FW upload compression support, TS5700N8501 support

Author: vedderb

CHANGELOG

@@ -1,3 +1,11 @@
+=== FW 3.63 ===
+* NRF remote power meter is now unaffected by temperature decrease and speed limits.
+* Added LZO compression support to firmware upload, making firmware updates 30% - 50% faster.
+* Added LZO compression support to SWD upload.
+* Made serial interrupts priority higher than PWM so that higher speed UART is possible.
+* Added support for TS5700N8501 encoder (via COMM port).
+* Better observer gain calculation.
+
 === FW 3.62 ===
 * Added COMM_BM_MEM_READ.
 * Merged EUC app (experimental).

applications/app_custom_template.c

@@ -29,6 +29,7 @@
 #include "comm_can.h"
 #include "hw.h"
 #include "commands.h"
+#include "timeout.h"
 
 #include <math.h>
 #include <string.h>
@@ -109,9 +110,11 @@ static THD_FUNCTION(my_thread, arg) {
 			return;
 		}
 
+		timeout_reset(); // Reset timeout if everything is OK.
+
 		// Run your logic here. A lot of functionality is available in mc_interface.h.
 
-		chThdSleepMicroseconds(10);
+		chThdSleepMilliseconds(10);
 	}
 }
 

applications/app_uartcomm.c

@@ -129,10 +129,12 @@ void app_uartcomm_start_permanent(void) {
 }
 
 void app_uartcomm_stop(void) {
-	sdStop(&HW_UART_DEV);
-	palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT_PULLUP);
-	palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT_PULLUP);
-	uart_is_running = false;
+	if (uart_is_running) {
+		sdStop(&HW_UART_DEV);
+		palSetPadMode(HW_UART_TX_PORT, HW_UART_TX_PIN, PAL_MODE_INPUT_PULLUP);
+		palSetPadMode(HW_UART_RX_PORT, HW_UART_RX_PIN, PAL_MODE_INPUT_PULLUP);
+		uart_is_running = false;
+	}
 
 	// Notice that the processing thread is kept running in case this call is made from it.
 }
@@ -151,9 +153,8 @@ void app_uartcomm_send_packet(unsigned char *data, unsigned int len) {
 void app_uartcomm_configure(uint32_t baudrate, bool permanent_enabled) {
 	uart_cfg.speed = baudrate;
 
-	if (thread_is_running) {
+	if (thread_is_running && uart_is_running) {
 		sdStart(&HW_UART_DEV, &uart_cfg);
-		uart_is_running = true;
 	}
 
 #ifdef HW_UART_P_DEV
@@ -193,17 +194,19 @@ static THD_FUNCTION(packet_process_thread, arg) {
 		while (rx) {
 			rx = false;
 
-			msg_t res = sdGetTimeout(&HW_UART_DEV, TIME_IMMEDIATE);
-			if (res != MSG_TIMEOUT) {
+			if (uart_is_running) {
+				msg_t res = sdGetTimeout(&HW_UART_DEV, TIME_IMMEDIATE);
+				if (res != MSG_TIMEOUT) {
 #ifdef HW_UART_P_DEV
-				from_p_uart = false;
+					from_p_uart = false;
 #endif
-				packet_process_byte(res, PACKET_HANDLER);
-				rx = true;
+					packet_process_byte(res, PACKET_HANDLER);
+					rx = true;
+				}
 			}
 
