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hoverboard-firmware-hack-foc-serial-esc
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This commit is contained in:
Candas1 2021-01-05 12:40:30 +01:00
parent 69ed548823
commit 7a6dc017a6
7 changed files with 587 additions and 292 deletions
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100
Inc/comms.h Normal file
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@ -0,0 +1,100 @@
/**
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program 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.
*
* This program 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/>.
*/
// Define to prevent recursive inclusion
#ifndef COMMS_H
#define COMMS_H
#include "stm32f1xx_hal.h"
enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
#define typename(x) _Generic((x), \
uint8_t: UINT8_T, \
uint16_t: UINT16_T, \
uint32_t: UINT32_T, \
int8_t: INT8_T, \
int16_t: INT16_T, \
int32_t: INT32_T, \
int: INT, \
float: FLOAT)
#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
#define COMMAND_SIZE(command) sizeof(command) / sizeof(command_entry)
#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))
#define ADD_PARAM(var) typename(var),&var
int32_t ExtToInt(uint8_t index,int32_t value);
int8_t setParamValInt(uint8_t index, int32_t newValue);
int8_t setParamValExt(uint8_t index, int32_t newValue);
int32_t IntToExt(uint8_t index,int32_t value);
int32_t getParamValInt(uint8_t index);
int32_t getParamValExt(uint8_t index);
int8_t initParamVal(uint8_t index);
int8_t incrParamVal(uint8_t index);
int8_t saveParamVal(uint8_t index);
int16_t getParamInitInt(uint8_t index);
int32_t getParamInitExt(uint8_t index);
int8_t printCommandHelp(uint8_t index);
int8_t printParamHelp(uint8_t index);
int8_t printAllParamHelp();
int8_t printParamVal();
int8_t printParamDef(uint8_t index);
int8_t printAllParamDef();
int8_t watchParamVal(uint8_t index);
int8_t findCommand(uint8_t *userCommand, uint32_t len);
int8_t findParam(uint8_t *userCommand, uint32_t len);
void handle_input(uint8_t *userCommand, uint32_t len);
typedef struct command_entry_struct command_entry;
struct command_entry_struct {
const char *name;
int8_t (*callback_function0)();
int8_t (*callback_function1)(uint8_t index);
int8_t (*callback_function2)(uint8_t index,int32_t value);
const char *help;
};
typedef struct parameter_entry_struct parameter_entry;
struct parameter_entry_struct {
const uint8_t type;
const char *name;
const uint8_t datatype;
void *valueL;
void *valueR;
const int32_t addr;
const int32_t init;
const int32_t min;
const int32_t max;
const uint8_t div;
const uint8_t mul;
const uint8_t fix;
void (*callback_function)();
uint8_t watch;
const char *help;
};
#endif

1
Inc/config.h
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@ -291,6 +291,7 @@
#define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
#endif
#define DEBUG_SERIAL_PROTOCOL
// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
#endif

43
Inc/util.h
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@ -127,48 +127,5 @@ typedef struct {
} MultipleTap;
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))
enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
#define typename(x) _Generic((x), \
uint8_t: UINT8_T, \
uint16_t: UINT16_T, \
uint32_t: UINT32_T, \
int8_t: INT8_T, \
int16_t: INT16_T, \
int32_t: INT32_T, \
int: INT, \
float: FLOAT)
#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
#define ADD_PARAM(var) typename(var),&var
uint8_t setParamVal(uint8_t index, int32_t newValue);
uint8_t initParamVal(uint8_t index);
uint32_t getParamVal(uint8_t index);
uint8_t incrParamVal(uint8_t index);
uint8_t saveParamVal(uint8_t index);
void saveAllParamVal();
void dumpParamVal();
void dumpParamDef();
typedef struct parameter_entry_struct parameter_entry;
struct parameter_entry_struct {
const uint8_t type;
const char *name;
const uint8_t datatype;
void *valueL;
void *valueR;
const int32_t addr;
const int32_t init;
const int32_t min;
const int32_t max;
const uint8_t div;
const uint8_t fix;
void (*callback_function)();
const char *help;
};
#endif

458
Src/comms.c Normal file
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@ -0,0 +1,458 @@
/**
* This file is part of the hoverboard-firmware-hack project.
