Merge branch 'dev_fw_5_03' into dev

Author: b264

CHANGELOG

@@ -1,3 +1,14 @@
+=== FW 5.03 <dev> ===
+* Fixed inductance measurement bug.
+* Speed tracker windup protection.
+* Phase filter support.
+* Phase voltage offset calibration.
+* Better current offset calibration.
+* Added power switch commands.
+* Synchronize observer state when running in open loop.
+* Force oberver state magnitude above 50% of flux linkage. This prevents the motor from getting stuck and 'screaming'.
+* Observer global convergence update. Helps tracking the motor through 0 speed.
+
 === FW 5.02 ===
 * IMU calibration improvement.
 * Added COMM_GET_MCCONF_TEMP command.

comm_can.c

@@ -79,6 +79,7 @@ static can_status_msg_5 stat_msgs_5[CAN_STATUS_MSGS_TO_STORE];
 static io_board_adc_values io_board_adc_1_4[CAN_STATUS_MSGS_TO_STORE];
 static io_board_adc_values io_board_adc_5_8[CAN_STATUS_MSGS_TO_STORE];
 static io_board_digial_inputs io_board_digital_in[CAN_STATUS_MSGS_TO_STORE];
+static psw_status psw_stat[CAN_STATUS_MSGS_TO_STORE];
 static unsigned int detect_all_foc_res_index = 0;
 static int8_t detect_all_foc_res[50];
 
@@ -120,6 +121,8 @@ void comm_can_init(void) {
 		io_board_adc_1_4[i].id = -1;
 		io_board_adc_5_8[i].id = -1;
 		io_board_digital_in[i].id = -1;
+
+		psw_stat[i].id = -1;
 	}
 
 #if CAN_ENABLE
@@ -911,6 +914,35 @@ void comm_can_io_board_set_output_pwm(int id, int channel, float duty) {
 			buffer, send_index, true);
 }
 
+psw_status *comm_can_get_psw_status_index(int index) {
+	if (index < CAN_STATUS_MSGS_TO_STORE) {
+		return &psw_stat[index];
+	} else {
+		return 0;
+	}
+}
+
+psw_status *comm_can_get_psw_status_id(int id) {
+	for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
+		if (psw_stat[i].id == id) {
+			return &psw_stat[i];
+		}
+	}
+
+	return 0;
+}
+
+void comm_can_psw_switch(int id, bool is_on, bool plot) {
+	int32_t send_index = 0;
+	uint8_t buffer[8];
+
+	buffer[send_index++] = is_on ? 1 : 0;
+	buffer[send_index++] = plot ? 1 : 0;
+
+	comm_can_transmit_eid_replace(id | ((uint32_t)CAN_PACKET_PSW_SWITCH << 8),
+			buffer, send_index, true);
+}
+
 CANRxFrame *comm_can_get_rx_frame(void) {
 #if CAN_ENABLE
 	chMtxLock(&can_rx_mtx);
@@ -1599,7 +1631,26 @@ static void decode_msg(uint32_t eid, uint8_t *data8, int len, bool is_replaced)
 			}
 		}
 		break;
-		break;
+
+	case CAN_PACKET_PSW_STAT: {
+		for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
+			psw_status *msg = &psw_stat[i];
+			if (msg->id == id || msg->id == -1) {
+				ind = 0;
+				msg->id = id;
+				msg->rx_time = chVTGetSystemTime();
+
+				msg->v_in = buffer_get_float16(data8, 10.0, &ind);
+				msg->v_out = buffer_get_float16(data8, 10.0, &ind);
+				msg->temp = buffer_get_float16(data8, 10.0, &ind);
+				msg->is_out_on = (data8[ind] >> 0) & 1;
+				msg->is_pch_on = (data8[ind] >> 1) & 1;
+				msg->is_dsc_on = (data8[ind] >> 2) & 1;
+				ind++;
+				break;
+			}
+		}
+	} break;
 
 	default:
 		break;

comm_can.h

@@ -76,6 +76,10 @@ io_board_digial_inputs *comm_can_get_io_board_digital_in_id(int id);
 void comm_can_io_board_set_output_digital(int id, int channel, bool on);
 void comm_can_io_board_set_output_pwm(int id, int channel, float duty);
 
