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terminal.c
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terminal.c
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/*
Copyright 2016 - 2022 Benjamin Vedder benjamin@vedder.se
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 "ch.h"
#include "hal.h"
#include "terminal.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "mc_interface.h"
#include "commands.h"
#include "hw.h"
#include "comm_can.h"
#include "utils_math.h"
#include "utils_sys.h"
#include "timeout.h"
#include "encoder/encoder.h"
#include "app.h"
#include "comm_usb.h"
#include "comm_usb_serial.h"
#include "mempools.h"
#include "crc.h"
#include "firmware_metadata.h"
#include <string.h>
#include <stdio.h>
#include <math.h>
// Settings
#define FAULT_VEC_LEN 25
#define CALLBACK_LEN 40
// Private types
typedef struct _terminal_callback_struct {
const char *command;
const char *help;
const char *arg_names;
void(*cbf)(int argc, const char **argv);
} terminal_callback_struct;
// Private variables
static volatile fault_data fault_vec[FAULT_VEC_LEN];
static volatile int fault_vec_write = 0;
static terminal_callback_struct callbacks[CALLBACK_LEN];
static int callback_write = 0;
void terminal_process_string(char *str) {
enum { kMaxArgs = 64 };
int argc = 0;
char *argv[kMaxArgs];
char *p2 = strtok(str, " ");
while (p2 && argc < kMaxArgs) {
argv[argc++] = p2;
p2 = strtok(0, " ");
}
if (argc == 0) {
commands_printf("No command received\n");
return;
}
for (int i = 0;i < callback_write;i++) {
if (callbacks[i].cbf != 0 && strcmp(argv[0], callbacks[i].command) == 0) {
callbacks[i].cbf(argc, (const char**)argv);
return;
}
}
if (strcmp(argv[0], "ping") == 0) {
commands_printf("pong\n");
} else 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));
} else if (strcmp(argv[0], "kv") == 0) {
commands_printf("Calculated KV: %.2f rpm/volt\n", (double)mcpwm_get_kv_filtered());
} else if (strcmp(argv[0], "mem") == 0) {
size_t n, size;
n = chHeapStatus(NULL, &size);
commands_printf("core free memory : %u bytes", chCoreGetStatusX());
commands_printf("heap fragments : %u", n);
commands_printf("heap free total : %u bytes\n", size);
} else if (strcmp(argv[0], "threads") == 0) {
thread_t *tp;
static const char *states[] = {CH_STATE_NAMES};
static systime_t last_check_time = 0;
commands_printf(" addr stack prio refs state name motor stackmin time ");
commands_printf("-----------------------------------------------------------------------------");
tp = chRegFirstThread();
do {
int stack_left = utils_check_min_stack_left(tp);
commands_printf("%.8lx %.8lx %4lu %4lu %9s %14s %5lu %8d %lu (%.1f %%)",
(uint32_t)tp, (uint32_t)tp->p_ctx.r13,
(uint32_t)tp->p_prio, (uint32_t)(tp->p_refs - 1),
states[tp->p_state], tp->p_name, tp->motor_selected, stack_left, (uint32_t)tp->p_time,
(double)(100.0 * (float)tp->p_time / (float)(chVTGetSystemTimeX() - last_check_time)));
tp->p_time = 0;
tp = chRegNextThread(tp);
} while (tp != NULL);
last_check_time = chVTGetSystemTimeX();
commands_printf(" ");
} else if (strcmp(argv[0], "fault") == 0) {
commands_printf("%s\n", mc_interface_fault_to_string(mc_interface_get_fault()));
} else if (strcmp(argv[0], "faults") == 0) {
if (fault_vec_write == 0) {
commands_printf("No faults registered since startup\n");
} else {
commands_printf("The following faults were registered since start:\n");
for (int i = 0;i < fault_vec_write;i++) {
commands_printf("Fault : %s", mc_interface_fault_to_string(fault_vec[i].fault));
