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Merge pull request #127 from Candas1/master 

USART ASCII Protocol
This commit is contained in:
EmanuelFeru 2021-01-29 20:17:15 +01:00 committed by GitHub
parent 63276132a7 fc09e8b651
commit 9917483377
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GPG Key ID: 4AEE18F83AFDEB23
7 changed files with 801 additions and 26 deletions
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2
.travis.yml
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@ -48,8 +48,6 @@ jobs:
- name: platformio
script: platformio run
language: python
python:
- "2.7"
install:
- pip install -U platformio
- platformio update

113
Inc/comms.h Normal file
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@ -0,0 +1,113 @@
/**
* 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"
#if defined(DEBUG_SERIAL_PROTOCOL)
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 saveAllParamVal();
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();
void printError(uint8_t errornum );
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);
void process_debug();
typedef struct debug_command_struct debug_command;
struct debug_command_struct {
uint8_t semaphore;
uint8_t error;
int8_t command_index;
int8_t param_index;
int32_t param_value;
};
typedef struct command_entry_struct command_entry;
struct command_entry_struct {
const uint8_t type;
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 uint16_t addr;
const int32_t init;
const uint8_t initFormat;
const int32_t min;
const int32_t max;
const uint8_t div;
const uint8_t mul;
const uint8_t fix;
void (*callback_function)();
const char *help;
};
#endif // DEBUG_SERIAL_PROTOCOL
#endif // COMMS_H

4
Inc/config.h
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@ -172,6 +172,7 @@
#define ADC_MARGIN 100 // ADC input margin applied on the raw ADC min and max to make sure the MIN and MAX values are reached even in the presence of noise
#define ADC_PROTECT_TIMEOUT 100 // ADC Protection: number of wrong / missing input commands before safety state is taken
#define ADC_PROTECT_THRESH 200 // ADC Protection threshold below/above the MIN/MAX ADC values
#define AUTO_CALIBRATION_ENA // Enable/Disable input auto-calibration by holding power button pressed. Un-comment this if auto-calibration is not needed.
/* FILTER is in fixdt(0,16,16): VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
* Value of COEFFICIENT is in fixdt(1,16,14)
@ -227,7 +228,7 @@
* enable DEBUG_SERIAL_USART3 or DEBUG_SERIAL_USART2
*
*
* DEBUG_SERIAL_ASCII output is:
* DEBUG ASCII output is:
* // "in1:345 in2:1337 cmdL:0 cmdR:0 BatADC:0 BatV:0 TempADC:0 Temp:0\r\n"
*
* in1: (int16_t)input1[inIdx].raw); raw input1: ADC1, UART, PWM, PPM, iBUS
@ -243,6 +244,7 @@
// #define DEBUG_SERIAL_USART2 // left sensor board cable, disable if ADC or PPM is used!
// #define DEBUG_SERIAL_USART3 // right sensor board cable, disable if I2C (nunchuk or lcd) is used!
