PPM dec fix, current sampling updates, ADC cruise control, commutatio…

…n fix, higher switching frequency, refactoring

Makefile

@@ -6,7 +6,7 @@
 # Compiler options here.
 ifeq ($(USE_OPT),)
   USE_OPT = -O2 -ggdb -fomit-frame-pointer -falign-functions=16 -std=gnu99
-  USE_OPT += -DBOARD_OTG_NOVBUSSENS
+  USE_OPT += -DBOARD_OTG_NOVBUSSENS $(build_args)
 endif
 
 # C specific options here (added to USE_OPT).

applications/app.c

@@ -40,7 +40,7 @@ void app_init(app_configuration *conf) {
 		break;
 
 	case APP_ADC:
-		app_adc_start();
+		app_adc_start(true);
 		break;
 
 	case APP_UART:
@@ -56,7 +56,7 @@ void app_init(app_configuration *conf) {
 
 	case APP_ADC_UART:
 		hw_stop_i2c();
-		app_adc_start();
+		app_adc_start(false);
 		app_uartcomm_start();
 		break;
 

applications/app.h

@@ -35,7 +35,7 @@ void app_set_configuration(app_configuration *conf);
 // Standard apps
 void app_ppm_start(void);
 void app_ppm_configure(ppm_config *conf);
-void app_adc_start(void);
+void app_adc_start(bool use_rx_tx);
 void app_adc_configure(adc_config *conf);
 float app_adc_get_decoded_level(void);
 float app_adc_get_voltage(void);

applications/app_adc.c

@@ -38,6 +38,7 @@
 #define MAX_CAN_AGE						0.1
 #define MIN_MS_WITHOUT_POWER			500
 #define FILTER_SAMPLES					5
+#define RPM_FILTER_SAMPLES				8
 
 // Threads
 static msg_t adc_thread(void *arg);
@@ -48,13 +49,15 @@ static volatile adc_config config;
 static volatile float ms_without_power = 0;
 static volatile float decoded_level = 0.0;
 static volatile float read_voltage = 0.0;
+static volatile bool use_rx_tx_as_buttons = false;
 
 void app_adc_configure(adc_config *conf) {
 	config = *conf;
 	ms_without_power = 0.0;
 }
 
-void app_adc_start(void) {
+void app_adc_start(bool use_rx_tx) {
+	use_rx_tx_as_buttons = use_rx_tx;
 	chThdCreateStatic(adc_thread_wa, sizeof(adc_thread_wa), NORMALPRIO, adc_thread, NULL);
 }
 
@@ -72,7 +75,12 @@ static msg_t adc_thread(void *arg) {
 	chRegSetThreadName("APP_ADC");
 
 	// Set servo pin as an input with pullup
-	palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_INPUT_PULLUP);
+	if (use_rx_tx_as_buttons) {
+		palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT_PULLUP);
+		palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT_PULLUP);
+	} else {
+		palSetPadMode(HW_ICU_GPIO, HW_ICU_PIN, PAL_MODE_INPUT_PULLUP);
+	}
 
 	for(;;) {
 		// Sleep for a time according to the specified rate
@@ -84,6 +92,11 @@ static msg_t adc_thread(void *arg) {
 		}
 		chThdSleep(sleep_time);
 
+		// For safe start when fault codes occur
+		if (mcpwm_get_fault() != FAULT_CODE_NONE) {
+			ms_without_power = 0;
+		}
+
 		// Read the external ADC pin and convert the value to a voltage.
 		float pwr = (float)ADC_Value[ADC_IND_EXT];
 		pwr /= 4095;
@@ -119,10 +132,33 @@ static msg_t adc_thread(void *arg) {
 
 		decoded_level = pwr;
 
