458 lines
19 KiB
C
458 lines
19 KiB
C
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/**
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* This file is part of the hoverboard-firmware-hack project.
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*
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* Copyright (C) 2020-2021 Emanuel FERU <aerdronix@gmail.com>
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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// Includes
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#include <string.h>
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#include "stm32f1xx_hal.h"
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#include "config.h"
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#include "defines.h"
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#include "eeprom.h"
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#include "BLDC_controller.h"
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#include "util.h"
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#include "comms.h"
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#if defined(DEBUG_SERIAL_PROTOCOL)
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extern ExtY rtY_Left; /* External outputs */
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extern ExtU rtU_Left; /* External inputs */
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extern P rtP_Left;
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extern ExtY rtY_Right; /* External outputs */
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extern ExtU rtU_Right; /* External inputs */
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extern P rtP_Right;
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extern uint16_t VirtAddVarTab[NB_OF_VAR];
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extern int16_t speedAvg; // average measured speed
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extern int16_t speedAvgAbs; // average measured speed in absolute
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extern uint8_t ctrlModReqRaw;
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// Function0 - Function with 0 parameter
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// Function1 - Function with 1 parameter (e.g. GET PARAM)
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// Function2 - Function with 2 parameter (e.g. SET PARAM XXXX)
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command_entry commands[] = {
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// Name Function0 Function1 Function2 Help
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{"GET" ,printAllParamDef ,printParamDef ,NULL ,"Get Parameter/Variable Values"},
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{"SET" ,NULL ,NULL ,setParamValExt ,"Set Parameter with Value"},
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{"INIT" ,NULL ,initParamVal ,NULL ,"Init Parameter with Value from EEPROM or CONFIG.H"},
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{"SAVE" ,NULL ,saveParamVal ,NULL ,"Save Parameter Value to EEPROM"},
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{"HELP" ,printAllParamHelp ,printParamHelp ,NULL ,"Show Help"},
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{"WATCH" ,NULL ,watchParamVal ,NULL ,"Enable/Disable Watch for Parameter/Variable"},
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};
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enum paramTypes {PARAMETER,VARIABLE};
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// Keywords to match with param index
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enum parameters {PCTRL_MOD_REQ,
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PCTRL_TYP_SEL,
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PI_MOT_MAX,
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PN_MOT_MAX,
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PFIELD_WEAK_ENA,
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PFIELD_WEAK_HI,
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PFIELD_WEAK_LO,
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PFIELD_WEAK_MAX,
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PPHASE_ADV_MAX,
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VI_DC_LINK,
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VSPEED_AVG,
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VRATE,
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VSPEED_COEF,
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VSTEER_COEF,
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};
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parameter_entry params[] = {
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// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Mul ,Fix ,Callback Function ,Watch ,Help text
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{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,0 ,NULL ,0 ,"Ctrl mode [1] voltage [2] Speed [3] Torque"},
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{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,0 ,NULL ,0 ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
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{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,1 ,40 ,A2BIT_CONV ,0 ,4 ,NULL ,0 ,"Maximum phase current [A]"},
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{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,10 ,2000 ,0 ,0 ,4 ,NULL ,0 ,"Maximum motor [RPM]"},
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{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,0 ,NULL ,0 ,"Enable field weakening"},
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{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,0 ,4 ,Input_Lim_Init ,0 ,"Field weak high [RPM]"},
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{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,0 ,4 ,Input_Lim_Init ,0 ,"Field weak low [RPM)"},
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{PARAMETER ,"FIELD_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,0 ,4 ,NULL ,0 ,"Field weak max current [A](only for FOC)"},
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{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,0 ,4 ,NULL ,0 ,"Maximum Phase Advance angle [Deg](only for SIN)"},
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{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,0 ,NULL ,0 ,"DC Link current [A]"},
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{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Motor Measured Average Speed [RPM]"},
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{VARIABLE ,"SPEEDL" ,ADD_PARAM(rtY_Left.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Left Motor Measured Speed [RPM]"},
