FW3.59. Many updates, see changelog for details

Author: vedderb

CHANGELOG

@@ -1,3 +1,22 @@
+=== FW 3.59 ===
+* Added more data to MOTE_PACKET_ALIVE.
+* Added app template.
+* Added function to unregister terminal callbacks.
+* Added BMI160 support.
+* Added support for the VESC HD.
+* Added support for SWD programming permanent NRF.
+* Encoder SW SPI fix.
+* Slightly faster boot.
+* Moved custom HW and APP configurations to conf_general.h.
+* Added support for passing HW and APP default configuration as make arguments.
+* Added SW shutdown support.
+* Added command to erase bootloader.
+* Added function to stop IMU threads, so that IMUs can be switched during runtime.
+* Only generate encoder fault when the ERPM is low enough to use the encoder.
+* Added many IMU and AHRS settings to appconf.
+* Re-initialize IMU when appconf is written.
+* Added imu_gyro_info terminal command.
+
 === FW 3.58 ===
 * Set motor to FOC mode after successful FOC detection instead of the default type for the hardware.
 * APP_ADC: Do not send brake command over CAN if config.multi_esc is not set.

Makefile

@@ -155,6 +155,7 @@ CSRC = $(STARTUPSRC) \
        timer.c \
        i2c_bb.c \
        virtual_motor.c \
+       shutdown.c \
        $(HWSRC) \
        $(APPSRC) \
        $(NRFSRC) \

appconf/appconf_default.h

@@ -51,6 +51,9 @@
 #ifndef APPCONF_PERMANENT_UART_ENABLED
 #define APPCONF_PERMANENT_UART_ENABLED		true
 #endif
+#ifndef APPCONF_SHUTDOWN_MODE
+#define APPCONF_SHUTDOWN_MODE				SHUTDOWN_MODE_OFF_AFTER_30M
+#endif
 
 // The default app is UART in case the UART port is used for
 // firmware updates.
@@ -93,10 +96,10 @@
 #define APPCONF_PPM_THROTTLE_EXP_MODE		THR_EXP_POLY
 #endif
 #ifndef APPCONF_PPM_RAMP_TIME_POS
-#define APPCONF_PPM_RAMP_TIME_POS			0.3
+#define APPCONF_PPM_RAMP_TIME_POS			0.4
 #endif
 #ifndef APPCONF_PPM_RAMP_TIME_NEG
-#define APPCONF_PPM_RAMP_TIME_NEG			0.1
+#define APPCONF_PPM_RAMP_TIME_NEG			0.2
 #endif
 #ifndef APPCONF_PPM_MULTI_ESC
 #define APPCONF_PPM_MULTI_ESC				true
@@ -192,10 +195,10 @@
 #define APPCONF_CHUK_HYST					0.15
 #endif
 #ifndef APPCONF_CHUK_RAMP_TIME_POS
-#define APPCONF_CHUK_RAMP_TIME_POS			0.9
+#define APPCONF_CHUK_RAMP_TIME_POS			0.4
 #endif
 #ifndef APPCONF_CHUK_RAMP_TIME_NEG
-#define APPCONF_CHUK_RAMP_TIME_NEG			0.3
+#define APPCONF_CHUK_RAMP_TIME_NEG			0.2
 #endif
 #ifndef APPCONF_STICK_ERPM_PER_S_IN_CC
 #define APPCONF_STICK_ERPM_PER_S_IN_CC		3000.0
@@ -251,4 +254,66 @@
 #define APPCONF_NRF_SEND_CRC_ACK			true
 #endif
 
