FW 3.66: Many changes, see changelog

Author: vedderb

CHANGELOG

@@ -1,3 +1,19 @@
+=== FW 3.66 ===
+* Added support for HW 100/250.
+* Added uptime terminal command.
+* Added some delays to DRV8323s SPI driver.
+* Added SWD support for NRF52840 with idcode 0x015B.
+ - TODO: Have a look at https://github.com/blacksphere/blackmagic/commit/302ff20a6d5b806c09e0ca7e996beab3ef3596f4.
+* Fixed INVERTED_SHUNT_POLARITY for BLDC.
+* Added decoupling to FOC current controller.
+* Better motor tracking at high ERPM and low Fsw.
+* Made uart and permanent uart more independent.
+* Do not write to USB if cable has not been connected.
+* Added timeout to USB write.
+* Better FOC current control integrator windup protection.
+* Added FOC observer type selection options.
+* Print TS5700N8501 position in encoder terminal command.
+
 === FW 3.65 ===
 * Added support for PTC motor temperature sensor (e.g. KTY84)
 * APP_PPM sleep fix. Should solve CAN issues.

applications/app.h

@@ -47,6 +47,7 @@ void app_uartcomm_start_permanent(void);
 void app_uartcomm_stop(void);
 void app_uartcomm_configure(uint32_t baudrate, bool permanent_enabled);
 void app_uartcomm_send_packet(unsigned char *data, unsigned int len);
+void app_uartcomm_send_packet_p(unsigned char *data, unsigned int len);
 
 void app_nunchuk_start(void);
 void app_nunchuk_stop(void);

applications/app_uartcomm.c

@@ -41,10 +41,20 @@ static volatile bool uart_is_running = false;
 static mutex_t send_mutex;
 static bool send_mutex_init_done = false;
 
+#ifdef HW_UART_P_DEV
+static mutex_t send_mutex_p;
+static bool send_mutex_p_init_done = false;
+#endif
+
 // Private functions
 static void process_packet(unsigned char *data, unsigned int len);
 static void send_packet(unsigned char *data, unsigned int len);
 
+#ifdef HW_UART_P_DEV
+static void process_packet_p(unsigned char *data, unsigned int len);
+static void send_packet_p(unsigned char *data, unsigned int len);
+#endif
+
 static SerialConfig uart_cfg = {
 		BAUDRATE,
 		0,
@@ -67,27 +77,29 @@ static void process_packet(unsigned char *data, unsigned int len) {
 	commands_process_packet(data, len, app_uartcomm_send_packet);
 }
 
-static void send_packet(unsigned char *data, unsigned int len) {
 #ifdef HW_UART_P_DEV
-	if (from_p_uart) {
-		if (uart_p_is_running) {
-#ifdef HW_UART_P_DEV_TX
-			sdWrite(&HW_UART_P_DEV_TX, data, len);
-#else
-			sdWrite(&HW_UART_P_DEV, data, len);
+static void process_packet_p(unsigned char *data, unsigned int len) {
+	commands_process_packet(data, len, app_uartcomm_send_packet_p);
+}
 #endif
-		}
-	} else {
-		if (uart_is_running) {
-			sdWrite(&HW_UART_DEV, data, len);
-		}
-	}
-#else
+
+static void send_packet(unsigned char *data, unsigned int len) {
 	if (uart_is_running) {
 		sdWrite(&HW_UART_DEV, data, len);
 	}
+}
+
+#ifdef HW_UART_P_DEV
+static void send_packet_p(unsigned char *data, unsigned int len) {
+	if (uart_p_is_running) {
+#ifdef HW_UART_P_DEV_TX
+		sdWrite(&HW_UART_P_DEV_TX, data, len);
+#else
+		sdWrite(&HW_UART_P_DEV, data, len);
 #endif
+	}
 }
+#endif
 
 void app_uartcomm_start(void) {
 	packet_init(send_packet, process_packet, PACKET_HANDLER);
@@ -111,8 +123,7 @@ void app_uartcomm_start(void) {
 
 void app_uartcomm_start_permanent(void) {
 #ifdef HW_UART_P_DEV
-	packet_init(send_packet, process_packet, PACKET_HANDLER);
-	packet_init(send_packet, process_packet, PACKET_HANDLER_P);
+	packet_init(send_packet_p, process_packet_p, PACKET_HANDLER_P);
 
 	if (!thread_is_running) {
 		chThdCreateStatic(packet_process_thread_wa, sizeof(packet_process_thread_wa),
@@ -159,6 +170,22 @@ void app_uartcomm_send_packet(unsigned char *data, unsigned int len) {
 	chMtxUnlock(&send_mutex);
 }
 