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{VARIABLE ,"SPEEDR" ,ADD_PARAM(rtY_Right.n_mot) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Right Motor Measured Speed [RPM]"},
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{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,0 ,4 ,NULL ,0 ,"Rate *10"},
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{VARIABLE ,"SPEED_COEF" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,0 ,"Speed Coefficient *10"},
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{VARIABLE ,"STEER_COEF" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,10 ,14 ,NULL ,0 ,"Steer Coefficient *10"},
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//{VARIABLE ,"BATV" ,ADD_PARAM(adc_buffer.batt1) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Battery voltage [V]*100"},
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//{VARIABLE ,"TEMP" ,ADD_PARAM(board_temp_deg_c) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,0 ,"Temperature [°C]*10"},
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};
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// Translate from External format to Internal Format
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int32_t ExtToInt(uint8_t index,int32_t value){
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// Multiply to translate to internal format
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if(params[index].div) value *= params[index].div;
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// Shift to translate to internal format
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if (params[index].fix) value <<= params[index].fix;
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// Divide for small number
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if(params[index].mul)value /= params[index].mul;
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return value;
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}
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// Set Param with Value from external format
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int8_t setParamValExt(uint8_t index, int32_t value) {
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// Only Parameters can be set
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if (params[index].type == VARIABLE){
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printf("! A variable cannot be SET\r\n");
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return 0;
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}
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// check min and max before conversion to internal values
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if (IN_RANGE(value,params[index].min,params[index].max)){
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return setParamValInt(index,ExtToInt(index,value));
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}else{
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printf("! Value %li not in range [min:%li max:%li]\r\n",value,params[index].min,params[index].max);
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return 0;
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}
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}
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// Set Param with value from internal format
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int8_t setParamValInt(uint8_t index, int32_t newValue) {
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int32_t value = newValue;
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if (*(int32_t*)params[index].valueL != value){
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// if value is different, beep, cast and assign new value
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switch (params[index].datatype){
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case UINT8_T:
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if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = value;
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break;
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case UINT16_T:
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if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = value;
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break;
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case UINT32_T:
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if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = value;
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break;
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case INT8_T:
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if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = value;
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break;
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case INT16_T:
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if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = value;
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break;
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case INT32_T:
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if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = value;
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break;
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}
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}
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// Run callback function if assigned
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if (params[index].callback_function) (*params[index].callback_function)();
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return 1;
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}
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// Get Parameter Internal value and translate to external
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int32_t getParamValExt(uint8_t index) {
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return IntToExt(index,getParamValInt(index));
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}
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// Get Parameter Internal Value
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int32_t getParamValInt(uint8_t index) {
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int32_t value = 0;
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int countVar = 0;
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if (params[index].valueL != NULL) countVar++;
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if (params[index].valueR != NULL) countVar++;
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if (countVar > 0){
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// Read Left and Right values and calculate average
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// If left and right have to be summed up, DIV field could be adapted to multiply by 2
