Revision 24:58c2d7571207, committed 2017-04-07

Comitter:

benkatz

Date:

Fri Apr 07 16:23:39 2017 +0000

Parent:

23:2adf23ee0305

Child:

25:f5741040c4bb

Commit message:

Can flush preferences multiple times now

Changed in this revision

--- a/Calibration/calibration.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ b/Calibration/calibration.cpp	Fri Apr 07 16:23:39 2017 +0000
@@ -62,7 +62,6 @@
     printf("Direction:  %d\n\r", direction);
     if(direction){printf("Phasing correct\n\r");}
     else if(!direction){printf("Phasing incorrect.  Swapping phases V and W\n\r");}
-    gpio->phasing = direction;
     PHASE_ORDER = direction;
     }
     
@@ -92,7 +91,7 @@
     svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w);                        // space vector modulation
     for(int i = 0; i<40000; i++){
         TIM1->CCR3 = 0x708*(1.0f-dtc_u);                                    // Set duty cycles
-        if(gpio->phasing){                                   
+        if(PHASE_ORDER){                                   
             TIM1->CCR2 = 0x708*(1.0f-dtc_v);
             TIM1->CCR1 = 0x708*(1.0f-dtc_w);
             }
@@ -114,7 +113,7 @@
        abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w);                          // inverse dq0 transform on voltages
        svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w);                     // space vector modulation
         TIM1->CCR3 = 0x708*(1.0f-dtc_u);
-        if(gpio->phasing){
+        if(PHASE_ORDER){
             TIM1->CCR2 = 0x708*(1.0f-dtc_v);
             TIM1->CCR1 = 0x708*(1.0f-dtc_w);
             }
@@ -139,7 +138,7 @@
        abc(theta_ref, v_d, v_q, &v_u, &v_v, &v_w);                          // inverse dq0 transform on voltages
        svm(1.0, v_u, v_v, v_w, &dtc_u, &dtc_v, &dtc_w);                     // space vector modulation
         TIM1->CCR3 = 0x708*(1.0f-dtc_u);
-        if(gpio->phasing){
+        if(PHASE_ORDER){
             TIM1->CCR2 = 0x708*(1.0f-dtc_v);
             TIM1->CCR1 = 0x708*(1.0f-dtc_w);
             }

--- a/Config/user_config.h	Wed Apr 05 20:54:16 2017 +0000
+++ b/Config/user_config.h	Fri Apr 07 16:23:39 2017 +0000
@@ -7,7 +7,7 @@
 #define E_OFFSET                __float_reg[0]
 #define M_OFFSET                __float_reg[1]
 #define I_BW                    __float_reg[2]
-#define I_LIMIT                 __float_reg[3]
+#define TORQUE_LIMIT            __float_reg[3]
 
 #define PHASE_ORDER             __int_reg[0]
 #define CAN_ID                  __int_reg[1]

--- a/FOC/foc.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ b/FOC/foc.cpp	Fri Apr 07 16:23:39 2017 +0000
@@ -1,4 +1,4 @@
-
+#include "user_config.h"
 #include "foc.h"
 
 //#include "FastMath.h"
@@ -55,7 +55,7 @@
 void commutate(ControllerStruct *controller, GPIOStruct *gpio, float theta){
        
        controller->loop_count ++;
-       if(gpio->phasing){
+       if(PHASE_ORDER){
            controller->i_b = I_SCALE*(float)(controller->adc2_raw - controller->adc2_offset);    //Calculate phase currents from ADC readings
            controller->i_c = I_SCALE*(float)(controller->adc1_raw - controller->adc1_offset);
            }
@@ -103,7 +103,7 @@
        //gpio->pwm_v->write(1.0f-controller->dtc_v);
        //gpio->pwm_w->write(1.0f-controller->dtc_w);  
        
-       if(gpio->phasing){
+       if(PHASE_ORDER){
             TIM1->CCR3 = 0x708*(1.0f-controller->dtc_u);
             TIM1->CCR2 = 0x708*(1.0f-controller->dtc_v);
             TIM1->CCR1 = 0x708*(1.0f-controller->dtc_w);