+// IMU
+#ifndef APPCONF_IMU_TYPE
+#define APPCONF_IMU_TYPE					IMU_TYPE_INTERNAL
+#endif
+#ifndef APPCONF_IMU_AHRS_MODE
+#define APPCONF_IMU_AHRS_MODE				AHRS_MODE_MADGWICK
+#endif
+#ifndef APPCONF_IMU_SAMPLE_RATE_HZ
+#define APPCONF_IMU_SAMPLE_RATE_HZ			200
+#endif
+#ifndef APPCONF_IMU_ACCEL_CONFIDENCE_DECAY
+#define APPCONF_IMU_ACCEL_CONFIDENCE_DECAY	1.0
+#endif
+#ifndef APPCONF_IMU_MAHONY_KP
+#define APPCONF_IMU_MAHONY_KP				0.3
+#endif
+#ifndef APPCONF_IMU_MAHONY_KI
+#define APPCONF_IMU_MAHONY_KI				0.0
+#endif
+#ifndef APPCONF_IMU_MADGWICK_BETA
+#define APPCONF_IMU_MADGWICK_BETA			0.1
+#endif
+#ifndef APPCONF_IMU_ROT_ROLL
+#define APPCONF_IMU_ROT_ROLL				0.0
+#endif
+#ifndef APPCONF_IMU_ROT_PITCH
+#define APPCONF_IMU_ROT_PITCH				0.0
+#endif
+#ifndef APPCONF_IMU_ROT_YAW
+#define APPCONF_IMU_ROT_YAW					0.0
+#endif
+#ifndef APPCONF_IMU_A_OFFSET_0
+#define APPCONF_IMU_A_OFFSET_0				0.0
+#endif
+#ifndef APPCONF_IMU_A_OFFSET_1
+#define APPCONF_IMU_A_OFFSET_1				0.0
+#endif
+#ifndef APPCONF_IMU_A_OFFSET_2
+#define APPCONF_IMU_A_OFFSET_2				0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_0
+#define APPCONF_IMU_G_OFFSET_0				0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_1
+#define APPCONF_IMU_G_OFFSET_1				0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_2
+#define APPCONF_IMU_G_OFFSET_2				0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_COMP_FACT_0
+#define APPCONF_IMU_G_OFFSET_COMP_FACT_0	0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_COMP_FACT_1
+#define APPCONF_IMU_G_OFFSET_COMP_FACT_1	0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_COMP_FACT_2
+#define APPCONF_IMU_G_OFFSET_COMP_FACT_2	0.0
+#endif
+#ifndef APPCONF_IMU_G_OFFSET_COMP_CLAMP
+#define APPCONF_IMU_G_OFFSET_COMP_CLAMP		5.0
+#endif
+
 #endif /* APPCONF_DEFAULT_H_ */

applications/app.c

@@ -24,6 +24,7 @@
 #include "nrf_driver.h"
 #include "rfhelp.h"
 #include "comm_can.h"
+#include "imu.h"
 
 // Private variables
 static app_configuration appconf;
@@ -64,6 +65,8 @@ void app_set_configuration(app_configuration *conf) {
 	app_custom_stop();
 #endif
 
+	imu_init(&conf->imu_conf);
+
 	switch (appconf.app_to_use) {
 	case APP_PPM:
 		app_ppm_start();

applications/app_custom_template.c

@@ -0,0 +1,120 @@
+/*
+	Copyright 2019 Benjamin Vedder	[email protected]
+
+	This file is part of the VESC firmware.
+
+	The VESC firmware is free software: you can redistribute it and/or modify
+    it under the terms of the GNU General Public License as published by
+    the Free Software Foundation, either version 3 of the License, or
+    (at your option) any later version.
+
+    The VESC firmware is distributed in the hope that it will be useful,
+    but WITHOUT ANY WARRANTY; without even the implied warranty of
+    MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
+    GNU General Public License for more details.
+
+    You should have received a copy of the GNU General Public License
+    along with this program.  If not, see <http://www.gnu.org/licenses/>.
+    */
+
+#include "app.h"
+#include "ch.h"
+#include "hal.h"
+
+// Some useful includes
+#include "mc_interface.h"
+#include "utils.h"
+#include "encoder.h"
+#include "terminal.h"
+#include "comm_can.h"
+#include "hw.h"
+#include "commands.h"
+
+#include <math.h>
+#include <string.h>
+#include <stdio.h>
+
+// Threads
+static THD_FUNCTION(my_thread, arg);
+static THD_WORKING_AREA(my_thread_wa, 2048);
+
+// Private functions
+static void pwm_callback(void);
+static void terminal_test(int argc, const char **argv);
+
+// Private variables
+static volatile bool stop_now = true;
+static volatile bool is_running = false;
+
+// Called when the custom application is started. Start our
+// threads here and set up callbacks.
+void app_custom_start(void) {
+	mc_interface_set_pwm_callback(pwm_callback);
+
+	stop_now = false;
+	chThdCreateStatic(my_thread_wa, sizeof(my_thread_wa),
+			NORMALPRIO, my_thread, NULL);
+
+	// Terminal commands for the VESC Tool terminal can be registered.
+	terminal_register_command_callback(
+			"custom_cmd",
+			"Print the number d",
+			"[d]",
+			terminal_test);
+}
+
+// Called when the custom application is stopped. Stop our threads
+// and release callbacks.
+void app_custom_stop(void) {
+	mc_interface_set_pwm_callback(0);
+	terminal_unregister_callback(terminal_test);
+
+	stop_now = true;
+	while (is_running) {
+		chThdSleepMilliseconds(1);
+	}
+}
+
+void app_custom_configure(app_configuration *conf) {
+	(void)conf;
+}
+
+static THD_FUNCTION(my_thread, arg) {
+	(void)arg;
+
+	chRegSetThreadName("App Custom");
+
+	is_running = true;
+
+	for(;;) {
+		// Check if it is time to stop.
+		if (stop_now) {
+			is_running = false;
+			return;
+		}
+
+		// Run your logic here. A lot of functionality is available in mc_interface.h.
+
+		chThdSleepMicroseconds(10);
+	}
+}
+
+static void pwm_callback(void) {
+	// Called for every control iteration in interrupt context.
+}
+
+// Callback function for the terminal command with arguments.
+static void terminal_test(int argc, const char **argv) {
+	if (argc == 2) {
+		int d = -1;
+		sscanf(argv[1], "%d", &d);
+
+		commands_printf("You have entered %d", d);
+
+		// For example, read the ADC inputs on the COMM header.
+		commands_printf("ADC1: %.2f V ADC2: %.2f V",
+				(double)ADC_VOLTS(ADC_IND_EXT), (double)ADC_VOLTS(ADC_IND_EXT2));
+	} else {
+		commands_printf("This command requires one argument.\n");
+	}
+}

