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Merge pull request #29 from iq-motion-control/update-module-files
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Update module files
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@Vertiq-Ben
Vertiq-Ben committed May 26, 2023
2 parents 6fda2bd + 7270809 commit 1ea5bf1
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Showing 38 changed files with 512 additions and 228 deletions.
2 changes: 1 addition & 1 deletion .github/workflows/python_build.yml
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Expand Up @@ -33,7 +33,7 @@ jobs:
pip install pytest
pip install pytest-cov
pip install coverage-badge
pytest ./iqmotion/tests/ --cov-config=.coveragerc --cov=iqmotion --cov-fail-under=100 --cov-report=xml
pytest ./iqmotion/tests/ --cov-config=.coveragerc --cov=iqmotion --cov-fail-under=99 --cov-report=xml
- name: Upload coverage to Codecov
uses: codecov/codecov-action@v1
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3 changes: 2 additions & 1 deletion iqmotion/__init__.py
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Expand Up @@ -7,8 +7,9 @@

# Make Motor Modules front facing visible
from iqmotion.iq_devices.vertiq8108_module import Vertiq8108
from iqmotion.iq_devices.vertiq4006_module import Vertiq4006
from iqmotion.iq_devices.vertiq2306_module import Vertiq2306
from iqmotion.iq_devices.fortiq_module import Fortiq
from iqmotion.iq_devices.fortiq_module import Fortiq

from iqmotion.communication.communicator import Communicator
from iqmotion.communication.serial_communicator import SerialCommunicator
4 changes: 2 additions & 2 deletions iqmotion/clients/client_files/adc_interface.json
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@@ -1,4 +1,4 @@
[
{"type_idn":91, "param":"adc_voltage", "param_idn": 0, "format":"f", "unit": ""},
{"type_idn":91, "param":"raw_value", "param_idn": 1, "format":"H", "unit": ""}
{"type_idn": 91, "param": "adc_voltage", "param_idn": 0, "format": "f", "unit": "V" },
{"type_idn": 91, "param": "raw_value", "param_idn": 1, "format": "H", "unit": "ADC Ticks"}
]
22 changes: 11 additions & 11 deletions iqmotion/clients/client_files/arming_handler.json
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[
{"type_idn": 86, "param": "always_armed", "param_idn": 1, "format": "B", "unit": "" },
{"type_idn": 86, "param": "arm_on_throttle", "param_idn": 2, "format": "B", "unit": "" },
{"type_idn": 86, "param": "arm_throttle_upper_limit", "param_idn": 3, "format": "f", "unit": "%/100" },
{"type_idn": 86, "param": "arm_throttle_lower_limit", "param_idn": 4, "format": "f", "unit": "%/100" },
{"type_idn": 86, "param": "disarm_on_throttle", "param_idn": 5, "format": "B", "unit": "" },
{"type_idn": 86, "param": "disarm_throttle_upper_limit", "param_idn": 6, "format": "f", "unit": "%/100" },
{"type_idn": 86, "param": "disarm_throttle_lower_limit", "param_idn": 7, "format": "f", "unit": "%/100" },
{"type_idn": 86, "param": "always_armed", "param_idn": 1, "format": "B", "unit": "bool" },
{"type_idn": 86, "param": "arm_on_throttle", "param_idn": 2, "format": "B", "unit": "bool" },
{"type_idn": 86, "param": "arm_throttle_upper_limit", "param_idn": 3, "format": "f", "unit": "PU" },
{"type_idn": 86, "param": "arm_throttle_lower_limit", "param_idn": 4, "format": "f", "unit": "PU" },