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// Cast to parameter datatype
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switch (params[index].datatype){
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case UINT8_T:
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if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
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break;
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case UINT16_T:
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if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
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break;
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case UINT32_T:
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if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
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break;
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case INT8_T:
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if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
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break;
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case INT16_T:
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if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
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break;
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case INT32_T:
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if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
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break;
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default:
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value = 0;
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}
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// Divide by number of values provided for the parameter
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value /= countVar;
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}else{
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// No variable was provided, return init value that might contain a macro
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value = params[index].init;
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}
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return value;
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}
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// Set watch flag for parameter
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int8_t watchParamVal(uint8_t index){
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params[index].watch = (params[index].watch==0);
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return 1;
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}
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// Print value for all parameters with watch flag
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int8_t printParamVal(){
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int count = 0;
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for(int i=0;i<PARAM_SIZE(params);i++){
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if (params[i].watch){
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printf("%s:%li ",params[i].name,getParamValExt(i));
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count++;
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}
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}
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if (count) printf("\r\n");
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return 1;
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}
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// Print help for parameter
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int8_t printCommandHelp(uint8_t index){
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printf("? %s:%s\r\n",commands[index].name,commands[index].help);
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return 1;
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}
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// Print help for parameter
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int8_t printParamHelp(uint8_t index){
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printf("? %s:%s ",params[index].name,params[index].help);
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if (params[index].type == PARAMETER) printf("[min:%li max:%li]",params[index].min,params[index].max);
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printf("\r\n");
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return 1;
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}
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// Print help for all parameters
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int8_t printAllParamHelp(){
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printf("? Commands:\r\n");
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for(int i=0;i<COMMAND_SIZE(commands);i++)
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printCommandHelp(i);
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printf("\r\n");
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printf("? Parameters/Variable:\r\n");
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for(int i=0;i<PARAM_SIZE(params);i++)
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printParamHelp(i);
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return 1;
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}
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// Print definition for parameter
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int8_t printParamDef(uint8_t index){
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printf("# name:%s value:%li init:%li min:%li max:%li\r\n",
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params[index].name, // Parameter Name
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getParamValExt(index), // Parameter Value translated to external format
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getParamInitExt(index), // Parameter Init Value translated to external format
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params[index].min, // Parameter Min Value with External format
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params[index].max); // Parameter Max Value with External format
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return 1;
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}
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// Print definition for all parameters
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int8_t printAllParamDef(){
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for(int i=0;i<PARAM_SIZE(params);i++)
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printParamDef(i);