blackmagic/bm_if.c

@@ -513,8 +513,8 @@ void bm_change_swd_pins(stm32_gpio_t *swdio_port, int swdio_pin,
 	bm_set_enabled(false);
 	platform_swdio_port = swdio_port;
 	platform_swdio_pin = swdio_pin;
-	platform_swdio_port = swclk_port;
-	platform_swdio_pin = swclk_pin;
+	platform_swclk_port = swclk_port;
+	platform_swclk_pin = swclk_pin;
 }
 
 /**
@@ -524,6 +524,6 @@ void bm_default_swd_pins(void) {
 	bm_set_enabled(false);
 	platform_swdio_port = SWDIO_PORT_DEFAULT;
 	platform_swdio_pin = SWDIO_PIN_DEFAULT;
-	platform_swdio_port = SWCLK_PORT_DEFAULT;
-	platform_swdio_pin = SWCLK_PIN_DEFAULT;
+	platform_swclk_port = SWCLK_PORT_DEFAULT;
+	platform_swclk_pin = SWCLK_PIN_DEFAULT;
 }

build_all/410_o_411_o_412/VESC_0005ohm.bin

@@ -272,3 +272,58 @@ cd $FWPATH
 make clean
 cd $DIR
 
+#################### HW UAVC_OMEGA ########################
+
+COPYDIR=UAVC_OMEGA
+rm -f $COPYDIR/*
+
+# default
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DHW_SOURCE=\"hw_uavc_omega.c\" -DHW_HEADER=\"hw_uavc_omega.h\"' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default.bin
+
+# Clean
+cd $FWPATH
+make clean
+cd $DIR
+
+#################### HW HD ########################
+
+COPYDIR=HD
+rm -f $COPYDIR/*
+
+# default
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DHW_SOURCE=\"hw_hd.c\" -DHW_HEADER=\"hw_hd.h\"' USE_VERBOSE_COMPILE=no
+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 -j8 build_args='-DDISABLE_HW_LIMITS -DHW_SOURCE=\"hw_hd.c\" -DHW_HEADER=\"hw_hd.h\"' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default_no_hw_limits.bin
+
+# ws2811
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DWS2811_ENABLE=1 -DHW_SOURCE=\"hw_hd.c\" -DHW_HEADER=\"hw_hd.h\"' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_ws2811.bin
+
+# servoout
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DSERVO_OUT_ENABLE=1 -DHW_SOURCE=\"hw_hd.c\" -DHW_HEADER=\"hw_hd.h\"' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_servoout.bin
+
+# Clean
+cd $FWPATH
+make clean
+cd $DIR
+