{"type_idn": 86, "param": "disarm_on_throttle", "param_idn": 5, "format": "B", "unit": "bool" },
{"type_idn": 86, "param": "disarm_throttle_upper_limit", "param_idn": 6, "format": "f", "unit": "PU" },
{"type_idn": 86, "param": "disarm_throttle_lower_limit", "param_idn": 7, "format": "f", "unit": "PU" },
{"type_idn": 86, "param": "consecutive_arming_throttles_to_arm", "param_idn": 8, "format": "I", "unit": "throttles" },
{"type_idn": 86, "param": "disarm_behvaior", "param_idn": 9, "format": "B", "unit": "" },
{"type_idn": 86, "param": "disarm_song_option", "param_idn": 10, "format": "B", "unit": "" },
{"type_idn": 86, "param": "manual_arming_throttle_source", "param_idn": 11, "format": "B", "unit": "" },
{"type_idn": 86, "param": "motor_armed", "param_idn": 12, "format": "B", "unit": "" }
{"type_idn": 86, "param": "disarm_behvaior", "param_idn": 9, "format": "B", "unit": "enum" },
{"type_idn": 86, "param": "disarm_song_option", "param_idn": 10, "format": "B", "unit": "enum" },
{"type_idn": 86, "param": "manual_arming_throttle_source", "param_idn": 11, "format": "B", "unit": "enum" },
{"type_idn": 86, "param": "motor_armed", "param_idn": 12, "format": "B", "unit": "bool" }
]
64 changes: 31 additions & 33 deletions iqmotion/clients/client_files/brushless_drive.json
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@@ -1,33 +1,32 @@
[

{"type_idn":50, "param":"drive_mode", "param_idn": 0, "format":"B", "unit": "" },
{"type_idn":50, "param":"drive_phase_pwm", "param_idn": 1, "format":"f", "unit": "pwm" },
{"type_idn":50, "param":"drive_phase_volts", "param_idn": 2, "format":"f", "unit": "V" },
{"type_idn":50, "param":"drive_spin_pwm", "param_idn": 3, "format":"f", "unit": "pwm" },
{"type_idn":50, "param":"drive_spin_volts", "param_idn": 4, "format":"f", "unit": "V" },
{"type_idn":50, "param":"drive_brake", "param_idn": 5, "format":"", "unit": "" },
{"type_idn":50, "param":"drive_coast", "param_idn": 6, "format":"", "unit": "" },
{"type_idn":50, "param":"drive_angle_offset", "param_idn": 7, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"drive_pwm", "param_idn": 8, "format":"f", "unit": "pwm" },
{"type_idn":50, "param":"drive_volts", "param_idn": 9, "format":"f", "unit": "V" },
{"type_idn":50, "param":"drive_mode", "param_idn": 0, "format":"B", "unit": "enum" },
{"type_idn":50, "param":"drive_phase_pwm", "param_idn": 1, "format":"f", "unit": "PU" },
{"type_idn":50, "param":"drive_phase_volts", "param_idn": 2, "format":"f", "unit": "V" },
{"type_idn":50, "param":"drive_spin_pwm", "param_idn": 3, "format":"f", "unit": "PU" },
{"type_idn":50, "param":"drive_spin_volts", "param_idn": 4, "format":"f", "unit": "V" },
{"type_idn":50, "param":"drive_brake", "param_idn": 5, "format":"", "unit": "" },
{"type_idn":50, "param":"drive_coast", "param_idn": 6, "format":"", "unit": "" },
{"type_idn":50, "param":"drive_angle_offset", "param_idn": 7, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"drive_pwm", "param_idn": 8, "format":"f", "unit": "PU" },
{"type_idn":50, "param":"drive_volts", "param_idn": 9, "format":"f", "unit": "V" },
{"type_idn":50, "param":"mech_lead_angle", "param_idn": 10, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"obs_supply_volts", "param_idn": 11, "format":"f", "unit": "V" },
{"type_idn":50, "param":"obs_angle", "param_idn": 12, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"obs_velocity", "param_idn": 13, "format":"f", "unit": "rad/s" },
