Merge branch 'freewheel' into vesc_comp

common_files/inc/drive_parameters.h

@@ -149,8 +149,8 @@
 /******************************   ADDITIONAL FEATURES   **********************/
 #define FW_VOLTAGE_REF                985 /*!<Vs reference, tenth
                                                         of a percent */
-#define FW_KP_GAIN                    6000 /*!< Default Kp gain */
-#define FW_KI_GAIN                    10000 /*!< Default Ki gain */
+#define FW_KP_GAIN                    2000 /*!< Default Kp gain */
+#define FW_KI_GAIN                    5000 /*!< Default Ki gain */
 #define FW_KPDIV                      32768
                                                 /*!< Kp gain divisor.If FULL_MISRA_C_COMPLIANCY
                                                 is not defined the divisor is implemented through

common_files/inc/mcconf_default.h

@@ -255,13 +255,13 @@
 #define MCCONF_FOC_PLL_KI				30000.0
 #endif
 #ifndef MCCONF_FOC_MOTOR_L
-#define MCCONF_FOC_MOTOR_L				0.000010
+#define MCCONF_FOC_MOTOR_L				0.0001
 #endif
 #ifndef MCCONF_FOC_MOTOR_R
-#define MCCONF_FOC_MOTOR_R				0.015
+#define MCCONF_FOC_MOTOR_R				0.1
 #endif
 #ifndef MCCONF_FOC_MOTOR_FLUX_LINKAGE
-#define MCCONF_FOC_MOTOR_FLUX_LINKAGE	0.0012
+#define MCCONF_FOC_MOTOR_FLUX_LINKAGE	0.012
 #endif
 #ifndef MCCONF_FOC_MOTOR_LD_LQ_DIFF
 #define MCCONF_FOC_MOTOR_LD_LQ_DIFF		0.0
@@ -377,6 +377,21 @@
 #ifndef MCCONF_FOC_HFI_SAMPLES
 #define MCCONF_FOC_HFI_SAMPLES			HFI_SAMPLES_16 // Samples per motor revolution for HFI
 #endif
+#ifndef MCCONF_FOC_MTPA_MODE
+#define MCCONF_FOC_MTPA_MODE				MTPA_MODE_OFF // Maximum torque per amp (MTPA) algorithm mode
+#endif
+#ifndef MCCONF_FOC_FW_CURRENT_MAX
+#define MCCONF_FOC_FW_CURRENT_MAX		0.0 // Maximum field weakening current
+#endif
+#ifndef MCCONF_FOC_FW_DUTY_START
+#define MCCONF_FOC_FW_DUTY_START		0.9 // Start field weakening at this fraction of max duty cycle
+#endif
+#ifndef MCCONF_FOC_FW_RAMP_TIME
+#define MCCONF_FOC_FW_RAMP_TIME			0.2 // Ramp time for field weakening current
+#endif
+#ifndef MCCONF_FOC_FW_Q_CURRENT_FACTOR
+#define MCCONF_FOC_FW_Q_CURRENT_FACTOR	0.02 // Factor of the FW-current to feed to the Q-axis to slow motor down when setting 0 current
+#endif
 
 // GPD
 #ifndef MCCONF_GPD_BUFFER_NOTIFY_LEFT

common_files/inc/product.h

@@ -106,6 +106,7 @@
 #endif
 /****************************************************************************/
 
+#define KMH_NO_LIMIT														 1337
 #define PRODUCT_FIRMWARE_VERSION                                      		 0x0001
 #define VESC_TOOL_ENABLE													 1
 #define AUTO_RESET_FAULT													 1
@@ -116,7 +117,14 @@
 #define BATTERY_SUPPORT_LEAD												 1
 #define ABS_OVR_CURRENT_TRIP_MS												 2.0
 #define MIN_DUTY_FOR_PWM_FREEWHEEL											 80
-#define CURRENT_DISPLAY_OFFSET											     60   //in cnts
+#define CURRENT_DISPLAY_OFFSET											     80   //in cnts
+
+#define MODE_SLOW_CURR														 0.5
+#define MODE_DRIVE_CURR														 0.8
+#define MODE_SPORT_CURR														 1.0
+#define MODE_SLOW_SPEED														 10
+#define MODE_DRIVE_SPEED													 25
+#define MODE_SPORT_SPEED													 KMH_NO_LIMIT
 
