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Refactored terminal
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Allow disabling terminal
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@jsphuebner
jsphuebner committed Feb 8, 2021
1 parent 8dcec86 commit 58e93e8
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Showing 7 changed files with 57 additions and 82 deletions.
8 changes: 0 additions & 8 deletions include/hwdefs.h
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Original file line number Diff line number Diff line change
Expand Up @@ -24,14 +24,6 @@
#define OVER_CUR_NEG hwRev == HW_BLUEPILL ? TIM_OC1 : TIM_OC2
#define OVER_CUR_POS hwRev == HW_BLUEPILL ? TIM_OC2 : TIM_OC3

#define TERM_USART USART3
#define TERM_USART_TXPIN GPIO_USART3_TX
#define TERM_USART_TXPORT GPIOB
#define TERM_USART_DMARX DMA_CHANNEL3
#define TERM_USART_DMATX DMA_CHANNEL2 //this means we can not use it on rev1 hardware (TIM3_CH3)
#define TERM_USART_DR USART3_DR
#define TERM_BUFSIZE 128
#define UARTDMABLOCKED //enables special code for Rev1 boards
//Address of parameter block in flash
#define FLASH_PAGE_SIZE 1024
#define PARAM_ADDRESS 0x0801FC00
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4 changes: 2 additions & 2 deletions include/param_prj.h
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Expand Up @@ -24,7 +24,7 @@
2. Temporary parameters (id = 0)
3. Display values
*/
//Next param id (increase when adding new parameter!): 129
//Next param id (increase when adding new parameter!): 130
//Next value Id: 2048
/* category name unit min max default id */

Expand Down Expand Up @@ -52,7 +52,6 @@
PARAM_ENTRY(CAT_MOTOR, curki, "", 0, 100000, 20000, 108 ) \
PARAM_ENTRY(CAT_MOTOR, curkifrqgain,"dig/Hz", 0, 1000, 50, 120 ) \
PARAM_ENTRY(CAT_MOTOR, fwkp, "", -10000, 0, -100, 118 ) \
PARAM_ENTRY(CAT_MOTOR, dmargin, "Hz", -10000, 0, -2000, 113 ) \
PARAM_ENTRY(CAT_MOTOR, syncofs, "dig", 0, 65535, 0, 70 )

#define INVERTER_PARAMETERS_COMMON \
Expand Down Expand Up @@ -136,6 +135,7 @@
PARAM_ENTRY(CAT_PWM, pwmofs, "dig", -65535, 65535, 0, 41 ) \
PARAM_ENTRY(CAT_COMM, canspeed, CANSPEEDS, 0, 3, 1, 83 ) \
PARAM_ENTRY(CAT_COMM, canperiod, CANPERIODS,0, 1, 0, 88 ) \
PARAM_ENTRY(CAT_COMM, nodeid, "", 1, 63, 1, 129 ) \

#define VALUE_BLOCK1 \
VALUE_ENTRY(version, VERSTR, 2039 ) \
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2 changes: 1 addition & 1 deletion libopeninv
Submodule libopeninv updated 34 files
+18 −0 include/anain.h
+18 −0 include/digio.h
+1 −1 include/errormessage.h
+18 −0 include/foc.h
+18 −2 include/fu.h
+18 −0 include/my_fp.h
+18 −0 include/my_math.h
+4 −1 include/my_string.h
+18 −0 include/param_save.h
+2 −1 include/params.h
+1 −1 include/picontroller.h
+8 −11 include/printf.h
+3 −4 include/sine_core.h
+4 −1 include/stm32_can.h
+3 −4 include/stm32_loader.h
+2 −2 include/stm32scheduler.h
+54 −11 include/terminal.h
+10 −11 include/terminalcommands.h
+1 −1 src/anain.cpp
+1 −1 src/digio.cpp
+1 −1 src/errormessage.cpp
+1 −1 src/foc.cpp
+20 −7 src/fu.cpp
+1 −1 src/my_fp.c
+1 −1 src/my_string.c
+1 −1 src/param_save.cpp
+1 −1 src/params.cpp
+1 −1 src/picontroller.cpp
+59 −101 src/printf.cpp
+2 −10 src/sine_core.cpp
+29 −7 src/stm32_can.cpp
+1 −1 src/stm32scheduler.cpp
+199 −84 src/terminal.cpp
+58 −61 src/terminalcommands.cpp
40 changes: 3 additions & 37 deletions src/hwinit.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -94,6 +94,9 @@ static bool is_existent(uint32_t port, uint16_t pin)

HWREV detect_hw()
{
//Pull low via 30k the precharge output to test whether it is tied to Vcc
gpio_set_mode(GPIOB, GPIO_MODE_INPUT, GPIO_CNF_INPUT_PULL_UPDOWN, GPIO1);

if (!is_existent(GPIOC, GPIO12)) //Olimex LED pin does not exist
return HW_BLUEPILL;
/*else if (is_floating(GPIOC, GPIO1))
Expand Down Expand Up @@ -204,43 +207,6 @@ void write_bootloader_pininit()
}
}

