_pid_kd = saved_mcconf.s_pid_kd;
if (new_remote_Mode == 0){
remote_Mode = new_remote_Mode;
} else {
if (appconf.app_to_use == APP_NONE || appconf.app_to_use == APP_UART) {
if (appconf.send_can_status) {
remote_Mode = new_remote_Mode;
}
}
if (appconf.app_to_use == APP_PPM_UART || appconf.app_to_use == APP_PPM) {
switch (new_control_mode_int) {
case PPM_CTRL_TYPE_PID_NOACCELERATION:
case PPM_CTRL_TYPE_NONE:
case PPM_CTRL_TYPE_CURRENT:
case PPM_CTRL_TYPE_CURRENT_NOREV:
case PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE:
case PPM_CTRL_TYPE_DUTY: