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conf_general.c
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conf_general.c
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/*
* conf_general.c
*
* Created on: 14 sep 2014
* Author: benjamin
*/
#include "conf_general.h"
#include "ch.h"
#include "eeprom.h"
#include "mcpwm.h"
#include "hw.h"
#include "utils.h"
#include <string.h>
// User defined default motor configuration file
#ifdef MCCONF_DEFAULT_USER
#include MCCONF_DEFAULT_USER
#endif
// User defined default app configuration file
#ifdef APPCONF_DEFAULT_USER
#include APPCONF_DEFAULT_USER
#endif
// Default configuration parameters that can be overridden
#include "mcconf_default.h"
#include "appconf_default.h"
// EEPROM settings
#define EEPROM_BASE_MCCONF 1000
#define EEPROM_BASE_APPCONF 2000
// Global variables
uint16_t VirtAddVarTab[NB_OF_VAR];
void conf_general_init(void) {
// First, make sure that all relevant virtual addresses are assigned for page swapping.
memset(VirtAddVarTab, 0, sizeof(VirtAddVarTab));
int ind = 0;
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
VirtAddVarTab[ind++] = EEPROM_BASE_MCCONF + i;
}
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
VirtAddVarTab[ind++] = EEPROM_BASE_APPCONF + i;
}
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
EE_Init();
}
/**
* Read app_configuration from EEPROM. If this fails, default values will be used.
*
* @param conf
* A pointer to a app_configuration struct to write the read configuration to.
*/
void conf_general_read_app_configuration(app_configuration *conf) {
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
if (EE_ReadVariable(EEPROM_BASE_APPCONF + i, &var) == 0) {
conf_addr[2 * i] = (var >> 8) & 0xFF;
conf_addr[2 * i + 1] = var & 0xFF;
} else {
is_ok = false;
break;
}
}
// Set the default configuration
if (!is_ok) {
memset(conf, 0, sizeof(app_configuration));
conf->controller_id = APPCONF_CONTROLLER_ID;
conf->timeout_msec = APPCONF_TIMEOUT_MSEC;
conf->timeout_brake_current = APPCONF_TIMEOUT_BRAKE_CURRENT;
conf->send_can_status = APPCONF_SEND_CAN_STATUS;
conf->send_can_status_rate_hz = APPCONF_SEND_CAN_STATUS_RATE_HZ;
conf->app_to_use = APPCONF_APP_TO_USE;
conf->app_ppm_conf.ctrl_type = APPCONF_PPM_CTRL_TYPE;
conf->app_ppm_conf.pid_max_erpm = APPCONF_PPM_PID_MAX_ERPM;
conf->app_ppm_conf.hyst = APPCONF_PPM_HYST;
conf->app_ppm_conf.pulse_start = APPCONF_PPM_PULSE_START;
conf->app_ppm_conf.pulse_end = APPCONF_PPM_PULSE_END;
conf->app_ppm_conf.median_filter = APPCONF_PPM_MEDIAN_FILTER;
conf->app_ppm_conf.safe_start = APPCONF_PPM_SAFE_START;
conf->app_ppm_conf.rpm_lim_start = APPCONF_PPM_RPM_LIM_START;
conf->app_ppm_conf.rpm_lim_end = APPCONF_PPM_RPM_LIM_END;
conf->app_ppm_conf.multi_esc = APPCONF_PPM_MULTI_ESC;
conf->app_ppm_conf.tc = APPCONF_PPM_TC;
conf->app_ppm_conf.tc_max_diff = APPCONF_PPM_TC_MAX_DIFF;
conf->app_adc_conf.ctrl_type = APPCONF_ADC_CTRL_TYPE;
conf->app_adc_conf.hyst = APPCONF_ADC_HYST;
conf->app_adc_conf.voltage_start = APPCONF_ADC_VOLTAGE_START;
conf->app_adc_conf.voltage_end = APPCONF_ADC_VOLTAGE_END;
conf->app_adc_conf.use_filter = APPCONF_ADC_USE_FILTER;
conf->app_adc_conf.safe_start = APPCONF_ADC_SAFE_START;
conf->app_adc_conf.cc_button_inverted = APPCONF_ADC_CC_BUTTON_INVERTED;
conf->app_adc_conf.rev_button_inverted = APPCONF_ADC_REV_BUTTON_INVERTED;
conf->app_adc_conf.voltage_inverted = APPCONF_ADC_VOLTAGE_INVERTED;
conf->app_adc_conf.rpm_lim_start = APPCONF_ADC_RPM_LIM_START;
conf->app_adc_conf.rpm_lim_end = APPCONF_ADC_RPM_LIM_END;
conf->app_adc_conf.multi_esc = APPCONF_ADC_MULTI_ESC;
conf->app_adc_conf.tc = APPCONF_ADC_TC;
conf->app_adc_conf.tc_max_diff = APPCONF_ADC_TC_MAX_DIFF;
conf->app_adc_conf.update_rate_hz = APPCONF_ADC_UPDATE_RATE_HZ;
conf->app_uart_baudrate = APPCONF_UART_BAUDRATE;
conf->app_chuk_conf.ctrl_type = APPCONF_CHUK_CTRL_TYPE;
conf->app_chuk_conf.hyst = APPCONF_CHUK_HYST;
conf->app_chuk_conf.rpm_lim_start = APPCONF_CHUK_RPM_LIM_START;
conf->app_chuk_conf.rpm_lim_end = APPCONF_CHUK_RPM_LIM_END;
conf->app_chuk_conf.ramp_time_pos = APPCONF_CHUK_RAMP_TIME_POS;
conf->app_chuk_conf.ramp_time_neg = APPCONF_CHUK_RAMP_TIME_NEG;
conf->app_chuk_conf.stick_erpm_per_s_in_cc = APPCONF_STICK_ERPM_PER_S_IN_CC;
conf->app_chuk_conf.multi_esc = APPCONF_CHUK_MULTI_ESC;
conf->app_chuk_conf.tc = APPCONF_CHUK_TC;
conf->app_chuk_conf.tc_max_diff = APPCONF_CHUK_TC_MAX_DIFF;
}
}
/**
* Write app_configuration to EEPROM.
*
* @param conf
* A pointer to the configuration that should be stored.
*/
bool conf_general_store_app_configuration(app_configuration *conf) {
mcpwm_unlock();
mcpwm_release_motor();
utils_sys_lock_cnt();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
var = (conf_addr[2 * i] << 8) & 0xFF00;
var |= conf_addr[2 * i + 1] & 0xFF;
if (EE_WriteVariable(EEPROM_BASE_APPCONF + i, var) != FLASH_COMPLETE) {
is_ok = false;
break;
}
}
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
utils_sys_unlock_cnt();
return is_ok;
}
/**
* Read mc_configuration from EEPROM. If this fails, default values will be used.
*
* @param conf
* A pointer to a mc_configuration struct to write the read configuration to.