+void app_uartcomm_send_packet_p(unsigned char *data, unsigned int len) {
+#ifdef HW_UART_P_DEV
+	if (!send_mutex_p_init_done) {
+		chMtxObjectInit(&send_mutex_p);
+		send_mutex_p_init_done = true;
+	}
+
+	chMtxLock(&send_mutex_p);
+	packet_send_packet(data, len, PACKET_HANDLER_P);
+	chMtxUnlock(&send_mutex_p);
+#else
+	(void)data;
+	(void)len;
+#endif
+}
+
 void app_uartcomm_configure(uint32_t baudrate, bool permanent_enabled) {
 	uart_cfg.speed = baudrate;
 

blackmagic/bm_if.c

@@ -133,6 +133,7 @@ static int idcode_to_device(uint32_t idcode) {
 		ret = 7; break;
 	case 0x00EB: /* nRF52840 Preview QIAA AA0 */
 	case 0x0150: /* nRF52840 QIAA C0 */
+	case 0x015B: /* nRF52840 ?? */
 		ret = 8; break;
 	default: ret = -2; break;
 	}
@@ -362,6 +363,9 @@ int bm_connect(void) {
 
 		if (cur_target) {
 			ret = idcode_to_device(target_idcode(cur_target));
+			if (ret < 0) {
+				commands_printf("Unknown idcode: 0x%04X\n", target_idcode(cur_target));
+			}
 		}
 	}
 

blackmagic/target/nrf51.c

@@ -176,6 +176,7 @@ bool nrf51_probe(target *t)
 		return true;
 	case 0x00EB: /* nRF52840 Preview QIAA AA0 */
 	case 0x0150: /* nRF52840 QIAA C0 */
+	case 0x015B: /* nRF52840 ?? */
 		t->driver = "Nordic nRF52";
 		target_add_ram(t, 0x20000000, 256*1024);
 		nrf51_add_flash(t, 0x00000000, 1024*1024, NRF52_PAGE_SIZE);

build_all/100_250/VESC_default.bin

@@ -399,3 +399,34 @@ cd $FWPATH
 make clean
 cd $DIR
 
+#################### HW 100_250 ########################
+
+COPYDIR=100_250
+rm -f $COPYDIR/*
+
+# default
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DHW_SOURCE=\"hw_100_250.c\" -DHW_HEADER=\"hw_100_250.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_100_250.c\" -DHW_HEADER=\"hw_100_250.h\"' USE_VERBOSE_COMPILE=no
+cd $DIR
+cp $FWPATH/build/BLDC_4_ChibiOS.bin $COPYDIR/VESC_default_no_hw_limits.bin
+
+# servoout
+cd $FWPATH
+touch conf_general.h
+make -j8 build_args='-DSERVO_OUT_ENABLE=1 -DHW_SOURCE=\"hw_100_250.c\" -DHW_HEADER=\"hw_100_250.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
+

build_all/100_250/VESC_default_no_hw_limits.bin

@@ -32,10 +32,11 @@
 static uint8_t serial_rx_buffer[SERIAL_RX_BUFFER_SIZE];
 static int serial_rx_read_pos = 0;
 static int serial_rx_write_pos = 0;
-static THD_WORKING_AREA(serial_read_thread_wa, 256);
+static THD_WORKING_AREA(serial_read_thread_wa, 128);
 static THD_WORKING_AREA(serial_process_thread_wa, 4096);
 static mutex_t send_mutex;
 static thread_t *process_tp;
+static volatile unsigned int write_timeout_cnt = 0;
 