commands_printf("Motor : %d", fault_vec[i].motor);
commands_printf("Current : %.1f", (double)fault_vec[i].current);
commands_printf("Current filtered : %.1f", (double)fault_vec[i].current_filtered);
commands_printf("Voltage : %.2f", (double)fault_vec[i].voltage);
#ifdef HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
commands_printf("Gate drv voltage : %.2f", (double)fault_vec[i].gate_driver_voltage);
#endif
commands_printf("Duty : %.3f", (double)fault_vec[i].duty);
commands_printf("RPM : %.1f", (double)fault_vec[i].rpm);
commands_printf("Tacho : %d", fault_vec[i].tacho);
commands_printf("Cycles running : %d", fault_vec[i].cycles_running);
commands_printf("TIM duty : %d", (int)((float)fault_vec[i].tim_top * fault_vec[i].duty));
commands_printf("TIM val samp : %d", fault_vec[i].tim_val_samp);
commands_printf("TIM current samp : %d", fault_vec[i].tim_current_samp);
commands_printf("TIM top : %d", fault_vec[i].tim_top);
commands_printf("Comm step : %d", fault_vec[i].comm_step);
commands_printf("Temperature : %.2f", (double)fault_vec[i].temperature);
#ifdef HW_HAS_DRV8301
if (fault_vec[i].fault == FAULT_CODE_DRV) {
commands_printf("DRV8301_FAULTS : %s", drv8301_faults_to_string(fault_vec[i].drv8301_faults));
}
#elif defined(HW_HAS_DRV8320S)
if (fault_vec[i].fault == FAULT_CODE_DRV) {
commands_printf("DRV8320S_FAULTS : %s", drv8320s_faults_to_string(fault_vec[i].drv8301_faults));
}
#elif defined(HW_HAS_DRV8323S)
if (fault_vec[i].fault == FAULT_CODE_DRV) {
commands_printf("DRV8323S_FAULTS : %s", drv8323s_faults_to_string(fault_vec[i].drv8301_faults));
}
#endif
if (fault_vec[i].info_str != 0) {
char f_str[100];
strcpy(f_str, "Info : ");
strcpy(f_str + 19, fault_vec[i].info_str);
if (fault_vec[i].info_argn == 0) {
commands_printf(f_str);
} else if (fault_vec[i].info_argn == 1) {
commands_printf(f_str, (double)fault_vec[i].info_args[0]);
} else if (fault_vec[i].info_argn == 2) {
commands_printf(f_str, (double)fault_vec[i].info_args[0], (double)fault_vec[i].info_args[1]);
}
}
commands_printf(" ");
}
}
} else if (strcmp(argv[0], "tim") == 0) {
chSysLock();
volatile int t1_cnt = TIM1->CNT;
volatile int t8_cnt = TIM8->CNT;
volatile int t1_cnt2 = TIM1->CNT;
volatile int t2_cnt = TIM2->CNT;
volatile int dir1 = !!(TIM1->CR1 & (1 << 4));
volatile int dir8 = !!(TIM8->CR1 & (1 << 4));
chSysUnlock();
int duty1 = TIM1->CCR1;
int duty2 = TIM1->CCR2;
int duty3 = TIM1->CCR3;
int top = TIM1->ARR;
int voltage_samp = TIM8->CCR1;
int current1_samp = TIM1->CCR4;
int current2_samp = TIM8->CCR2;
commands_printf("Tim1 CNT: %i", t1_cnt);
commands_printf("Tim8 CNT: %i", t8_cnt);
commands_printf("Tim2 CNT: %i", t2_cnt);
commands_printf("Amount off CNT: %i",top - (2*t8_cnt + t1_cnt + t1_cnt2)/2);
commands_printf("Duty cycle1: %u", duty1);
commands_printf("Duty cycle2: %u", duty2);
commands_printf("Duty cycle3: %u", duty3);
commands_printf("Top: %u", top);
commands_printf("Dir1: %u", dir1);
commands_printf("Dir8: %u", dir8);
commands_printf("Voltage sample: %u", voltage_samp);
commands_printf("Current 1 sample: %u", current1_samp);
commands_printf("Current 2 sample: %u\n", current2_samp);
} else if (strcmp(argv[0], "volt") == 0) {
commands_printf("Input voltage: %.2f\n", (double)mc_interface_get_input_voltage_filtered());
#ifdef HW_HAS_GATE_DRIVER_SUPPLY_MONITOR
commands_printf("Gate driver power supply output voltage: %.2f\n", (double)GET_GATE_DRIVER_SUPPLY_VOLTAGE());
#endif
} else if (strcmp(argv[0], "param_detect") == 0) {
// Use COMM_MODE_DELAY and try to figure out the motor parameters.
