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mc_interface.c
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/*
Copyright 2016 - 2020 Benjamin Vedder [email protected]
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 "mc_interface.h"
#include "mcpwm.h"
#include "mcpwm_foc.h"
#include "ledpwm.h"
#include "stm32f4xx_conf.h"
#include "hw.h"
#include "terminal.h"
#include "utils_math.h"
#include "utils_sys.h"
#include "ch.h"
#include "hal.h"
#include "commands.h"
#include "encoder/encoder.h"
#include "buffer.h"
#include "gpdrive.h"
#include "comm_can.h"
#include "shutdown.h"
#include "app.h"
#include "mempools.h"
#include "crc.h"
#include "bms.h"
#include "events.h"
#include <math.h>
#include <stdlib.h>
#include <string.h>
// Macros
#define DIR_MULT (motor_now()->m_conf.m_invert_direction ? -1.0 : 1.0)
// Global variables
volatile uint16_t ADC_Value[HW_ADC_CHANNELS + HW_ADC_CHANNELS_EXTRA];
volatile float ADC_curr_norm_value[6];
typedef struct {
mc_configuration m_conf;
mc_fault_code m_fault_now;
setup_stats m_stats;
int m_ignore_iterations;
int m_drv_fault_iterations;
unsigned int m_cycles_running;
bool m_lock_enabled;
bool m_lock_override_once;
float m_motor_current_sum;
float m_input_current_sum;
float m_motor_current_iterations;
float m_input_current_iterations;
float m_motor_id_sum;
float m_motor_iq_sum;
float m_motor_id_iterations;
float m_motor_iq_iterations;
float m_motor_vd_sum;
float m_motor_vq_sum;
float m_motor_vd_iterations;
float m_motor_vq_iterations;
float m_amp_seconds;
float m_amp_seconds_charged;
float m_watt_seconds;
float m_watt_seconds_charged;
float m_position_set;
float m_temp_fet;
float m_temp_motor;
float m_gate_driver_voltage;
float m_motor_current_unbalance;
float m_motor_current_unbalance_error_rate;
float m_f_samp_now;
float m_input_voltage_filtered;
float m_input_voltage_filtered_slower;
// Backup data counters
uint64_t m_odometer_last;
uint64_t m_runtime_last;
} motor_if_state_t;
// Private variables
static volatile motor_if_state_t m_motor_1;
#ifdef HW_HAS_DUAL_MOTORS
static volatile motor_if_state_t m_motor_2;
#endif
// Sampling variables
#define ADC_SAMPLE_MAX_LEN 2000
__attribute__((section(".ram4"))) static volatile int16_t m_curr0_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_curr1_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph1_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph2_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_ph3_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_vzero_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile uint8_t m_status_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_curr_fir_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int16_t m_f_sw_samples[ADC_SAMPLE_MAX_LEN];
__attribute__((section(".ram4"))) static volatile int8_t m_phase_samples[ADC_SAMPLE_MAX_LEN];
static volatile int m_sample_len;
static volatile int m_sample_int;
static volatile bool m_sample_raw;
static volatile debug_sampling_mode m_sample_mode;
static volatile debug_sampling_mode m_sample_mode_last;
static volatile int m_sample_now;
static volatile int m_sample_trigger;
static volatile float m_last_adc_duration_sample;
static volatile bool m_sample_is_second_motor;
static volatile mc_fault_code m_fault_stop_fault;
static volatile bool m_fault_stop_is_second_motor;
// Private functions
static void update_override_limits(volatile motor_if_state_t *motor, volatile mc_configuration *conf);
static void run_timer_tasks(volatile motor_if_state_t *motor);
static void update_stats(volatile motor_if_state_t *motor);
static volatile motor_if_state_t *motor_now(void);
// Function pointers
static void(*pwn_done_func)(void) = 0;
// Threads
static THD_WORKING_AREA(timer_thread_wa, 512);
static THD_FUNCTION(timer_thread, arg);