 // Private functions
 static void process_packet(unsigned char *data, unsigned int len);
@@ -44,9 +45,9 @@ static void send_packet_raw(unsigned char *buffer, unsigned int len);
 static THD_FUNCTION(serial_read_thread, arg) {
 	(void)arg;
 
-	chRegSetThreadName("USB-Serial read");
+	chRegSetThreadName("USB read");
 
-	uint8_t buffer[128];
+	uint8_t buffer[2];
 	int had_data = 0;
 
 	for(;;) {
@@ -72,7 +73,7 @@ static THD_FUNCTION(serial_read_thread, arg) {
 static THD_FUNCTION(serial_process_thread, arg) {
 	(void)arg;
 
-	chRegSetThreadName("USB-Serial process");
+	chRegSetThreadName("USB process");
 
 	process_tp = chThdGetSelfX();
 
@@ -94,7 +95,26 @@ static void process_packet(unsigned char *data, unsigned int len) {
 }
 
 static void send_packet_raw(unsigned char *buffer, unsigned int len) {
-	chSequentialStreamWrite(&SDU1, buffer, len);
+	static bool was_timeout = false;
+
+	/*
+	 * Only write to USB if the cable has been connected at least once. If a timeout occurs
+	 * make sure that this call does not stall on the next call, as the timeout probably occured
+	 * because noone is listening on the USB.
+	 */
+	if (comm_usb_serial_configured_cnt() > 0) {
+		unsigned int written = 0;
+		if (was_timeout) {
+			written = SDU1.vmt->writet(&SDU1, buffer, len, TIME_IMMEDIATE);
+		} else {
+			written = SDU1.vmt->writet(&SDU1, buffer, len, MS2ST(100));
+		}
+
+		was_timeout = written != len;
+		if (was_timeout) {
+			write_timeout_cnt++;
+		}
+	}
 }
 
 void comm_usb_init(void) {
@@ -113,3 +133,7 @@ void comm_usb_send_packet(unsigned char *data, unsigned int len) {
 	packet_send_packet(data, len, PACKET_HANDLER);
 	chMtxUnlock(&send_mutex);
 }
+
+unsigned int comm_usb_get_write_timeout_cnt(void) {
+	return write_timeout_cnt;
+}

build_all/100_250/VESC_servoout.bin

@@ -25,5 +25,6 @@
 // Functions
 void comm_usb_init(void);
 void comm_usb_send_packet(unsigned char *data, unsigned int len);
+unsigned int comm_usb_get_write_timeout_cnt(void);
 
 #endif /* COMM_USB_H_ */

build_all/410_o_411_o_412/VESC_0005ohm.bin

@@ -250,11 +250,12 @@ static const USBEndpointConfig ep2config = {
 		NULL
 };
 
+static volatile int configured_cnt = 0;
+
 /*
  * Handles the USB driver global events.
  */
 static void usb_event(USBDriver *usbp, usbevent_t event) {
-
 	switch (event) {
 	case USB_EVENT_RESET:
 		return;
@@ -273,6 +274,7 @@ static void usb_event(USBDriver *usbp, usbevent_t event) {
 		sduConfigureHookI(&SDU1);
 
 		chSysUnlockFromISR();
+		configured_cnt++;
 		return;
 	case USB_EVENT_SUSPEND:
 		return;
@@ -331,3 +333,9 @@ void comm_usb_serial_init(void) {
 int comm_usb_serial_is_active(void) {
 	return SDU1.config->usbp->state == USB_ACTIVE;
 }
+
+// Every time the USB cable is plugged in a configuration is done. Unfortunately
+// I haven't found a way to detect when the USB cable gets unplugged.
+int comm_usb_serial_configured_cnt(void) {
+	return configured_cnt;
+}

build_all/410_o_411_o_412/VESC_default.bin

@@ -7,5 +7,6 @@ extern SerialUSBDriver SDU1;
 // Functions
 void comm_usb_serial_init(void);
 int comm_usb_serial_is_active(void);
+int comm_usb_serial_configured_cnt(void);
 
 #endif /* COMM_USB_SERIAL_H_ */

build_all/410_o_411_o_412/VESC_default_no_hw_limits.bin

@@ -22,7 +22,7 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		65
+#define FW_VERSION_MINOR		66
 