 #define BATTERY_VOLTAGE_GAIN     											 ((VOLTAGE_DIVIDER_GAIN * ADC_GAIN) * 512.0)
 #define CURRENT_FACTOR_A 													 ((32767.0*RSHUNT*AMPLIFICATION_GAIN)/(3.3/2))

common_files/inc/task_LED.h

@@ -28,7 +28,15 @@
 
 extern osThreadId_t task_LED_handle;
 
+typedef enum {
+	BRAKE_LIGHT_ON,
+	BRAKE_LIGHT_OFF
+}en_brake;
+
 void task_LED_init();
+void task_LED_set_brake_light(en_brake mode);
+
+
 
 
 #endif /* TASK_LED_H_ */

common_files/src/VescCommand.c

@@ -119,6 +119,7 @@ void commands_send_appconf(COMM_PACKET_ID packet_id, app_configuration *appconf,
 		commands_printf(phandle, "Malloc failed send appconf)");
 		return;
 	}
+	memset(send_buffer,0,512 + PACKET_HEADER);
 	uint8_t * buffer = send_buffer + PACKET_HEADER;
 	buffer[0] = packet_id;
 	int32_t len = confgenerator_serialize_appconf(&buffer[1], appconf);
@@ -256,7 +257,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	switch (packet_id) {
 	case COMM_FW_VERSION: {
 		int32_t ind = 0;
-		uint8_t send_buffer[PACKET_SIZE(50)];
+		uint8_t send_buffer[PACKET_SIZE(60)];
 		uint8_t * buffer = send_buffer + PACKET_HEADER;
 		buffer[ind++] = COMM_FW_VERSION;
 		buffer[ind++] = FW_VERSION_MAJOR;
@@ -273,6 +274,9 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		buffer[ind++] = HW_TYPE_VESC;
 
 		buffer[ind++] = 0; // No custom config
+		buffer[ind++] = 0; //No phase filters
+		buffer[ind++] = 0;
+		buffer[ind++] = 0;
 
 		fw_version_sent_cnt++;
 
@@ -392,6 +396,12 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 			if (mask & ((uint32_t)1 << 20)) {
 				buffer_append_float32(buffer, VescToSTM_get_Vq(), 1e3, &ind);
 			}
+			if (mask & ((uint32_t)1 << 21)) {
+				uint8_t status = 0;
+				status |= VescToSTM_get_timeout_state();
+				//status |= timeout_kill_sw_active() << 1;
+				buffer[ind++] = status;
+			}
 
 			reply_func(send_buffer, ind, phandle);
 		} break;
@@ -701,7 +711,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 					val.wh_charge_tot = 0;
 					val.wh_tot = 0;
 
-					float wh_batt_left = 0.0;
+					float wh_batt_left = 1.0;
 					float battery_level = VescToSTM_get_battery_level(&wh_batt_left);
 
 					int32_t ind = 0;
@@ -769,7 +779,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 					}
 					if (mask & ((uint32_t)1 << 17)) {
 						uint8_t current_controller_id = app_get_configuration()->controller_id;
-						send_buffer[ind++] = current_controller_id;
+						buffer[ind++] = current_controller_id;
 					}
 					if (mask & ((uint32_t)1 << 18)) {
 						buffer[ind++] = val.num_vescs;
@@ -780,6 +790,10 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 					if (mask & ((uint32_t)1 << 20)) {
 						buffer_append_uint32(buffer, VescToSTM_get_odometer(), &ind);
 					}
+					if (mask & ((uint32_t)1 << 21)) {
+						//buffer_append_uint32(send_buffer, chVTGetSystemTimeX() / (CH_CFG_ST_FREQUENCY / 1000), &ind);
+						buffer_append_uint32(buffer, xTaskGetTickCount()/2, &ind);
+					}
 
 					reply_func(send_buffer, ind, phandle);
 				    } break;
@@ -983,6 +997,8 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 						mcconf->l_battery_cut_start = start;
 						mcconf->l_battery_cut_end = end;
 