-		// Read the servo pin and optionally invert it.
-		bool button_val = !palReadPad(HW_ICU_GPIO, HW_ICU_PIN);
-		if (config.button_inverted) {
-			button_val = !button_val;
+		// Read the button pins
+		bool cc_button = false;
+		bool rev_button = false;
+		if (use_rx_tx_as_buttons) {
+			cc_button = !palReadPad(HW_UART_TX_PORT, HW_UART_TX_PIN);
+			if (config.cc_button_inverted) {
+				cc_button = !cc_button;
+			}
+			rev_button = !palReadPad(HW_UART_RX_PORT, HW_UART_RX_PIN);
+			if (config.rev_button_inverted) {
+				rev_button = !rev_button;
+			}
+		} else {
+			// When only one button input is available, use it differently depending on the control mode
+			if (config.ctrl_type == ADC_CTRL_TYPE_CURRENT_REV_BUTTON ||
+					config.ctrl_type == ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON ||
+					config.ctrl_type == ADC_CTRL_TYPE_DUTY_REV_BUTTON) {
+				rev_button = !palReadPad(HW_ICU_GPIO, HW_ICU_PIN);
+				if (config.rev_button_inverted) {
+					rev_button = !rev_button;
+				}
+			} else {
+				cc_button = !palReadPad(HW_ICU_GPIO, HW_ICU_PIN);
+				if (config.cc_button_inverted) {
+					cc_button = !cc_button;
+				}
+			}
 		}
 
 		switch (config.ctrl_type) {
@@ -138,7 +174,7 @@ static msg_t adc_thread(void *arg) {
 		case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON:
 		case ADC_CTRL_TYPE_DUTY_REV_BUTTON:
 			// Invert the voltage if the button is pressed
-			if (button_val) {
+			if (rev_button) {
 				pwr = -pwr;
 			}
 			break;
@@ -147,10 +183,10 @@ static msg_t adc_thread(void *arg) {
 			break;
 		}
 
-		// Apply a deadband
+		// Apply deadband
 		utils_deadband(&pwr, config.hyst, 1.0);
 
-		float current = 0;
+		float current = 0.0;
 		bool current_mode = false;
 		bool current_mode_brake = false;
 		const volatile mc_configuration *mcconf = mcpwm_get_configuration();
@@ -219,6 +255,51 @@ static msg_t adc_thread(void *arg) {
 		// Reset timeout
 		timeout_reset();
 
+		// If c is pressed and no throttle is used, maintain the current speed with PID control
+		static bool was_pid = false;
+
+		// Filter RPM to avoid glitches
+		static float filter_buffer[RPM_FILTER_SAMPLES];
+		static int filter_ptr = 0;
+		filter_buffer[filter_ptr++] = mcpwm_get_rpm();
+		if (filter_ptr >= RPM_FILTER_SAMPLES) {
+			filter_ptr = 0;
+		}
+
+		float rpm_filtered = 0.0;
+		for (int i = 0;i < RPM_FILTER_SAMPLES;i++) {
+			rpm_filtered += filter_buffer[i];
+		}
+		rpm_filtered /= RPM_FILTER_SAMPLES;
+
+		if (current_mode && cc_button && fabsf(pwr) < 0.001) {
+			static float pid_rpm = 0.0;
+
+			if (!was_pid) {
+				was_pid = true;
+				pid_rpm = rpm_filtered;
+			}
+
+			mcpwm_set_pid_speed(pid_rpm);
+
+			// Send the same duty cycle to the other controllers
+			if (config.multi_esc) {
+				float duty = mcpwm_get_duty_cycle_now();
+
+				for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
+					can_status_msg *msg = comm_can_get_status_msg_index(i);
+
+					if (msg->id >= 0 && UTILS_AGE_S(msg->rx_time) < MAX_CAN_AGE) {
+						comm_can_set_duty(msg->id, duty);
+					}
+				}
+			}
+
+			continue;
+		}
+
+		was_pid = false;
+
 		// Find lowest RPM (for traction control)
 		float rpm_local = mcpwm_get_rpm();
 		float rpm_lowest = rpm_local;

applications/app_nunchuk.c

@@ -235,13 +235,12 @@ static msg_t output_thread(void *arg) {
 		// Filter RPM to avoid glitches
 		static float filter_buffer[RPM_FILTER_SAMPLES];
 		static int filter_ptr = 0;
-		float rpm_filtered = mcpwm_get_rpm();
-		filter_buffer[filter_ptr++] = rpm_filtered;
+		filter_buffer[filter_ptr++] = mcpwm_get_rpm();
 		if (filter_ptr >= RPM_FILTER_SAMPLES) {
 			filter_ptr = 0;
 		}
 
