FW 1.13: Hw 4.8 support, new CC implementation for nunchuk, refactori…

…ng, custom app and hw config support

Makefile

@@ -155,6 +155,7 @@ INCDIR = $(PORTINC) $(KERNINC) \
          $(HALINC) $(PLATFORMINC) $(BOARDINC) \
          $(CHIBIOS)/os/various \
          mcconf \
+         appconf \
          $(HWINC) \
          $(APPINC) \
          $(NRFINC)

appconf/appconf_default.h

@@ -0,0 +1,166 @@
+/*
+	Copyright 2015 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#ifndef APPCONF_DEFAULT_H_
+#define APPCONF_DEFAULT_H_
+
+// Default app configuration
+#ifndef APPCONF_CONTROLLER_ID
+#define APPCONF_CONTROLLER_ID				0
+#endif
+#ifndef APPCONF_TIMEOUT_MSEC
+#define APPCONF_TIMEOUT_MSEC				1000
+#endif
+#ifndef APPCONF_TIMEOUT_BRAKE_CURRENT
+#define APPCONF_TIMEOUT_BRAKE_CURRENT		0.0
+#endif
+#ifndef APPCONF_SEND_CAN_STATUS
+#define APPCONF_SEND_CAN_STATUS				false
+#endif
+#ifndef APPCONF_SEND_CAN_STATUS_RATE_HZ
+#define APPCONF_SEND_CAN_STATUS_RATE_HZ		500
+#endif
+
+// The default app is UART in case the UART port is used for
+// firmware updates.
+#ifndef APPCONF_APP_TO_USE
+#define APPCONF_APP_TO_USE					APP_UART
+#endif
+
+// PPM app
+#ifndef APPCONF_PPM_CTRL_TYPE
+#define APPCONF_PPM_CTRL_TYPE				PPM_CTRL_TYPE_NONE
+#endif
+#ifndef APPCONF_PPM_PID_MAX_ERPM
+#define APPCONF_PPM_PID_MAX_ERPM			15000
+#endif
+#ifndef APPCONF_PPM_HYST
+#define APPCONF_PPM_HYST					0.15
+#endif
+#ifndef APPCONF_PPM_PULSE_START
+#define APPCONF_PPM_PULSE_START				1.0
+#endif
+#ifndef APPCONF_PPM_PULSE_END
+#define APPCONF_PPM_PULSE_END				2.0
+#endif
+#ifndef APPCONF_PPM_MEDIAN_FILTER
+#define APPCONF_PPM_MEDIAN_FILTER			true
+#endif
+#ifndef APPCONF_PPM_SAFE_START
+#define APPCONF_PPM_SAFE_START				true
+#endif
+#ifndef APPCONF_PPM_RPM_LIM_START
+#define APPCONF_PPM_RPM_LIM_START			150000
+#endif
+#ifndef APPCONF_PPM_RPM_LIM_END
+#define APPCONF_PPM_RPM_LIM_END				200000
+#endif
+#ifndef APPCONF_PPM_MULTI_ESC
+#define APPCONF_PPM_MULTI_ESC				false
+#endif
+#ifndef APPCONF_PPM_TC
+#define APPCONF_PPM_TC						false
+#endif
+#ifndef APPCONF_PPM_TC_MAX_DIFF
+#define APPCONF_PPM_TC_MAX_DIFF				3000.0
+#endif
+
+// ADC app configureation
+#ifndef APPCONF_ADC_CTRL_TYPE
+#define APPCONF_ADC_CTRL_TYPE				ADC_CTRL_TYPE_NONE
+#endif
+#ifndef APPCONF_ADC_HYST
+#define APPCONF_ADC_HYST					0.15
+#endif
+#ifndef APPCONF_ADC_VOLTAGE_START
+#define APPCONF_ADC_VOLTAGE_START			0.9
+#endif
+#ifndef APPCONF_ADC_VOLTAGE_END
+#define APPCONF_ADC_VOLTAGE_END				3.0
+#endif
+#ifndef APPCONF_ADC_USE_FILTER
+#define APPCONF_ADC_USE_FILTER				true
+#endif
+#ifndef APPCONF_ADC_SAFE_START
+#define APPCONF_ADC_SAFE_START				true
+#endif
+#ifndef APPCONF_ADC_CC_BUTTON_INVERTED
+#define APPCONF_ADC_CC_BUTTON_INVERTED		false
+#endif
+#ifndef APPCONF_ADC_REV_BUTTON_INVERTED
+#define APPCONF_ADC_REV_BUTTON_INVERTED		false
+#endif
+#ifndef APPCONF_ADC_VOLTAGE_INVERTED
+#define APPCONF_ADC_VOLTAGE_INVERTED		false
+#endif
+#ifndef APPCONF_ADC_RPM_LIM_START
+#define APPCONF_ADC_RPM_LIM_START			150000.0
+#endif
+#ifndef APPCONF_ADC_RPM_LIM_END
+#define APPCONF_ADC_RPM_LIM_END				200000.0
+#endif
+#ifndef APPCONF_ADC_MULTI_ESC
+#define APPCONF_ADC_MULTI_ESC				false
+#endif
+#ifndef APPCONF_ADC_TC
+#define APPCONF_ADC_TC						false
+#endif
+#ifndef APPCONF_ADC_TC_MAX_DIFF
+#define APPCONF_ADC_TC_MAX_DIFF				3000.0
+#endif
+#ifndef APPCONF_ADC_UPDATE_RATE_HZ
+#define APPCONF_ADC_UPDATE_RATE_HZ			500
+#endif
+
+// UART app
+#ifndef APPCONF_UART_BAUDRATE
+#define APPCONF_UART_BAUDRATE				115200
+#endif
+
+// Nunchuk app
+#ifndef APPCONF_CHUK_CTRL_TYPE
+#define APPCONF_CHUK_CTRL_TYPE				CHUK_CTRL_TYPE_CURRENT
+#endif
+#ifndef APPCONF_CHUK_HYST
+#define APPCONF_CHUK_HYST					0.15
+#endif
+#ifndef APPCONF_CHUK_RPM_LIM_START
+#define APPCONF_CHUK_RPM_LIM_START			150000.0
+#endif
+#ifndef APPCONF_CHUK_RPM_LIM_END
+#define APPCONF_CHUK_RPM_LIM_END			200000.0
+#endif
+#ifndef APPCONF_CHUK_RAMP_TIME_POS
+#define APPCONF_CHUK_RAMP_TIME_POS			0.9
+#endif
+#ifndef APPCONF_CHUK_RAMP_TIME_NEG
+#define APPCONF_CHUK_RAMP_TIME_NEG			0.3
+#endif
+#ifndef APPCONF_STICK_ERPM_PER_S_IN_CC
+#define APPCONF_STICK_ERPM_PER_S_IN_CC		3000.0
+#endif
+#ifndef APPCONF_CHUK_MULTI_ESC
+#define APPCONF_CHUK_MULTI_ESC				false
+#endif
+#ifndef APPCONF_CHUK_TC
+#define APPCONF_CHUK_TC						false
+#endif
+#ifndef APPCONF_CHUK_TC_MAX_DIFF
+#define APPCONF_CHUK_TC_MAX_DIFF			3000.0
+#endif
+
+#endif /* APPCONF_DEFAULT_H_ */