+psw_status *comm_can_get_psw_status_index(int index);
+psw_status *comm_can_get_psw_status_id(int id);
+void comm_can_psw_switch(int id, bool is_on, bool plot);
+
 CANRxFrame *comm_can_get_rx_frame(void);
 
 #endif /* COMM_CAN_H_ */

commands.c

@@ -212,6 +212,12 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 
 		send_buffer[ind++] = 0; // No custom config
 
+#ifdef HW_HAS_PHASE_FILTERS
+		send_buffer[ind++] = 1;
+#else
+		send_buffer[ind++] = 0;
+#endif
+
 		fw_version_sent_cnt++;
 
 		reply_func(send_buffer, ind);
@@ -452,6 +458,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	} break;
 
 	case COMM_SET_MCCONF: {
+#ifndef	HW_MCCONF_READ_ONLY 
 		mc_configuration *mcconf = mempools_alloc_mcconf();
 		*mcconf = *mc_interface_get_configuration();
 
@@ -484,6 +491,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		}
 
 		mempools_free_mcconf(mcconf);
+#endif
 	} break;
 
 	case COMM_GET_MCCONF:
@@ -501,6 +509,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	} break;
 
 	case COMM_SET_APPCONF: {
+#ifndef	HW_APPCONF_READ_ONLY 
 		app_configuration *appconf = mempools_alloc_appconf();
 		*appconf = *app_get_configuration();
 
@@ -526,6 +535,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		}
 
 		mempools_free_appconf(appconf);
+#endif
 	} break;
 
 	case COMM_GET_APPCONF:
@@ -1179,6 +1189,56 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		break;
 	}
 
+	// Power switch
+	case COMM_PSW_GET_STATUS: {
+		int32_t ind = 0;
+		bool by_id = data[ind++];
+		int id_ind = buffer_get_int16(data, &ind);
+
+		int psws_num = 0;
+		for (int i = 0;i < CAN_STATUS_MSGS_TO_STORE;i++) {
+			psw_status *stat = comm_can_get_psw_status_index(i);
+			if (stat->id >= 0) {
+				psws_num++;
+			} else {
+				break;
+			}
+		}
+
+		psw_status *stat = 0;
+		if (by_id) {
+			stat = comm_can_get_psw_status_id(id_ind);
+		} else if (id_ind < psws_num) {
+			stat = comm_can_get_psw_status_index(id_ind);
+		}
+
+		if (stat) {
+			ind = 0;
+			uint8_t send_buffer[70];
+
+			send_buffer[ind++] = packet_id;
+			buffer_append_int16(send_buffer, stat->id, &ind);
+			buffer_append_int16(send_buffer, psws_num, &ind);
+			buffer_append_float32_auto(send_buffer, UTILS_AGE_S(stat->rx_time), &ind);
+			buffer_append_float32_auto(send_buffer, stat->v_in, &ind);
+			buffer_append_float32_auto(send_buffer, stat->v_out, &ind);
+			buffer_append_float32_auto(send_buffer, stat->temp, &ind);
+			send_buffer[ind++] = stat->is_out_on;
+			send_buffer[ind++] = stat->is_pch_on;
+			send_buffer[ind++] = stat->is_dsc_on;
+
+			reply_func(send_buffer, ind);
+		}
+	} break;
+
+	case COMM_PSW_SWITCH: {
+		int32_t ind = 0;
+		int id = buffer_get_int16(data, &ind);
+		bool is_on = data[ind++];
+		bool plot = data[ind++];
+		comm_can_psw_switch(id, is_on, plot);
+	} break;
+
 	// Blocking commands. Only one of them runs at any given time, in their
 	// own thread. If other blocking commands come before the previous one has
 	// finished, they are discarded.

conf_general.c

@@ -1,5 +1,5 @@
 /*
-	Copyright 2016 - 2019 Benjamin Vedder	benjamin@vedder.se
+	Copyright 2016 - 2021 Benjamin Vedder	benjamin@vedder.se
 
 	This file is part of the VESC firmware.
 