--- a/PreferenceWriter/PrefrenceWriter.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ b/PreferenceWriter/PrefrenceWriter.cpp	Fri Apr 07 16:23:39 2017 +0000
@@ -34,6 +34,7 @@
     for (; offs < 320; offs++) {
         writer->write(offs, __float_reg[offs - 256]);
     }
+    __ready = false;
 }
 
 void PreferenceWriter::load() {
@@ -47,5 +48,6 @@
 }
 
 void PreferenceWriter::close() {
+    __ready = false;
     writer->close();
 }
\ No newline at end of file

--- a/StateMachine/state_machine.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,20 +0,0 @@
-#include "state_machine.h"
-
-/*
-void menu_state(void){
-    printf("\n\r\n\r\n\r");
-    printf(" Comands:\n\r");
-    printf(" t - Torque Mode\n\r");
-    printf(" p - PD Mode\n\r");
-    printf(" c - Calibrate Encoder\n\r");
-    printf(" s - Setup\n\r");
-    
-    }
-    
-
-void calibration_state(void){
-    printf("Beginning Calibration\n\r");
-    
-    }
-    
-    */
\ No newline at end of file

--- a/StateMachine/state_machine.h	Wed Apr 05 20:54:16 2017 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,11 +0,0 @@
-#ifndef STATE_MACHINE_H
-#define STATE_MACHINE_H
-
-#include "structs.h"
-#include "mbed.h"
-/*
-void menu_state(void);
-void calibration_state(void);
-*/
-
-#endif

--- a/hw_setup.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ b/hw_setup.cpp	Fri Apr 07 16:23:39 2017 +0000
@@ -17,7 +17,6 @@
     gpio->pwm_v = new FastPWM(PIN_V);
     gpio->pwm_w = new FastPWM(PIN_W);
     
-    gpio->phasing = 1;
     
     
      //ISR Setup     

--- a/loops.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ b/loops.cpp	Fri Apr 07 16:23:39 2017 +0000
@@ -1,2 +1,10 @@
 #include "loops.h"
-#include "foc.h"
\ No newline at end of file
+#include "foc.h"
+
+void pd1(float p_des, float v_des, float kp, float kd){
+    
+    }
+void pd2(float p_des, float kp, float kd);
+
+void torque(float t){
+    }
\ No newline at end of file

--- a/loops.h	Wed Apr 05 20:54:16 2017 +0000
+++ b/loops.h	Fri Apr 07 16:23:39 2017 +0000
@@ -5,6 +5,8 @@
 #include "PositionSensor.h"
 
 
-void pd(float p_des, float v_des, float kp, float kd);
+void pd1(float p_des, float v_des, float kp, float kd);
+void pd2(float p_des, float kp, float kd);
+void torque(float t);
 
 #endif

--- a/main.cpp	Wed Apr 05 20:54:16 2017 +0000
+++ b/main.cpp	Fri Apr 07 16:23:39 2017 +0000
@@ -35,9 +35,6 @@
 #include "FlashWriter.h"
 #include "user_config.h"
 #include "PreferenceWriter.h"
-//#include "state_machine.h"
-
-
 
 PreferenceWriter prefs(6);
 
@@ -47,7 +44,6 @@
 VelocityEstimatorStruct velocity;
 
 
-
 CANnucleo::CAN          can(PB_8, PB_9);                                        // CAN Rx pin name, CAN Tx pin name
 CANnucleo::CANMessage   rxMsg;
 CANnucleo::CANMessage   txMsg;
@@ -118,9 +114,18 @@
     printf(" esc - Exit to Menu\n\r");
     state_change = 0;
     }
+
+void enter_setup_state(void){
+    printf("\n\r\n\r Configuration Options \n\r\n\n");
+    printf(" %-7s %-25s %-5s %-5s %-5s\n\r\n\r", "prefix", "parameter", "min", "max", "current value");
+    printf(" %-7s %-25s %-5s %-5s %.1f\n\r", "b", "Current Bandwidth (Hz)", "100", "2000", I_BW);
+    printf(" %-7s %-25s %-5s %-5s %-5i\n\r", "i", "CAN ID", "0", "127", CAN_ID);
+    printf(" %-7s %-25s %-5s %-5s %.1f\n\r", "l", "Torque Limit (N-m)", "0.0", "18.0", TORQUE_LIMIT);
+    printf("\n\r To change a value, type 'prefix''value''ENTER'\n\r i.e. 'b1000''ENTER'\n\r\n\r");
+    state_change = 0;
+    }
     