/**
* Setup UART3 115200 8N1
*/
void usart_setup(void)
{
gpio_set_mode(TERM_USART_TXPORT, GPIO_MODE_OUTPUT_50_MHZ,
GPIO_CNF_OUTPUT_ALTFN_PUSHPULL, TERM_USART_TXPIN);

usart_set_baudrate(TERM_USART, USART_BAUDRATE);
usart_set_databits(TERM_USART, 8);
usart_set_stopbits(TERM_USART, USART_STOPBITS_2);
usart_set_mode(TERM_USART, USART_MODE_TX_RX);
usart_set_parity(TERM_USART, USART_PARITY_NONE);
usart_set_flow_control(TERM_USART, USART_FLOWCONTROL_NONE);
usart_enable_rx_dma(TERM_USART);

if (hwRev != HW_REV1)
{
usart_enable_tx_dma(TERM_USART);
dma_channel_reset(DMA1, TERM_USART_DMATX);
dma_set_read_from_memory(DMA1, TERM_USART_DMATX);
dma_set_peripheral_address(DMA1, TERM_USART_DMATX, (uint32_t)&TERM_USART_DR);
dma_set_peripheral_size(DMA1, TERM_USART_DMATX, DMA_CCR_PSIZE_8BIT);
dma_set_memory_size(DMA1, TERM_USART_DMATX, DMA_CCR_MSIZE_8BIT);
dma_enable_memory_increment_mode(DMA1, TERM_USART_DMATX);
}

dma_channel_reset(DMA1, TERM_USART_DMARX);
dma_set_peripheral_address(DMA1, TERM_USART_DMARX, (uint32_t)&TERM_USART_DR);
dma_set_peripheral_size(DMA1, TERM_USART_DMARX, DMA_CCR_PSIZE_8BIT);
dma_set_memory_size(DMA1, TERM_USART_DMARX, DMA_CCR_MSIZE_8BIT);
dma_enable_memory_increment_mode(DMA1, TERM_USART_DMARX);
dma_enable_channel(DMA1, TERM_USART_DMARX);

usart_enable(TERM_USART);
}

/**
* Enable Timer refresh and break interrupts
*/
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2 changes: 1 addition & 1 deletion src/pwmgeneration-foc.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -186,7 +186,7 @@ void PwmGeneration::SetControllerGains(int kp, int ki, int fwkp)

void PwmGeneration::PwmInit()
{
int32_t maxVd = FOC::GetMaximumModulationIndex() + Param::GetInt(Param::dmargin);
int32_t maxVd = FOC::GetMaximumModulationIndex() - 2000;
pwmfrq = TimerSetup(Param::GetInt(Param::deadtime), Param::GetInt(Param::pwmpol));
slipIncr = FRQ_TO_ANGLE(fslip);
Encoder::SetPwmFrequency(pwmfrq);
Expand Down
31 changes: 20 additions & 11 deletions src/stm32_sine.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -40,13 +40,11 @@
#include "pwmgeneration.h"
#include "vehiclecontrol.h"

#define SQRT2OV1 0.707106781187

HWREV hwRev; //Hardware variant of board we are running on

static Stm32Scheduler* scheduler;
static Can* can;

static Terminal* terminal;

static void Ms100Task(void)
{
Expand Down Expand Up @@ -191,12 +189,12 @@ static void Ms10Task(void)
initWait = 50;

VehicleControl::SetContactorsOffState();
PwmGeneration::SetTorquePercent(0);
PwmGeneration::SetOpmode(MOD_OFF);
Throttle::cruiseSpeed = -1;
}
else if (0 == initWait)
{
PwmGeneration::SetTorquePercent(0);
Throttle::RampThrottle(0); //Restart ramp
Encoder::Reset();
//this applies new deadtime and pwmfrq and enables the outputs for the given mode
Expand Down Expand Up @@ -268,15 +266,14 @@ extern void parm_Change(Param::PARAM_NUM paramNum)
Throttle::idcmax = Param::Get(Param::idcmax);
break;
default:
can->SetNodeId(Param::GetInt(Param::nodeid));
terminal->SetNodeId(Param::GetInt(Param::nodeid));
PwmGeneration::SetCurrentLimitThreshold(Param::Get(Param::ocurlim));
PwmGeneration::SetPolePairRatio(Param::GetInt(Param::polepairs) / Param::GetInt(Param::respolepairs));

#if CONTROL == CTRL_FOC
PwmGeneration::SetControllerGains(Param::GetInt(Param::curkp), Param::GetInt(Param::curki), Param::GetInt(Param::fwkp));
Encoder::SwapSinCos((Param::GetInt(Param::pinswap) & SWAP_RESOLVER) > 0);
#elif CONTROL == CTRL_SINE
MotorVoltage::SetMinFrq(FP_FROMFLT(0.2));
SineCore::SetMinPulseWidth(1000);
#endif // CONTROL

Encoder::SetMode((enum Encoder::mode)Param::GetInt(Param::encmode));
Expand Down Expand Up @@ -337,19 +334,21 @@ extern "C" void tim4_isr(void)
scheduler->Run();
}