 #ifdef HW_UART_P_DEV
-			res = sdGetTimeout(&HW_UART_P_DEV, TIME_IMMEDIATE);
+			msg_t res = sdGetTimeout(&HW_UART_P_DEV, TIME_IMMEDIATE);
 			if (res != MSG_TIMEOUT) {
 				from_p_uart = true;
 				packet_process_byte(res, PACKET_HANDLER_P);

build_all/410_o_411_o_412/VESC_0005ohm.bin

@@ -29,7 +29,7 @@
 #define _CHCONF_H_
 
 #define CHPRINTF_USE_FLOAT				TRUE
-#define CORTEX_SIMPLIFIED_PRIORITY		FALSE
+#define CORTEX_SIMPLIFIED_PRIORITY		TRUE
 #define PORT_IDLE_THREAD_STACK_SIZE		64
 #define PORT_INT_REQUIRED_STACK			128
 

build_all/410_o_411_o_412/VESC_default.bin

@@ -45,6 +45,7 @@
 #if HAS_BLACKMAGIC
 #include "bm_if.h"
 #endif
+#include "minilzo.h"
 
 #include <math.h>
 #include <string.h>
@@ -222,16 +223,39 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 		reply_func(send_buffer, ind);
 	} break;
 
+	case COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO:
 	case COMM_WRITE_NEW_APP_DATA_ALL_CAN:
+		if (packet_id == COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO) {
+			chMtxLock(&send_buffer_mutex);
+			memcpy(send_buffer_global, data + 6, len - 6);
+			int32_t ind = 4;
+			lzo_uint decompressed_len = buffer_get_uint16(data, &ind);
+			lzo1x_decompress_safe(send_buffer_global, len - 6, data + 4, &decompressed_len, NULL);
+			chMtxUnlock(&send_buffer_mutex);
+			len = decompressed_len + 4;
+		}
+
 		if (nrf_driver_ext_nrf_running()) {
 			nrf_driver_pause(2000);
 		}
 
 		data[-1] = COMM_WRITE_NEW_APP_DATA;
+
 		comm_can_send_buffer(255, data - 1, len + 1, 2);
 		/* Falls through. */
 		/* no break */
+	case COMM_WRITE_NEW_APP_DATA_LZO:
 	case COMM_WRITE_NEW_APP_DATA: {
+		if (packet_id == COMM_WRITE_NEW_APP_DATA_LZO) {
+			chMtxLock(&send_buffer_mutex);
+			memcpy(send_buffer_global, data + 6, len - 6);
+			int32_t ind = 4;
+			lzo_uint decompressed_len = buffer_get_uint16(data, &ind);
+			lzo1x_decompress_safe(send_buffer_global, len - 6, data + 4, &decompressed_len, NULL);
+			chMtxUnlock(&send_buffer_mutex);
+			len = decompressed_len + 4;
+		}
+
 		int32_t ind = 0;
 		uint32_t new_app_offset = buffer_get_uint32(data, &ind);
 
@@ -948,6 +972,7 @@ void commands_process_packet(unsigned char *data, unsigned int len,
 	case COMM_PING_CAN:
 	case COMM_BM_CONNECT:
 	case COMM_BM_ERASE_FLASH_ALL:
+	case COMM_BM_WRITE_FLASH_LZO:
 	case COMM_BM_WRITE_FLASH:
 	case COMM_BM_REBOOT:
 	case COMM_BM_DISCONNECT:
@@ -1162,7 +1187,7 @@ static THD_FUNCTION(blocking_thread, arg) {
 
 		COMM_PACKET_ID packet_id;
 		static mc_configuration mcconf, mcconf_old;
-		static uint8_t send_buffer[384];
+		static uint8_t send_buffer[512];
 
 		packet_id = data[0];
 		data++;
@@ -1410,7 +1435,16 @@ static THD_FUNCTION(blocking_thread, arg) {
 			}
 		} break;
 