static THD_WORKING_AREA(sample_send_thread_wa, 512);
static THD_FUNCTION(sample_send_thread, arg);
static thread_t *sample_send_tp;
static THD_WORKING_AREA(fault_stop_thread_wa, 512);
static THD_FUNCTION(fault_stop_thread, arg);
static thread_t *fault_stop_tp;
static THD_WORKING_AREA(stat_thread_wa, 512);
static THD_FUNCTION(stat_thread, arg);
void mc_interface_init(void) {
memset((void*)&m_motor_1, 0, sizeof(motor_if_state_t));
#ifdef HW_HAS_DUAL_MOTORS
memset((void*)&m_motor_2, 0, sizeof(motor_if_state_t));
#endif
conf_general_read_mc_configuration((mc_configuration*)&m_motor_1.m_conf, false);
#ifdef HW_HAS_DUAL_MOTORS
conf_general_read_mc_configuration((mc_configuration*)&m_motor_2.m_conf, true);
#endif
#ifdef HW_HAS_DUAL_MOTORS
m_motor_1.m_conf.motor_type = MOTOR_TYPE_FOC;
m_motor_2.m_conf.motor_type = MOTOR_TYPE_FOC;
#endif
m_last_adc_duration_sample = 0.0;
m_sample_len = 1000;
m_sample_int = 1;
m_sample_now = 0;
m_sample_raw = false;
m_sample_trigger = 0;
m_sample_mode = DEBUG_SAMPLING_OFF;
m_sample_mode_last = DEBUG_SAMPLING_OFF;
m_sample_is_second_motor = false;
mc_interface_stat_reset();
// Start threads
chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO - 1, sample_send_thread, NULL);
chThdCreateStatic(fault_stop_thread_wa, sizeof(fault_stop_thread_wa), HIGHPRIO - 3, fault_stop_thread, NULL);
chThdCreateStatic(stat_thread_wa, sizeof(stat_thread_wa), NORMALPRIO, stat_thread, NULL);
int motor_old = mc_interface_get_motor_thread();
mc_interface_select_motor_thread(1);
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8301_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8320s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8323s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
DRV8323S_CUSTOM_SETTINGS();
#endif
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
mc_interface_select_motor_thread(2);
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8301_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8320s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(motor_now()->m_conf.m_drv8301_oc_mode);
drv8323s_set_oc_adj(motor_now()->m_conf.m_drv8301_oc_adj);
DRV8323S_CUSTOM_SETTINGS();
#endif
#endif
mc_interface_select_motor_thread(motor_old);
encoder_init(&motor_now()->m_conf);
// Initialize selected implementation
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_init(&motor_now()->m_conf);
break;
case MOTOR_TYPE_FOC:
#ifdef HW_HAS_DUAL_MOTORS
mcpwm_foc_init((mc_configuration*)&m_motor_1.m_conf, (mc_configuration*)&m_motor_2.m_conf);
#else
mcpwm_foc_init((mc_configuration*)&m_motor_1.m_conf, (mc_configuration*)&m_motor_1.m_conf);
#endif
break;
case MOTOR_TYPE_GPD:
gpdrive_init(&motor_now()->m_conf);
break;
default:
break;
}
bms_init((bms_config*)&m_motor_1.m_conf.bms);
}
int mc_interface_motor_now(void) {
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
int isr_motor = mcpwm_foc_isr_motor();
int thd_motor = chThdGetSelfX()->motor_selected;
if (isr_motor > 0) {
return isr_motor;
} else if (thd_motor > 0) {
return thd_motor;
} else {
return 1;
}
#else
return 1;
#endif
}
/**
* Select motor for current thread. When a thread has a motor selected,
* the mc_interface functions will use that motor for that thread. This
* is only relevant for dual motor hardware.
*
* @param motor
* 0: no specific motor selected, the last motor will be used.
* 1: motor 1 selected (default).
* 2: motor 2 selected.
*/
void mc_interface_select_motor_thread(int motor) {
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
if (motor == 0 || motor == 1 || motor == 2) {
chThdGetSelfX()->motor_selected = motor;
}
#else
(void)motor;
#endif
}
/**
* Get the motor selected for the current thread.
*
* @return
* 0: no specific motor selected, the last motor will be used.
* 1: motor 1 selected (default).
* 2: motor 2 selected.