 #include "datatypes.h"
 
@@ -123,6 +123,9 @@
 
 //#define HW_SOURCE "hw_rd2.c"
 //#define HW_HEADER "hw_rd2.h"
+
+//#define HW_SOURCE "hw_100_250.c"
+//#define HW_HEADER "hw_100_250.h"
 #endif
 
 #ifndef HW_SOURCE

build_all/410_o_411_o_412/VESC_servoout.bin

@@ -97,6 +97,8 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer[ind++] = conf->foc_temp_comp;
 	buffer_append_float32_auto(buffer, conf->foc_temp_comp_base_temp, &ind);
 	buffer_append_float32_auto(buffer, conf->foc_current_filter_const, &ind);
+	buffer[ind++] = conf->foc_cc_decoupling;
+	buffer[ind++] = conf->foc_observer_type;
 	buffer_append_int16(buffer, conf->gpd_buffer_notify_left, &ind);
 	buffer_append_int16(buffer, conf->gpd_buffer_interpol, &ind);
 	buffer_append_float32_auto(buffer, conf->gpd_current_filter_const, &ind);
@@ -363,6 +365,8 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_temp_comp = buffer[ind++];
 	conf->foc_temp_comp_base_temp = buffer_get_float32_auto(buffer, &ind);
 	conf->foc_current_filter_const = buffer_get_float32_auto(buffer, &ind);
+	conf->foc_cc_decoupling = buffer[ind++];
+	conf->foc_observer_type = buffer[ind++];
 	conf->gpd_buffer_notify_left = buffer_get_int16(buffer, &ind);
 	conf->gpd_buffer_interpol = buffer_get_int16(buffer, &ind);
 	conf->gpd_current_filter_const = buffer_get_float32_auto(buffer, &ind);
@@ -625,6 +629,8 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_temp_comp = MCCONF_FOC_TEMP_COMP;
 	conf->foc_temp_comp_base_temp = MCCONF_FOC_TEMP_COMP_BASE_TEMP;
 	conf->foc_current_filter_const = MCCONF_FOC_CURRENT_FILTER_CONST;
+	conf->foc_cc_decoupling = MCCONF_FOC_CC_DECOUPLING;
+	conf->foc_observer_type = MCCONF_FOC_OBSERVER_TYPE;
 	conf->gpd_buffer_notify_left = MCCONF_GPD_BUFFER_NOTIFY_LEFT;
 	conf->gpd_buffer_interpol = MCCONF_GPD_BUFFER_INTERPOL;
 	conf->gpd_current_filter_const = MCCONF_GPD_CURRENT_FILTER_CONST;

build_all/410_o_411_o_412/VESC_ws2811.bin

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		2967846088
+#define MCCONF_SIGNATURE		1671830952
 #define APPCONF_SIGNATURE		783041200
 
 // Functions

build_all/46_o_47/VESC_0005ohm.bin

@@ -85,6 +85,19 @@ typedef enum {
 	MOTOR_TYPE_GPD
 } mc_motor_type;
 
+// FOC current controller decoupling mode.
+typedef enum {
+	FOC_CC_DECOUPLING_DISABLED = 0,
+	FOC_CC_DECOUPLING_CROSS,
+	FOC_CC_DECOUPLING_BEMF,
+	FOC_CC_DECOUPLING_CROSS_BEMF
+} mc_foc_cc_decoupling_mode;
+
+typedef enum {
+	FOC_OBSERVER_ORTEGA_ORIGINAL = 0,
+	FOC_OBSERVER_ORTEGA_ITERATIVE
+} mc_foc_observer_type;
+
 typedef enum {
 	FAULT_CODE_NONE = 0,
 	FAULT_CODE_OVER_VOLTAGE,
@@ -268,6 +281,8 @@ typedef struct {
 	bool foc_temp_comp;
 	float foc_temp_comp_base_temp;
 	float foc_current_filter_const;
+	mc_foc_cc_decoupling_mode foc_cc_decoupling;
+	mc_foc_observer_type foc_observer_type;
 	// GPDrive
 	int gpd_buffer_notify_left;
 	int gpd_buffer_interpol;