Merge branch 'vedderb:master' into master

TDA-2030 · Sep 8, 2022 · 80e3421 · 80e3421
2 parents f8f3fb2 + 451fe7a
commit 80e3421
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Showing 110 changed files with 5,694 additions and 1,107 deletions.
diff --git a/applications/app_balance.c b/applications/app_balance.c
@@ -530,7 +530,11 @@ static void apply_turntilt(void){
 	}
 
 	// Limit angle to max angle
-	turntilt_target = fminf(turntilt_target, balance_conf.turntilt_angle_limit);
+	if(turntilt_target > 0){
+		turntilt_target = fminf(turntilt_target, balance_conf.turntilt_angle_limit);
+	}else{
+		turntilt_target = fmaxf(turntilt_target, -balance_conf.turntilt_angle_limit);
+	}
 
 	// Move towards target limited by max speed
 	if(fabsf(turntilt_target - turntilt_interpolated) < turntilt_step_size){
@@ -582,6 +586,12 @@ static void brake(void){
 }
 
 static void set_current(float current, float yaw_current){
+	// Limit current output to configured max output (does not account for yaw_current)
+	if(current > 0 && current > mc_interface_get_configuration()->l_current_max){
+		current = mc_interface_get_configuration()->l_current_max;
+	}else if(current < 0 && current < mc_interface_get_configuration()->l_current_min){
+		current = mc_interface_get_configuration()->l_current_min;
+	}
 	// Reset the timeout
 	timeout_reset();
 	// Set current
@@ -760,7 +770,6 @@ static THD_FUNCTION(balance_thread, arg) {
 					}
 				}
 
-
 				if(balance_conf.multi_esc){
 					// Calculate setpoint
 					if(abs_duty_cycle < .02){

diff --git a/applications/appconf_default.h b/applications/appconf_default.h
@@ -39,6 +39,9 @@
 #ifndef APPCONF_UAVCAN_RAW_MODE
 #define APPCONF_UAVCAN_RAW_MODE				UAVCAN_RAW_MODE_CURRENT
 #endif
+#ifndef APPCONF_UAVCAN_STATUS_CURRENT_MODE
+#define APPCONF_UAVCAN_STATUS_CURRENT_MODE	UAVCAN_STATUS_CURRENT_MODE_MOTOR
+#endif
 #ifndef APPCONF_UAVCAN_RAW_RPM_MAX
 #define APPCONF_UAVCAN_RAW_RPM_MAX			50000.0
 #endif

diff --git a/bms.c b/bms.c
@@ -372,7 +372,7 @@ void bms_process_cmd(unsigned char *data, unsigned int len,
 	switch (packet_id) {
 	case COMM_BMS_GET_VALUES: {
 		int32_t ind = 0;
-		uint8_t send_buffer[128];
+		uint8_t send_buffer[256];
 
 		send_buffer[ind++] = packet_id;
 

diff --git a/conf_general.h b/conf_general.h
@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			6
 #define FW_VERSION_MINOR			00
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		56
+#define FW_TEST_VERSION_NUMBER		58
 
 #include "datatypes.h"
 

diff --git a/confgenerator.c b/confgenerator.c
@@ -220,6 +220,7 @@ int32_t confgenerator_serialize_appconf(uint8_t *buffer, const app_configuration
 	buffer[ind++] = (uint8_t)conf->uavcan_esc_index;
 	buffer[ind++] = conf->uavcan_raw_mode;
 	buffer_append_float32_auto(buffer, conf->uavcan_raw_rpm_max, &ind);
+	buffer[ind++] = conf->uavcan_status_current_mode;
 	buffer[ind++] = conf->servo_out_enable;
 	buffer[ind++] = conf->kill_sw_mode;
 	buffer[ind++] = conf->app_to_use;
@@ -614,6 +615,7 @@ bool confgenerator_deserialize_appconf(const uint8_t *buffer, app_configuration
 	conf->uavcan_esc_index = buffer[ind++];
 	conf->uavcan_raw_mode = buffer[ind++];
 	conf->uavcan_raw_rpm_max = buffer_get_float32_auto(buffer, &ind);
+	conf->uavcan_status_current_mode = buffer[ind++];
 	conf->servo_out_enable = buffer[ind++];
 	conf->kill_sw_mode = buffer[ind++];
 	conf->app_to_use = buffer[ind++];
@@ -992,6 +994,7 @@ void confgenerator_set_defaults_appconf(app_configuration *conf) {
 	conf->uavcan_esc_index = APPCONF_UAVCAN_ESC_INDEX;
 	conf->uavcan_raw_mode = APPCONF_UAVCAN_RAW_MODE;
 	conf->uavcan_raw_rpm_max = APPCONF_UAVCAN_RAW_RPM_MAX;
+	conf->uavcan_status_current_mode = APPCONF_UAVCAN_STATUS_CURRENT_MODE;
 	conf->servo_out_enable = APPCONF_SERVO_OUT_ENABLE;
 	conf->kill_sw_mode = APPCONF_KILL_SW_MODE;
 	conf->app_to_use = APPCONF_APP_TO_USE;