appconf/appconf_example_ppm.h

@@ -0,0 +1,32 @@
+/*
+	Copyright 2015 Benjamin Vedder	[email protected]
+
+	This program is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    This program is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+/*
+ * appconf_example_ppm.h
+ *
+ *  Created on: 9 sep 2015
+ *      Author: benjamin
+ */
+
+#ifndef APPCONF_APPCONF_EXAMPLE_PPM_H_
+#define APPCONF_APPCONF_EXAMPLE_PPM_H_
+
+// Override app configuration parameters such that the PPM app becomes default
+#define APPCONF_APP_TO_USE				APP_PPM
+#define APPCONF_PPM_CTRL_TYPE			PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE
+
+#endif /* APPCONF_APPCONF_EXAMPLE_PPM_H_ */

applications/app_nunchuk.c

@@ -231,6 +231,7 @@ static msg_t output_thread(void *arg) {
 
 		// If c is pressed and no throttle is used, maintain the current speed with PID control
 		static bool was_pid = false;
+		const volatile mc_configuration *mcconf = mcpwm_get_configuration();
 
 		// Filter RPM to avoid glitches
 		static float filter_buffer[RPM_FILTER_SAMPLES];
@@ -246,18 +247,40 @@ static msg_t output_thread(void *arg) {
 		}
 		rpm_filtered /= RPM_FILTER_SAMPLES;
 
-		if (chuck_d.bt_c && out_val == 0.0) {
+		if (chuck_d.bt_c) {
 			static float pid_rpm = 0.0;
 
 			if (!was_pid) {
-				was_pid = true;
 				pid_rpm = rpm_filtered;
-			}
 
-			if ((is_reverse && pid_rpm < 0.0) || (!is_reverse && pid_rpm > 0.0)) {
-				mcpwm_set_pid_speed(pid_rpm);
+				if ((is_reverse && pid_rpm > 0.0) || (!is_reverse && pid_rpm < 0.0)) {
+					if (fabsf(pid_rpm) > mcconf->s_pid_min_erpm) {
+						// Abort if the speed is too high in the opposite direction
+						continue;
+					} else {
+						pid_rpm = 0.0;
+					}
+				}
+
+				was_pid = true;
+			} else {
+				if (is_reverse) {
+					if (pid_rpm > 0.0) {
+						pid_rpm = 0.0;
+					}
+
+					pid_rpm -= (out_val * config.stick_erpm_per_s_in_cc) / ((float)OUTPUT_ITERATION_TIME_MS * 1000.0);
+				} else {
+					if (pid_rpm < 0.0) {
+						pid_rpm = 0.0;
+					}
+
+					pid_rpm += (out_val * config.stick_erpm_per_s_in_cc) / ((float)OUTPUT_ITERATION_TIME_MS * 1000.0);
+				}
 			}
 