+						VescToSTM_set_battery_cut(start, end);
+
 						/*if (store) {
 							conf_general_store_mc_configuration(mcconf,
 									mc_interface_get_motor_thread() == 2);

common_files/src/VescDatatypes.h

@@ -272,6 +272,24 @@ typedef struct {
 } bms_soc_soh_temp_stat;
 */
 
+typedef enum {
+	PID_RATE_25_HZ = 0,
+	PID_RATE_50_HZ,
+	PID_RATE_100_HZ,
+	PID_RATE_250_HZ,
+	PID_RATE_500_HZ,
+	PID_RATE_1000_HZ,
+	PID_RATE_2500_HZ,
+	PID_RATE_5000_HZ,
+	PID_RATE_10000_HZ,
+} PID_RATE;
+
+typedef enum {
+	MTPA_MODE_OFF = 0,
+	MTPA_MODE_IQ_TARGET,
+	MTPA_MODE_IQ_MEASURED
+} MTPA_MODE;
+
 typedef struct {
 	// Limits
 	float l_current_max;
@@ -304,6 +322,8 @@ typedef struct {
 	// Overridden limits (Computed during runtime)
 	float lo_current_max;
 	float lo_current_min;
+	float lo_current_max_scale;
+	float lo_current_min_scale;
 	float lo_in_current_max;
 	float lo_in_current_min;
 	float lo_current_motor_max_now;
@@ -334,7 +354,7 @@ typedef struct {
 	float foc_current_ki;
 	float foc_f_sw;
 	float foc_dt_us;
-	float foc_encoder_offset;
+//	float foc_encoder_offset;
 //	bool foc_encoder_inverted;
 //	float foc_encoder_ratio;
 //	float foc_encoder_sin_offset;
@@ -348,6 +368,7 @@ typedef struct {
 	float foc_motor_flux_linkage;
 	float foc_observer_gain;
 	float foc_observer_gain_slow;
+	float foc_observer_offset;
 	float foc_pll_kp;
 	float foc_pll_ki;
 	float foc_duty_dowmramp_kp;
@@ -372,13 +393,25 @@ typedef struct {
 	float foc_current_filter_const;
 	mc_foc_cc_decoupling_mode foc_cc_decoupling;
 	mc_foc_observer_type foc_observer_type;
-//	float foc_hfi_voltage_start;
-//	float foc_hfi_voltage_run;
-//	float foc_hfi_voltage_max;
-//	float foc_sl_erpm_hfi;
-//	uint16_t foc_hfi_start_samples;
-//	float foc_hfi_obs_ovr_sec;
-//	uint8_t foc_hfi_samples;
+	float foc_hfi_voltage_start;
+	float foc_hfi_voltage_run;
+	float foc_hfi_voltage_max;
+	float foc_sl_erpm_hfi;
+	uint16_t foc_hfi_start_samples;
+	float foc_hfi_obs_ovr_sec;
+	foc_hfi_samples foc_hfi_samples;
+	bool foc_offsets_cal_on_boot;
+	float foc_offsets_current[3];
+	float foc_offsets_voltage[3];
+	float foc_offsets_voltage_undriven[3];
+	bool foc_phase_filter_enable;
+	float foc_phase_filter_max_erpm;
+	MTPA_MODE foc_mtpa_mode;
+	// Field Weakening
+	float foc_fw_current_max;
+	float foc_fw_duty_start;
+	float foc_fw_ramp_time;
+	float foc_fw_q_current_factor;
 
 	// GPDrive
 //	int gpd_buffer_notify_left;
@@ -387,6 +420,8 @@ typedef struct {
 //	float gpd_current_kp;
 //	float gpd_current_ki;
 