*
* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
*
* This program 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.
*
* This program 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/>.
*/
// Includes
#include <string.h>
#include "stm32f1xx_hal.h"
#include "config.h"
#include "defines.h"
#include "eeprom.h"
#include "BLDC_controller.h"
#include "util.h"
#include "comms.h"
#if defined(DEBUG_SERIAL_PROTOCOL)
extern ExtY rtY_Left; /* External outputs */
extern ExtU rtU_Left; /* External inputs */
extern P rtP_Left;
extern ExtY rtY_Right; /* External outputs */
extern ExtU rtU_Right; /* External inputs */
extern P rtP_Right;
extern uint16_t VirtAddVarTab[NB_OF_VAR];
extern int16_t speedAvg; // average measured speed
extern int16_t speedAvgAbs; // average measured speed in absolute
extern uint8_t ctrlModReqRaw;
// Function0 - Function with 0 parameter
// Function1 - Function with 1 parameter (e.g. GET PARAM)
// Function2 - Function with 2 parameter (e.g. SET PARAM XXXX)
command_entry commands[] = {
// Name Function0 Function1 Function2 Help
{"GET" ,printAllParamDef ,printParamDef ,NULL ,"Get Parameter/Variable Values"},
{"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter with Value"},
{"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter with Value from EEPROM or CONFIG.H"},
{"SAVE" ,NULL ,saveParamVal ,NULL ,"Save Parameter Value to EEPROM"},
{"HELP" ,printAllParamHelp ,printParamHelp ,NULL ,"Show Help"},
{"WATCH" ,NULL ,watchParamVal ,NULL ,"Enable/Disable Watch for Parameter/Variable"},
};
enum paramTypes {PARAMETER,VARIABLE};
// Keywords to match with param index
enum parameters {PCTRL_MOD_REQ,
PCTRL_TYP_SEL,
PI_MOT_MAX,
PN_MOT_MAX,
PFIELD_WEAK_ENA,
PFIELD_WEAK_HI,
PFIELD_WEAK_LO,
PFIELD_WEAK_MAX,
PPHASE_ADV_MAX,
VI_DC_LINK,
VSPEED_AVG,
VRATE,
VSPEED_COEF,
VSTEER_COEF,
};
parameter_entry params[] = {
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Watch ,Help text
{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,0 ,NULL ,0 ,"Ctrl mode [1] voltage [2] Speed [3] Torque"},
{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,0 ,NULL ,0 ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,1 ,40 ,A2BIT_CONV ,0 ,4 ,NULL ,0 ,"Maximum phase current [A]"},
{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,10 ,2000 ,0 ,0 ,4 ,NULL ,0 ,"Maximum motor [RPM]"},
{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,0 ,NULL ,0 ,"Enable field weakening"},
{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,0 ,"Field weak high [RPM]"},
{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,0 ,"Field weak low [RPM)"},
{PARAMETER ,"FIELD_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,0 ,"Field weak max current [A](only for FOC)"},
{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,0 ,4 ,NULL ,0 ,"Maximum Phase Advance angle [Deg](only for SIN)"},
{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,0 ,NULL ,0 ,"DC Link current [A]"},
{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Motor Measured Average Speed [RPM]"},
{VARIABLE ,"SPEEDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Left Motor Measured Speed [RPM]"},
{VARIABLE ,"SPEEDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Right Motor Measured Speed [RPM]"},
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,4 ,NULL ,0 ,"Rate *10"},
{VARIABLE ,"SPEED_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,0 ,"Speed Coefficient *10"},
{VARIABLE ,"STEER_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,0 ,"Steer Coefficient *10"},
//{VARIABLE ,"BATV" ,ADD_PARAM(adc_buffer.batt1) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Battery voltage [V]*100"},
//{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Temperature [°C]*10"},
};
// Translate from External format to Internal Format
int32_t ExtToInt(uint8_t index,int32_t value){
// Multiply to translate to internal format
if(params[index].div) value *= params[index].div;
// Shift to translate to internal format
if (params[index].fix) value <<= params[index].fix;
// Divide for small number
if(params[index].mul)value /= params[index].mul;
return value;
}
// Set Param with Value from external format
int8_t setParamValExt(uint8_t index, int32_t value) {
// Only Parameters can be set
if (params[index].type == VARIABLE){
