Skip to content

Commit

Permalink
Some cleanup
Browse files Browse the repository at this point in the history
  • Loading branch information
@vedderb
vedderb committed Nov 8, 2022
1 parent f8dc120 commit 7cacf99
Show file tree
Hide file tree
Showing 6 changed files with 13 additions and 134 deletions.
1 change: 1 addition & 0 deletions CHANGELOG
View file
Original file line number Diff line number Diff line change
Expand Up @@ -23,6 +23,7 @@
* Added PT1000 temperature sensor support.
* APP ADC button bitfield and CC disable support.
* BissC encoder support: https://github.com/vedderb/bldc/pull/536
* Better detection failt handling and reporting: https://github.com/vedderb/bldc/pull/533

=== FW 5.03 ===
* Fixed inductance measurement bug.
Expand Down
10 changes: 4 additions & 6 deletions conf_general.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -1179,12 +1179,12 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
linkage_sum += mcpwm_foc_get_vq() / rad_s_now;

// Optionally use magnitude
// linkage_sum += sqrtf(SQ(mcpwm_foc_get_vq()) + SQ(mcpwm_foc_get_vd())) / rad_s_now;
// linkage_sum += sqrtf(SQ(mcpwm_foc_get_vq()) + SQ(mcpwm_foc_get_vd())) / rad_s_now;

// Optionally use magnitude of observer state
// float x1, x2;
// mcpwm_foc_get_observer_state(&x1, &x2);
// linkage_sum += sqrtf(SQ(x1) + SQ(x2));
// float x1, x2;
// mcpwm_foc_get_observer_state(&x1, &x2);
// linkage_sum += sqrtf(SQ(x1) + SQ(x2));

linkage_samples += 1.0;
chThdSleep(1);
Expand All @@ -1205,8 +1205,6 @@ int conf_general_measure_flux_linkage_openloop(float current, float duty,
if (*linkage > 0.0) {
*result = true;
}


}
}

Expand Down
2 changes: 1 addition & 1 deletion conf_general.h
View file
Original file line number Diff line number Diff line change
Expand Up @@ -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 73
#define FW_TEST_VERSION_NUMBER 74

#include "datatypes.h"

Expand Down
3 changes: 2 additions & 1 deletion lispBM/lispif_vesc_extensions.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -3176,7 +3176,8 @@ typedef struct {

static void measure_res_task(void *arg) {
measure_res_args *a = (measure_res_args*)arg;
float res = mcpwm_foc_measure_resistance(a->current, a->samples, true);
float res = -1.0;
mcpwm_foc_measure_resistance(a->current, a->samples, true, &res);
lbm_unblock_ctx(a->id, lbm_enc_float(res));
}

Expand Down
6 changes: 3 additions & 3 deletions motor/mc_interface.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -790,7 +790,7 @@ void mc_interface_set_openloop_current(float current, float rpm) {
break;

case MOTOR_TYPE_FOC:
mcpwm_foc_set_openloop_current(current, rpm); // Should this use DIR_MULT?
mcpwm_foc_set_openloop_current(current, DIR_MULT * rpm);
break;

default:
Expand All @@ -814,7 +814,7 @@ void mc_interface_set_openloop_phase(float current, float phase){
break;

case MOTOR_TYPE_FOC:
mcpwm_foc_set_openloop_phase(current, phase); // Should this use DIR_MULT?
mcpwm_foc_set_openloop_phase(current, DIR_MULT * phase);
break;

default:
Expand All @@ -838,7 +838,7 @@ void mc_interface_set_openloop_duty(float dutyCycle, float rpm){
break;

case MOTOR_TYPE_FOC:
mcpwm_foc_set_openloop_duty(dutyCycle, rpm); // Should this use DIR_MULT?
mcpwm_foc_set_openloop_duty(dutyCycle, DIR_MULT * rpm);
break;

default:
Expand Down
125 changes: 2 additions & 123 deletions terminal.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -91,9 +91,7 @@ void terminal_process_string(char *str) {
}
}