if (argc == 4) {
float current = -1.0;
float min_rpm = -1.0;
float low_duty = -1.0;
sscanf(argv[1], "%f", ¤t);
sscanf(argv[2], "%f", &min_rpm);
sscanf(argv[3], "%f", &low_duty);
if (current > 0.0 && current < mc_interface_get_configuration()->l_current_max &&
min_rpm > 10.0 && min_rpm < 3000.0 &&
low_duty > 0.02 && low_duty < 0.8) {
float cycle_integrator;
float coupling_k;
int8_t hall_table[8];
int hall_res;
if (conf_general_detect_motor_param(current, min_rpm, low_duty, &cycle_integrator, &coupling_k, hall_table, &hall_res)) {
commands_printf("Cycle integrator limit: %.2f", (double)cycle_integrator);
commands_printf("Coupling factor: %.2f", (double)coupling_k);
if (hall_res == 0) {
commands_printf("Detected hall sensor table:");
commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n",
hall_table[0], hall_table[1], hall_table[2], hall_table[3],
hall_table[4], hall_table[5], hall_table[6], hall_table[7]);
} else if (hall_res == -1) {
commands_printf("Hall sensor detection failed:");
commands_printf("%i, %i, %i, %i, %i, %i, %i, %i\n",
hall_table[0], hall_table[1], hall_table[2], hall_table[3],
hall_table[4], hall_table[5], hall_table[6], hall_table[7]);
} else if (hall_res == -2) {
commands_printf("WS2811 enabled. Hall sensors cannot be used.\n");
} else if (hall_res == -3) {
commands_printf("Encoder enabled. Hall sensors cannot be used.\n");
}
} else {
commands_printf("Detection failed. Try again with different parameters.\n");
}
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires three arguments.\n");
}
} else if (strcmp(argv[0], "rpm_dep") == 0) {
mc_rpm_dep_struct rpm_dep = mcpwm_get_rpm_dep();
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;
sscanf(argv[1], "%f", ¤t);
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
if (current > 0.0 && current <= mcconf->l_current_max) {
if (encoder_is_configured()) {
mc_motor_type type_old = mcconf->motor_type;
mcconf->motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(mcconf);
float offset = 0.0;
float ratio = 0.0;
bool inverted = false;
mcpwm_foc_encoder_detect(current, true, &offset, &ratio, &inverted);
mcconf->motor_type = type_old;
mc_interface_set_configuration(mcconf);
commands_printf("Offset : %.2f", (double)offset);
commands_printf("Ratio : %.2f", (double)ratio);
commands_printf("Inverted : %s\n", inverted ? "true" : "false");
} else {
commands_printf("Encoder not enabled.\n");
}
} else {
commands_printf("Invalid argument(s).\n");
}
mempools_free_mcconf(mcconf);
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "measure_res") == 0) {
if (argc == 2) {
float current = -1.0;
sscanf(argv[1], "%f", ¤t);
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf_old = *mc_interface_get_configuration();
if (current > 0.0 && current <= mcconf->l_current_max) {
mcconf->motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(mcconf);
commands_printf("Resistance: %.6f ohm\n", (double)mcpwm_foc_measure_resistance(current, 2000, true));
mc_interface_set_configuration(mcconf_old);
} else {
commands_printf("Invalid argument(s).\n");
}
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "measure_ind") == 0) {
if (argc == 2) {
float duty = -1.0;
sscanf(argv[1], "%f", &duty);
if (duty > 0.0 && duty < 0.9) {
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf_old = *mc_interface_get_configuration();
mcconf->motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(mcconf);
float curr, ld_lq_diff;
float ind = mcpwm_foc_measure_inductance(duty, 400, &curr, &ld_lq_diff);
commands_printf("Inductance: %.2f uH, ld_lq_diff: %.2f uH (%.2f A)\n",
(double)ind, (double)ld_lq_diff, (double)curr);
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "measure_linkage") == 0) {
if (argc == 5) {
float current = -1.0;
float duty = -1.0;
float min_erpm = -1.0;
float res = -1.0;