printf("! A variable cannot be SET\r\n");
return 0;
}
// check min and max before conversion to internal values
if (IN_RANGE(value,params[index].min,params[index].max)){
return setParamValInt(index,ExtToInt(index,value));
}else{
printf("! Value %li not in range [min:%li max:%li]\r\n",value,params[index].min,params[index].max);
return 0;
}
}
// Set Param with value from internal format
int8_t setParamValInt(uint8_t index, int32_t newValue) {
int32_t value = newValue;
if (*(int32_t*)params[index].valueL != value){
// if value is different, beep, cast and assign new value
switch (params[index].datatype){
case UINT8_T:
if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = value;
break;
case UINT16_T:
if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = value;
break;
case UINT32_T:
if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = value;
break;
case INT8_T:
if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = value;
break;
case INT16_T:
if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = value;
break;
case INT32_T:
if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = value;
break;
}
}
// Run callback function if assigned
if (params[index].callback_function) (*params[index].callback_function)();
return 1;
}
// Get Parameter Internal value and translate to external
int32_t getParamValExt(uint8_t index) {
return IntToExt(index,getParamValInt(index));
}
// Get Parameter Internal Value
int32_t getParamValInt(uint8_t index) {
int32_t value = 0;
int countVar = 0;
if (params[index].valueL != NULL) countVar++;
if (params[index].valueR != NULL) countVar++;
if (countVar > 0){
// Read Left and Right values and calculate average
// If left and right have to be summed up, DIV field could be adapted to multiply by 2
// Cast to parameter datatype
switch (params[index].datatype){
case UINT8_T:
if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
break;
case UINT16_T:
if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
break;
case UINT32_T:
if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
break;
case INT8_T:
if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
break;
case INT16_T:
if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
break;
case INT32_T:
if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
break;
default:
value = 0;
}
// Divide by number of values provided for the parameter
value /= countVar;
}else{
// No variable was provided, return init value that might contain a macro
value = params[index].init;
}
return value;
}
// Set watch flag for parameter
int8_t watchParamVal(uint8_t index){
params[index].watch = (params[index].watch==0);
return 1;
}
// Print value for all parameters with watch flag
int8_t printParamVal(){
int count = 0;
for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].watch){
printf("%s:%li ",params[i].name,getParamValExt(i));
count++;
}
}
if (count) printf("\r\n");
return 1;
}
// Print help for parameter
int8_t printCommandHelp(uint8_t index){
printf("? %s:%s\r\n",commands[index].name,commands[index].help);
return 1;
}
// Print help for parameter
int8_t printParamHelp(uint8_t index){
printf("? %s:%s ",params[index].name,params[index].help);
if (params[index].type == PARAMETER) printf("[min:%li max:%li]",params[index].min,params[index].max);
printf("\r\n");
return 1;
}
// Print help for all parameters
int8_t printAllParamHelp(){
printf("? Commands:\r\n");
for(int i=0;i<COMMAND_SIZE(commands);i++)
printCommandHelp(i);
printf("\r\n");
printf("? Parameters/Variable:\r\n");
for(int i=0;i<PARAM_SIZE(params);i++)
printParamHelp(i);
return 1;
}
// Print definition for parameter
int8_t printParamDef(uint8_t index){
printf("# name:%s value:%li init:%li min:%li max:%li\r\n",
params[index].name, // Parameter Name
getParamValExt(index), // Parameter Value translated to external format
getParamInitExt(index), // Parameter Init Value translated to external format
params[index].min, // Parameter Min Value with External format
params[index].max); // Parameter Max Value with External format
return 1;
}
// Print definition for all parameters
int8_t printAllParamDef(){
for(int i=0;i<PARAM_SIZE(params);i++)
printParamDef(i);
return 1;
}
int8_t incrParamVal(uint8_t index) {
// Only Parameters can be set
if (params[index].type == VARIABLE) return 0;