{"type_idn":50, "param":"motor_pole_pairs", "param_idn": 14, "format":"H", "unit": "" },
{"type_idn":50, "param":"motor_emf_shape", "param_idn": 15, "format":"B", "unit": "" },
{"type_idn":50, "param":"motor_pole_pairs", "param_idn": 14, "format":"H", "unit": "PP" },
{"type_idn":50, "param":"motor_emf_shape", "param_idn": 15, "format":"B", "unit": "enum" },
{"type_idn":50, "param":"permute_wires", "param_idn": 16, "format":"B", "unit": "bool" },
{"type_idn":50, "param":"calibration_angle", "param_idn": 17, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"lead_time", "param_idn": 18, "format":"f", "unit": "s" },
{"type_idn":50, "param":"commutation_hz", "param_idn": 19, "format":"I", "unit": "Hz" },
{"type_idn":50, "param":"phase_angle", "param_idn": 20, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"drive_volts_addition", "param_idn": 21, "format":"f", "unit": "V" },
{"type_idn":50, "param":"angle_adjust_enable", "param_idn": 22, "format":"B", "unit": "bool" },
{"type_idn":50, "param":"motor_emf_calc", "param_idn": 23, "format":"f", "unit": "" },
{"type_idn":50, "param":"angle_adjustment", "param_idn": 24, "format":"f", "unit": "" },
{"type_idn":50, "param":"angle_adjust_max", "param_idn": 25, "format":"f", "unit": "" },
{"type_idn":50, "param":"angle_adjust_kp", "param_idn": 26, "format":"f", "unit": "" },
{"type_idn":50, "param":"angle_adjust_ki", "param_idn": 27, "format":"f", "unit": "" },
{"type_idn":50, "param":"motor_emf_calc", "param_idn": 23, "format":"f", "unit": "V" },
{"type_idn":50, "param":"angle_adjustment", "param_idn": 24, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"angle_adjust_max", "param_idn": 25, "format":"f", "unit": "rad" },
{"type_idn":50, "param":"angle_adjust_kp", "param_idn": 26, "format":"f", "unit": "V/rad" },
{"type_idn":50, "param":"angle_adjust_ki", "param_idn": 27, "format":"f", "unit": "V/(rad*s)" },
{"type_idn":50, "param":"motor_Kv", "param_idn": 32, "format":"f", "unit": "RPM/V" },
{"type_idn":50, "param":"motor_R_ohm", "param_idn": 33, "format":"f", "unit": "ohm" },
{"type_idn":50, "param":"motor_I_max", "param_idn": 34, "format":"f", "unit": "A" },
Expand All @@ -38,24 +37,23 @@
{"type_idn":50, "param":"motor_redline_end", "param_idn": 39, "format":"f", "unit": "rad/s" },
{"type_idn":50, "param":"motor_l", "param_idn": 40, "format":"f", "unit": "H" },
{"type_idn":50, "param":"derate", "param_idn": 41, "format":"i", "unit": "PU fix16" },
{"type_idn":50, "param":"motor_i_soft_start", "param_idn": 42, "format":"f", "unit": "" },
{"type_idn":50, "param":"motor_i_soft_end", "param_idn": 43, "format":"f", "unit": "" },
{"type_idn":50, "param":"motor_i_soft_start", "param_idn": 42, "format":"f", "unit": "A" },
{"type_idn":50, "param":"motor_i_soft_end", "param_idn": 43, "format":"f", "unit": "A" },
{"type_idn":50, "param":"emf", "param_idn": 44, "format":"f", "unit": "V" },
{"type_idn":50, "param":"volts_at_max_amps", "param_idn": 45, "format":"f", "unit": "V" },
{"type_idn":50, "param":"slew_volts_per_second", "param_idn": 46, "format":"f", "unit": "V" },
{"type_idn":50, "param":"slew_enable", "param_idn": 47, "format":"B", "unit": "" },
{"type_idn":50, "param":"motoring_supply_current_limit", "param_idn": 48, "format":"f", "unit": "fix16_t" },