sscanf(argv[1], "%f", ¤t);
sscanf(argv[2], "%f", &duty);
sscanf(argv[3], "%f", &min_erpm);
sscanf(argv[4], "%f", &res);
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max &&
min_erpm > 0.0 && duty > 0.02 && res >= 0.0) {
float linkage;
conf_general_measure_flux_linkage(current, duty, min_erpm, res, &linkage);
commands_printf("Flux linkage: %.7f\n", (double)linkage);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires four arguments.\n");
}
} else if (strcmp(argv[0], "measure_res_ind") == 0) {
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf_old = *mc_interface_get_configuration();
mcconf->motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(mcconf);
float res = 0.0;
float ind = 0.0;
float ld_lq_diff = 0.0;
if (mcpwm_foc_measure_res_ind(&res, &ind, &ld_lq_diff)) {
commands_printf("Resistance: %.6f ohm", (double)res);
commands_printf("Inductance: %.2f uH (Lq-Ld: %.2f uH)\n", (double)ind, (double)ld_lq_diff);
} else {
commands_printf("Error measuring resistance or inductance\n");
}
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
} else if (strcmp(argv[0], "measure_linkage_foc") == 0) {
if (argc == 2) {
float duty = -1.0;
sscanf(argv[1], "%f", &duty);
if (duty > 0.0) {
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mc_configuration *mcconf_old = mempools_alloc_mcconf();
*mcconf_old = *mc_interface_get_configuration();
mcconf->motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(mcconf);
// Disable timeout
systime_t tout = timeout_get_timeout_msec();
float tout_c = timeout_get_brake_current();
KILL_SW_MODE tout_ksw = timeout_get_kill_sw_mode();
timeout_reset();
timeout_configure(60000, 0.0, KILL_SW_MODE_DISABLED);
for (int i = 0;i < 100;i++) {
mc_interface_set_duty(((float)i / 100.0) * duty);
chThdSleepMilliseconds(20);
}
float vq_avg = 0.0;
float rpm_avg = 0.0;
float samples = 0.0;
float iq_avg = 0.0;
for (int i = 0;i < 1000;i++) {
vq_avg += mcpwm_foc_get_vq();
rpm_avg += mc_interface_get_rpm();
iq_avg += mc_interface_get_tot_current_directional();
samples += 1.0;
chThdSleepMilliseconds(1);
}
mc_interface_release_motor();
mc_interface_wait_for_motor_release(1.0);
mc_interface_set_configuration(mcconf_old);
mempools_free_mcconf(mcconf);
mempools_free_mcconf(mcconf_old);
// Enable timeout
timeout_configure(tout, tout_c, tout_ksw);
vq_avg /= samples;
rpm_avg /= samples;
iq_avg /= samples;
float linkage = (vq_avg - mcconf->foc_motor_r * iq_avg) / RPM2RADPS_f(rpm_avg);
commands_printf("Flux linkage: %.7f\n", (double)linkage);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "measure_linkage_openloop") == 0) {
if (argc == 6) {
float current = -1.0;
float duty = -1.0;
float erpm_per_sec = -1.0;
float res = -1.0;
float ind = -1.0;
sscanf(argv[1], "%f", ¤t);
sscanf(argv[2], "%f", &duty);
sscanf(argv[3], "%f", &erpm_per_sec);
sscanf(argv[4], "%f", &res);
sscanf(argv[5], "%f", &ind);
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max &&
erpm_per_sec > 0.0 && duty > 0.02 && res >= 0.0 && ind >= 0.0) {
float linkage, linkage_undriven, undriven_samples;
commands_printf("Measuring flux linkage...");
conf_general_measure_flux_linkage_openloop(current, duty, erpm_per_sec, res, ind,
&linkage, &linkage_undriven, &undriven_samples);
commands_printf(
"Flux linkage : %.7f\n"
"Flux Linkage (undriven) : %.7f\n"
"Undriven samples : %.1f\n",
(double)linkage, (double)linkage_undriven, (double)undriven_samples);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires five arguments.\n");
}
} else if (strcmp(argv[0], "foc_state") == 0) {
mcpwm_foc_print_state();
commands_printf(" ");
} else if (strcmp(argv[0], "foc_dc_cal") == 0) {
commands_printf("Performing DC offset calibration...");
int res = mcpwm_foc_dc_cal(true);
if (res >= 0) {
conf_general_store_mc_configuration((mc_configuration*)mc_interface_get_configuration(),