// #define DEBUG_SERIAL_PROTOCOL // uncomment this to send user commands to the board, change parameters and print specific signals (see comms.c for the user commands)
// ########################### END OF DEBUG SERIAL ############################

1
Makefile
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@ -38,6 +38,7 @@ Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal_dma.c \
Src/system_stm32f1xx.c \
Src/setup.c \
Src/control.c \
Src/comms.c \
Src/util.c \
Src/main.c \
Src/bldc.c \

640
Src/comms.c Normal file
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@ -0,0 +1,640 @@
/**
* 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 <stdio.h>
#include <stdlib.h>
#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)
#if defined(DEBUG_SERIAL_PROTOCOL) && (defined(DEBUG_SERIAL_USART2) || defined(DEBUG_SERIAL_USART3))
#ifdef CONTROL_ADC
#define RAW_MIN 0
#define RAW_MAX 4095
#else
#define RAW_MIN -1000
#define RAW_MAX 1000
#endif
#define MAX_PARAM_WATCH 15
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 InputStruct input1[]; // input structure
extern InputStruct input2[]; // input structure
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;
extern adc_buf_t adc_buffer;
extern int16_t board_temp_deg_c;
enum commandTypes {READ,WRITE};
// Function0 - Function with 0 parameter
// Function1 - Function with 1 parameter (e.g. GET PARAM)
// Function2 - Function with 2 parameter (e.g. SET PARAM XXXX)
const command_entry commands[] = {
// Type ,Name ,Function0 ,Function1 ,Function2 ,Help
{READ ,"GET" ,printAllParamDef ,printParamDef ,NULL ,"Get Parameter/Variable"},
{READ ,"HELP" ,printAllParamHelp ,printParamHelp ,NULL ,"Command/Parameter/Variable Help"},
{READ ,"WATCH" ,NULL ,watchParamVal ,NULL ,"Toggle Parameter/Variable Watch"},
{WRITE ,"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter"},
{WRITE ,"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter from EEPROM or CONFIG.H"},
{WRITE ,"SAVE" ,saveAllParamVal ,NULL ,NULL ,"Save Parameters to EEPROM"},
};
enum paramTypes {PARAMETER,VARIABLE};
const parameter_entry params[] = {
// CONTROL PARAMETERS
// Type ,Name ,Datatype ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{PARAMETER ,"CTRL_MOD" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,0 ,1 ,3 ,0 ,0 ,0 ,NULL ,"Ctrl mode 1:VLT 2:SPD 3:TRQ"},
{PARAMETER ,"CTRL_TYP" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,0 ,2 ,0 ,0 ,0 ,NULL ,"Ctrl type 0:COM 1:SIN 2:FOC"},
{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,1 ,1 ,40 ,A2BIT_CONV ,0 ,4 ,NULL ,"Max phase current A"},
{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,1 ,10 ,2000 ,0 ,0 ,4 ,NULL ,"Max motor RPM"},
{PARAMETER ,"FI_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,0 ,1 ,0 ,0 ,0 ,NULL ,"Enable field weak"},
{PARAMETER ,"FI_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,1 ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak high RPM"},
{PARAMETER ,"FI_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,1 ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,"Field weak low RPM"},
{PARAMETER ,"FI_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,1 ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,"Field weak max current A(FOC)"},
{PARAMETER ,"PHA_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,1 ,0 ,55 ,0 ,0 ,4 ,NULL ,"Max Phase Adv angle Deg(SIN)"},
// INPUT PARAMETERS
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"IN1_RAW" ,ADD_PARAM(input1[0].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 raw"},
{PARAMETER ,"IN1_TYP" ,ADD_PARAM(input1[0].typ) ,NULL ,3 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input1 type"},
{PARAMETER ,"IN1_MIN" ,ADD_PARAM(input1[0].min) ,NULL ,4 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 min"},
{PARAMETER ,"IN1_MID" ,ADD_PARAM(input1[0].mid) ,NULL ,5 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 mid"},
{PARAMETER ,"IN1_MAX" ,ADD_PARAM(input1[0].max) ,NULL ,6 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input1 max"},
{VARIABLE ,"IN1_CMD" ,ADD_PARAM(input1[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input1 cmd"},
{VARIABLE ,"IN2_RAW" ,ADD_PARAM(input2[0].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 raw"},
{PARAMETER ,"IN2_TYP" ,ADD_PARAM(input2[0].typ) ,NULL ,7 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Input2 type"},