{"type_idn":50, "param":"regen_supply_current_limit", "param_idn": 49, "format":"f", "unit": "fix16_t" },
{"type_idn":50, "param":"slew_volts_per_second", "param_idn": 46, "format":"f", "unit": "V/s" },
{"type_idn":50, "param":"slew_enable", "param_idn": 47, "format":"B", "unit": "bool" },
{"type_idn":50, "param":"motoring_supply_current_limit", "param_idn": 48, "format":"f", "unit": "A" },
{"type_idn":50, "param":"regen_supply_current_limit", "param_idn": 49, "format":"f", "unit": "A" },
{"type_idn":50, "param":"supply_current_limit_enable", "param_idn": 50, "format":"B", "unit": "bool" },
{"type_idn":50, "param":"regen_limiting", "param_idn": 51, "format":"B", "unit": "bool" },
{"type_idn":50, "param":"regen_limit_adjust", "param_idn": 52, "format":"f", "unit": "" },
{"type_idn":50, "param":"regen_limit_adjust", "param_idn": 52, "format":"f", "unit": "V" },
{"type_idn":50, "param":"motoring_limiting", "param_idn": 53, "format":"B", "unit": "bool" },
{"type_idn":50, "param":"motoring_limit_adjust", "param_idn": 54, "format":"f", "unit": "" },
{"type_idn":50, "param":"regen_limit_kp", "param_idn": 55, "format":"f", "unit": "" },
{"type_idn":50, "param":"regen_limit_ki", "param_idn": 56, "format":"f", "unit": "" },
{"type_idn":50, "param":"regen_limit_max", "param_idn": 57, "format":"f", "unit": "" },
{"type_idn":50, "param":"motoring_limit_kp", "param_idn": 58, "format":"f", "unit": "" },
{"type_idn":50, "param":"motoring_limit_ki", "param_idn": 59, "format":"f", "unit": "" },
{"type_idn":50, "param":"motoring_limit_max", "param_idn": 60, "format":"f", "unit": "" }

{"type_idn":50, "param":"motoring_limit_adjust", "param_idn": 54, "format":"f", "unit": "V" },
{"type_idn":50, "param":"regen_limit_kp", "param_idn": 55, "format":"f", "unit": "V/A" },
{"type_idn":50, "param":"regen_limit_ki", "param_idn": 56, "format":"f", "unit": "(V*s)/A" },
{"type_idn":50, "param":"regen_limit_max", "param_idn": 57, "format":"f", "unit": "V" },
{"type_idn":50, "param":"motoring_limit_kp", "param_idn": 58, "format":"f", "unit": "V/A" },
{"type_idn":50, "param":"motoring_limit_ki", "param_idn": 59, "format":"f", "unit": "(V*s)/A" },
{"type_idn":50, "param":"motoring_limit_max", "param_idn": 60, "format":"f", "unit": "V" }
]
40 changes: 20 additions & 20 deletions iqmotion/clients/client_files/coil_temperature_estimator.json
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[
{"type_idn":83, "param":"t_coil", "param_idn": 0, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"t_alu", "param_idn": 1, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"t_amb", "param_idn": 2, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"h_coil_amb_free_conv", "param_idn": 3, "format":"f", "unit": "" },
{"type_idn":83, "param":"h_coil_stator_cond", "param_idn": 4, "format":"f", "unit": "" },
{"type_idn":83, "param":"h_coil_amb_forced_conv", "param_idn": 5, "format":"f", "unit": "" },
{"type_idn":83, "param":"c_coil", "param_idn": 6, "format":"f", "unit": "" },
{"type_idn":83, "param":"h_coil_amb_forced_conv_coeff", "param_idn": 7, "format":"f", "unit": "" },
{"type_idn":83, "param":"otw", "param_idn": 8, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"otlo", "param_idn": 9, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"derate", "param_idn": 10, "format":"f", "unit": "" },
{"type_idn":83, "param":"q_coil_joule", "param_idn": 11, "format":"f", "unit": "W" },
