PTC motor thermistor support, APP_PPM sleep fix

Author: vedderb

CHANGELOG

@@ -1,3 +1,7 @@
+=== FW 3.65 ===
+* Added support for PTC motor temperature sensor (e.g. KTY84)
+* APP_PPM sleep fix. Should solve CAN issues.
+
 === FW 3.64 ===
 * Added support for HW60_MK3
 * Disable shutdown sampling when the watchdog runs slowly.

applications/app_ppm.c

@@ -120,7 +120,7 @@ static THD_FUNCTION(ppm_thread, arg) {
 	is_running = true;
 
 	for(;;) {
-		chEvtWaitAnyTimeout((eventmask_t)1, ST2MS(2));
+		chEvtWaitAnyTimeout((eventmask_t)1, MS2ST(2));
 
 		if (stop_now) {
 			is_running = false;

build_all/410_o_411_o_412/VESC_0005ohm.bin

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		64
+#define FW_VERSION_MINOR		65
 
 #include "datatypes.h"
 

build_all/410_o_411_o_412/VESC_default.bin

@@ -130,6 +130,8 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float32_auto(buffer, conf->m_dc_f_sw, &ind);
 	buffer_append_float32_auto(buffer, conf->m_ntc_motor_beta, &ind);
 	buffer[ind++] = conf->m_out_aux_mode;
+	buffer[ind++] = conf->m_motor_temp_sens_type;
+	buffer_append_float32_auto(buffer, conf->m_ptc_motor_coeff, &ind);
 	buffer[ind++] = (uint8_t)conf->si_motor_poles;
 	buffer_append_float32_auto(buffer, conf->si_gear_ratio, &ind);
 	buffer_append_float32_auto(buffer, conf->si_wheel_diameter, &ind);
@@ -394,6 +396,8 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->m_dc_f_sw = buffer_get_float32_auto(buffer, &ind);
 	conf->m_ntc_motor_beta = buffer_get_float32_auto(buffer, &ind);
 	conf->m_out_aux_mode = buffer[ind++];
+	conf->m_motor_temp_sens_type = buffer[ind++];
+	conf->m_ptc_motor_coeff = buffer_get_float32_auto(buffer, &ind);
 	conf->si_motor_poles = buffer[ind++];
 	conf->si_gear_ratio = buffer_get_float32_auto(buffer, &ind);
 	conf->si_wheel_diameter = buffer_get_float32_auto(buffer, &ind);
@@ -654,6 +658,8 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->m_dc_f_sw = MCCONF_M_DC_F_SW;
 	conf->m_ntc_motor_beta = MCCONF_M_NTC_MOTOR_BETA;
 	conf->m_out_aux_mode = MCCONF_M_OUT_AUX_MODE;
+	conf->m_motor_temp_sens_type = MCCONF_M_MOTOR_TEMP_SENS_TYPE;
+	conf->m_ptc_motor_coeff = MCCONF_M_PTC_MOTOR_COEFF;
 	conf->si_motor_poles = MCCONF_SI_MOTOR_POLES;
 	conf->si_gear_ratio = MCCONF_SI_GEAR_RATIO;
 	conf->si_wheel_diameter = MCCONF_SI_WHEEL_DIAMETER;

build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		793836781
+#define MCCONF_SIGNATURE		2967846088
 #define APPCONF_SIGNATURE		783041200
 
 // Functions

build_all/410_o_411_o_412/VESC_servoout.bin

@@ -64,6 +64,12 @@ typedef enum {
 	OUT_AUX_MODE_UNUSED
 } out_aux_mode;
 
+// Temperature sensor type
+typedef enum {
+	TEMP_SENSOR_NTC_10K_25C = 0,
+	TEMP_SENSOR_PTC_1K_100C
+} temp_sensor_type;
+
 // General purpose drive output mode
 typedef enum {
 	GPD_OUTPUT_MODE_NONE = 0,
@@ -300,6 +306,8 @@ typedef struct {
 	float m_dc_f_sw;
 	float m_ntc_motor_beta;
 	out_aux_mode m_out_aux_mode;
+	temp_sensor_type m_motor_temp_sens_type;
+	float m_ptc_motor_coeff;
 	// Setup info
 	uint8_t si_motor_poles;
 	float si_gear_ratio;

build_all/410_o_411_o_412/VESC_ws2811.bin

@@ -364,6 +364,14 @@
 #define COMM_USE_USB				1
 #endif
 
+#ifndef PTC_TEMP_MOTOR
+#if defined(NTC_RES_MOTOR) && defined(ADC_IND_TEMP_MOTOR)
+#define PTC_TEMP_MOTOR(res, con, tbase)			(((NTC_RES_MOTOR(ADC_Value[ADC_IND_TEMP_MOTOR]) - res) / res) * 100 / con + tbase)
+#else
+#define PTC_TEMP_MOTOR(res, con, tbase)			0.0
+#endif
+#endif
+
 // Functions
 void hw_init_gpio(void);
 void hw_setup_adc_channels(void);

build_all/46_o_47/VESC_0005ohm.bin

@@ -37,6 +37,7 @@
 #include "comm_can.h"
 #include "shutdown.h"
 #include "app.h"
+#include "utils.h"
 
 #include <math.h>
 #include <stdlib.h>
@@ -1747,7 +1748,17 @@ static void update_override_limits(volatile mc_configuration *conf) {
 	const float rpm_now = mc_interface_get_rpm();
 
 	UTILS_LP_FAST(m_temp_fet, NTC_TEMP(ADC_IND_TEMP_MOS), 0.1);
-	UTILS_LP_FAST(m_temp_motor, NTC_TEMP_MOTOR(conf->m_ntc_motor_beta), 0.1);
+	if (conf->m_motor_temp_sens_type == TEMP_SENSOR_NTC_10K_25C) {
+		UTILS_LP_FAST(m_temp_motor, NTC_TEMP_MOTOR(conf->m_ntc_motor_beta), 0.1);
+	} else if (conf->m_motor_temp_sens_type == TEMP_SENSOR_PTC_1K_100C) {
+		float temp = PTC_TEMP_MOTOR(1000.0, conf->m_ptc_motor_coeff, 100);
+		
+		if (UTILS_IS_NAN(temp) || UTILS_IS_INF(temp) || temp > 600.0) {
+			temp = 180.0;
+		}
+		
+		UTILS_LP_FAST(m_temp_motor, temp, 0.1);
+	}
 #ifdef HW_VERSION_AXIOM
 	UTILS_LP_FAST(m_gate_driver_voltage, GET_GATE_DRIVER_SUPPLY_VOLTAGE(), 0.01);
 #endif

build_all/46_o_47/VESC_33k.bin

@@ -402,6 +402,12 @@
 #ifndef MCCONF_M_OUT_AUX_MODE
 #define MCCONF_M_OUT_AUX_MODE			OUT_AUX_MODE_OFF // Auxiliary output mode
 #endif
+#ifndef MCCONF_M_MOTOR_TEMP_SENS_TYPE
+#define MCCONF_M_MOTOR_TEMP_SENS_TYPE	TEMP_SENSOR_NTC_10K_25C // Motor temperature sensor type
+#endif
+#ifndef MCCONF_M_PTC_MOTOR_COEFF
+#define MCCONF_M_PTC_MOTOR_COEFF		0.61 // %/K coefficient for motor PTC sensor
+#endif
 
 // Setup Info
 #ifndef MCCONF_SI_MOTOR_POLES