+	PID_RATE sp_pid_loop_rate;
+
 	// Speed PID
 	float s_pid_kp;
 	float s_pid_ki;
@@ -426,14 +461,21 @@ typedef struct {
 	temp_sensor_type m_motor_temp_sens_type;
 	float m_ptc_motor_coeff;
 	int m_hall_extra_samples;
+	float m_ntcx_ptcx_temp_base;
+	float m_ntcx_ptcx_res;
 	// Setup info
 	uint8_t si_motor_poles;
 	float si_gear_ratio;
 	float si_wheel_diameter;
 	BATTERY_TYPE si_battery_type;
 	int si_battery_cells;
 	float si_battery_ah;
+	float si_motor_nl_current;
+
 	bool override_limits;
+	uint16_t modes_kmh_limits[3];
+	float modes_curr_scale[3];
+
 	// BMS Configuration
 //	bms_config bms;
 
@@ -464,6 +506,12 @@ typedef enum {
 	THR_EXP_POLY
 } thr_exp_mode;
 
+typedef enum {
+	SAFE_START_DISABLED = 0,
+	SAFE_START_REGULAR,
+	SAFE_START_NO_FAULT
+} SAFE_START_MODE;
+
 // PPM control types
 typedef enum {
 	PPM_CTRL_TYPE_NONE = 0,
@@ -530,6 +578,14 @@ typedef enum {
 	PAS_SENSOR_TYPE_QUADRATURE = 0
 } pas_sensor_type;
 
+typedef enum {
+	KILL_SW_MODE_DISABLED = 0,
+	KILL_SW_MODE_PPM_LOW,
+	KILL_SW_MODE_PPM_HIGH,
+	KILL_SW_MODE_ADC2_LOW,
+	KILL_SW_MODE_ADC2_HIGH
+} KILL_SW_MODE;
+
 typedef struct {
 	adc_control_type ctrl_type;
 	float hyst;
@@ -539,7 +595,7 @@ typedef struct {
 	float voltage2_start;
 	float voltage2_end;
 	bool use_filter;
-	bool safe_start;
+	SAFE_START_MODE safe_start;
 	bool cc_button_inverted;
 	bool rev_button_inverted;
 	bool voltage_inverted;
@@ -770,11 +826,14 @@ typedef struct {
 	bool pairing_done;
 	bool permanent_uart_enabled;
 	SHUTDOWN_MODE shutdown_mode;
+	bool servo_out_enable;
+	KILL_SW_MODE kill_sw_mode;
 
 	// CAN modes
 	CAN_MODE can_mode;
 	uint8_t uavcan_esc_index;
 	UAVCAN_RAW_MODE uavcan_raw_mode;
+	float uavcan_raw_rpm_max;
 
 	// Application to use
 	app_use app_to_use;
@@ -807,6 +866,7 @@ typedef struct {
 	uint16_t crc;
 } app_configuration;
 
+// Communication commands
 // Communication commands
 typedef enum {
 	COMM_FW_VERSION = 0,
@@ -927,6 +987,39 @@ typedef enum {
 	COMM_ERASE_BOOTLOADER_ALL_CAN_HW,
 
 	COMM_SET_ODOMETER,
+
+	// Power switch commands
+	COMM_PSW_GET_STATUS,
+	COMM_PSW_SWITCH,
+
+	COMM_BMS_FWD_CAN_RX,
+	COMM_BMS_HW_DATA,
+	COMM_GET_BATTERY_CUT,
+	COMM_BM_HALT_REQ,
+	COMM_GET_QML_UI_HW,
+	COMM_GET_QML_UI_APP,
+	COMM_CUSTOM_HW_DATA,
+	COMM_QMLUI_ERASE,
+	COMM_QMLUI_WRITE,
+
+	// IO Board
+	COMM_IO_BOARD_GET_ALL,
+	COMM_IO_BOARD_SET_PWM,
+	COMM_IO_BOARD_SET_DIGITAL,
+
+	COMM_BM_MEM_WRITE,
+	COMM_BMS_BLNC_SELFTEST,
+	COMM_GET_EXT_HUM_TMP,
+	COMM_GET_STATS,
+	COMM_RESET_STATS,
+
+	// Lisp
+	COMM_LISP_READ_CODE,
+	COMM_LISP_WRITE_CODE,
+	COMM_LISP_ERASE_CODE,
+	COMM_LISP_SET_RUNNING,
+	COMM_LISP_GET_STATS,
+	COMM_LISP_PRINT
 } COMM_PACKET_ID;
 
 // CAN commands