-		rpm_filtered = 0.0;
+		float rpm_filtered = 0.0;
 		for (int i = 0;i < RPM_FILTER_SAMPLES;i++) {
 			rpm_filtered += filter_buffer[i];
 		}

commands.c

@@ -390,7 +390,8 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		appconf.app_adc_conf.voltage_end = (float)buffer_get_int32(data, &ind) / 1000.0;
 		appconf.app_adc_conf.use_filter = data[ind++];
 		appconf.app_adc_conf.safe_start = data[ind++];
-		appconf.app_adc_conf.button_inverted = data[ind++];
+		appconf.app_adc_conf.cc_button_inverted = data[ind++];
+		appconf.app_adc_conf.rev_button_inverted = data[ind++];
 		appconf.app_adc_conf.voltage_inverted = data[ind++];
 		appconf.app_adc_conf.rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
 		appconf.app_adc_conf.rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
@@ -452,7 +453,8 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.voltage_end * 1000.0), &ind);
 		send_buffer[ind++] = appconf.app_adc_conf.use_filter;
 		send_buffer[ind++] = appconf.app_adc_conf.safe_start;
-		send_buffer[ind++] = appconf.app_adc_conf.button_inverted;
+		send_buffer[ind++] = appconf.app_adc_conf.cc_button_inverted;
+		send_buffer[ind++] = appconf.app_adc_conf.rev_button_inverted;
 		send_buffer[ind++] = appconf.app_adc_conf.voltage_inverted;
 		buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.rpm_lim_start * 1000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(appconf.app_adc_conf.rpm_lim_end * 1000.0), &ind);

conf_general.c

@@ -139,9 +139,9 @@ void conf_general_init(void) {
 		VirtAddVarTab[ind++] = EEPROM_BASE_APPCONF + i;
 	}
 
-	FLASH_Unlock();
 	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
 			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
+	FLASH_Unlock();
 	EE_Init();
 }
 
@@ -198,7 +198,8 @@ void conf_general_read_app_configuration(app_configuration *conf) {
 		conf->app_adc_conf.voltage_end = 3.0;
 		conf->app_adc_conf.use_filter = true;
 		conf->app_adc_conf.safe_start = true;
-		conf->app_adc_conf.button_inverted = false;
+		conf->app_adc_conf.cc_button_inverted = false;
+		conf->app_adc_conf.rev_button_inverted = false;
 		conf->app_adc_conf.voltage_inverted = false;
 		conf->app_adc_conf.rpm_lim_start = 150000;
 		conf->app_adc_conf.rpm_lim_end = 200000;

conf_general.h

@@ -27,7 +27,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR	1
-#define FW_VERSION_MINOR	10
+#define FW_VERSION_MINOR	11
 
 #include "datatypes.h"
 
@@ -38,19 +38,17 @@
 #define SYSTEM_CORE_CLOCK		168000000
 
 // Component parameters to override
-//#define V_REG				3.3
-#define VIN_R1				39000.0
+//#define VIN_R1				33000.0
 //#define VIN_R2				2200.0
 //#define CURRENT_AMP_GAIN	10.0
-//#define CURRENT_SHUNT_RES	0.001
-
-// Correction factor for computations that depend on the old resistor division factor
-#define VDIV_CORR			((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0)))
+//#define CURRENT_SHUNT_RES	0.0005
+//#define WS2811_ENABLE			1
+//#define CURR1_DOUBLE_SAMPLE		0
+//#define CURR2_DOUBLE_SAMPLE		0
 
 /*
  * Select only one hardware version
  */
-//#define HW_VERSION_BW
 //#define HW_VERSION_40
 //#define HW_VERSION_45
 #define HW_VERSION_46 // Also for 4.7
@@ -94,20 +92,31 @@
  * Output WS2811 signal on the HALL1 pin. Notice that hall sensors can't be used
  * at the same time.
  */
+#ifndef WS2811_ENABLE
 #define WS2811_ENABLE			0
+#endif
 #define WS2811_CLK_HZ			800000
 #define WS2811_LED_NUM			14
 #define WS2811_USE_CH2			1		// 0: CH1 (PB6) 1: CH2 (PB7)
 