+			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();
@@ -281,7 +304,6 @@ static msg_t output_thread(void *arg) {
 		was_pid = false;
 
 		float current = 0;
-		const volatile mc_configuration *mcconf = mcpwm_get_configuration();
 
 		if (out_val >= 0.0) {
 			current = out_val * mcconf->l_current_max;

commands.c

@@ -276,7 +276,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		mcconf.s_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
 		mcconf.s_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
 		mcconf.s_pid_kd = (float)buffer_get_int32(data, &ind) / 1000000.0;
-		mcconf.s_pid_min_rpm = (float)buffer_get_int32(data, &ind) / 1000.0;
+		mcconf.s_pid_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
 
 		mcconf.p_pid_kp = (float)buffer_get_int32(data, &ind) / 1000000.0;
 		mcconf.p_pid_ki = (float)buffer_get_int32(data, &ind) / 1000000.0;
@@ -348,7 +348,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kp * 1000000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_ki * 1000000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_kd * 1000000.0), &ind);
-		buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_min_rpm * 1000.0), &ind);
+		buffer_append_int32(send_buffer, (int32_t)(mcconf.s_pid_min_erpm * 1000.0), &ind);
 
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_kp * 1000000.0), &ind);
 		buffer_append_int32(send_buffer, (int32_t)(mcconf.p_pid_ki * 1000000.0), &ind);
@@ -411,14 +411,15 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		appconf.app_uart_baudrate = buffer_get_uint32(data, &ind);
 
 		appconf.app_chuk_conf.ctrl_type = data[ind++];
-		appconf.app_chuk_conf.hyst = (float)buffer_get_int32(data, &ind) / 1000.0;
-		appconf.app_chuk_conf.rpm_lim_start = (float)buffer_get_int32(data, &ind) / 1000.0;
-		appconf.app_chuk_conf.rpm_lim_end = (float)buffer_get_int32(data, &ind) / 1000.0;
-		appconf.app_chuk_conf.ramp_time_pos = (float)buffer_get_int32(data, &ind) / 1000.0;
-		appconf.app_chuk_conf.ramp_time_neg = (float)buffer_get_int32(data, &ind) / 1000.0;
+		appconf.app_chuk_conf.hyst = buffer_get_float32(data, 1000.0, &ind);
+		appconf.app_chuk_conf.rpm_lim_start = buffer_get_float32(data, 1000.0, &ind);
+		appconf.app_chuk_conf.rpm_lim_end = buffer_get_float32(data, 1000.0, &ind);
+		appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32(data, 1000.0, &ind);
+		appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32(data, 1000.0, &ind);
+		appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32(data, 1000.0, &ind);
 		appconf.app_chuk_conf.multi_esc = data[ind++];
 		appconf.app_chuk_conf.tc = data[ind++];
-		appconf.app_chuk_conf.tc_max_diff = (float)buffer_get_int32(data, &ind) / 1000.0;
+		appconf.app_chuk_conf.tc_max_diff = buffer_get_float32(data, 1000.0, &ind);
 
 		conf_general_store_app_configuration(&appconf);
 		app_set_configuration(&appconf);
@@ -474,11 +475,12 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		buffer_append_uint32(send_buffer, appconf.app_uart_baudrate, &ind);
 
 		send_buffer[ind++] = appconf.app_chuk_conf.ctrl_type;
-		buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.hyst * 1000.0), &ind);
-		buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.rpm_lim_start * 1000.0), &ind);
-		buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.rpm_lim_end * 1000.0), &ind);
-		buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.ramp_time_pos * 1000.0), &ind);
-		buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.ramp_time_neg * 1000.0), &ind);
+		buffer_append_float32(send_buffer, appconf.app_chuk_conf.hyst, 1000.0, &ind);
+		buffer_append_float32(send_buffer, appconf.app_chuk_conf.rpm_lim_start, 1000.0, &ind);
+		buffer_append_float32(send_buffer, appconf.app_chuk_conf.rpm_lim_end, 1000.0, &ind);
+		buffer_append_float32(send_buffer, appconf.app_chuk_conf.ramp_time_pos, 1000.0, &ind);
+		buffer_append_float32(send_buffer, appconf.app_chuk_conf.ramp_time_neg, 1000.0, &ind);
+		buffer_append_float32(send_buffer, appconf.app_chuk_conf.stick_erpm_per_s_in_cc, 1000.0, &ind);
 		send_buffer[ind++] = appconf.app_chuk_conf.multi_esc;
 		send_buffer[ind++] = appconf.app_chuk_conf.tc;
 		buffer_append_int32(send_buffer, (int32_t)(appconf.app_chuk_conf.tc_max_diff * 1000.0), &ind);