mc_interface_get_motor_thread() == 2);
commands_printf("Done!\n");
} else {
commands_printf("DC Cal Failed: %d\n", res);
}
} else if (strcmp(argv[0], "hw_status") == 0) {
commands_printf("Firmware: %d.%d", FW_VERSION_MAJOR, FW_VERSION_MINOR);
#ifdef HW_NAME
commands_printf("Hardware: %s", HW_NAME);
#endif
commands_printf("UUID: %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X %02X",
STM32_UUID_8[0], STM32_UUID_8[1], STM32_UUID_8[2], STM32_UUID_8[3],
STM32_UUID_8[4], STM32_UUID_8[5], STM32_UUID_8[6], STM32_UUID_8[7],
STM32_UUID_8[8], STM32_UUID_8[9], STM32_UUID_8[10], STM32_UUID_8[11]);
commands_printf("Permanent NRF found: %s", conf_general_permanent_nrf_found ? "Yes" : "No");
commands_printf("Odometer : %llu m", mc_interface_get_odometer());
commands_printf("Runtime : %llu s", g_backup.runtime);
float curr0_offset;
float curr1_offset;
float curr2_offset;
mcpwm_foc_get_current_offsets(&curr0_offset, &curr1_offset, &curr2_offset,
mc_interface_get_motor_thread() == 2);
commands_printf("FOC Current Offsets: %.2f %.2f %.2f",
(double)curr0_offset, (double)curr1_offset, (double)curr2_offset);
float v0_offset;
float v1_offset;
float v2_offset;
mcpwm_foc_get_voltage_offsets(&v0_offset, &v1_offset, &v2_offset,
mc_interface_get_motor_thread() == 2);
commands_printf("FOC Voltage Offsets: %.4f %.4f %.4f",
(double)v0_offset, (double)v1_offset, (double)v2_offset);
mcpwm_foc_get_voltage_offsets_undriven(&v0_offset, &v1_offset, &v2_offset,
mc_interface_get_motor_thread() == 2);
commands_printf("FOC Voltage Offsets Undriven: %.4f %.4f %.4f",
(double)v0_offset, (double)v1_offset, (double)v2_offset);
#ifdef COMM_USE_USB
commands_printf("USB config events: %d", comm_usb_serial_configured_cnt());
commands_printf("USB write timeouts: %u", comm_usb_get_write_timeout_cnt());
#else
commands_printf("USB not enabled on hardware.");
#endif
commands_printf("Mempool mcconf now: %d highest: %d (max %d)",
mempools_mcconf_allocated_num(), mempools_mcconf_highest(), MEMPOOLS_MCCONF_NUM - 1);
commands_printf("Mempool appconf now: %d highest: %d (max %d)",
mempools_appconf_allocated_num(), mempools_appconf_highest(), MEMPOOLS_APPCONF_NUM - 1);
commands_printf(" ");
} else if (strcmp(argv[0], "foc_openloop") == 0) {
if (argc == 3) {
float current = -1.0;
float erpm = -1.0;
sscanf(argv[1], "%f", ¤t);
sscanf(argv[2], "%f", &erpm);
if (current >= 0.0 && erpm >= 0.0) {
timeout_reset();
mcpwm_foc_set_openloop(current, erpm);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires two arguments.\n");
}
} else if (strcmp(argv[0], "foc_openloop_duty") == 0) {
if (argc == 3) {
float duty = -1.0;
float erpm = -1.0;
sscanf(argv[1], "%f", &duty);
sscanf(argv[2], "%f", &erpm);
if (duty >= 0.0 && erpm >= 0.0) {
timeout_reset();
mcpwm_foc_set_openloop_duty(duty, erpm);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires two arguments.\n");
}
} else if (strcmp(argv[0], "nrf_ext_set_enabled") == 0) {
if (argc == 2) {
int enabled = -1;
sscanf(argv[1], "%d", &enabled);
if (enabled >= 0) {
uint8_t buffer[2];
buffer[0] = COMM_EXT_NRF_SET_ENABLED;
buffer[1] = enabled;
commands_send_packet_nrf(buffer, 2);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "foc_sensors_detect_apply") == 0) {
if (argc == 2) {
float current = -1.0;
sscanf(argv[1], "%f", ¤t);
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max) {
int res = conf_general_autodetect_apply_sensors_foc(current, true, true);
if (res == 0) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (res == 1) {
commands_printf("Found hall sensors, using them.\n");
} else if (res == 2) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "rotor_lock_openloop") == 0) {
if (argc == 4) {
float current = -1.0;
float time = -1.0;
float angle = -1.0;
sscanf(argv[1], "%f", ¤t);
sscanf(argv[2], "%f", &time);
