FW 3.31: Acc temp dec option, PID for APP_ADC

skylin008 · Oct 27, 2017 · 6277cf7 · 6277cf7
1 parent cf2502c
commit 6277cf7
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Showing 34 changed files with 606 additions and 35 deletions.
diff --git a/CHANGELOG b/CHANGELOG
@@ -1,3 +1,7 @@
+=== FW 3.31 ===
+* Option to decrease temperature limits during acceleration to still have braking torque left.
+* Added PID speed control mode to ADC app.
+
 === FW 3.30 ===
 * Activated iterative observer for better operation at high ERPM.
 * Check for NAN and truncate some FOC variables.

diff --git a/appconf/appconf_default.h b/appconf/appconf_default.h
@@ -143,10 +143,10 @@
 #define APPCONF_ADC_THROTTLE_EXP_MODE		THR_EXP_POLY
 #endif
 #ifndef APPCONF_ADC_RAMP_TIME_POS
-#define APPCONF_ADC_RAMP_TIME_POS			0.9
+#define APPCONF_ADC_RAMP_TIME_POS			0.3
 #endif
 #ifndef APPCONF_ADC_RAMP_TIME_NEG
-#define APPCONF_ADC_RAMP_TIME_NEG			0.3
+#define APPCONF_ADC_RAMP_TIME_NEG			0.1
 #endif
 #ifndef APPCONF_ADC_MULTI_ESC
 #define APPCONF_ADC_MULTI_ESC				false

diff --git a/applications/app_adc.c b/applications/app_adc.c
@@ -149,6 +149,7 @@ static THD_FUNCTION(adc_thread, arg) {
 		case ADC_CTRL_TYPE_CURRENT_REV_CENTER:
 		case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER:
 		case ADC_CTRL_TYPE_DUTY_REV_CENTER:
+		case ADC_CTRL_TYPE_PID_REV_CENTER:
 			// Mapping with respect to center voltage
 			if (pwr < config.voltage_center) {
 				pwr = utils_map(pwr, config.voltage_start,
@@ -247,6 +248,7 @@ static THD_FUNCTION(adc_thread, arg) {
 		case ADC_CTRL_TYPE_CURRENT_REV_CENTER:
 		case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER:
 		case ADC_CTRL_TYPE_DUTY_REV_CENTER:
+		case ADC_CTRL_TYPE_PID_REV_CENTER:
 			// Scale the voltage and set 0 at the center
 			pwr *= 2.0;
 			pwr -= 1.0;
@@ -260,6 +262,7 @@ static THD_FUNCTION(adc_thread, arg) {
 		case ADC_CTRL_TYPE_CURRENT_REV_BUTTON:
 		case ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON:
 		case ADC_CTRL_TYPE_DUTY_REV_BUTTON:
+		case ADC_CTRL_TYPE_PID_REV_BUTTON:
 			// Invert the voltage if the button is pressed
 			if (rev_button) {
 				pwr = -pwr;
@@ -346,6 +349,32 @@ static THD_FUNCTION(adc_thread, arg) {
 			}
 			break;
 
+		case ADC_CTRL_TYPE_PID:
+		case ADC_CTRL_TYPE_PID_REV_CENTER:
+		case ADC_CTRL_TYPE_PID_REV_BUTTON:
+			if ((pwr >= 0.0 && rpm_now > 0.0) || (pwr < 0.0 && rpm_now < 0.0)) {
+				current = pwr * mcconf->lo_current_motor_max_now;
+			} else {
+				current = pwr * fabsf(mcconf->lo_current_motor_min_now);
+			}
+
+			if (!(ms_without_power < MIN_MS_WITHOUT_POWER && config.safe_start)) {
+				float speed = 0.0;
+				if (pwr >= 0.0) {
+					speed = pwr * mcconf->l_max_erpm;
+				} else {
+					speed = pwr * fabsf(mcconf->l_min_erpm);
+				}
+
+				mc_interface_set_pid_speed(speed);
+				send_duty = true;
+			}
+
+			if (fabsf(pwr) < 0.001) {
+				ms_without_power += (1000.0 * (float)sleep_time) / (float)CH_CFG_ST_FREQUENCY;
+			}
+			break;
+
 		default:
 			continue;
 		}