*/
int mc_interface_get_motor_thread(void) {
return chThdGetSelfX()->motor_selected;
}
const volatile mc_configuration* mc_interface_get_configuration(void) {
return &motor_now()->m_conf;
}
void mc_interface_set_configuration(mc_configuration *configuration) {
volatile motor_if_state_t *motor = motor_now();
#if defined HW_HAS_DUAL_MOTORS || defined HW_HAS_DUAL_PARALLEL
configuration->motor_type = MOTOR_TYPE_FOC;
#endif
if (motor->m_conf.m_sensor_port_mode != configuration->m_sensor_port_mode) {
encoder_deinit();
encoder_init(configuration);
}
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8320s_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8323s_set_oc_adj(configuration->m_drv8301_oc_adj);
#endif
#ifdef HW_HAS_DUAL_PARALLEL
mc_interface_select_motor_thread(2);
#ifdef HW_HAS_DRV8301
drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8320S)
drv8320s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8320s_set_oc_adj(configuration->m_drv8301_oc_adj);
#elif defined(HW_HAS_DRV8323S)
drv8323s_set_oc_mode(configuration->m_drv8301_oc_mode);
drv8323s_set_oc_adj(configuration->m_drv8301_oc_adj);
#endif
mc_interface_select_motor_thread(1);
#endif
if (motor->m_conf.motor_type != configuration->motor_type) {
mcpwm_deinit();
mcpwm_foc_deinit();
gpdrive_deinit();
motor->m_conf = *configuration;
switch (motor->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_init(&motor->m_conf);
break;
case MOTOR_TYPE_FOC:
#ifdef HW_HAS_DUAL_MOTORS
mcpwm_foc_init((mc_configuration*)&m_motor_1.m_conf, (mc_configuration*)&m_motor_2.m_conf);
#else
mcpwm_foc_init((mc_configuration*)&m_motor_1.m_conf, (mc_configuration*)&m_motor_1.m_conf);
#endif
break;
case MOTOR_TYPE_GPD:
gpdrive_init(&motor->m_conf);
break;
default:
break;
}
} else {
motor->m_conf = *configuration;
}
update_override_limits(motor, &motor->m_conf);
switch (motor->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_configuration(&motor->m_conf);
break;
case MOTOR_TYPE_FOC:
#ifdef HW_HAS_DUAL_MOTORS
if (motor == &m_motor_1) {
m_motor_2.m_conf.foc_f_zv = motor->m_conf.foc_f_zv;
} else {
m_motor_1.m_conf.foc_f_zv = motor->m_conf.foc_f_zv;
}
#endif
mcpwm_foc_set_configuration((mc_configuration*)&motor->m_conf);
break;
case MOTOR_TYPE_GPD:
gpdrive_set_configuration(&motor->m_conf);
break;
default:
break;
}
bms_init(&configuration->bms);
}
bool mc_interface_dccal_done(void) {
bool ret = false;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_is_dccal_done();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_is_dccal_done();
break;
case MOTOR_TYPE_GPD:
ret = gpdrive_is_dccal_done();
break;
default:
break;
}
return ret;
}
/**
* Set a function that should be called after each PWM cycle.
*
* Note: this function is called from an interrupt.
*
* @param p_func
* The function to be called. 0 will not call any function.
*/
void mc_interface_set_pwm_callback(void (*p_func)(void)) {
pwn_done_func = p_func;
}
/**
* Lock the control by disabling all control commands.
*/
void mc_interface_lock(void) {
motor_now()->m_lock_enabled = true;
}
/**
* Unlock all control commands.
*/
void mc_interface_unlock(void) {
motor_now()->m_lock_enabled = false;
}
/**
* Allow just one motor control command in the locked state.