sscanf(argv[3], "%f", &angle);
if (fabsf(current) <= mc_interface_get_configuration()->l_current_max &&
angle >= 0.0 && angle <= 360.0) {
if (time <= 1e-6) {
timeout_reset();
mcpwm_foc_set_openloop_phase(current, angle);
commands_printf("OK\n");
} else {
int print_div = 0;
for (float t = 0.0;t < time;t += 0.002) {
timeout_reset();
mcpwm_foc_set_openloop_phase(current, angle);
chThdSleepMilliseconds(2);
print_div++;
if (print_div >= 200) {
print_div = 0;
commands_printf("T left: %.2f s", (double)(time - t));
}
}
mc_interface_set_current(0.0);
commands_printf("Done\n");
}
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires three arguments.\n");
}
} else if (strcmp(argv[0], "foc_detect_apply_all") == 0) {
if (argc == 2) {
float max_power_loss = -1.0;
sscanf(argv[1], "%f", &max_power_loss);
if (max_power_loss > 0.0) {
int motor_thread_old = mc_interface_get_motor_thread();
commands_printf("Running detection...");
int res = conf_general_detect_apply_all_foc(max_power_loss, true, true);
commands_printf("Res: %d", res);
mc_interface_select_motor_thread(1);
if (res >= 0) {
commands_printf("Detection finished and applied. Results:");
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
#ifdef HW_HAS_DUAL_MOTORS
commands_printf("\nMOTOR 1\n");
#endif
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
commands_printf("Motor L : %.2f uH", (double)(mcconf->foc_motor_l * 1e6));
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
if (mcconf->foc_temp_comp) {
commands_printf("Temp Comp Base Temp : %.1f degC", (double)mcconf->foc_temp_comp_base_temp);
}
if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_SENSORLESS) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_HALL) {
commands_printf("Found hall sensors, using them.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mcconf = mc_interface_get_configuration();
commands_printf("\nMOTOR 2\n");
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
commands_printf("Motor L : %.2f uH", (double)(mcconf->foc_motor_l * 1e6));
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_SENSORLESS) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_HALL) {
commands_printf("Found hall sensors, using them.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
#endif
} else {
if (res == -10) {
commands_printf("Could not measure flux linkage.");
} else if (res == -11) {
commands_printf("Fault code occurred during detection.");
}
commands_printf("Detection failed.\n");
}
mc_interface_select_motor_thread(motor_thread_old);
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires one argument.\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;
sscanf(argv[1], "%f", &max_power_loss);
if (max_power_loss > 0.0) {
commands_printf("Running detection...");
int res = conf_general_detect_apply_all_foc_can(true, max_power_loss, 0.0, 0.0, 0.0, 0.0);
commands_printf("Res: %d", res);
if (res >= 0) {
commands_printf("Detection finished and applied. Results:");
#ifdef HW_HAS_DUAL_MOTORS
commands_printf("\nMOTOR 1\n");
#endif
const volatile mc_configuration *mcconf = mc_interface_get_configuration();
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
commands_printf("Motor L : %.2f microH", (double)(mcconf->foc_motor_l * 1e6));
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
if (mcconf->foc_temp_comp) {
commands_printf("Temp Comp Base Temp : %.1f degC", (double)mcconf->foc_temp_comp_base_temp);
}
if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_SENSORLESS) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_HALL) {
commands_printf("Found hall sensors, using them.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
#ifdef HW_HAS_DUAL_MOTORS
mc_interface_select_motor_thread(2);
mcconf = mc_interface_get_configuration();
commands_printf("\nMOTOR 2\n");