{PARAMETER ,"IN2_MIN" ,ADD_PARAM(input2[0].min) ,NULL ,8 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 min"},
{PARAMETER ,"IN2_MID" ,ADD_PARAM(input2[0].mid) ,NULL ,9 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 mid"},
{PARAMETER ,"IN2_MAX" ,ADD_PARAM(input2[0].max) ,NULL ,10 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Input2 max"},
{VARIABLE ,"IN2_CMD" ,ADD_PARAM(input2[0].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Input2 cmd"},
#if defined(PRI_INPUT1) && defined(PRI_INPUT2) && defined(AUX_INPUT1) && defined(AUX_INPUT2)
// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"AUX_IN1_RAW" ,ADD_PARAM(input1[1].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 raw"},
{PARAMETER ,"AUX_IN1_TYP" ,ADD_PARAM(input1[1].typ) ,NULL ,11 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input1 type"},
{PARAMETER ,"AUX_IN1_MIN" ,ADD_PARAM(input1[1].min) ,NULL ,12 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 min"},
{PARAMETER ,"AUX_IN1_MID" ,ADD_PARAM(input1[1].mid) ,NULL ,13 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 mid"},
{PARAMETER ,"AUX_IN1_MAX" ,ADD_PARAM(input1[1].max) ,NULL ,14 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input1 max"},
{VARIABLE ,"AUX_IN1_CMD" ,ADD_PARAM(input1[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input1 cmd"},
{VARIABLE ,"AUX_IN2_RAW" ,ADD_PARAM(input2[1].raw) ,NULL ,0 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 raw"},
{PARAMETER ,"AUX_IN2_TYP" ,ADD_PARAM(input2[1].typ) ,NULL ,15 ,0 ,0 ,0 ,3 ,0 ,0 ,0 ,0 ,"Aux. input2 type"},
{PARAMETER ,"AUX_IN2_MIN" ,ADD_PARAM(input2[1].min) ,NULL ,16 ,RAW_MIN ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 min"},
{PARAMETER ,"AUX_IN2_MID" ,ADD_PARAM(input2[1].mid) ,NULL ,17 ,0 ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 mid"},
{PARAMETER ,"AUX_IN2_MAX" ,ADD_PARAM(input2[1].max) ,NULL ,18 ,RAW_MAX ,0 ,RAW_MIN,RAW_MAX,0 ,0 ,0 ,0 ,"Aux. input2 max"},
{VARIABLE ,"AUX_IN2_CMD" ,ADD_PARAM(input2[1].cmd) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,"Aux. input2 cmd"},
#endif
// FEEDBACK
// Type ,Name ,Datatype, ValueL ptr ,ValueR ,EEPRM Addr ,Init Int/Ext ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Help text
{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,0 ,A2BIT_CONV ,100 ,0 ,NULL ,"DC Link current A *100"},
{VARIABLE ,"SPD_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Measured Avg RPM"},
{VARIABLE ,"SPDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Left Motor Measured RPM"},
{VARIABLE ,"SPDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Right Motor Measured RPM"},
{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,0 ,4 ,NULL ,"Rate *10"},
{VARIABLE ,"SPD_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,0 ,10 ,14 ,NULL ,"Speed Coefficient *10"},
{VARIABLE ,"STR_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,0 ,10 ,14 ,NULL ,"Steer Coefficient *10"},
{VARIABLE ,"BATV" ,ADD_PARAM(adc_buffer.batt1) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Battery voltage *100"},
//{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Temperature °C *10"},
};
const char *errors[9] = {
"Command not found", // Err1
"Parameter not found", // Err2
"This command cannot be used with a Variable", // Err3
"Value not in range", // Err4
"Value expected", // Err5
"Start of line expected", // Err6
"End of line expected", // Err7
"Parameter expected", // Err8
"Uncaught error" // Err9
"Watch list is full" // Err10
};
debug_command command;
int8_t watchParamList[MAX_PARAM_WATCH] = {-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1,-1};
// Set Param with Value from external format
int8_t setParamValExt(uint8_t index, int32_t value) {
int8_t ret = 0;
// check min and max before conversion to internal values
if (IN_RANGE(value,params[index].min,params[index].max)){
ret = setParamValInt(index,extToInt(index,value));
printParamDef(index);
}else{
printError(4); // Error - Value out of range
}
return ret;
}
// Set Param with value from internal format
int8_t setParamValInt(uint8_t index, int32_t newValue) {
int32_t oldValue = getParamValInt(index);
if (oldValue != newValue){
// 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 = newValue;
if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = newValue;
break;
case UINT16_T:
if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = newValue;
break;
case UINT32_T:
