Fix bug vedderb#7, detection now works while apps are active

applications/app_adc.c

@@ -212,7 +212,7 @@ static msg_t adc_thread(void *arg) {
 				ms_without_power = 0;
 			}
 			pulses_without_power_before = ms_without_power;
-			mcpwm_set_current(0.0);
+			mcpwm_set_brake_current(timeout_get_brake_current());
 			continue;
 		}
 

applications/app_ppm.c

@@ -189,6 +189,7 @@ static msg_t ppm_thread(void *arg) {
 				pulses_without_power = 0;
 			}
 			pulses_without_power_before = pulses_without_power;
+			mcpwm_set_brake_current(timeout_get_brake_current());
 			continue;
 		}
 

conf_general.c

@@ -209,6 +209,7 @@ void conf_general_read_app_configuration(app_configuration *conf) {
  * A pointer to the configuration that should be stored.
  */
 bool conf_general_store_app_configuration(app_configuration *conf) {
+	mcpwm_unlock();
 	mcpwm_release_motor();
 
 	utils_sys_lock_cnt();
@@ -326,6 +327,7 @@ void conf_general_read_mc_configuration(mc_configuration *conf) {
  * A pointer to the configuration that should be stored.
  */
 bool conf_general_store_mc_configuration(mc_configuration *conf) {
+	mcpwm_unlock();
 	mcpwm_release_motor();
 
 	utils_sys_lock_cnt();
@@ -367,6 +369,9 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 	mcconf.sl_min_erpm = min_rpm;
 	mcpwm_set_configuration(&mcconf);
 
+	mcpwm_lock();
+
+	mcpwm_lock_override_once();
 	mcpwm_set_current(current);
 
 	// Spin up the motor
@@ -380,6 +385,7 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 	}
 
 	// Release the motor and wait a few commutations
+	mcpwm_lock_override_once();
 	mcpwm_set_current(0.0);
 	int tacho = mcpwm_get_tachometer_value(0);
 	for (int i = 0;i < 2000;i++) {
@@ -414,6 +420,8 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 			break;
 		}
 	}
+
+	mcpwm_lock_override_once();
 	mcpwm_set_duty(low_duty);
 
 	// Average the cycle integrator for 100 commutations
@@ -435,7 +443,8 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 	float avg_cycle_integrator_running = mcpwm_read_reset_avg_cycle_integrator();
 	float rpm = rpm_sum / rpm_iterations;
 
-	mcpwm_set_current(0.0);
+	mcpwm_lock_override_once();
+	mcpwm_release_motor();
 
 	// Try to figure out the coupling factor
 	avg_cycle_integrator_running -= *int_limit;
@@ -446,5 +455,7 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 	// Restore settings
 	mcpwm_set_configuration(&mcconf_old);
 
+	mcpwm_unlock();
+
 	return ok_steps == 5 ? true : false;
 }

flash_helper.c

@@ -91,6 +91,7 @@ uint16_t flash_helper_erase_new_app(uint32_t new_app_size) {
 
 	new_app_size += flash_addr[NEW_APP_BASE];
 
+	mcpwm_unlock();
 	mcpwm_release_motor();
 	utils_sys_lock_cnt();
 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
@@ -116,6 +117,7 @@ uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_
 	FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
 			FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
 
+	mcpwm_unlock();
 	mcpwm_release_motor();
 	utils_sys_lock_cnt();
 	RCC_APB1PeriphClockCmd(RCC_APB1Periph_WWDG, DISABLE);
@@ -139,6 +141,7 @@ uint16_t flash_helper_write_new_app_data(uint32_t offset, uint8_t *data, uint32_
 void flash_helper_jump_to_bootloader(void) {
 	typedef void (*pFunction)(void);
 
