jerome
/
hoverboard-firmware-hack-FOC
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

Function for setting, getting, incrementing,initializing and dumping parameters

Browse Source
pull/1/head^2
Candas1 5 years ago
parent 63276132a7
commit 3acae8ae10
3 changed files with 173 additions and 2 deletions
Show Stats Download Patch File Download Diff File

40
Inc/util.h
Unescape View File

@ -127,5 +127,45 @@ typedef struct {
} MultipleTap;
void multipleTapDet(int16_t u, uint32_t timeNow, MultipleTap *x);
#define SIZEP(x) ((char*)(&(x) + 1) - (char*)&(x))
enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
#define typename(x) _Generic((x), \
uint8_t: UINT8_T, \
uint16_t: UINT16_T, \
uint32_t: UINT32_T, \
int8_t: INT8_T, \
int16_t: INT16_T, \
int32_t: INT32_T, \
int: INT, \
float: FLOAT)
#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
#define ADD_PARAM(value_var,value_var2) &value_var,&value_var2,typename(value_var)
uint8_t setValue(uint8_t index, int32_t newValue);
uint8_t initValue(uint8_t index);
uint32_t getValue(uint8_t index);
uint8_t incrValue(uint8_t index);
uint8_t saveValue(uint8_t index);
void dumpValues();
typedef struct parameter_entry_struct parameter_entry;
struct parameter_entry_struct {
const char *name;
void *value;
void *value2;
const uint8_t type;
const int32_t addr;
const int32_t init;
const int32_t min;
const int32_t max;
const uint8_t div;
const uint8_t fix;
void (*callback_function)();
const char *help;
};
#endif

133
Src/util.c
Unescape View File

@ -231,8 +231,139 @@ static uint8_t standstillAcv = 0;
#endif
#endif
enum parameters {PCTRL_MOD_REQ,
PCTRL_TYP_SEL,
PI_MOT_MAX,
PN_MOT_MAX,
PFIELD_WEAK_ENA,
PFIELD_WEAK_HI,
PFIELD_WEAK_LO,
PFIELD_WEAK_MAX};
parameter_entry params[] = {
//Name ,Value ptr ,EEPRM Addr ,Init ,Min ,Max ,Div ,Fix ,Callback Function ,Help text
{"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw,ctrlModReqRaw) ,0 ,CTRL_MOD_REQ ,0 ,3 ,0 ,0 ,NULL ,"Ctrl mode [0] Open [1] voltage [2] Speed [3] Torque"},
{"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel,rtP_Right.z_ctrlTypSel) ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,NULL ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
{"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max,rtP_Right.i_max) ,1 ,I_MOT_MAX ,0 ,32000 ,A2BIT_CONV ,4 ,NULL ,"Maximum phase current [A]"},
{"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max,rtP_Right.n_max) ,2 ,N_MOT_MAX ,0 ,32000 ,0 ,4 ,NULL ,"Maximum motor [RPM]"},
{"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna,rtP_Right.b_fieldWeakEna) ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,NULL ,"Enable field weakening"},
{"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi,rtP_Right.r_fieldWeakHi) ,0 ,FIELD_WEAK_HI ,0 ,24000 ,0 ,4 ,Input_Lim_Init ,"Field weak high [RPM]"},
{"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo,rtP_Right.r_fieldWeakLo) ,0 ,FIELD_WEAK_LO ,0 ,16000 ,0 ,4 ,Input_Lim_Init ,"Field weak low [RPM)"},
{"FIEL_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax,rtP_Left.id_fieldWeakMax),0 ,FIELD_WEAK_MAX ,0 ,3200 ,A2BIT_CONV ,4 ,NULL ,"Field weak max current [A]"},
};
uint8_t setValue(uint8_t index, int32_t newValue) {
int32_t value = newValue;
// Check divider
if(params[index].div){
value *= params[index].div;
}
// Check Shift
if (params[index].fix){
value <<= params[index].fix;
}
if (value >= params[index].min && value <= params[index].max){
if (*(int32_t*)params[index].value != value){
// if value is different, beep and assign value
beepShort(8);
switch (params[index].type){
case UINT8_T:
*(uint8_t*)params[index].value2 = *(uint8_t*)params[index].value = value;
break;
case UINT16_T:
*(uint16_t*)params[index].value2 = *(uint16_t*)params[index].value = value;
break;
case UINT32_T:
*(uint32_t*)params[index].value2 = *(uint32_t*)params[index].value = value;
break;
case INT8_T:
*(int8_t*)params[index].value2 = *(int8_t*)params[index].value = value;
break;
case INT16_T:
*(int16_t*)params[index].value2 = *(int16_t*)params[index].value = value;
break;
case INT32_T:
*(int32_t*)params[index].value2 = *(int32_t*)params[index].value = value;
break;
}
}
// Run callback function if assigned
if (params[index].callback_function) (*params[index].callback_function)();
return 1;
}else{
return 0;
}
}
uint8_t initValue(uint8_t index) {
return setValue(index,(int32_t) params[index].init);
}
uint32_t getValue(uint8_t index) {
int32_t value;
switch (params[index].type){
case UINT8_T:
value = *(uint8_t*)params[index].value;
break;
case UINT16_T:
value = *(uint16_t*)params[index].value;
break;
case UINT32_T:
value = *(uint32_t*)params[index].value;
break;
case INT8_T:
value = *(int8_t*)params[index].value;
break;
case INT16_T:
value = *(int16_t*)params[index].value;
break;
case INT32_T:
value = *(int32_t*)params[index].value;
break;
default:
value = 0;
}
if(params[index].div){
value /= params[index].div;
}
if(params[index].fix){
value >>= params[index].fix;
}
return value;
}
void dumpValues(){
printf("* ");
for(int index=0;index<PARAM_SIZE(params);index++){
printf("%s:%li ",params[index].name,getValue(index));
}
printf("\r\n");
}
uint8_t incrValue(uint8_t index) {
uint32_t value = getValue(index);
if ( value < params[index].max){
return setValue(index,value + 1);
}else{
return setValue(index,(int32_t) params[index].min);
}
}
uint8_t saveValue(uint8_t index) {
uint32_t value = getValue(index);
if (params[index].addr){
HAL_FLASH_Unlock();
EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)value);
HAL_FLASH_Lock();
return 1;
}
return 0;
}
/* =========================== Initialization Functions =========================== */
void BLDC_Init(void) {
@ -1197,7 +1328,7 @@ void usart_process_debug(uint8_t *userCommand, uint32_t len)
{
for (; len > 0; len--, userCommand++) {
if (*userCommand != '\n' && *userCommand != '\r') { // Do not accept 'new line' and 'carriage return' commands
printf("Command = %c\r\n", *userCommand);
//printf("Command = %c\r\n", *userCommand);
// handle_input(*userCommand); // -> Create this function to handle the user commands
}
}

2
platformio.ini
Unescape View File

@ -9,7 +9,7 @@ src_dir = Src
;
; Choose one or all variants get built
;
;default_envs = VARIANT_ADC ; Variant for control via ADC input
default_envs = VARIANT_ADC ; Variant for control via ADC input
;default_envs = VARIANT_USART ; Variant for Serial control via USART3 input
;default_envs = VARIANT_NUNCHUK ; Variant for Nunchuk controlled vehicle build
;default_envs = VARIANT_PPM ; Variant for RC-Remotes with PPM-Sum signal

Write Preview
Loading…
Cancel
Save