if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = newValue;
break;
case INT8_T:
if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = newValue;
break;
case INT16_T:
if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = newValue;
break;
case INT32_T:
if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = newValue;
if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = newValue;
break;
}
// Beep if value was modified
beepShort(5);
}
// 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;
int8_t 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;
}
// Add or remove parameter from watch list
int8_t watchParamVal(uint8_t index){
int8_t i,found = 0;
for(i=0;i < MAX_PARAM_WATCH && watchParamList[i]>-1;i++){
if (watchParamList[i] == index) found = 1;
if (found) watchParamList[i] = (i < MAX_PARAM_WATCH-1)?watchParamList[i+1]:-1;
}
if (!found){
if (watchParamList[i] == -1){
watchParamList[i] = index;
return 1;
}
printError(10);
return 0;
}
return 1;
}
// Print value for all parameters with watch flag
int8_t printParamVal(){
int8_t i = 0;
for(i=0;i < MAX_PARAM_WATCH && watchParamList[i]>-1;i++){
printf("%s:%li ",params[watchParamList[i]].name,getParamValExt(watchParamList[i]));
}
if (i>0) printf("\r\n");
return 1;
}
// Print help for Command
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\r\n");
for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type == PARAMETER) printParamHelp(i);
}
printf("?\r\n");
printf("? Variables\r\n");
for(int i=0;i<PARAM_SIZE(params);i++){
if (params[i].type == VARIABLE) printParamHelp(i);
}
printf("?\r\n");
return 1;
}
// Print definition(name,value,initial value, min, max) 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(name,value,initial value, min, max) for all parameters
int8_t printAllParamDef(){
for(int i=0;i<PARAM_SIZE(params);i++) printParamDef(i);
return 1;
}
void printError(uint8_t errornum ){
printf("! Err%i:\"%s\"\r\n",errornum,errors[errornum-1]);
}
// Function to increment a value
// Get Parameter in External format, check max value, increment, set Parameter
// Not used in the protocol yet
int8_t incrParamVal(uint8_t index) {
// This should be used only if min and max values are known
if (params[index].min == params[index].max) 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 for all paraemeter with an address assigned
int8_t saveAllParamVal() {
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[0] , (uint16_t)FLASH_WRITE_KEY);
for(int i=0;i<PARAM_SIZE(params);i++){
// Only Parameters with eeprom address can be saved
if (params[i].addr){
EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
}
}
HAL_FLASH_Lock();
return 1;
}
// Translate from Internal to External format
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;
}
// Translate from External 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;
}
// Get Parameter Init value(EEPROM or init/config.h) and translate to external format
int32_t getParamInitExt(uint8_t index) {
return intToExt(index,getParamInitInt(index));
}
// Get Parameter value with EEprom data if address is avalaible, init/config.h value otherwise
int16_t getParamInitInt(uint8_t index){
if (params[index].addr){
// if EEPROM address is specified, init from EEPROM address
uint16_t writeCheck, readVal;
HAL_FLASH_Unlock();
EE_ReadVariable(VirtAddVarTab[0], &writeCheck);
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readVal);
HAL_FLASH_Lock();
// EEPROM was written, use stored value
if (writeCheck == FLASH_WRITE_KEY){
return readVal;
}else{
// Use init value from array
if (params[index].initFormat){
// Init Value is in External format (e.g. PHA_ADV_MAX is 25 deg)
return extToInt(index,params[index].init);
}else{
return params[index].init;
}
}
}else{
if (params[index].initFormat){
// Init Value is in External format (e.g. PHA_ADV_MAX is 25 deg)
return extToInt(index,params[index].init);
}else{
return params[index].init;
}
}
}
// initialize Parameter value with EEprom data if address is avalaible, init/config.h value otherwise
int8_t initParamVal(uint8_t index) {
int8_t ret = 0;
ret = setParamValInt(index,(int32_t) getParamInitInt(index));
printParamDef(index);
return ret;
}
// 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++){
uint8_t 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
}
// 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++){
uint8_t 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