diff --git a/build_all/410_o_411_o_412/VESC_0005ohm.bin b/build_all/410_o_411_o_412/VESC_0005ohm.bin
diff --git a/build_all/410_o_411_o_412/VESC_default.bin b/build_all/410_o_411_o_412/VESC_default.bin
diff --git a/build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin b/build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin
diff --git a/build_all/410_o_411_o_412/VESC_servoout.bin b/build_all/410_o_411_o_412/VESC_servoout.bin
diff --git a/build_all/410_o_411_o_412/VESC_ws2811.bin b/build_all/410_o_411_o_412/VESC_ws2811.bin
diff --git a/build_all/46_o_47/VESC_0005ohm.bin b/build_all/46_o_47/VESC_0005ohm.bin
diff --git a/build_all/46_o_47/VESC_33k.bin b/build_all/46_o_47/VESC_33k.bin
diff --git a/build_all/46_o_47/VESC_default.bin b/build_all/46_o_47/VESC_default.bin
diff --git a/build_all/46_o_47/VESC_servoout.bin b/build_all/46_o_47/VESC_servoout.bin
diff --git a/build_all/46_o_47/VESC_ws2811.bin b/build_all/46_o_47/VESC_ws2811.bin
diff --git a/build_all/46_o_47/VESC_ws2811_33k.bin b/build_all/46_o_47/VESC_ws2811_33k.bin
diff --git a/build_all/48/VESC_0005ohm.bin b/build_all/48/VESC_0005ohm.bin
diff --git a/build_all/48/VESC_default.bin b/build_all/48/VESC_default.bin
diff --git a/build_all/48/VESC_servoout.bin b/build_all/48/VESC_servoout.bin
diff --git a/build_all/48/VESC_ws2811.bin b/build_all/48/VESC_ws2811.bin
diff --git a/build_all/60/VESC_default.bin b/build_all/60/VESC_default.bin
diff --git a/build_all/60/VESC_default_no_hw_limits.bin b/build_all/60/VESC_default_no_hw_limits.bin
diff --git a/build_all/60/VESC_servoout.bin b/build_all/60/VESC_servoout.bin
diff --git a/build_all/60/VESC_ws2811.bin b/build_all/60/VESC_ws2811.bin
diff --git a/build_all/DAS_RS/VESC_default.bin b/build_all/DAS_RS/VESC_default.bin
diff --git a/build_all/rebuild_all b/build_all/rebuild_all
@@ -12,42 +12,42 @@ rm $COPYDIR/*
 # default
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_46"
+make -j8 build_args="-DHW_VERSION_46"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
 
 # 33k
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DVIN_R1=33000.0 -DHW_VERSION_46"
+make -j8 build_args="-DVIN_R1=33000.0 -DHW_VERSION_46"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_33k.bin
 
 # 0005ohm
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DCURRENT_SHUNT_RES=0.0005 -DHW_VERSION_46"
+make -j8 build_args="-DCURRENT_SHUNT_RES=0.0005 -DHW_VERSION_46"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_0005ohm.bin
 
 # ws2811
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_46"
+make -j8 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_46"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_ws2811.bin
 
 # ws2811_33k
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DWS2811_ENABLE=1 -DVIN_R1=33000.0 -DHW_VERSION_46"
+make -j8 build_args="-DWS2811_ENABLE=1 -DVIN_R1=33000.0 -DHW_VERSION_46"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_ws2811_33k.bin
 
 # servoout
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_46"
+make -j8 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_46"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_servoout.bin
 
@@ -59,28 +59,28 @@ rm $COPYDIR/*
 # default
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_48"
+make -j8 build_args="-DHW_VERSION_48"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
 
 # 0005ohm
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DCURRENT_SHUNT_RES=0.0005 -DHW_VERSION_48"
+make -j8 build_args="-DCURRENT_SHUNT_RES=0.0005 -DHW_VERSION_48"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_0005ohm.bin
 
 # ws2811
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_48"
+make -j8 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_48"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_ws2811.bin
 
 # servoout
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_48"
+make -j8 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_48"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_servoout.bin
 
@@ -92,35 +92,35 @@ rm $COPYDIR/*
 # default
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_410"
+make -j8 build_args="-DHW_VERSION_410"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
 
 # default with HW limits disables
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_410 -DDISABLE_HW_LIMITS"
+make -j8 build_args="-DHW_VERSION_410 -DDISABLE_HW_LIMITS"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default_no_hw_limits.bin
 
 # 0005ohm
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DCURRENT_SHUNT_RES=0.0005 -DHW_VERSION_410"
+make -j8 build_args="-DCURRENT_SHUNT_RES=0.0005 -DHW_VERSION_410"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_0005ohm.bin
 
 # ws2811
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_410"
+make -j8 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_410"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_ws2811.bin
 
 # servoout
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_410"
+make -j8 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_410"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_servoout.bin
 
@@ -132,28 +132,28 @@ rm $COPYDIR/*
 # default
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_60"
+make -j8 build_args="-DHW_VERSION_60"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
 
 # default with HW limits disables
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_60 -DDISABLE_HW_LIMITS"
+make -j8 build_args="-DHW_VERSION_60 -DDISABLE_HW_LIMITS"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default_no_hw_limits.bin
 
 # ws2811
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_60"
+make -j8 build_args="-DWS2811_ENABLE=1 -DHW_VERSION_60"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_ws2811.bin
 
 # servoout
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_60"
+make -j8 build_args="-DSERVO_OUT_ENABLE=1 -DHW_VERSION_60"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_servoout.bin
 