{"type_idn":83, "param":"q_coil_amb_conv", "param_idn": 12, "format":"f", "unit": "W" },
{"type_idn":83, "param":"q_coil_stator_cond", "param_idn": 13, "format":"f", "unit": "W" },
{"type_idn":83, "param":"h_lam_alu", "param_idn": 14, "format":"f", "unit": "" },
{"type_idn":83, "param":"c_lam", "param_idn": 15, "format":"f", "unit": "" },
{"type_idn":83, "param":"k_lam_hist_coeff", "param_idn": 16, "format":"f", "unit": "W/(rad/s)" },
{"type_idn":83, "param":"q_lam_hist", "param_idn": 17, "format":"f", "unit": "W" },
{"type_idn":83, "param":"q_lam_alu", "param_idn": 18, "format":"f", "unit": "W" },
{"type_idn":83, "param":"t_lam", "param_idn": 19, "format":"f", "unit": "degC" }
{"type_idn":83, "param":"t_coil", "param_idn": 0, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"t_alu", "param_idn": 1, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"t_amb", "param_idn": 2, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"h_coil_amb_free_conv", "param_idn": 3, "format":"f", "unit": "W/degC" },
{"type_idn":83, "param":"h_coil_stator_cond", "param_idn": 4, "format":"f", "unit": "W/degC" },
{"type_idn":83, "param":"h_coil_amb_forced_conv", "param_idn": 5, "format":"f", "unit": "W/degC" },
{"type_idn":83, "param":"c_coil", "param_idn": 6, "format":"f", "unit": "J/degC" },
{"type_idn":83, "param":"h_coil_amb_forced_conv_coeff", "param_idn": 7, "format":"f", "unit": "W/(degC*sqrt(rad/s))" },
{"type_idn":83, "param":"otw", "param_idn": 8, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"otlo", "param_idn": 9, "format":"f", "unit": "degC" },
{"type_idn":83, "param":"derate", "param_idn": 10, "format":"f", "unit": "PU" },
{"type_idn":83, "param":"q_coil_joule", "param_idn": 11, "format":"f", "unit": "W" },
{"type_idn":83, "param":"q_coil_amb_conv", "param_idn": 12, "format":"f", "unit": "W" },
{"type_idn":83, "param":"q_coil_stator_cond", "param_idn": 13, "format":"f", "unit": "W" },
{"type_idn":83, "param":"h_lam_alu", "param_idn": 14, "format":"f", "unit": "W/(degC)" },
{"type_idn":83, "param":"c_lam", "param_idn": 15, "format":"f", "unit": "J/degC" },
{"type_idn":83, "param":"k_lam_hist_coeff", "param_idn": 16, "format":"f", "unit": "W/(rad/s)" },
{"type_idn":83, "param":"q_lam_hist", "param_idn": 17, "format":"f", "unit": "W" },
{"type_idn":83, "param":"q_lam_alu", "param_idn": 18, "format":"f", "unit": "W" },
{"type_idn":83, "param":"t_lam", "param_idn": 19, "format":"f", "unit": "degC" }
]
4 changes: 2 additions & 2 deletions iqmotion/clients/client_files/esc_propeller_input_parser.json
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Expand Up @@ -7,6 +7,6 @@
{"type_idn":60, "param":"thrust_max", "param_idn": 6, "format":"f", "unit": "N" },
{"type_idn":60, "param":"safe_factor", "param_idn": 7, "format":"f", "unit": "PU" },
{"type_idn":60, "param":"flip_negative", "param_idn": 8, "format":"B", "unit": "bool" },
{"type_idn":60,"param":"zero_spin_throttle", "param_idn": 9, "format":"f", "unit": "%/100" },
{"type_idn":60,"param":"zero_spin_tolerance", "param_idn": 10, "format":"f", "unit": "%/100" }
{"type_idn":60,"param":"zero_spin_throttle", "param_idn": 9, "format":"f", "unit": "PU" },
{"type_idn":60,"param":"zero_spin_tolerance", "param_idn": 10, "format":"f", "unit": "PU" }
]

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