Added command waiting indication in PGUI.

README.md

@@ -56,7 +56,7 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 
 - Automated machine parameters identification:
 	- Stator DC resistance (Rs).
-	- Stator AC impedance in DQ frame (Ld, Lq, R).
+	- Stator AC impedance in DQ frame (Ld, Lq, Rz).
 	- Rotor flux linkage constant (lambda).
 	- Mechanical moment of inertia (Ja).
 

bench/tsfunc.c

@@ -696,7 +696,7 @@ void ts_script_test()
 
 	tlm_restart();
 
-	m.Rs = 7.E-3;
+	m.Rs = 8.E-3;
 	m.Ld = 3.E-6;
 	m.Lq = 5.E-6;
 	m.Udc = 48.;

doc/GettingStarted.md

@@ -95,8 +95,7 @@ GDB as in previous case but we are only concerned with using `st-flash` util.
 
 USART interface with ST embedded bootloader using
 [stm32flash](https://sourceforge.net/projects/stm32flash/). You should have a
-serial port connected to the board TX and RX pins and BOOT pin shorted to the
-+3.3v.
+serial port connected to the board TX and RX pins and BOOT pin shorted to the +3.3v.
 
 	$ make HWREV=PHOBIA_rev5 flash
 
@@ -137,7 +136,7 @@ Read the following documentation for setting PMC up.
 ## Feedback and support
 
 Yuo can contact me on [sourceforge](https://sourceforge.net/projects/phobia/)
-[github](https://github.com/rombrew/phobia) or by email.
+or [github](https://github.com/rombrew/phobia) as well as by email.
 
 Roman Belov <[email protected]>
 

doc/HardwareDesign.md

@@ -50,14 +50,14 @@ PWM scheme as shown in the diagram.
 ```
 
 Each half-bridge consists of two MOSFETs controlled by a gate drivers with a
-specified dead-time `ZT`. Depending on the direction of the current flow during
+specified dead-time `DT`. Depending on the direction of the current flow during
 the dead-time the actual voltage on half-bridge may be different. The amount of
-uncertainty in the output voltage `dU` expressed as follows:
+uncertainty in the output voltage `DTu` expressed as follows:
 
 ```
-	       2 * ZT * DC_link_voltage
-	 dU = ---------------------------
-	                  dT
+	        DT * DC_link_voltage
+	 DTu = ----------------------
+	                dT
 
 	           |
 	           |
@@ -69,7 +69,7 @@ uncertainty in the output voltage `dU` expressed as follows:
 	       ||  |     ---             |                 |
 	        |--+      |           |                       |
 	           |      |              |                 |
-	           +------+       --->|   <--- ZT             |
+	           +------+       --->|   <--- DT             |
 	           |                     |                 |
 	           +---< Terminal     |                       |
 	           |                     |                 |
@@ -95,8 +95,8 @@ linear region. You can skip the terminal voltage sensing if you do not need
 related features but supply voltage measuring is mandatory.
 