uint32_t value = getParamValExt(index);
if (value < params[index].max){
return setParamValExt(index,value + 1);
}else{
return setParamValExt(index,(int32_t) params[index].min);
}
}
// Get internal Parameter value and save it to EEprom if address is assigned
int8_t saveParamVal(uint8_t index) {
HAL_FLASH_Unlock();
int found = 0;
for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type != VARIABLE && params[i].addr){
EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
found = 1;
}
}
HAL_FLASH_Lock();
return found;
}
int32_t IntToExt(uint8_t index,int32_t value){
// Multiply for small number
if(params[index].mul) value *= params[index].mul;
// Divide to translate to external format
if(params[index].div) value /= params[index].div;
// Shift to translate to external format
if(params[index].fix) value >>= params[index].fix;
return value;
}
int32_t getParamInitExt(uint8_t index) {
int32_t value = 0;
value = IntToExt(index,getParamInitInt(index));
return value;
}
// Get Parameter value with EEprom data if address is avalaible, init value otherwise
int16_t getParamInitInt(uint8_t index) {
if (params[index].addr){
// if EEPROM address is specified, init from EEPROM address
uint16_t readEEPROMVal;
HAL_FLASH_Unlock();
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readEEPROMVal);
HAL_FLASH_Lock();
return readEEPROMVal;
}else{
// Initialize from param array
return params[index].init;
}
}
// initialize Parameter value with EEprom data if address is avalaible, init value otherwise
int8_t initParamVal(uint8_t index) {
// Only Parameters can be loaded from EEPROM
if (params[index].type == VARIABLE) return 0;
return setParamValInt(index,(int32_t) getParamInitInt(index));
}
// Find parameter in params array and return index
int8_t findParam(uint8_t *userCommand, uint32_t len){
for(int index=0;index<PARAM_SIZE(params);index++){
int param_len = strlen(params[index].name);
if (param_len < len){
if (memcmp(userCommand,params[index].name,param_len)==0){
return index;
}
}
}
return -1; // Not found
}
// Find command in commands array and return index
int8_t findCommand(uint8_t *userCommand, uint32_t len){
for(int index=0;index<COMMAND_SIZE(commands);index++){
int command_len = strlen(commands[index].name);
if (command_len < len){
if (memcmp(userCommand,commands[index].name,command_len)==0){
return index;
}
}
}
return -1; // Not found
}
void handle_input(uint8_t *userCommand, uint32_t len)
{
int8_t cindex = -1;
int8_t pindex = -1;
uint8_t size = 0;
int8_t ret = 0;
// Find Command
cindex = findCommand(userCommand,len);
if (cindex == -1){
printf("! Command not found\r\n");
return;
}
// Skip command characters
size = strlen(commands[cindex].name);
{len-=size;userCommand+=size;}
// Skip if space
if (*userCommand == 0x20){len-=1;userCommand+=1;}
if ( (*userCommand == '\n' || *userCommand == '\r') &&
commands[cindex].callback_function0 != NULL){
// This function needs no parameter
ret = (*commands[cindex].callback_function0)();
if (ret==1){printf("OK\r\n");}
return;
}
// Find parameter
pindex = findParam(userCommand,len);
if (pindex == -1){
printf("! Parameter not found\r\n");
return;
}
if (commands[cindex].callback_function1 != NULL){
// This function needs only a parameter
ret = (*commands[cindex].callback_function1)(pindex);
if (ret==1){printf("OK\r\n");}
return;
}
// Skip parameter characters
size = strlen(params[pindex].name);
{len-=size;userCommand+=size;}
// Skip if space
if (*userCommand == 0x20){len-=1;userCommand+=1;}
int32_t value = 0;
int8_t sign = 1;
int8_t count = 0;
// Read sign
if (*userCommand == '-'){len-=1;userCommand+=1;sign =-1;}
// Read value
for (value=0; (unsigned)*userCommand-'0'<10; userCommand++){
value=10*value+(*userCommand-'0');
count++;
if (value>MAX_int16_T){printf("! Value not in range\r\n");return;}
}
if (count == 0){
printf("! Value required\r\n");
return;
}
// Apply sign
value*= sign;
if (commands[cindex].callback_function2 != NULL){
// This function needs an additional parameter
ret = (*commands[cindex].callback_function2)(pindex,value);
if (ret==1){printf("OK\r\n");}
}
}
#endif

23
Src/main.c
View File

@ -29,6 +29,7 @@
#include "util.h"
#include "BLDC_controller.h" /* BLDC's header file */
#include "rtwtypes.h"
#include "comms.h"