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return 1;
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}
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int8_t incrParamVal(uint8_t index) {
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// Only Parameters can be set
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if (params[index].type == VARIABLE) return 0;
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uint32_t value = getParamValExt(index);
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if (value < params[index].max){
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return setParamValExt(index,value + 1);
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}else{
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return setParamValExt(index,(int32_t) params[index].min);
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}
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}
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// Get internal Parameter value and save it to EEprom if address is assigned
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int8_t saveParamVal(uint8_t index) {
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HAL_FLASH_Unlock();
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int found = 0;
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for(int i=0;i<PARAM_SIZE(params);i++){
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if (params[i].type != VARIABLE && params[i].addr){
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EE_WriteVariable(VirtAddVarTab[params[i].addr] , (uint16_t)getParamValInt(i));
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found = 1;
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}
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}
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HAL_FLASH_Lock();
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return found;
|
||
|
|
}
|
||
|
|
|
||
|
|
int32_t IntToExt(uint8_t index,int32_t value){
|
||
|
|
// Multiply for small number
|
||
|
|
if(params[index].mul) value *= params[index].mul;
|
||
|
|
// Divide to translate to external format
|
||
|
|
if(params[index].div) value /= params[index].div;
|
||
|
|
// Shift to translate to external format
|
||
|
|
if(params[index].fix) value >>= params[index].fix;
|
||
|
|
return value;
|
||
|
|
}
|
||
|
|
|
||
|
|
int32_t getParamInitExt(uint8_t index) {
|
||
|
|
int32_t value = 0;
|
||
|
|
value = IntToExt(index,getParamInitInt(index));
|
||
|
|
return value;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Get Parameter value with EEprom data if address is avalaible, init value otherwise
|
||
|
|
int16_t getParamInitInt(uint8_t index) {
|
||
|
|
if (params[index].addr){
|
||
|
|
// if EEPROM address is specified, init from EEPROM address
|
||
|
|
uint16_t readEEPROMVal;
|
||
|
|
HAL_FLASH_Unlock();
|
||
|
|
EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readEEPROMVal);
|
||
|
|
HAL_FLASH_Lock();
|
||
|
|
return readEEPROMVal;
|
||
|
|
}else{
|
||
|
|
// Initialize from param array
|
||
|
|
return params[index].init;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
|
||
|
|
|
||
|
|
// initialize Parameter value with EEprom data if address is avalaible, init value otherwise
|
||
|
|
int8_t initParamVal(uint8_t index) {
|
||
|
|
// Only Parameters can be loaded from EEPROM
|
||
|
|
if (params[index].type == VARIABLE) return 0;
|
||
|
|
|
||
|
|
return setParamValInt(index,(int32_t) getParamInitInt(index));
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find parameter in params array and return index
|
||
|
|
int8_t findParam(uint8_t *userCommand, uint32_t len){
|
||
|
|
for(int index=0;index<PARAM_SIZE(params);index++){
|
||
|
|
int param_len = strlen(params[index].name);
|
||
|
|
if (param_len < len){
|
||
|
|
if (memcmp(userCommand,params[index].name,param_len)==0){
|
||
|
|
return index;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return -1; // Not found
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find command in commands array and return index
|
||
|
|
int8_t findCommand(uint8_t *userCommand, uint32_t len){
|
||
|
|
for(int index=0;index<COMMAND_SIZE(commands);index++){
|
||
|
|
int command_len = strlen(commands[index].name);
|
||
|
|
if (command_len < len){
|
||
|
|
if (memcmp(userCommand,commands[index].name,command_len)==0){
|
||
|
|
return index;
|
||
|
|
}
|
||
|
|
}
|
||
|
|
}
|
||
|
|
return -1; // Not found
|
||
|
|
}
|
||
|
|
|
||
|
|
void handle_input(uint8_t *userCommand, uint32_t len)
|
||
|
|
{
|
||
|
|
int8_t cindex = -1;
|
||
|
|
int8_t pindex = -1;
|
||
|
|
uint8_t size = 0;
|
||
|
|
int8_t ret = 0;
|
||
|
|
|
||
|
|
// Find Command
|
||
|
|
cindex = findCommand(userCommand,len);
|
||
|
|
if (cindex == -1){
|
||
|
|
printf("! Command not found\r\n");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Skip command characters
|
||
|
|
size = strlen(commands[cindex].name);
|
||
|
|
{len-=size;userCommand+=size;}
|
||
|
|
// Skip if space
|
||
|
|
if (*userCommand == 0x20){len-=1;userCommand+=1;}
|
||
|
|
|
||
|
|
if ( (*userCommand == '\n' || *userCommand == '\r') &&
|
||
|
|
commands[cindex].callback_function0 != NULL){
|
||
|
|
// This function needs no parameter
|
||
|
|
ret = (*commands[cindex].callback_function0)();
|
||
|
|
if (ret==1){printf("OK\r\n");}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Find parameter
|
||
|
|
pindex = findParam(userCommand,len);
|
||
|
|
if (pindex == -1){
|
||
|
|
printf("! Parameter not found\r\n");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
if (commands[cindex].callback_function1 != NULL){
|
||
|
|
// This function needs only a parameter
|
||
|
|
ret = (*commands[cindex].callback_function1)(pindex);
|
||
|
|
if (ret==1){printf("OK\r\n");}
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Skip parameter characters
|
||
|
|
size = strlen(params[pindex].name);
|
||
|
|
{len-=size;userCommand+=size;}
|
||
|
|
// Skip if space
|
||
|
|
if (*userCommand == 0x20){len-=1;userCommand+=1;}
|
||
|
|
|
||
|
|
|
||
|
|
int32_t value = 0;
|
||
|
|
int8_t sign = 1;
|
||
|
|
int8_t count = 0;
|
||
|
|
|
||
|
|
// Read sign
|
||
|
|
if (*userCommand == '-'){len-=1;userCommand+=1;sign =-1;}
|
||
|
|
// Read value
|
||
|
|
for (value=0; (unsigned)*userCommand-'0'<10; userCommand++){
|
||
|
|
value=10*value+(*userCommand-'0');
|
||
|
|
count++;
|
||
|
|
if (value>MAX_int16_T){printf("! Value not in range\r\n");return;}
|
||
|
|
}
|
||
|
|
|
||
|
|
if (count == 0){
|
||
|
|
printf("! Value required\r\n");
|
||
|
|
return;
|
||
|
|
}
|
||
|
|
|
||
|
|
// Apply sign
|
||
|
|
value*= sign;
|
||
|
|
|
||
|
|
if (commands[cindex].callback_function2 != NULL){
|
||
|
|
// This function needs an additional parameter
|
||
|
|
ret = (*commands[cindex].callback_function2)(pindex,value);
|
||
|
|
if (ret==1){printf("OK\r\n");}
|
||
|
|
}
|
||
|
|
|
||
|
|
}
|
||
|
|
|
||
|
|
#endif
|