*/
void conf_general_read_mc_configuration(mc_configuration *conf) {
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
if (EE_ReadVariable(EEPROM_BASE_MCCONF + i, &var) == 0) {
conf_addr[2 * i] = (var >> 8) & 0xFF;
conf_addr[2 * i + 1] = var & 0xFF;
} else {
is_ok = false;
break;
}
}
if (!is_ok) {
conf->pwm_mode = MCCONF_PWM_MODE;
conf->comm_mode = MCCONF_COMM_MODE;
conf->motor_type = MCCONF_DEFAULT_MOTOR_TYPE;
conf->sensor_mode = MCCONF_SENSOR_MODE;
conf->l_current_max = MCCONF_L_CURRENT_MAX;
conf->l_current_min = MCCONF_L_CURRENT_MIN;
conf->l_in_current_max = MCCONF_L_IN_CURRENT_MAX;
conf->l_in_current_min = MCCONF_L_IN_CURRENT_MIN;
conf->l_abs_current_max = MCCONF_L_MAX_ABS_CURRENT;
conf->l_min_erpm = MCCONF_L_RPM_MIN;
conf->l_max_erpm = MCCONF_L_RPM_MAX;
conf->l_max_erpm_fbrake = MCCONF_L_CURR_MAX_RPM_FBRAKE;
conf->l_max_erpm_fbrake_cc = MCCONF_L_CURR_MAX_RPM_FBRAKE_CC;
conf->l_min_vin = MCCONF_L_MIN_VOLTAGE;
conf->l_max_vin = MCCONF_L_MAX_VOLTAGE;
conf->l_battery_cut_start = MCCONF_L_BATTERY_CUT_START;
conf->l_battery_cut_end = MCCONF_L_BATTERY_CUT_END;
conf->l_slow_abs_current = MCCONF_L_SLOW_ABS_OVERCURRENT;
conf->l_rpm_lim_neg_torque = MCCONF_L_RPM_LIMIT_NEG_TORQUE;
conf->l_temp_fet_start = MCCONF_L_LIM_TEMP_FET_START;
conf->l_temp_fet_end = MCCONF_L_LIM_TEMP_FET_END;
conf->l_temp_motor_start = MCCONF_L_LIM_TEMP_MOTOR_START;
conf->l_temp_motor_end = MCCONF_L_LIM_TEMP_MOTOR_END;
conf->l_min_duty = MCCONF_L_MIN_DUTY;
conf->l_max_duty = MCCONF_L_MAX_DUTY;
conf->lo_current_max = conf->l_current_max;
conf->lo_current_min = conf->l_current_min;
conf->lo_in_current_max = conf->l_in_current_max;
conf->lo_in_current_min = conf->l_in_current_min;
conf->sl_min_erpm = MCCONF_SL_MIN_RPM;
conf->sl_max_fullbreak_current_dir_change = MCCONF_SL_MAX_FB_CURR_DIR_CHANGE;
conf->sl_min_erpm_cycle_int_limit = MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT;
conf->sl_cycle_int_limit = MCCONF_SL_CYCLE_INT_LIMIT;
conf->sl_phase_advance_at_br = MCCONF_SL_PHASE_ADVANCE_AT_BR;
conf->sl_cycle_int_rpm_br = MCCONF_SL_CYCLE_INT_BR;
conf->sl_bemf_coupling_k = MCCONF_SL_BEMF_COUPLING_K;
conf->hall_table[0] = MCCONF_HALL_TAB_0;
conf->hall_table[1] = MCCONF_HALL_TAB_1;
conf->hall_table[2] = MCCONF_HALL_TAB_2;
conf->hall_table[3] = MCCONF_HALL_TAB_3;
conf->hall_table[4] = MCCONF_HALL_TAB_4;
conf->hall_table[5] = MCCONF_HALL_TAB_5;
conf->hall_table[6] = MCCONF_HALL_TAB_6;
conf->hall_table[7] = MCCONF_HALL_TAB_7;
conf->hall_sl_erpm = MCCONF_HALL_ERPM;
conf->s_pid_kp = MCCONF_S_PID_KP;
conf->s_pid_ki = MCCONF_S_PID_KI;
conf->s_pid_kd = MCCONF_S_PID_KD;
conf->s_pid_min_erpm = MCCONF_S_PID_MIN_RPM;
conf->p_pid_kp = MCCONF_P_PID_KP;
conf->p_pid_ki = MCCONF_P_PID_KI;
conf->p_pid_kd = MCCONF_P_PID_KD;
conf->cc_startup_boost_duty = MCCONF_CC_STARTUP_BOOST_DUTY;
conf->cc_min_current = MCCONF_CC_MIN_CURRENT;
conf->cc_gain = MCCONF_CC_GAIN;
conf->cc_ramp_step_max = MCCONF_CC_RAMP_STEP;
conf->m_fault_stop_time_ms = MCCONF_M_FAULT_STOP_TIME;
conf->m_duty_ramp_step = MCCONF_M_RAMP_STEP;
conf->m_duty_ramp_step_rpm_lim = MCCONF_M_RAMP_STEP_RPM_LIM;
conf->m_current_backoff_gain = MCCONF_M_CURRENT_BACKOFF_GAIN;
}
}
/**
* Write mc_configuration to EEPROM.