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
#include "hd44780.h"
@ -421,15 +422,19 @@ int main(void) {
// ####### DEBUG SERIAL OUT #######
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
input1[inIdx].raw, // 1: INPUT1
input2[inIdx].raw, // 2: INPUT2
cmdL, // 3: output command: [-1000, 1000]
cmdR, // 4: output command: [-1000, 1000]
adc_buffer.batt1, // 5: for battery voltage calibration
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
board_temp_adcFilt, // 7: for board temperature calibration
board_temp_deg_c); // 8: for verifying board temperature calibration
#ifndef DEBUG_SERIAL_PROTOCOL
printf("in1:%i in2:%i cmdL:%i cmdR:%i BatADC:%i BatV:%i TempADC:%i Temp:%i\r\n",
input1[inIdx].raw, // 1: INPUT1
input2[inIdx].raw, // 2: INPUT2
cmdL, // 3: output command: [-1000, 1000]
cmdR, // 4: output command: [-1000, 1000]
adc_buffer.batt1, // 5: for battery voltage calibration
batVoltage * BAT_CALIB_REAL_VOLTAGE / BAT_CALIB_ADC, // 6: for verifying battery voltage calibration
board_temp_adcFilt, // 7: for board temperature calibration
board_temp_deg_c); // 8: for verifying board temperature calibration
#else
printParamVal();
#endif
}
#endif

250
Src/util.c
View File

@ -29,6 +29,7 @@
#include "util.h"
#include "BLDC_controller.h"
#include "rtwtypes.h"
#include "comms.h"
#if defined(DEBUG_I2C_LCD) || defined(SUPPORT_LCD)
#include "hd44780.h"
@ -231,239 +232,6 @@ static uint8_t standstillAcv = 0;
#endif
#endif
enum paramTypes {PARAMETER,VARIABLE};
// Keywords to match with param index
enum parameters {PCTRL_MOD_REQ,
PCTRL_TYP_SEL,
PI_MOT_MAX,
PN_MOT_MAX,
PFIELD_WEAK_ENA,
PFIELD_WEAK_HI,
PFIELD_WEAK_LO,
PFIELD_WEAK_MAX,
PPHASE_ADV_MAX,
VI_DC_LINK,
VSPEED_AVG,
VRATE,
VSPEED_COEFFICIENT,
VSTEER_COEFFICIENT,
};
parameter_entry params[] = {
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Fix ,Callback Function ,Help text
{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,NULL ,"Ctrl mode [1] voltage [2] Speed [3] Torque"},
{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,NULL ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,0 ,40 ,A2BIT_CONV ,4 ,NULL ,"Maximum phase current [A]"},
{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,0 ,2000 ,0 ,4 ,NULL ,"Maximum motor [RPM]"},
{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,NULL ,"Enable field weakening"},
{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,4 ,Input_Lim_Init ,"Field weak high [RPM]"},
{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,4 ,Input_Lim_Init ,"Field weak low [RPM)"},
{PARAMETER ,"FIEL_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,4 ,NULL ,"Field weak max current [A](only for FOC)"},
{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,4 ,NULL ,"Maximum Phase Advance angle [Deg](only for SIN)"},
{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,NULL ,"DC Link current [A]"},
{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Speed Average [RPM]"},
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,4 ,NULL ,"Rate"},
{VARIABLE ,"SPEED_COEFFICIENT" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,4 ,NULL ,"Speed Coefficient"},
{VARIABLE ,"STEER_COEFFICIENT" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,4 ,NULL ,"Steer Coefficient"},
};
uint8_t setParamVal(uint8_t index, int32_t newValue) {
// Only Parameters can be set
if (params[index].type == VARIABLE) return 0;
int32_t value = newValue;
// check mean and max before conversion to internal values
if (value >= params[index].min && value <= params[index].max){
// Multiply to translate to internal format
if(params[index].div){
value *= params[index].div;
}
// Shift to translate to internal format
if (params[index].fix){
value <<= params[index].fix;
}
if (*(int32_t*)params[index].valueL != value){
// if value is different, beep, cast and assign new value
beepShort(8);
switch (params[index].datatype){
case UINT8_T:
if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = value;
break;
case UINT16_T:
if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = value;
break;
case UINT32_T:
if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = value;
break;
case INT8_T:
if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = value;
break;
case INT16_T:
if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = value;