+		case COMM_BM_WRITE_FLASH_LZO:
 		case COMM_BM_WRITE_FLASH: {
+			if (packet_id == COMM_BM_WRITE_FLASH_LZO) {
+				memcpy(send_buffer, data + 6, len - 6);
+				int32_t ind = 4;
+				lzo_uint decompressed_len = buffer_get_uint16(data, &ind);
+				lzo1x_decompress_safe(send_buffer, len - 6, data + 4, &decompressed_len, NULL);
+				len = decompressed_len + 4;
+			}
+
 			int32_t ind = 0;
 			uint32_t addr = buffer_get_uint32(data, &ind);
 

build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin

@@ -798,8 +798,8 @@ bool conf_general_measure_flux_linkage_openloop(float current, float duty,
 	const int max_time = 15000;
 
 	while (fabsf(mc_interface_get_duty_cycle_now()) < duty) {
-		mcpwm_foc_set_openloop(current, mcconf.m_invert_direction ? -rpm_now : rpm_now);
 		rpm_now += erpm_per_sec / 1000.0;
+		mcpwm_foc_set_openloop(current, mcconf.m_invert_direction ? -rpm_now : rpm_now);
 
 		chThdSleepMilliseconds(1);
 		cnt++;
@@ -841,13 +841,13 @@ bool conf_general_measure_flux_linkage_openloop(float current, float duty,
 		float id_avg = 0.0;
 		float samples2 = 0.0;
 
-		for (int i = 0;i < 1000;i++) {
+		for (int i = 0;i < 30000;i++) {
 			vq_avg += mcpwm_foc_get_vq();
 			vd_avg += mcpwm_foc_get_vd();
 			iq_avg += mcpwm_foc_get_iq();
 			id_avg += mcpwm_foc_get_id();
 			samples2 += 1.0;
-			chThdSleepMilliseconds(1);
+			chThdSleep(1);
 		}
 
 		vq_avg /= samples2;
@@ -1131,7 +1131,7 @@ int conf_general_detect_apply_all_foc(float max_power_loss,
 		float bw = 1.0 / (tc * 1e-6);
 		float kp = l * bw;
 		float ki = r * bw;
-		float gain = 0.001 / (lambda * lambda);
+		float gain = (0.00001 / r) / (lambda * lambda);
 
 		mcconf_old.motor_type = MOTOR_TYPE_FOC;
 		mcconf_old.foc_motor_r = r;

build_all/410_o_411_o_412/VESC_servoout.bin

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		62
+#define FW_VERSION_MINOR		63
 
 #include "datatypes.h"
 
@@ -151,14 +151,15 @@
 //#include			"appconf_custom.h"
 //#include			"appconf_ellwee.h"
 
-#include "hw.h"
-#include "mcconf_default.h"
-#include "appconf_default.h"
-
 /*
  * Set APP_CUSTOM_TO_USE to the name of the main C file of the custom application.
  */
 //#define APP_CUSTOM_TO_USE			"app_custom_template.c"
+//#include "app_erockit_conf.h"
+
+#include "hw.h"
+#include "mcconf_default.h"
+#include "appconf_default.h"
 
 /*
  * Enable blackmagic probe output on SWD port

build_all/410_o_411_o_412/VESC_ws2811.bin

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		503309878
+#define MCCONF_SIGNATURE		3875075384
 #define APPCONF_SIGNATURE		783041200
 
 // Functions

build_all/46_o_47/VESC_0005ohm.bin

@@ -129,7 +129,8 @@ typedef enum {
 	SENSOR_PORT_MODE_ABI,
 	SENSOR_PORT_MODE_AS5047_SPI,
 	SENSOR_PORT_MODE_AD2S1205,
-	SENSOR_PORT_MODE_SINCOS
+	SENSOR_PORT_MODE_SINCOS,
+	SENSOR_PORT_MODE_TS5700N8501
 } sensor_port_mode;
 
 typedef struct {
@@ -687,6 +688,9 @@ typedef enum {
 	COMM_PLOT_SET_GRAPH,
 	COMM_GET_DECODED_BALANCE,
 	COMM_BM_MEM_READ,
+	COMM_WRITE_NEW_APP_DATA_LZO,
+	COMM_WRITE_NEW_APP_DATA_ALL_CAN_LZO,
+	COMM_BM_WRITE_FLASH_LZO
 } COMM_PACKET_ID;
 
 // CAN commands