commands_printf("Motor Current : %.1f A", (double)(mcconf->l_current_max));
commands_printf("Motor R : %.2f mOhm", (double)(mcconf->foc_motor_r * 1e3));
commands_printf("Motor L : %.2f microH", (double)(mcconf->foc_motor_l * 1e6));
commands_printf("Motor Flux Linkage : %.3f mWb", (double)(mcconf->foc_motor_flux_linkage * 1e3));
commands_printf("Temp Comp : %s", mcconf->foc_temp_comp ? "true" : "false");
if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_SENSORLESS) {
commands_printf("No sensors found, using sensorless mode.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_HALL) {
commands_printf("Found hall sensors, using them.\n");
} else if (mcconf->foc_sensor_mode == FOC_SENSOR_MODE_ENCODER) {
commands_printf("Found AS5047 encoder, using it.\n");
} else {
commands_printf("Detection error: %d\n", res);
}
commands_printf("\nNote that this is only printing values of motors 1");
commands_printf("and 2 of the currently connected unit, other motors");
commands_printf("may have been detected, but won't be printed here");
#endif
} else {
if (res == -10) {
commands_printf("Could not measure flux linkage.");
} else if (res == -11) {
commands_printf("Fault code occurred during detection.");
}
commands_printf("Detection failed.\n");
}
} else {
commands_printf("Invalid argument(s).\n");
}
} else {
commands_printf("This command requires one argument.\n");
}
} else if (strcmp(argv[0], "uptime") == 0) {
commands_printf("Uptime: %.2f s\n", (double)chVTGetSystemTimeX() / (double)CH_CFG_ST_FREQUENCY);
} else if (strcmp(argv[0], "hall_analyze") == 0) {
if (argc == 2) {
float current = -1.0;
sscanf(argv[1], "%f", ¤t);
if (current > 0.0 && current <= mc_interface_get_configuration()->l_current_max) {
commands_printf("Starting hall sensor analysis...\n");
mc_interface_lock();
mc_configuration *mcconf = mempools_alloc_mcconf();
*mcconf = *mc_interface_get_configuration();
mc_motor_type motor_type_old = mcconf->motor_type;
mcconf->motor_type = MOTOR_TYPE_FOC;
mc_interface_set_configuration(mcconf);
commands_init_plot("Angle", "Hall Sensor State");
commands_plot_add_graph("Hall 1");
commands_plot_add_graph("Hall 2");
commands_plot_add_graph("Hall 3");
commands_plot_add_graph("Combined");
float phase = 0.0;
for (int i = 0;i < 1000;i++) {
timeout_reset();
mcpwm_foc_set_openloop_phase((float)i * current / 1000.0, phase);
chThdSleepMilliseconds(1);
}
bool is_second_motor = mc_interface_get_motor_thread() == 2;
int hall_last = utils_read_hall(is_second_motor, mcconf->m_hall_extra_samples);
float transitions[7] = {0.0};
int states[8] = {-1, -1, -1, -1, -1, -1, -1, -1};
int transition_index = 0;
for (int i = 0;i < 720;i++) {
int hall = utils_read_hall(is_second_motor, mcconf->m_hall_extra_samples);
if (hall_last != hall) {
if (transition_index < 7) {
transitions[transition_index++] = phase;
}
for (int j = 0;j < 8;j++) {
if (states[j] == hall || states[j] == -1) {
states[j] = hall;
break;
}
}
}
hall_last = hall;
// Notice that the plots are offset slightly in Y, to make it easier to see them.
commands_plot_set_graph(0);
commands_send_plot_points(phase, (float)(hall & 1) * 1.02);
commands_plot_set_graph(1);
commands_send_plot_points(phase, (float)((hall >> 1) & 1) * 1.04);
commands_plot_set_graph(2);
commands_send_plot_points(phase, (float)((hall >> 2) & 1) * 1.06);
commands_plot_set_graph(3);
commands_send_plot_points(phase, (float)hall);
phase += 1.0;
timeout_reset();
mcpwm_foc_set_openloop_phase(current, phase);
chThdSleepMilliseconds(20);
}
mc_interface_lock_override_once();
mc_interface_release_motor();
mc_interface_wait_for_motor_release(1.0);
mcconf->motor_type = motor_type_old;
mc_interface_set_configuration(mcconf);
mempools_free_mcconf(mcconf);
mc_interface_unlock();
int state_num = 0;
for (int i = 0;i < 8;i++) {
if (states[i] != -1) {
state_num++;
}