*/
void mc_interface_lock_override_once(void) {
motor_now()->m_lock_override_once = true;
}
mc_fault_code mc_interface_get_fault(void) {
return motor_now()->m_fault_now;
}
const char* mc_interface_fault_to_string(mc_fault_code fault) {
switch (fault) {
case FAULT_CODE_NONE: return "FAULT_CODE_NONE"; break;
case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE"; break;
case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE"; break;
case FAULT_CODE_DRV: return "FAULT_CODE_DRV"; break;
case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT"; break;
case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET"; break;
case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR"; break;
case FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE: return "FAULT_CODE_GATE_DRIVER_OVER_VOLTAGE"; break;
case FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE: return "FAULT_CODE_GATE_DRIVER_UNDER_VOLTAGE"; break;
case FAULT_CODE_MCU_UNDER_VOLTAGE: return "FAULT_CODE_MCU_UNDER_VOLTAGE"; break;
case FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET: return "FAULT_CODE_BOOTING_FROM_WATCHDOG_RESET"; break;
case FAULT_CODE_ENCODER_SPI: return "FAULT_CODE_ENCODER_SPI"; break;
case FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE: return "FAULT_CODE_ENCODER_SINCOS_BELOW_MIN_AMPLITUDE"; break;
case FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE: return "FAULT_CODE_ENCODER_SINCOS_ABOVE_MAX_AMPLITUDE"; break;
case FAULT_CODE_FLASH_CORRUPTION: return "FAULT_CODE_FLASH_CORRUPTION";
case FAULT_CODE_FLASH_CORRUPTION_APP_CFG: return "FAULT_CODE_FLASH_CORRUPTION_APP_CFG";
case FAULT_CODE_FLASH_CORRUPTION_MC_CFG: return "FAULT_CODE_FLASH_CORRUPTION_MC_CFG";
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_1";
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_2";
case FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3: return "FAULT_CODE_HIGH_OFFSET_CURRENT_SENSOR_3";
case FAULT_CODE_UNBALANCED_CURRENTS: return "FAULT_CODE_UNBALANCED_CURRENTS";
case FAULT_CODE_BRK: return "FAULT_CODE_BRK";
case FAULT_CODE_RESOLVER_LOT: return "FAULT_CODE_RESOLVER_LOT";
case FAULT_CODE_RESOLVER_DOS: return "FAULT_CODE_RESOLVER_DOS";
case FAULT_CODE_RESOLVER_LOS: return "FAULT_CODE_RESOLVER_LOS";
case FAULT_CODE_ENCODER_NO_MAGNET: return "FAULT_CODE_ENCODER_NO_MAGNET";
case FAULT_CODE_ENCODER_MAGNET_TOO_STRONG: return "FAULT_CODE_ENCODER_MAGNET_TOO_STRONG";
case FAULT_CODE_PHASE_FILTER: return "FAULT_CODE_PHASE_FILTER";
}
return "Unknown fault";
}
mc_state mc_interface_get_state(void) {
mc_state ret = MC_STATE_OFF;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_state();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_state();
break;
default:
break;
}
return ret;
}
void mc_interface_set_duty(float dutyCycle) {
if (fabsf(dutyCycle) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_duty(DIR_MULT * dutyCycle);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_duty(DIR_MULT * dutyCycle);
break;
default:
break;
}
events_add("set_duty", dutyCycle);
}
void mc_interface_set_duty_noramp(float dutyCycle) {
if (fabsf(dutyCycle) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_duty_noramp(DIR_MULT * dutyCycle);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_duty_noramp(DIR_MULT * dutyCycle);
break;
default:
break;
}
events_add("set_duty_noramp", dutyCycle);
}
void mc_interface_set_pid_speed(float rpm) {
if (fabsf(rpm) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_pid_speed(DIR_MULT * rpm);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_pid_speed(DIR_MULT * rpm);
break;
default:
break;
}
events_add("set_pid_speed", rpm);
}
void mc_interface_set_pid_pos(float pos) {
SHUTDOWN_RESET();
if (mc_interface_try_input()) {
return;
}
volatile mc_configuration *conf = &motor_now()->m_conf;
motor_now()->m_position_set = pos;
pos += motor_now()->m_conf.p_pid_offset;
pos *= DIR_MULT;
if (encoder_is_configured()) {
if (conf->foc_encoder_inverted) {
pos *= -1.0;
}
}
utils_norm_angle(&pos);
switch (conf->motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_pid_pos(pos);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_pid_pos(pos);
break;
default:
break;
}
events_add("set_pid_pos", pos);
}
void mc_interface_set_current(float current) {
if (fabsf(current) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_current(DIR_MULT * current);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_current(DIR_MULT * current);
break;
default:
break;
}
events_add("set_current", current);
}
void mc_interface_set_brake_current(float current) {
if (fabsf(current) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_set_brake_current(DIR_MULT * current);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_brake_current(DIR_MULT * current);
break;
case MOTOR_TYPE_GPD:
// For timeout to stop the output
gpdrive_set_mode(GPD_OUTPUT_MODE_NONE);
break;
default:
break;
}
events_add("set_current_brake", current);
}
/**
* Set current relative to the minimum and maximum current limits.
*
* @param current
* The relative current value, range [-1.0 1.0]
*/
void mc_interface_set_current_rel(float val) {
if (fabsf(val) > 0.001) {
SHUTDOWN_RESET();
}
mc_interface_set_current(val * motor_now()->m_conf.lo_current_motor_max_now);
}
/**
* Set brake current relative to the minimum current limit.
