Renamed compression to lzo, added observer offset parameter

Author: vedderb

CHANGELOG

@@ -45,6 +45,7 @@
 * Added MTPA mode based on measured current.
 * Faster overvoltage protection.
 * Added statistics counters.
+* Added configurable observer offset.
 
 === FW 5.02 ===
 * IMU calibration improvement.

Makefile

@@ -110,8 +110,9 @@ include nrf/nrf.mk
 include libcanard/canard.mk
 include imu/imu.mk
 include lora/lora.mk
-include compression/compression.mk
+include lzo/lzo.mk
 include blackmagic/blackmagic.mk
+#include lispBM/lispbm.mk
 
 # Define linker script file here
 LDSCRIPT= ld_eeprom_emu.ld
@@ -167,9 +168,10 @@ CSRC = $(STARTUPSRC) \
        $(CANARDSRC) \
        $(IMUSRC) \
        $(LORASRC) \
-       $(COMPRESSIONSRC) \
+       $(LZOSRC) \
        $(BLACKMAGICSRC) \
-       qmlui/qmlui.c
+       qmlui/qmlui.c \
+       $(LISPBMSRC)
 
 # C++ sources that can be compiled in ARM or THUMB mode depending on the global
 # setting.
@@ -210,11 +212,12 @@ INCDIR = $(STARTUPINC) $(KERNINC) $(PORTINC) $(OSALINC) \
          $(CANARDINC) \
          $(IMUINC) \
          $(LORAINC) \
-         $(COMPRESSIONINC) \
+         $(LZOINC) \
          $(BLACKMAGICINC) \
          qmlui \
          qmlui/hw \
-         qmlui/app
+         qmlui/app \
+         $(LISPBMINC)
 
 ifdef app_custom_mkfile
 include $(app_custom_mkfile)

compression/compression.mk

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			5
 #define FW_VERSION_MINOR			03
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		77
+#define FW_TEST_VERSION_NUMBER		78
 
 #include "datatypes.h"
 

conf_general.h

@@ -77,6 +77,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->foc_motor_flux_linkage, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_observer_gain, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_observer_gain_slow, &ind);
+	buffer_append_float16(buffer, conf->foc_observer_offset, 1000, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_duty_dowmramp_kp, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_duty_dowmramp_ki, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_openloop_rpm, &ind);
@@ -445,6 +446,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_motor_flux_linkage = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_observer_gain = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_observer_gain_slow = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_observer_offset = buffer_get_float16(buffer, 1000, &ind);
 	conf->foc_duty_dowmramp_kp = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_duty_dowmramp_ki = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_openloop_rpm = buffer_get_float32_auto(buffer, &ind);
@@ -809,6 +811,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_motor_flux_linkage = MCCONF_FOC_MOTOR_FLUX_LINKAGE;
 	conf->foc_observer_gain = MCCONF_FOC_OBSERVER_GAIN;
 	conf->foc_observer_gain_slow = MCCONF_FOC_OBSERVER_GAIN_SLOW;
+	conf->foc_observer_offset = MCCONF_FOC_OBSERVER_OFFSET;
 	conf->foc_duty_dowmramp_kp = MCCONF_FOC_DUTY_DOWNRAMP_KP;
 	conf->foc_duty_dowmramp_ki = MCCONF_FOC_DUTY_DOWNRAMP_KI;
 	conf->foc_openloop_rpm = MCCONF_FOC_OPENLOOP_RPM;

confgenerator.c

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		919732468
+#define MCCONF_SIGNATURE		2525666056
 #define APPCONF_SIGNATURE		3733512279
 
 // Functions

confgenerator.h

@@ -384,6 +384,7 @@ typedef struct {
 	float foc_motor_flux_linkage;
 	float foc_observer_gain;
 	float foc_observer_gain_slow;
+	float foc_observer_offset;
 	float foc_pll_kp;
 	float foc_pll_ki;
 	float foc_duty_dowmramp_kp;

datatypes.h

@@ -0,0 +1,2 @@
+LZOSRC = 	lzo/minilzo.c
+LZOINC = 	lzo

compression/README.LZO lzo/README.LZO

@@ -55,6 +55,7 @@
 #include "mempools.h"
 #include "events.h"
 #include "main.h"
+//#include "lispif.h"
 
 /*
  * HW resources used:
@@ -303,6 +304,8 @@ int main(void) {
 	palSetPad(BOOT_OK_GPIO, BOOT_OK_PIN);
 #endif
 
+//	lispif_init();
+
 	m_init_done = true;
 
 	for(;;) {

lzo/lzo.mk

@@ -286,6 +286,9 @@
 #ifndef MCCONF_FOC_OBSERVER_GAIN_SLOW
 #define MCCONF_FOC_OBSERVER_GAIN_SLOW	0.05	// Observer gain scale at minimum duty cycle
 #endif
+#ifndef MCCONF_FOC_OBSERVER_OFFSET
+#define MCCONF_FOC_OBSERVER_OFFSET		-1.0	// Observer offset in timer update cycles
+#endif
 #ifndef MCCONF_FOC_DUTY_DOWNRAMP_KP
 #define MCCONF_FOC_DUTY_DOWNRAMP_KP		10.0	// PI controller for duty control when decreasing the duty
 #endif

compression/lzoconf.h lzo/lzoconf.h

@@ -2774,7 +2774,7 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
 
 				// Compensate from the phase lag caused by the switching frequency. This is important for motors
 				// that run on high ERPM compared to the switching frequency.
-				motor_now->m_phase_now_observer += motor_now->m_pll_speed * dt * 0.5;
+				motor_now->m_phase_now_observer += motor_now->m_pll_speed * dt * (0.5 + conf_now->foc_observer_offset);
 				utils_norm_angle_rad((float*)&motor_now->m_phase_now_observer);
 			}
 
@@ -2951,6 +2951,12 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
 		motor_now->m_phase_now_observer = utils_fast_atan2(motor_now->m_x2_prev + motor_now->m_observer_x2,
 														   motor_now->m_x1_prev + motor_now->m_observer_x1);
 
+		// The observer phase offset has to be added here as well, with 0.5 switching cycles offset
+		// compared to when running. Otherwise going from undriven to driven causes a current
+		// spike.
+		motor_now->m_phase_now_observer += motor_now->m_pll_speed * dt * conf_now->foc_observer_offset;
+						utils_norm_angle_rad((float*)&motor_now->m_phase_now_observer);
+
 		motor_now->m_x1_prev = motor_now->m_observer_x1;
 		motor_now->m_x2_prev = motor_now->m_observer_x2;