Merge branch 'vedderb:master' into master

ddosoff · Aug 6, 2022 · 3094a43 · 3094a43
2 parents c7d1c65 + b334247
commit 3094a43
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Showing 116 changed files with 7,573 additions and 858 deletions.
diff --git a/CHANGELOG b/CHANGELOG
@@ -18,6 +18,7 @@
  - mxlemming
  - ortega with flux linkage tracking
  - mxlemming with flux linkage tracking
+* AS5x47 encoder support: https://github.com/vedderb/bldc/pull/511
 
 === FW 5.03 ===
 * Fixed inductance measurement bug.

diff --git a/applications/app_balance.c b/applications/app_balance.c
@@ -357,13 +357,15 @@ static bool check_faults(bool ignoreTimers){
 	}
 
 	// Switch partially open and stopped
-	if((switch_state == HALF || switch_state == OFF) && abs_erpm < balance_conf.fault_adc_half_erpm){
-		if(ST2MS(current_time - fault_switch_half_timer) > balance_conf.fault_delay_switch_half || ignoreTimers){
-			state = FAULT_SWITCH_HALF;
-			return true;
+	if(!balance_conf.fault_is_dual_switch) {
+		if((switch_state == HALF || switch_state == OFF) && abs_erpm < balance_conf.fault_adc_half_erpm){
+			if(ST2MS(current_time - fault_switch_half_timer) > balance_conf.fault_delay_switch_half || ignoreTimers){
+				state = FAULT_SWITCH_HALF;
+				return true;
+			}
+		} else {
+			fault_switch_half_timer = current_time;
 		}
-	} else {
-		fault_switch_half_timer = current_time;
 	}
 
 	// Check pitch angle
@@ -675,7 +677,10 @@ static THD_FUNCTION(balance_thread, arg) {
 			if(adc1 > balance_conf.fault_adc1 && adc2 > balance_conf.fault_adc2){
 				switch_state = ON;
 			}else if(adc1 > balance_conf.fault_adc1 || adc2 > balance_conf.fault_adc2){
-				switch_state = HALF;
+				if (balance_conf.fault_is_dual_switch)
+					switch_state = ON;
+				else
+					switch_state = HALF;
 			}else{
 				switch_state = OFF;
 			}

diff --git a/applications/appconf_default.h b/applications/appconf_default.h
@@ -355,6 +355,9 @@
 #ifndef APPCONF_BALANCE_FAULT_ADC_HALF_ERPM
 #define APPCONF_BALANCE_FAULT_ADC_HALF_ERPM 		1000
 #endif
+#ifndef APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH
+#define APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH 		false
+#endif
 #ifndef APPCONF_BALANCE_TILTBACK_DUTY_ANGLE
 #define APPCONF_BALANCE_TILTBACK_DUTY_ANGLE 		10.0
 #endif

diff --git a/comm/commands.c b/comm/commands.c
@@ -1445,6 +1445,12 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 			nrf_driver_pause(6000);
 		}
 
+#ifdef USE_LISPBM
+		if (packet_id == COMM_LISP_ERASE_CODE) {
+			lispif_restart(false, false);
+		}
+#endif
+
 		uint16_t flash_res = flash_helper_erase_code(packet_id == COMM_QMLUI_ERASE ? CODE_IND_QML : CODE_IND_LISP);
 
 		int32_t ind = 0;
@@ -1637,7 +1643,7 @@ int commands_printf(const char* format, ...) {
 
 	int len_to_print = (len < (PRINT_BUFFER_SIZE - 1)) ? len + 1 : PRINT_BUFFER_SIZE;
 
-	if(len > 0) {
+	if (len > 0) {
 		commands_send_packet_last_blocking((unsigned char*)print_buffer, len_to_print);
 	}
 
@@ -1659,12 +1665,12 @@ int commands_printf_lisp(const char* format, ...) {
 
 	int len_to_print = (len < (PRINT_BUFFER_SIZE - 1)) ? len + 1 : PRINT_BUFFER_SIZE;
 
-	if(len > 0) {
+	if (len > 0) {
 		if (print_buffer[len_to_print - 1] == '\n') {
 			len_to_print--;
 		}
 
-		commands_send_packet_last_blocking((unsigned char*)print_buffer, len_to_print);
+		commands_send_packet((unsigned char*)print_buffer, len_to_print);
 	}
 
 	chMtxUnlock(&print_mutex);

diff --git a/conf_general.h b/conf_general.h
@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			6
 #define FW_VERSION_MINOR			00
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		53
+#define FW_TEST_VERSION_NUMBER		56
 