*
* @param current
* The relative current value, range [0.0 1.0]
*/
void mc_interface_set_brake_current_rel(float val) {
if (fabsf(val) > 0.001) {
SHUTDOWN_RESET();
}
mc_interface_set_brake_current(val * fabsf(motor_now()->m_conf.lo_current_motor_min_now));
}
/**
* Set open loop current vector to brake motor.
*
* @param current
* The current value.
*/
void mc_interface_set_handbrake(float current) {
if (fabsf(current) > 0.001) {
SHUTDOWN_RESET();
}
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
// TODO: Not implemented yet, use brake mode for now.
mcpwm_set_brake_current(current);
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_handbrake(current);
break;
default:
break;
}
events_add("set_handbrake", current);
}
/**
* Set handbrake brake current relative to the minimum current limit.
*
* @param current
* The relative current value, range [0.0 1.0]
*/
void mc_interface_set_handbrake_rel(float val) {
if (fabsf(val) > 0.001) {
SHUTDOWN_RESET();
}
mc_interface_set_handbrake(val * fabsf(motor_now()->m_conf.lo_current_motor_min_now));
}
void mc_interface_brake_now(void) {
SHUTDOWN_RESET();
mc_interface_set_duty(0.0);
}
/**
* Disconnect the motor and let it turn freely.
*/
void mc_interface_release_motor(void) {
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_release_motor();
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_release_motor();
break;
default:
break;
}
events_add("release_motor", 0.0);
}
void mc_interface_release_motor_override(void) {
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
mcpwm_release_motor();
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_release_motor();
break;
default:
break;
}
events_add("release_motor_override", 0.0);
}
bool mc_interface_wait_for_motor_release(float timeout) {
systime_t time_start = chVTGetSystemTimeX();
bool res = false;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
while (UTILS_AGE_S(time_start) < timeout) {
if (mcpwm_get_state() == MC_STATE_OFF) {
res = true;
break;
}
chThdSleepMilliseconds(1);
}
break;
case MOTOR_TYPE_FOC:
while (UTILS_AGE_S(time_start) < timeout) {
if (mcpwm_foc_get_state() == MC_STATE_OFF) {
res = true;
break;
}
chThdSleepMilliseconds(1);
}
break;
default:
break;
}
return res;
}
/**
* Stop the motor and use braking.
*/
float mc_interface_get_duty_cycle_set(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_duty_cycle_set();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_duty_cycle_set();
break;
default:
break;
}
return DIR_MULT * ret;
}
float mc_interface_get_duty_cycle_now(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_duty_cycle_now();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_duty_cycle_now();
break;
default:
break;
}
return DIR_MULT * ret;
}
float mc_interface_get_sampling_frequency_now(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_switching_frequency_now();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_sampling_frequency_now();
break;
case MOTOR_TYPE_GPD:
ret = gpdrive_get_switching_frequency_now();
break;
default:
break;
}
return ret;
}
float mc_interface_get_rpm(void) {
float ret = 0.0;
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
ret = mcpwm_get_rpm();
break;
case MOTOR_TYPE_FOC:
ret = mcpwm_foc_get_rpm();
break;
default:
break;
}
return DIR_MULT * ret;
}
/**
* Get the amount of amp hours drawn from the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of amp hours drawn.
*/
float mc_interface_get_amp_hours(bool reset) {
float val = motor_now()->m_amp_seconds / 3600;
if (reset) {
motor_now()->m_amp_seconds = 0.0;
}
return val;
}
/**
* Get the amount of amp hours fed back into the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of amp hours fed back.
*/
float mc_interface_get_amp_hours_charged(bool reset) {
float val = motor_now()->m_amp_seconds_charged / 3600;
if (reset) {
motor_now()->m_amp_seconds_charged = 0.0;
}
return val;
}
/**
* Get the amount of watt hours drawn from the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of watt hours drawn.
*/
float mc_interface_get_watt_hours(bool reset) {
float val = motor_now()->m_watt_seconds / 3600;
if (reset) {
motor_now()->m_watt_seconds = 0.0;
}
return val;
}
/**
* Get the amount of watt hours fed back into the input source.
*
* @param reset
* If true, the counter will be reset after this call.
*
* @return
* The amount of watt hours fed back.
*/
float mc_interface_get_watt_hours_charged(bool reset) {
float val = motor_now()->m_watt_seconds_charged / 3600;
if (reset) {
motor_now()->m_watt_seconds_charged = 0.0;
}
return val;
}