//C++ run time requires that when using interfaces
extern "C" void __cxa_pure_virtual() { while (1); }

extern "C" int main(void)
{
extern const TERM_CMD TermCmds[];

clock_setup();
rtc_setup();
hwRev = io_setup();
write_bootloader_pininit();
usart_setup();
tim_setup();
nvic_setup();
//Encoder::Reset();
term_Init();
parm_load();
parm_Change(Param::PARAM_LAST);
ErrorMessage::SetTime(1);
Param::SetInt(Param::pwmio, pwmio_setup(Param::GetBool(Param::pwmpol)));

Expand All @@ -369,7 +368,17 @@ extern "C" int main(void)
DigIo::prec_out.Set();
UpgradeParameters();

term_Run();
Terminal t(USART3, TermCmds);
terminal = &t;

if (hwRev == HW_REV1)
t.DisableTxDMA();

parm_Change(Param::PARAM_LAST);

while(1)
t.Run();
//term_Run();

return 0;
}
Expand Down
52 changes: 30 additions & 22 deletions src/terminal_prj.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -30,15 +30,15 @@
#include "stm32_can.h"
#include "terminalcommands.h"

static void LoadDefaults(char *arg);
static void GetAll(char *arg);
static void PrintList(char *arg);
static void PrintAtr(char *arg);
static void StopInverter(char *arg);
static void StartInverter(char *arg);
static void Help(char *arg);
static void PrintSerial(char *arg);
static void PrintErrors(char *arg);
static void LoadDefaults(Terminal* term, char *arg);
static void GetAll(Terminal* term, char *arg);
static void PrintList(Terminal* term, char *arg);
static void PrintAtr(Terminal* term, char *arg);
static void StopInverter(Terminal* term, char *arg);
static void StartInverter(Terminal* term, char *arg);
static void Help(Terminal* term, char *arg);
static void PrintSerial(Terminal* term, char *arg);
static void PrintErrors(Terminal* term, char *arg);

extern "C" const TERM_CMD TermCmds[] =
{
Expand All @@ -51,7 +51,6 @@ extern "C" const TERM_CMD TermCmds[] =
{ "save", TerminalCommands::SaveParameters },
{ "load", TerminalCommands::LoadParameters },
{ "reset", TerminalCommands::Reset },
{ "fastuart", TerminalCommands::FastUart },
{ "defaults", LoadDefaults },
{ "all", GetAll },
{ "list", PrintList },
Expand All @@ -64,11 +63,12 @@ extern "C" const TERM_CMD TermCmds[] =
{ NULL, NULL }
};

static void PrintList(char *arg)
static void PrintList(Terminal* term, char *arg)
{
const Param::Attributes *pAtr;

arg = arg;
term = term;

printf("Available parameters and values\r\n");

Expand All @@ -81,11 +81,12 @@ static void PrintList(char *arg)
}
}

static void PrintAtr(char *arg)
static void PrintAtr(Terminal* term, char *arg)
{
const Param::Attributes *pAtr;

arg = arg;
term = term;

printf("Parameter attributes\r\n");
printf("Name\t\tmin - max [default]\r\n");
Expand All @@ -101,18 +102,20 @@ static void PrintAtr(char *arg)
}
}

static void LoadDefaults(char *arg)
static void LoadDefaults(Terminal* term, char *arg)
{
arg = arg;
term = term;
Param::LoadDefaults();
printf("Defaults loaded\r\n");
}

static void GetAll(char *arg)
static void GetAll(Terminal* term, char *arg)
{
const Param::Attributes *pAtr;

arg = arg;
term = term;

for (uint32_t idx = 0; idx < Param::PARAM_LAST; idx++)
{
Expand All @@ -121,15 +124,17 @@ static void GetAll(char *arg)
}
}

static void StopInverter(char *arg)
static void StopInverter(Terminal* term, char *arg)
{
arg = arg;
Param::SetInt(Param::opmode, 0);
printf("Inverter halted.\r\n");
arg = arg;
term = term;
Param::SetInt(Param::opmode, 0);
printf("Inverter halted.\r\n");
}

static void StartInverter(char *arg)
static void StartInverter(Terminal* term, char *arg)
{
term = term;
arg = my_trim(arg);
int val = my_atoi(arg);
if (val < MOD_LAST)
Expand All @@ -144,20 +149,23 @@ static void StartInverter(char *arg)
}
}

static void PrintErrors(char *arg)
static void PrintErrors(Terminal* term, char *arg)
{
term = term;
arg = arg;
ErrorMessage::PrintAllErrors();
}

static void PrintSerial(char *arg)
static void PrintSerial(Terminal* term, char *arg)
{
arg = arg;
term = term;
printf("%X%X%X\r\n", DESIG_UNIQUE_ID2, DESIG_UNIQUE_ID1, DESIG_UNIQUE_ID0);
}

static void Help(char *arg)
static void Help(Terminal* term, char *arg)
{
arg = arg;
term = term;
}

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