+	mcpwm_unlock();
 	mcpwm_release_motor();
 	usbDisconnectBus(&USBD1);
 	usbStop(&USBD1);

mcpwm.c

@@ -97,6 +97,8 @@ static volatile float amp_seconds_charged;
 static volatile float watt_seconds;
 static volatile float watt_seconds_charged;
 static volatile bool dccal_done;
+static volatile bool lock_enabled;
+static volatile bool lock_override_once;
 
 // KV FIR filter
 #define KV_FIR_TAPS_BITS		7
@@ -212,6 +214,8 @@ void mcpwm_init(mc_configuration *configuration) {
 	watt_seconds = 0.0;
 	watt_seconds_charged = 0.0;
 	dccal_done = false;
+	lock_enabled = false;
+	lock_override_once = false;
 
 	mcpwm_init_hall_table(conf.hall_dir, conf.hall_fwd_add, conf.hall_rev_add);
 
@@ -499,6 +503,7 @@ void mcpwm_set_configuration(mc_configuration *configuration) {
 void mcpwm_init_hall_table(int dir, int fwd_add, int rev_add) {
 	const int comms1[8] = {-1,1,3,2,5,6,4,-1};
 	const int comms2[8] = {-1,1,5,6,3,2,4,-1};
+//	const int fwd_to_rev[7] = {-1,4,3,2,1,6,5};
 
 	memcpy(hall_to_phase_table, dir ? comms1 : comms2, sizeof(int[8]));
 	memcpy(hall_to_phase_table + 8, dir ? comms2 : comms1, sizeof(int[8]));
@@ -697,6 +702,27 @@ void mcpwm_release_motor(void) {
 	mcpwm_set_current(0.0);
 }
 
+/**
+ * Lock the control by disabling all control commands.
+ */
+void mcpwm_lock(void) {
+	lock_enabled = true;
+}
+
+/**
+ * Unlock all control commands.
+ */
+void mcpwm_unlock(void) {
+	lock_enabled = false;
+}
+
+/**
+ * Allow just one motor control command in the locked state.
+ */
+void mcpwm_lock_override_once(void) {
+	lock_override_once = true;
+}
+
 /**
  * Get the electrical position (or commutation step) of the motor.
  *
@@ -1064,7 +1090,17 @@ static int try_input(void) {
 		ignore_iterations = MCPWM_DETECT_STOP_TIME;
 	}
 
-	return ignore_iterations;
+	int retval = ignore_iterations;
+
+	if (!ignore_iterations && lock_enabled) {
+		if (!lock_override_once) {
+			retval = 1;
+		} else {
+			lock_override_once = false;
+		}
+	}
+
+	return retval;
 }
 
 /**

mcpwm.h

@@ -41,6 +41,9 @@ void mcpwm_set_current(float current);
 void mcpwm_set_brake_current(float current);
 void mcpwm_brake_now(void);
 void mcpwm_release_motor(void);
+void mcpwm_lock(void);
+void mcpwm_unlock(void);
+void mcpwm_lock_override_once(void);
 int mcpwm_get_comm_step(void);
 float mcpwm_get_duty_cycle_set(void);
 float mcpwm_get_duty_cycle_now(void);

timeout.c

@@ -62,13 +62,18 @@ systime_t timeout_get_timeout_msec(void) {
 	return timeout_msec;
 }
 
+float timeout_get_brake_current(void) {
+	return timeout_brake_current;
+}
+
 static msg_t timeout_thread(void *arg) {
 	(void)arg;
 
 	chRegSetThreadName("Timeout");
 
 	for(;;) {
 		if (timeout_msec != 0 && chTimeElapsedSince(last_update_time) > MS2ST(timeout_msec)) {
+			mcpwm_unlock();
 			mcpwm_set_brake_current(timeout_brake_current);
 			has_timeout = true;
 		} else {

timeout.h

@@ -33,5 +33,6 @@ void timeout_configure(systime_t timeout, float brake_current);
 void timeout_reset(void);
 bool timeout_has_timeout(void);
 systime_t timeout_get_timeout_msec(void);
+float timeout_get_brake_current(void);
 
 #endif /* TIMEOUT_H_ */