if (strcmp(argv[0], "ping") == 0) {
commands_printf("pong\n");
} else if (strcmp(argv[0], "last_adc_duration") == 0) {
if (strcmp(argv[0], "last_adc_duration") == 0) {
commands_printf("Latest ADC duration: %.4f ms", (double)(mcpwm_get_last_adc_isr_duration() * 1000.0));
commands_printf("Latest injected ADC duration: %.4f ms", (double)(mc_interface_get_last_inj_adc_isr_duration() * 1000.0));
commands_printf("Latest sample ADC duration: %.4f ms\n", (double)(mc_interface_get_last_sample_adc_isr_duration() * 1000.0));
Expand Down Expand Up @@ -275,101 +273,6 @@ void terminal_process_string(char *str) {
commands_printf("Cycle int limit: %.2f", (double)rpm_dep.cycle_int_limit);
commands_printf("Cycle int limit running: %.2f", (double)rpm_dep.cycle_int_limit_running);
commands_printf("Cycle int limit max: %.2f\n", (double)rpm_dep.cycle_int_limit_max);
} else if (strcmp(argv[0], "can_devs") == 0) {
commands_printf("CAN devices seen on the bus the past second:\n");
for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
can_status_msg *msg = comm_can_get_status_msg_index(i);
if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < 5.0) {
commands_printf("MSG1 ID : %i", msg->id);
commands_printf("RX Time : %i", msg->rx_time);
commands_printf("Age (s) : %.4f", (double)UTILS_AGE_S(msg->rx_time));
commands_printf("RPM : %.2f", (double)msg->rpm);
commands_printf("Current : %.2f", (double)msg->current);
commands_printf("Duty : %.2f\n", (double)msg->duty);
}

can_status_msg_2 *msg2 = comm_can_get_status_msg_2_index(i);
if (msg2->id >= 0 && UTILS_AGE_S(msg2->rx_time) < 5.0) {
commands_printf("MSG2 ID : %i", msg2->id);
commands_printf("RX Time : %i", msg2->rx_time);
commands_printf("Age (s) : %.4f", (double)UTILS_AGE_S(msg2->rx_time));
commands_printf("Ah : %.2f", (double)msg2->amp_hours);
commands_printf("Ah Charged : %.2f\n", (double)msg2->amp_hours_charged);
}

can_status_msg_3 *msg3 = comm_can_get_status_msg_3_index(i);
if (msg3->id >= 0 && UTILS_AGE_S(msg3->rx_time) < 5.0) {
commands_printf("MSG3 ID : %i", msg3->id);
commands_printf("RX Time : %i", msg3->rx_time);
commands_printf("Age (s) : %.4f", (double)UTILS_AGE_S(msg3->rx_time));
commands_printf("Wh : %.2f", (double)msg3->watt_hours);
commands_printf("Wh Charged : %.2f\n", (double)msg3->watt_hours_charged);
}

can_status_msg_4 *msg4 = comm_can_get_status_msg_4_index(i);
if (msg4->id >= 0 && UTILS_AGE_S(msg4->rx_time) < 5.0) {
commands_printf("MSG4 ID : %i", msg4->id);
commands_printf("RX Time : %i", msg4->rx_time);
commands_printf("Age (s) : %.4f", (double)UTILS_AGE_S(msg4->rx_time));
commands_printf("Current In : %.2f", (double)msg4->current_in);
commands_printf("Temp FET : %.2f", (double)msg4->temp_fet);
commands_printf("Temp Motor : %.2f", (double)msg4->temp_motor);
commands_printf("PID pos : %.2f\n", (double)msg4->pid_pos_now);
}

can_status_msg_5 *msg5 = comm_can_get_status_msg_5_index(i);
if (msg5->id >= 0 && UTILS_AGE_S(msg5->rx_time) < 5.0) {
commands_printf("MSG5 ID : %i", msg5->id);
commands_printf("RX Time : %i", msg5->rx_time);
commands_printf("Age (s) : %.4f", (double)UTILS_AGE_S(msg5->rx_time));
commands_printf("Tacho : %d", msg5->tacho_value);
commands_printf("V In : %.2f\n", (double)msg5->v_in);
}

can_status_msg_6 *msg6 = comm_can_get_status_msg_6_index(i);
if (msg6->id >= 0 && UTILS_AGE_S(msg6->rx_time) < 5.0) {
commands_printf("MSG6 ID : %i", msg6->id);
commands_printf("RX Time : %i", msg6->rx_time);
commands_printf("Age (s) : %.4f", (double)UTILS_AGE_S(msg6->rx_time));
commands_printf("ADC 1-3 : %.3f V, %.3f V, %.3f V", (double)msg6->adc_1, (double)msg6->adc_2, (double)msg6->adc_3);
commands_printf("PPM : %.2f\n", (double)msg6->ppm);
}