break;
case INT32_T:
if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = value;
if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = value;
break;
}
}
// Run callback function if assigned
if (params[index].callback_function) (*params[index].callback_function)();
return 1;
}else{
return 0;
}
}
uint32_t getParamVal(uint8_t index) {
int32_t value = 0;
int countVar = 0;
if (params[index].valueL != NULL) countVar++;
if (params[index].valueR != NULL) countVar++;
if (countVar > 0){
// Read Left and Right values and calculate average
// If left and right have to be summed up, DIV field could be adapted to multiply by 2
// Cast to parameter datatype
switch (params[index].datatype){
case UINT8_T:
if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
break;
case UINT16_T:
if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
break;
case UINT32_T:
if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
break;
case INT8_T:
if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
break;
case INT16_T:
if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
break;
case INT32_T:
if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
break;
default:
value = 0;
}
// Divide by number of values provided for the parameter
value /= countVar;
// Divide to translate to external format
if(params[index].div){
value /= params[index].div;
}
// Shift to translate to external format
if(params[index].fix){
value >>= params[index].fix;
}
return value;
}else{
// No variable was provided, return init value that might contain a macro
return params[index].init;
}
return 0;
}
void dumpParamVal(){
printf("*");
for(int index=0;index<PARAM_SIZE(params);index++){
printf("%s:%li ",params[index].name,getParamVal(index));
}
printf("\r\n");
}
void dumpParamDef(){
for(int index=0;index<PARAM_SIZE(params);index++){
printf("#name:%s help:%s value:%li init:%li min:%li max:%li\r\n",
params[index].name,
params[index].help,
getParamVal(index),
params[index].init,
params[index].min,
params[index].max);
}
}
uint8_t incrParamVal(uint8_t index) {
// Only Parameters can be set
if (params[index].type == VARIABLE) return 0;
uint32_t value = getParamVal(index);
if (value < params[index].max){
return setParamVal(index,value + 1);
}else{
return setParamVal(index,(int32_t) params[index].min);
}
}
uint8_t saveParamVal(uint8_t index) {
// Only Parameters can be saved to EEPROM
if (params[index].type == VARIABLE) return 0;
if (params[index].addr){
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamVal(index));
HAL_FLASH_Lock();
return 1;
}
return 0;
}
uint8_t initParamVal(uint8_t index) {
// Only Parameters can be loaded from EEPROM
if (params[index].type == VARIABLE) return 0;
if (params[index].addr){
// if EEPROM address is specified, init from EEPROM address
uint16_t readEEPROMVal;
HAL_FLASH_Unlock();
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readEEPROMVal);
return setParamVal(index,(int32_t) readEEPROMVal);
HAL_FLASH_Lock();
return 1;
}else{
// Initialize from param array
setParamVal(index,(int32_t) params[index].init);
return 1;
}
return 0;
}
void saveAllParamVal() {
HAL_FLASH_Unlock();
for(int index=0;index<PARAM_SIZE(params);index++){
if (params[index].type != VARIABLE && params[index].addr){
EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamVal(index));
}
}
HAL_FLASH_Lock();
}
/* =========================== Initialization Functions =========================== */
@ -1427,13 +1195,19 @@ void usart3_rx_check(void)
#if defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3)
void usart_process_debug(uint8_t *userCommand, uint32_t len)
{
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
//printf("Command = %c\r\n", *userCommand);
// handle_input(*userCommand); // -> Create this function to handle the user commands
#ifndef DEBUG_SERIAL_PROTOCOL
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
printf("Command = %c\r\n", *userCommand);
// handle_input(*userCommand); // -> Create this function to handle the user commands
}
}
}
#else
handle_input(userCommand,len);
#endif
}
#endif // SERIAL_DEBUG
/*

2
platformio.ini
View File

@ -61,7 +61,7 @@ build_flags =
-DSTM32F103xE
-T./STM32F103RCTx_FLASH.ld
-lc
-lm
-l
-g -ggdb ; to generate correctly the 'firmware.elf' for STM STUDIO vizualization
-D VARIANT_USART