@@ -1165,8 +1165,8 @@ void conf_general_calc_apply_foc_cc_kp_ki_gain(mc_configuration *mcconf, float t
 	float bw = 1.0 / (tc * 1e-6);
 	float kp = l * bw;
 	float ki = r * bw;
-	float gain = 1.0e-3 / (lambda * lambda);
-//	float gain = (0.00001 / r) / (lambda * lambda); // Old method
+	float gain = 1.0e-3 / SQ(lambda);
+//	float gain = (0.00001 / r) / SQ(lambda); // Old method
 
 	mcconf->foc_current_kp = kp;
 	mcconf->foc_current_ki = ki;
@@ -1519,6 +1519,14 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		mcconf_old->foc_motor_r = r;
 		mcconf_old->foc_motor_l = l;
 		mcconf_old->foc_motor_flux_linkage = lambda;
+
+		if (mc_interface_temp_motor_filtered() > -10) {
+			mcconf_old->foc_temp_comp_base_temp = mc_interface_temp_motor_filtered();
+#ifdef HW_HAS_PHASE_FILTERS
+			mcconf_old->foc_temp_comp = true;
+#endif
+		}
+
 		conf_general_calc_apply_foc_cc_kp_ki_gain(mcconf_old, 1000);
 		mc_interface_set_configuration(mcconf_old);
 
@@ -1531,12 +1539,18 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		mcconf_old_second->foc_motor_flux_linkage = linkage_args.linkage;
 		conf_general_calc_apply_foc_cc_kp_ki_gain(mcconf_old_second, 1000);
 		mc_interface_select_motor_thread(2);
+
+		if (mc_interface_temp_motor_filtered() > -10) {
+			mcconf_old_second->foc_temp_comp_base_temp = mc_interface_temp_motor_filtered();
+#ifdef HW_HAS_PHASE_FILTERS
+			mcconf_old_second->foc_temp_comp = true;
+#endif
+		}
+
 		mc_interface_set_configuration(mcconf_old_second);
 		mc_interface_select_motor_thread(1);
 #endif
 
-		// TODO: optionally apply temperature compensation here.
-
 		wait_motor_stop(10000);
 
 #ifdef HW_HAS_DUAL_MOTORS

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		2
+#define FW_TEST_VERSION_NUMBER		5
 
 #include "datatypes.h"
 
@@ -74,8 +74,8 @@
 //#define HW60_IS_MK4
 #define HW60_IS_MK5
 
-#define HW_SOURCE "hw_60.c"
-#define HW_HEADER "hw_60.h"
+//#define HW_SOURCE "hw_60.c"
+//#define HW_HEADER "hw_60.h"
 
 //#define HW_SOURCE "hw_r2.c"
 //#define HW_HEADER "hw_r2.h"
@@ -123,8 +123,8 @@
 //#define HW_SOURCE "hw_binar_v1.c"
 //#define HW_HEADER "hw_binar_v1.h"
 
-//#define HW_SOURCE "hw_hd60.c"
-//#define HW_HEADER "hw_hd60.h"
+#define HW_SOURCE "hw_hd60.c"
+#define HW_HEADER "hw_hd60.h"
 
 //#define HW_SOURCE "hw_hd75.c"
 //#define HW_HEADER "hw_hd75.h"
@@ -170,6 +170,9 @@
 //#define HW_SOURCE "hw_Little_FOCer.c"
 //#define HW_HEADER "hw_Little_FOCer.h"
 
+//#define HW_SOURCE "hw_100_500.c"
+//#define HW_HEADER "hw_100_500.h"
+
 #endif
 
 #ifndef HW_SOURCE