diff --git a/confgenerator.h b/confgenerator.h
@@ -9,7 +9,7 @@
 
 // Constants
 #define MCCONF_SIGNATURE		2217312675
-#define APPCONF_SIGNATURE		2551442059
+#define APPCONF_SIGNATURE		3688838172
 
 // Functions
 int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf);

diff --git a/datatypes.h b/datatypes.h
@@ -276,7 +276,7 @@ typedef struct {
 	float v_cell[32];
 	bool bal_state[32];
 	int temp_adc_num;
-	float temps_adc[10];
+	float temps_adc[50];
 	float temp_ic;
 	float temp_hum;
 	float hum;
@@ -894,6 +894,11 @@ typedef enum {
 	UAVCAN_RAW_MODE_RPM
 } UAVCAN_RAW_MODE;
 
+typedef enum {
+	UAVCAN_STATUS_CURRENT_MODE_MOTOR = 0,
+	UAVCAN_STATUS_CURRENT_MODE_INPUT
+} UAVCAN_STATUS_CURRENT_MODE;
+
 typedef enum {
 	KILL_SW_MODE_DISABLED = 0,
 	KILL_SW_MODE_PPM_LOW,
@@ -923,6 +928,7 @@ typedef struct {
 	uint8_t uavcan_esc_index;
 	UAVCAN_RAW_MODE uavcan_raw_mode;
 	float uavcan_raw_rpm_max;
+	UAVCAN_STATUS_CURRENT_MODE uavcan_status_current_mode;
 
 	// Application to use
 	app_use app_to_use;

diff --git a/driver/servo_dec.c b/driver/servo_dec.c
@@ -31,7 +31,7 @@
 #define TIMER_FREQ				1000000
 
 // Private variables
-static volatile systime_t last_update_time;
+static volatile systime_t last_update_time = 0;
 static volatile float servo_pos[SERVO_NUM];
 static volatile float pulse_start = 1.0;
 static volatile float pulse_end = 2.0;

diff --git a/hwconf/hw.h b/hwconf/hw.h
@@ -305,6 +305,13 @@
 #define NTC_TEMP_MOS3_M2()	0.0
 #endif
 
+#ifndef TEMP_MOTOR_1
+#define TEMP_MOTOR_1(beta)	0.0
+#endif
+#ifndef TEMP_MOTOR_2
+#define TEMP_MOTOR_2(beta)	0.0
+#endif
+
 // Sin/Cos Encoder Signals. Override if available
 #ifndef ENCODER_SIN_VOLTS
 #if defined(ADC_IND_EXT) && defined(ADC_VOLTS)

diff --git a/hwconf/trampa/60_alva/hw_60v2_alva_core.h b/hwconf/trampa/60_alva/hw_60v2_alva_core.h
@@ -154,6 +154,8 @@
 
 #define NTC_RES_MOTOR(adc_val)	(10000.0 / ((4095.0 / (float)adc_val) - 1.0)) // Motor temp sensor on low side
 #define NTC_TEMP_MOTOR(beta)	alva_temp_motor_max(beta)
+#define TEMP_MOTOR_1(beta)		(1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
+#define TEMP_MOTOR_2(beta)		(1.0 / ((logf(NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR_S2]) / 10000.0) / beta) + (1.0 / 298.15)) - 273.15)
 
 // Voltage on ADC channel
 #define ADC_VOLTS(ch)			((float)ADC_Value[ch] / 4096.0 * V_REG)

diff --git a/hwconf/trampa/75_300_R34/hw_75_300_r34.h b/hwconf/trampa/75_300_R34/hw_75_300_r34.h
@@ -0,0 +1,27 @@
+/*
+	Copyright 2018 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/>.
+    */
+
+#ifndef HW_75_300_R34_H_
+#define HW_75_300_R34_H_
+
+#define HW75_300_REV_34
+
+#include "hw_75_300_r34_core.h"
+
+#endif /* HW_75_300_R34_H_ */