 #include "datatypes.h"
 

diff --git a/confgenerator.c b/confgenerator.c
@@ -1,5 +1,6 @@
 // This file is autogenerated by VESC Tool
 
+#include <string.h>
 #include "buffer.h"
 #include "conf_general.h"
 #include "confgenerator.h"
@@ -310,6 +311,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_switch_half, &ind);
 	buffer_append_uint16(buffer, conf->app_balance_conf.fault_delay_switch_full, &ind);
 	buffer_append_uint16(buffer, conf->app_balance_conf.fault_adc_half_erpm, &ind);
+	buffer[ind++] = conf->app_balance_conf.fault_is_dual_switch;
 	buffer_append_float16(buffer, conf->app_balance_conf.tiltback_duty_angle, 100, &ind);
 	buffer_append_float16(buffer, conf->app_balance_conf.tiltback_duty_speed, 100, &ind);
 	buffer_append_float16(buffer, conf->app_balance_conf.tiltback_duty, 1000, &ind);
@@ -703,6 +705,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->app_balance_conf.fault_delay_switch_half = buffer_get_uint16(buffer, &ind);
 	conf->app_balance_conf.fault_delay_switch_full = buffer_get_uint16(buffer, &ind);
 	conf->app_balance_conf.fault_adc_half_erpm = buffer_get_uint16(buffer, &ind);
+	conf->app_balance_conf.fault_is_dual_switch = buffer[ind++];
 	conf->app_balance_conf.tiltback_duty_angle = buffer_get_float16(buffer, 100, &ind);
 	conf->app_balance_conf.tiltback_duty_speed = buffer_get_float16(buffer, 100, &ind);
 	conf->app_balance_conf.tiltback_duty = buffer_get_float16(buffer, 1000, &ind);
@@ -1080,6 +1083,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
 	conf->app_balance_conf.fault_delay_switch_half = APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF;
 	conf->app_balance_conf.fault_delay_switch_full = APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL;
 	conf->app_balance_conf.fault_adc_half_erpm = APPCONF_BALANCE_FAULT_ADC_HALF_ERPM;
+	conf->app_balance_conf.fault_is_dual_switch = APPCONF_BALANCE_FAULT_IS_DUAL_SWITCH;
 	conf->app_balance_conf.tiltback_duty_angle = APPCONF_BALANCE_TILTBACK_DUTY_ANGLE;
 	conf->app_balance_conf.tiltback_duty_speed = APPCONF_BALANCE_TILTBACK_DUTY_SPEED;
 	conf->app_balance_conf.tiltback_duty = APPCONF_BALANCE_TILTBACK_DUTY;

diff --git a/confgenerator.h b/confgenerator.h
@@ -8,8 +8,8 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		3188187738
-#define APPCONF_SIGNATURE		992988844
+#define MCCONF_SIGNATURE		2217312675
+#define APPCONF_SIGNATURE		2551442059
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

diff --git a/datatypes.h b/datatypes.h
@@ -154,6 +154,7 @@ typedef enum {
 	FAULT_CODE_ENCODER_NO_MAGNET,
 	FAULT_CODE_ENCODER_MAGNET_TOO_STRONG,
 	FAULT_CODE_PHASE_FILTER,
+	FAULT_CODE_ENCODER_FAULT,
 } mc_fault_code;
 
 typedef enum {
@@ -188,7 +189,8 @@ typedef enum {
 	SENSOR_PORT_MODE_SINCOS,
 	SENSOR_PORT_MODE_TS5700N8501,
 	SENSOR_PORT_MODE_TS5700N8501_MULTITURN,
-	SENSOR_PORT_MODE_MT6816_SPI
+	SENSOR_PORT_MODE_MT6816_SPI,
+	SENSOR_PORT_MODE_AS5x47U_SPI
 } sensor_port_mode;
 
 typedef struct {
@@ -777,6 +779,7 @@ typedef struct {
 	uint16_t fault_delay_switch_half;
 	uint16_t fault_delay_switch_full;
 	uint16_t fault_adc_half_erpm;
+	bool fault_is_dual_switch;
 	float tiltback_duty_angle;
 	float tiltback_duty_speed;
 	float tiltback_duty;