io_board_adc_values *io_adc = comm_can_get_io_board_adc_1_4_index(i);
if (io_adc->id >= 0 && UTILS_AGE_S(io_adc->rx_time) < 5.0) {
commands_printf("IO Board ADC 1_4");
commands_printf("ID : %i", io_adc->id);
commands_printf("RX Time : %i", io_adc->rx_time);
commands_printf("Age (milliseconds) : %.2f", (double)(UTILS_AGE_S(io_adc->rx_time) * 1000.0));
commands_printf("ADC : %.2f %.2f %.2f %.2f\n",
(double)io_adc->adc_voltages[0], (double)io_adc->adc_voltages[1],
(double)io_adc->adc_voltages[2], (double)io_adc->adc_voltages[3]);
}

io_adc = comm_can_get_io_board_adc_5_8_index(i);
if (io_adc->id >= 0 && UTILS_AGE_S(io_adc->rx_time) < 5.0) {
commands_printf("IO Board ADC 5_8");
commands_printf("ID : %i", io_adc->id);
commands_printf("RX Time : %i", io_adc->rx_time);
commands_printf("Age (milliseconds) : %.2f", (double)(UTILS_AGE_S(io_adc->rx_time) * 1000.0));
commands_printf("ADC : %.2f %.2f %.2f %.2f\n",
(double)io_adc->adc_voltages[0], (double)io_adc->adc_voltages[1],
(double)io_adc->adc_voltages[2], (double)io_adc->adc_voltages[3]);
}

io_board_digial_inputs *io_in = comm_can_get_io_board_digital_in_index(i);
if (io_in->id >= 0 && UTILS_AGE_S(io_in->rx_time) < 5.0) {
commands_printf("IO Board Inputs");
commands_printf("ID : %i", io_in->id);
commands_printf("RX Time : %i", io_in->rx_time);
commands_printf("Age (milliseconds) : %.2f", (double)(UTILS_AGE_S(io_in->rx_time) * 1000.0));
commands_printf("IN : %llu %llu %llu %llu %llu %llu %llu %llu\n",
(io_in->inputs >> 0) & 1, (io_in->inputs >> 1) & 1,
(io_in->inputs >> 2) & 1, (io_in->inputs >> 3) & 1,
(io_in->inputs >> 4) & 1, (io_in->inputs >> 5) & 1,
(io_in->inputs >> 6) & 1, (io_in->inputs >> 7) & 1);
}
}
} else if (strcmp(argv[0], "foc_encoder_detect") == 0) {
if (argc == 2) {
float current = -1.0;
Expand Down Expand Up @@ -965,21 +868,6 @@ void terminal_process_string(char *str) {
} else {
commands_printf("This command requires one argument. [Max_power_loss]\n");
}
} else if (strcmp(argv[0], "can_scan") == 0) {
bool found = false;
for (int i = 0;i < 254;i++) {
HW_TYPE hw_type;
if (comm_can_ping(i, &hw_type)) {
commands_printf("Found %s with ID: %d", utils_hw_type_to_string(hw_type), i);
found = true;
}
}

if (found) {
commands_printf("Done\n");
} else {
commands_printf("No CAN devices found\n");
}
} else if (strcmp(argv[0], "foc_detect_apply_all_can") == 0) {
if (argc == 2) {
float max_power_loss = -1.0;
Expand Down Expand Up @@ -1231,14 +1119,11 @@ void terminal_process_string(char *str) {
commands_printf("help");
commands_printf(" Show this help");

commands_printf("ping");
commands_printf(" Print pong here to see if the reply works");

commands_printf("last_adc_duration");
commands_printf(" The time the latest ADC interrupt consumed");

commands_printf("kv");
commands_printf(" The calculated kv of the motor");
commands_printf(" The calculated kv of the motor (BLDC)");

commands_printf("mem");
commands_printf(" Show memory usage");
Expand Down Expand Up @@ -1266,9 +1151,6 @@ void terminal_process_string(char *str) {
commands_printf("rpm_dep");
commands_printf(" Prints some rpm-dep values");

commands_printf("can_devs");
commands_printf(" Prints all CAN devices seen on the bus the past second");

commands_printf("foc_encoder_detect [current]");
commands_printf(" Run the motor at 1Hz on open loop and compute encoder settings");

Expand Down Expand Up @@ -1322,9 +1204,6 @@ void terminal_process_string(char *str) {
commands_printf("foc_detect_apply_all [max_power_loss_W]");
commands_printf(" Detect and apply all motor settings, based on maximum resistive motor power losses.");

commands_printf("can_scan");
commands_printf(" Scan CAN-bus using ping commands, and print all devices that are found.");

commands_printf("foc_detect_apply_all_can [max_power_loss_W]");
commands_printf(" Detect and apply all motor settings, based on maximum resistive motor power losses. Also");
commands_printf(" initiates detection in all VESCs found on the CAN-bus.");
Expand Down

0 comments on commit 7cacf99

Please sign in to comment.