@@ -170,7 +170,7 @@ rm $COPYDIR/*
 # default
 cd $FWPATH
 touch conf_general.h
-make -j4 build_args="-DHW_VERSION_DAS_RS"
+make -j8 build_args="-DHW_VERSION_DAS_RS"
 cd $DIR
 cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
 

diff --git a/commands.c b/commands.c
@@ -276,6 +276,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		mcconf.l_temp_fet_end = buffer_get_float32_auto(data, &ind);
 		mcconf.l_temp_motor_start = buffer_get_float32_auto(data, &ind);
 		mcconf.l_temp_motor_end = buffer_get_float32_auto(data, &ind);
+		mcconf.l_temp_accel_dec = buffer_get_float32_auto(data, &ind);
 		mcconf.l_min_duty = buffer_get_float32_auto(data, &ind);
 		mcconf.l_max_duty = buffer_get_float32_auto(data, &ind);
 		mcconf.l_watt_max = buffer_get_float32_auto(data, &ind);
@@ -437,6 +438,7 @@ void commands_process_packet(unsigned char *data, unsigned int len) {
 		buffer_append_float32_auto(send_buffer, mcconf.l_temp_fet_end, &ind);
 		buffer_append_float32_auto(send_buffer, mcconf.l_temp_motor_start, &ind);
 		buffer_append_float32_auto(send_buffer, mcconf.l_temp_motor_end, &ind);
+		buffer_append_float32_auto(send_buffer, mcconf.l_temp_accel_dec, &ind);
 		buffer_append_float32_auto(send_buffer, mcconf.l_min_duty, &ind);
 		buffer_append_float32_auto(send_buffer, mcconf.l_max_duty, &ind);
 		buffer_append_float32_auto(send_buffer, mcconf.l_watt_max, &ind);

diff --git a/conf_general.c b/conf_general.c
@@ -188,6 +188,7 @@ void conf_general_get_default_mc_configuration(mc_configuration *conf) {
 	conf->l_temp_fet_end = MCCONF_L_LIM_TEMP_FET_END;
 	conf->l_temp_motor_start = MCCONF_L_LIM_TEMP_MOTOR_START;
 	conf->l_temp_motor_end = MCCONF_L_LIM_TEMP_MOTOR_END;
+	conf->l_temp_accel_dec = MCCONF_L_LIM_TEMP_ACCEL_DEC;
 	conf->l_min_duty = MCCONF_L_MIN_DUTY;
 	conf->l_max_duty = MCCONF_L_MAX_DUTY;
 	conf->l_watt_max = MCCONF_L_WATT_MAX;

diff --git a/conf_general.h b/conf_general.h
@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		30
+#define FW_VERSION_MINOR		31
 
 #include "datatypes.h"
 
@@ -50,7 +50,8 @@
 #if !defined(HW_VERSION_40) && !defined(HW_VERSION_45) && !defined(HW_VERSION_46) && \
 	!defined(HW_VERSION_48) && !defined(HW_VERSION_49) && !defined(HW_VERSION_410) && \
 	!defined(HW_VERSION_60) && !defined(HW_VERSION_R2) && !defined(HW_VERSION_VICTOR_R1A) && \
-	!defined(HW_VERSION_DAS_RS) && !defined(HW_VERSION_PALTA) && !defined(HW_VERSION_RH)
+	!defined(HW_VERSION_DAS_RS) && !defined(HW_VERSION_PALTA) && !defined(HW_VERSION_RH) && \
+	!defined(HW_VERSION_TP)
 //#define HW_VERSION_40
 //#define HW_VERSION_45
 //#define HW_VERSION_46 // Also for 4.7
@@ -63,6 +64,7 @@
 //#define HW_VERSION_DAS_RS
 //#define HW_VERSION_PALTA
 //#define HW_VERSION_RH
+//#define HW_VERSION_TP
 #endif
 
 /*

diff --git a/datatypes.h b/datatypes.h
@@ -152,6 +152,7 @@ typedef struct {
 	float l_temp_fet_end;
 	float l_temp_motor_start;
 	float l_temp_motor_end;
+	float l_temp_accel_dec;
 	float l_min_duty;
 	float l_max_duty;
 	float l_watt_max;
@@ -298,7 +299,10 @@ typedef enum {
 	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
 	ADC_CTRL_TYPE_DUTY,
 	ADC_CTRL_TYPE_DUTY_REV_CENTER,
-	ADC_CTRL_TYPE_DUTY_REV_BUTTON
+	ADC_CTRL_TYPE_DUTY_REV_BUTTON,
+	ADC_CTRL_TYPE_PID,
+	ADC_CTRL_TYPE_PID_REV_CENTER,
+	ADC_CTRL_TYPE_PID_REV_BUTTON
 } adc_control_type;
 
 typedef struct {

diff --git a/hwconf/hw.h b/hwconf/hw.h
@@ -52,6 +52,8 @@
 #include "hw_palta.h"
 #elif defined HW_VERSION_RH
 #include "hw_rh.h"
+#elif defined HW_VERSION_TP
+#include "hw_tp.h"
 #else
 #error "No hardware version defined"
 #endif