 To get acceptable accuracy you need to make sure that the RC scheme time
-constant is comparable to dT. Also make sure that your capacitors are stable
-over whole temperature and voltage range.
+constant is comparable to the typical `dT` value. Also make sure that your
+capacitors are stable over whole temperature and voltage range.
 
 ```
 	                         +------< REF

doc/HardwareVESC.md

@@ -41,8 +41,3 @@ firmware to MCU.
 VESC does not have voltage dividers on ADC pins. You should use external
 dividers or specify 3.3v levels on analog knob range configuration.
 
-## Terminal voltages
-
-VESC does not have required RC filters on the terminal voltage measurement
-circuits. So you are not able to use dead-time distortion compensation.
-

doc/IntegritySelfTest.md

@@ -33,11 +33,11 @@ This adjustment does the following steps in this order:
 
 - Get current sensors zero drift and check it is within the acceptable range.
 - Adjust the voltage measurement channels relatively to DC link voltage.
-- Adjust dead-time distortion compensation (**OPTIONAL**).
 - Adjust the current measurement channels pairwise.
+- Adjust dead-time distortion compensation (DTC).
 
-Note that in step 4 you need to connect the machine (or test coil) to let the
-current flow in phase circuits.
+Note that in last two steps you need to connect the machine (or test coil) to
+let the current flow in phase circuits.
 
 ## See also
 

doc/MachineTuning.md

@@ -26,7 +26,7 @@ at low speed range.
 ## Current loop
 
 You can automatically tune current loop PI regulator gains based on damping
-percentage. Reasonable values are from 50 to 150.
+percentage. Reasonable values are from 20 to 200.
 
 	(pmc) reg pm.i_damping <pc>
 
@@ -90,7 +90,7 @@ transient rate and noise level.
 ## Speed loop
 
 You can automatically tune speed loop PID regulator gains based on damping
-percentage. Reasonable values are from 50 to 200.
+percentage. Reasonable values are from 40 to 400.
 
 	(pmc) reg pm.s_damping <pc>
 
@@ -109,14 +109,14 @@ to increase the default acceleration value.
 It should be noted that above constraints are used differently depending on
 selected control loop. In case of speed control above constraints are applied
 to speed setpoint to get trackpoint `pm.s_track`. In other words we do not
-limits actual parameters but limit input setpoint to comply it with
+limits actual parameters but limit the input setpoint to comply it with
 constraints.
 
 Quite different in the case of current control. You should enable
-`SPEED_MAXIMAL` feature to apply above speed loop constraints to actual speed
+`CC_SPEED_TRACK` feature to apply above speed loop constraints to actual speed
 and acceleration.
 
-    (pmc) reg pm.config_SPEED_MAXIMAL 1
+    (pmc) reg pm.config_CC_SPEED_TRACK 1
 
 Here trackpoint is driven by actual speed estimate with acceleration
 constraint. For system stability we have introduced a linear regulation region
@@ -132,12 +132,12 @@ Also you can tune PID regulator and load torque gains manually.
 
 ## Brake function
 
-If you need a reverse brake function in combination with current control then
-enable `REVERSE_BRAKE` feature. It is activated when current setpoint is
-negative. Brake current is limited by absolute value of setpoint so brake is
+If you need a brake function without a reverse in combination with current
+control then enable `CC_BRAKE` feature. It is activated when current setpoint
+is negative. Brake current is limited by absolute value of setpoint so brake is
 proportional.
 
-	(pmc) reg pm.config_REVERSE_BRAKE 1
+	(pmc) reg pm.config_CC_BRAKE 1
 
 Note that speed control loop should be fine tuned to use this feature.
 

pgui/link.c

@@ -678,9 +678,9 @@ int link_fetch(struct link_pmc *lp, int clock)
 		{ "flash_info",		LINK_MODE_FLASH_MAP },
 		{ "flash_prog",		LINK_MODE_UNABLE_WARNING },
 		{ "flash_wipe",		LINK_MODE_UNABLE_WARNING },
-		{ "pm_self",		LINK_MODE_UNABLE_WARNING },
-		{ "pm_probe",		LINK_MODE_UNABLE_WARNING },
-		{ "pm_adjust",		LINK_MODE_UNABLE_WARNING },
+		{ "pm_self_",		LINK_MODE_UNABLE_WARNING },
+		{ "pm_probe_",		LINK_MODE_UNABLE_WARNING },
+		{ "pm_adjust_",		LINK_MODE_UNABLE_WARNING },
 		{ "tlm_flush_sync",	LINK_MODE_DATA_GRAB },
 		{ "tlm_live_sync",	LINK_MODE_DATA_GRAB },
 		{ "net_survey",		LINK_MODE_EPCAN_MAP },
@@ -710,6 +710,12 @@ int link_fetch(struct link_pmc *lp, int clock)
 
 		if (rc_local != 0) {
 
+			if (		   lp->command_state == LINK_COMMAND_RUNING
+					|| lp->command_state == LINK_COMMAND_WAITING) {
+
+				lp->command_state = LINK_COMMAND_NONE;
+			}
+
 			if (priv->link_mode == LINK_MODE_DATA_GRAB) {
 
 				link_grab_file_close(lp);
@@ -741,11 +747,21 @@ int link_fetch(struct link_pmc *lp, int clock)
 					mp++;
 				}
 
-				if (priv->link_mode == LINK_MODE_FLASH_MAP)
+				if (priv->link_mode == LINK_MODE_FLASH_MAP) {
+
 					memset(lp->flash, 0, sizeof(lp->flash));
-				else if (priv->link_mode == LINK_MODE_EPCAN_MAP)
+				}
+				else if (priv->link_mode == LINK_MODE_EPCAN_MAP) {
+
 					memset(lp->epcan, 0, sizeof(lp->epcan));
+				}
+				else if (priv->link_mode == LINK_MODE_UNABLE_WARNING) {
 
+					if (lp->command_state == LINK_COMMAND_PENDING) {
+
+						lp->command_state = LINK_COMMAND_RUNING;
+					}
+				}
 				break;
 
 			case LINK_MODE_HWINFO:
@@ -790,13 +806,15 @@ int link_fetch(struct link_pmc *lp, int clock)
 			if (lp->active + 12000 < lp->clock) {
 
 				link_close(lp);
+
+				return N;
 			}
 			else {
 				sprintf(priv->lbuf, "ap_time" LINK_EOL);
 				serial_fputs(priv->fd, priv->lbuf);
-			}
 
-			lp->keep = lp->clock;
+				lp->keep = lp->clock;
+			}
 		}
 	}
 	else {
@@ -908,7 +926,7 @@ int link_command(struct link_pmc *lp, const char *command)
 	if (lp->linked == 0)
 		return 0;
 
-	if (lp->locked > lp->clock + 50)
+	if (lp->locked > lp->clock + 100)
 		return 0;
 
 	sprintf(priv->lbuf, "%.90s" LINK_EOL, command);
@@ -917,7 +935,7 @@ int link_command(struct link_pmc *lp, const char *command)
 
 		pushed = 1;
 
-		lp->locked = lp->clock + 100;
+		lp->locked = lp->clock + 200;
 	}
 
 	return pushed;

pgui/link.h

@@ -26,6 +26,13 @@ enum {
 	LINK_PRIMAL_ENABLED
 };
 
+enum {
+	LINK_COMMAND_NONE	= 0,
+	LINK_COMMAND_PENDING,
+	LINK_COMMAND_RUNING,
+	LINK_COMMAND_WAITING
+};
+
 struct link_priv;
 
 struct link_reg {
@@ -97,6 +104,8 @@ struct link_pmc {
 	char			unable_warning[LINK_MESSAGE_MAX];
 	int			uptime_warning;
 
+	int			command_state;
+
 	int			line_N;
 	int			grab_N;