*
* @param conf
* A pointer to the configuration that should be stored.
*/
bool conf_general_store_mc_configuration(mc_configuration *conf) {
mcpwm_unlock();
mcpwm_release_motor();
utils_sys_lock_cnt();
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
bool is_ok = true;
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
var = (conf_addr[2 * i] << 8) & 0xFF00;
var |= conf_addr[2 * i + 1] & 0xFF;
if (EE_WriteVariable(EEPROM_BASE_MCCONF + i, var) != FLASH_COMPLETE) {
is_ok = false;
break;
}
}
RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, ENABLE);
utils_sys_unlock_cnt();
return is_ok;
}
bool conf_general_detect_motor_param(float current, float min_rpm, float low_duty,
float *int_limit, float *bemf_coupling_k, int8_t *hall_table, int *hall_res) {
int ok_steps = 0;
const float spinup_to_duty = 0.6;
mc_configuration mcconf_old = *mcpwm_get_configuration();
mc_configuration mcconf = *mcpwm_get_configuration();
mcconf.sensor_mode = SENSOR_MODE_SENSORLESS;
mcconf.comm_mode = COMM_MODE_DELAY;
mcconf.sl_phase_advance_at_br = 1.0;
mcconf.sl_min_erpm = min_rpm;
mcpwm_set_configuration(&mcconf);
mcpwm_lock();
mcpwm_lock_override_once();
mcpwm_set_current(current);
// Spin up the motor
for (int i = 0;i < 5000;i++) {
if (mcpwm_get_duty_cycle_now() < spinup_to_duty) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
// Reset hall sensor samples
mcpwm_reset_hall_detect_table();
// Run for a while to get hall sensor samples
mcpwm_lock_override_once();
mcpwm_set_duty(spinup_to_duty);
chThdSleepMilliseconds(400);
// Release the motor and wait a few commutations
mcpwm_lock_override_once();
mcpwm_set_current(0.0);
int tacho = mcpwm_get_tachometer_value(0);
for (int i = 0;i < 2000;i++) {
if ((mcpwm_get_tachometer_value(0) - tacho) < 3) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
// Average the cycle integrator for 50 commutations
mcpwm_read_reset_avg_cycle_integrator();
tacho = mcpwm_get_tachometer_value(0);
for (int i = 0;i < 3000;i++) {
if ((mcpwm_get_tachometer_value(0) - tacho) < 50) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
// Get hall detect result
*hall_res = mcpwm_get_hall_detect_result(hall_table);
*int_limit = mcpwm_read_reset_avg_cycle_integrator();
// Wait for the motor to slow down
for (int i = 0;i < 5000;i++) {
if (mcpwm_get_duty_cycle_now() > low_duty) {
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
mcpwm_lock_override_once();
mcpwm_set_duty(low_duty);
// Average the cycle integrator for 100 commutations
mcpwm_read_reset_avg_cycle_integrator();
tacho = mcpwm_get_tachometer_value(0);
float rpm_sum = 0.0;
float rpm_iterations = 0.0;
for (int i = 0;i < 3000;i++) {
if ((mcpwm_get_tachometer_value(0) - tacho) < 100) {
rpm_sum += mcpwm_get_rpm();
rpm_iterations += 1;
chThdSleepMilliseconds(1);
} else {
ok_steps++;
break;
}
}
float avg_cycle_integrator_running = mcpwm_read_reset_avg_cycle_integrator();
float rpm = rpm_sum / rpm_iterations;
mcpwm_lock_override_once();
mcpwm_release_motor();
// Try to figure out the coupling factor
avg_cycle_integrator_running -= *int_limit;
avg_cycle_integrator_running /= (float)ADC_Value[ADC_IND_VIN_SENS];
avg_cycle_integrator_running *= rpm;
*bemf_coupling_k = avg_cycle_integrator_running;
// Restore settings
mcpwm_set_configuration(&mcconf_old);
mcpwm_unlock();
return ok_steps == 5 ? true : false;
}