}
// Parse and save the command to be executed
void handle_input(uint8_t *userCommand, uint32_t len)
{
// If there is already an unprocessed command, exit
if (command.semaphore == 1) return;
// Check end of line
userCommand+=len-1; // Go to last char
if (*userCommand != '\n' && *userCommand != '\r'){
command.error = 7; // Error - End of line expected
return;
}
userCommand-=len-1; // Come back
int8_t cindex = -1;
int8_t pindex = -1;
uint8_t size = 0;
// Find Command
cindex = findCommand(userCommand,len);
if (cindex == -1){
// Error - Command not found
command.error = 1;
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'){
if (commands[cindex].callback_function0 != NULL){
// Command without parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = -1;
command.param_value = 0;
}else{
command.error = 8; // Error - Parameter expected
}
return;
}
// Find parameter
pindex = findParam(userCommand,len);
if (pindex == -1){
// Error - Parameter not found
command.error = 2;
return;
}
// Skip parameter characters
size = strlen(params[pindex].name);
{len-=size;userCommand+=size;}
// Skip if space
if (*userCommand == 0x20){len-=1;userCommand+=1;}
if (commands[cindex].type == WRITE && params[pindex].type == VARIABLE){
// Error - This command cannot be used with a Variable
command.error = 3;
return;
}
if (commands[cindex].callback_function1 != NULL){
if (*userCommand == '\n' || *userCommand == '\r'){
// Command with parameter
command.semaphore = 1;
command.command_index = cindex;
command.param_index = pindex;
command.param_value = 0;
}else{
command.error = 7; // Error - End of line expected
}
return;
}
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++;
// Error - Value out of range
if (value>MAX_int16_T){command.error = 4;return;}
}
if (count == 0){
// Error - Value required
command.error = 5;
return;
}
// Apply sign
value*= sign;
// Command with parameter and value
if (commands[cindex].callback_function2 != NULL){
if (*userCommand == '\n' || *userCommand == '\r'){
command.semaphore = 1;
command.command_index = cindex;
command.param_index = pindex;
command.param_value = value;
}else{
command.error = 7; // Error - End of line expected
}
return;
}
// Uncaught error
command.error = 9;
}
void process_debug()
{
// Print parameters from watch list
printParamVal();
// Show Error if any
if(command.error> 0){
printError(command.error);
command.error = 0;
return;
}
// Nothing to do
if (command.semaphore == 0) return;
int8_t ret = 0;
if (commands[command.command_index].callback_function0 != NULL &&
command.param_index == -1){
// This function needs no parameter
ret = (*commands[command.command_index].callback_function0)();
if (ret==1){printf("OK\r\n");}
command.semaphore = 0;
return;
}
if (commands[command.command_index].callback_function1 != NULL &&
command.param_index != -1){
// This function needs only a parameter
ret = (*commands[command.command_index].callback_function1)(command.param_index);
if (ret==1){printf("OK\r\n");}
command.semaphore = 0;
return;
}
if (commands[command.command_index].callback_function2 != NULL &&
command.param_index != -1){
// This function needs an additional parameter
ret = (*commands[command.command_index].callback_function2)(command.param_index,command.param_value);
if (ret==1){printf("OK\r\n");}
command.semaphore = 0;
}
}
#endif
#endif // DEBUG_SERIAL_PROTOCOL

27
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"
@ -198,6 +199,8 @@ int main(void) {
int16_t board_temp_adcFilt = adc_buffer.temp;
int16_t board_temp_deg_c;
// Loop until button is released
while(HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) { HAL_Delay(10); }
while(1) {
HAL_Delay(DELAY_IN_MAIN_LOOP); // delay in ms
@ -420,16 +423,20 @@ 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
if (main_loop_counter % 25 == 0) { // Send data periodically every 125 ms
#if defined(DEBUG_SERIAL_PROTOCOL)
process_debug();
#else
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
#endif
}
#endif

40
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"
@ -231,8 +232,7 @@ static uint8_t standstillAcv = 0;
#endif
#endif
/* =========================== Initialization Functions =========================== */
void BLDC_Init(void) {
@ -483,6 +483,7 @@ void calcAvgSpeed(void) {
* The Values will be saved to flash. Values are persistent if you flash with platformio. To erase them, make a full chip erase.