 /*
  * Servo output driver
  */
+#ifndef SERVO_OUT_ENABLE
 #define SERVO_OUT_ENABLE		0		// Enable servo output
+#endif
 #define SERVO_OUT_SIMPLE		1		// Use simple HW-based driver (recommended)
 #define SERVO_OUT_PULSE_MIN_US	1000	// Minimum pulse length in microseconds
 #define SERVO_OUT_PULSE_MAX_US	2000	// Maximum pulse length in microseconds
 #define SERVO_OUT_RATE_HZ		50		// Update rate in Hz
 
+// Correction factor for computations that depend on the old resistor division factor
+#define VDIV_CORR			((VIN_R2 / (VIN_R2 + VIN_R1)) / (2.2 / (2.2 + 33.0)))
+
+// Actual voltage on 3.3V net based on internal reference
+//#define V_REG				(1.21 / ((float)ADC_Value[ADC_IND_VREFINT] / 4095.0))
+#define V_REG				3.3
+
 // Functions
 void conf_general_init(void);
 void conf_general_read_app_configuration(app_configuration *conf);

datatypes.h

@@ -208,7 +208,8 @@ typedef struct {
 	float voltage_end;
 	bool use_filter;
 	bool safe_start;
-	bool button_inverted;
+	bool cc_button_inverted;
+	bool rev_button_inverted;
 	bool voltage_inverted;
 	float rpm_lim_start;
 	float rpm_lim_end;
@@ -316,8 +317,10 @@ typedef struct {
 	float duty;
 	float rpm;
 	int tacho;
-	int tim_pwm_cnt;
-	int tim_samp_cnt;
+	int cycles_running;
+	int tim_val_samp;
+	int tim_current_samp;
+	int tim_top;
 	int comm_step;
 	float temperature;
 } fault_data;

hwconf/hw_40.c

@@ -114,27 +114,29 @@ void hw_init_gpio(void) {
 }
 
 void hw_setup_adc_channels(void) {
-	// ADC1 regular channels 0, 5, 10, 13
+	// ADC1 regular channels
 	ADC_RegularChannelConfig(ADC1, ADC_Channel_0, 1, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC1, ADC_Channel_5, 2, ADC_SampleTime_15Cycles);
-	ADC_RegularChannelConfig(ADC1, ADC_Channel_10, 3, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC1, ADC_Channel_Vrefint, 3, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC1, ADC_Channel_13, 4, ADC_SampleTime_15Cycles);
 
-	// ADC2 regular channels 1, 6, 11, 15
+	// ADC2 regular channels
 	ADC_RegularChannelConfig(ADC2, ADC_Channel_1, 1, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC2, ADC_Channel_6, 2, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC2, ADC_Channel_11, 3, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC2, ADC_Channel_15, 4, ADC_SampleTime_15Cycles);
 
-	// ADC3 regular channels 2, 3, 12, 3
+	// ADC3 regular channels
 	ADC_RegularChannelConfig(ADC3, ADC_Channel_2, 1, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 2, ADC_SampleTime_15Cycles);
 	ADC_RegularChannelConfig(ADC3, ADC_Channel_12, 3, ADC_SampleTime_15Cycles);
-	ADC_RegularChannelConfig(ADC3, ADC_Channel_3, 4, ADC_SampleTime_15Cycles);
+	ADC_RegularChannelConfig(ADC3, ADC_Channel_10, 4, ADC_SampleTime_15Cycles);
 
 	// Injected channels
 	ADC_InjectedChannelConfig(ADC1, ADC_Channel_6, 1, ADC_SampleTime_15Cycles);
 	ADC_InjectedChannelConfig(ADC2, ADC_Channel_5, 1, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC1, ADC_Channel_5, 2, ADC_SampleTime_15Cycles);
+	ADC_InjectedChannelConfig(ADC2, ADC_Channel_6, 2, ADC_SampleTime_15Cycles);
 }
 
 void hw_setup_servo_outputs(void) {