 void enter_torque_mode(void){
-    controller.mode = 2;
     controller.i_d_ref = 0;
     controller.i_q_ref = 0;
     reset_foc(&controller);                                                     //resets integrators, and other control loop parameters
@@ -194,8 +199,7 @@
                 break;
             case SETUP_MODE:
                 if(state_change){
-                    printf("\n\r Configuration Menu \n\r\n\n");
-                    state_change = 0;
+                    enter_setup_state();
                 }
                 break;
             case ENCODER_MODE:
@@ -210,15 +214,19 @@
 }
 
 /// Manage state machine with commands from serial terminal or configurator gui ///
+char cmd_val[8] = {0};
+char cmd_id = 0;
+
+char char_count = 0;
 void serial_interrupt(void){
     while(pc.readable()){
         char c = pc.getc();
-        if(c == 27){
-            state = REST_MODE;
-            state_change = 1;
-            }
-        else if(state == REST_MODE){
+        if(state == REST_MODE){
             switch (c){
+                case 27:
+                    state = REST_MODE;
+                    state_change = 1;
+                    break;
                 case 'c':
                     state = CALIBRATION_MODE;
                     state_change = 1;
@@ -235,10 +243,61 @@
                     state = SETUP_MODE;
                     state_change = 1;
                     break;
-                
+                    }
+                }
+        else if(state == SETUP_MODE){
+            if(c == 27){
+                state = REST_MODE;
+                state_change = 1;
+                char_count = 0;
+                cmd_id = 0;
+                for(int i = 0; i<8; i++){cmd_val[i] = 0;}
+                }
+            else if(c == 13){
+                switch (cmd_id){
+                    case 'b':
+                        I_BW = fmaxf(fminf(atof(cmd_val), 2000.0f), 100.0f);
+                        break;
+                    case 'i':
+                        CAN_ID = atoi(cmd_val);
+                        break;
+                    case 'l':
+                        TORQUE_LIMIT = fmaxf(fminf(atof(cmd_val), 18.0f), 0.0f);
+                        break;
+                    default:
+                        printf("\n\r '%c' Not a valid command prefix\n\r\n\r", cmd_id);
+                        break;
+                    }
+                    
+                if (!prefs.ready()) prefs.open();
+                prefs.flush();                                                  // Write new prefs to flash
+                prefs.close();    
+                prefs.load();                                              
+                state_change = 1;
+                char_count = 0;
+                cmd_id = 0;
+                for(int i = 0; i<8; i++){cmd_val[i] = 0;}
+                }
+            else{
+                if(char_count == 0){cmd_id = c;}
+                else{
+                    cmd_val[char_count-1] = c;
+                    
+                }
+                pc.putc(c);
+                char_count++;
                 }
             }
-    }
+        else if (state == ENCODER_MODE){
+            switch (c){
+                case 27:
+                    state = REST_MODE;
+                    state_change = 1;
+                    break;
+                    }
+            }
+            
+        }
     }
        
 int main() {
@@ -283,7 +342,7 @@
     printf("\n\r Debug Info:\n\r");
     printf(" ADC1 Offset: %d    ADC2 Offset: %d\n\r", controller.adc1_offset, controller.adc2_offset);
     printf(" Position Sensor Electrical Offset:   %.4f\n\r", E_OFFSET);
-    printf(" CAN ID:  %d\n\r", BOARDNUM);
+    printf(" CAN ID:  %d\n\r", CAN_ID);
         
     pc.attach(&serial_interrupt);                                               // attach serial interrupt
     

--- a/structs.h	Wed Apr 05 20:54:16 2017 +0000
+++ b/structs.h	Fri Apr 07 16:23:39 2017 +0000
@@ -9,7 +9,6 @@
 typedef struct{
     DigitalOut *enable;
     FastPWM *pwm_u, *pwm_v, *pwm_w;
-    int phasing;
     } GPIOStruct;
     
 typedef struct{