*/
void adcCalibLim(void) {
#ifdef AUTO_CALIBRATION_ENA
calcAvgSpeed();
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return;
@ -571,6 +572,7 @@ void adcCalibLim(void) {
#endif
#endif
#endif // AUTO_CALIBRATION_ENA
}
/*
* Update Maximum Motor Current Limit (via ADC1) and Maximum Speed Limit (via ADC2)
@ -1063,14 +1065,20 @@ void usart2_rx_check(void)
#endif
#if defined(DEBUG_SERIAL_USART2)
uint8_t *ptr;
if (pos != old_pos) { // Check change in received data
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
usart_process_debug(&rx_buffer_L[old_pos], pos - old_pos); // Process data
} else { // "Overflow" buffer mode
usart_process_debug(&rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First Process data from the end of buffer
ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_L_len - old_pos + pos));
memcpy(ptr, &rx_buffer_L[old_pos], rx_buffer_L_len - old_pos); // First copy data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
usart_process_debug(&rx_buffer_L[0], pos); // Process remaining data
ptr += rx_buffer_L_len - old_pos;
memcpy(ptr, &rx_buffer_L[0], pos); // Copy remaining data
}
ptr -= rx_buffer_L_len - old_pos;
usart_process_debug(ptr, rx_buffer_L_len - old_pos + pos); // Process data
free(ptr);
}
}
#endif // DEBUG_SERIAL_USART2
@ -1133,20 +1141,26 @@ void usart3_rx_check(void)
#endif
#if defined(DEBUG_SERIAL_USART3)
uint8_t *ptr;
if (pos != old_pos) { // Check change in received data
if (pos > old_pos) { // "Linear" buffer mode: check if current position is over previous one
usart_process_debug(&rx_buffer_R[old_pos], pos - old_pos); // Process data
} else { // "Overflow" buffer mode
usart_process_debug(&rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First Process data from the end of buffer
ptr = (uint8_t *) malloc(sizeof(uint8_t) * (rx_buffer_R_len - old_pos + pos));
memcpy(ptr, &rx_buffer_R[old_pos], rx_buffer_R_len - old_pos); // First copy data from the end of buffer
if (pos > 0) { // Check and continue with beginning of buffer
usart_process_debug(&rx_buffer_R[0], pos); // Process remaining data
ptr += rx_buffer_R_len - old_pos;
memcpy(ptr, &rx_buffer_R[0], pos); // Copy remaining data
}
ptr -= rx_buffer_R_len - old_pos;
usart_process_debug(ptr, rx_buffer_R_len - old_pos + pos); // Process data
free(ptr);
}
}
#endif // DEBUG_SERIAL_USART3
#ifdef CONTROL_SERIAL_USART3
uint8_t *ptr;
uint8_t *ptr;
if (pos != old_pos) { // Check change in received data
ptr = (uint8_t *)&commandR_raw; // Initialize the pointer with command_raw address
if (pos > old_pos && (pos - old_pos) == commandR_len) { // "Linear" buffer mode: check if current position is over previous one AND data length equals expected length
@ -1195,13 +1209,11 @@ 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
}
}
#ifdef DEBUG_SERIAL_PROTOCOL
handle_input(userCommand, len);
#endif
}
#endif // SERIAL_DEBUG
/*
@ -1529,9 +1541,11 @@ void poweroffPressCheck(void) {
updateCurSpdLim();
beepShort(5);
} else { // Long press: Calibrate ADC Limits
#ifdef AUTO_CALIBRATION_ENA
beepLong(16);
adcCalibLim();
beepShort(5);
#endif
}
} else if (cnt_press > 8) { // Short press: power off (80 ms debounce)
poweroff();