Improvements
This commit is contained in:
Candas1
parent
177d5d4dc1
commit
2c433ccbb4
24
Inc/util.h
24
Inc/util.h
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@ -142,24 +142,24 @@ enum types {UINT8_T,UINT16_T,UINT32_T,INT8_T,INT16_T,INT32_T,INT,FLOAT};
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float: FLOAT)
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#define PARAM_SIZE(param) sizeof(param) / sizeof(parameter_entry)
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#define ADD_PARAM(value_var,value_var2) &value_var,&value_var2,typename(value_var)
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#define ADD_PARAM(var) typename(var),&var
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uint8_t setValue(uint8_t index, int32_t newValue);
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uint8_t initValue(uint8_t index);
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uint32_t getValue(uint8_t index);
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uint8_t incrValue(uint8_t index);
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uint8_t saveValue(uint8_t index);
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void saveAllParams();
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void dumpParamValues();
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void dumpParameters();
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uint8_t setParamVal(uint8_t index, int32_t newValue);
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uint8_t initParamVal(uint8_t index);
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uint32_t getParamVal(uint8_t index);
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uint8_t incrParamVal(uint8_t index);
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uint8_t saveParamVal(uint8_t index);
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void saveAllParamVal();
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void dumpParamVal();
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void dumpParamDef();
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typedef struct parameter_entry_struct parameter_entry;
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struct parameter_entry_struct {
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const uint8_t parameter_type;
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const uint8_t type;
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const char *name;
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void *valueL;
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const uint8_t datatype;
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void *valueL;
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void *valueR;
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const uint8_t variable_type;
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const int32_t addr;
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const int32_t init;
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const int32_t min;
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216
Src/util.c
216
Src/util.c
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@ -232,6 +232,7 @@ static uint8_t standstillAcv = 0;
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#endif
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enum paramTypes {PARAMETER,VARIABLE};
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// Keywords to match with param index
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enum parameters {PCTRL_MOD_REQ,
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PCTRL_TYP_SEL,
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PI_MOT_MAX,
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@ -245,59 +246,68 @@ enum parameters {PCTRL_MOD_REQ,
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VSPEED_AVG};
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parameter_entry params[] = {
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// Type ,Name ,Value ptr ,EEPRM Addr ,Init ,Min ,Max ,Div ,Fix ,Callback Function ,Help text
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{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw,ctrlModReqRaw) ,0 ,CTRL_MOD_REQ ,0 ,3 ,0 ,0 ,NULL ,"Ctrl mode [0] Open [1] voltage [2] Speed [3] Torque"},
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{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel,rtP_Right.z_ctrlTypSel) ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,NULL ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
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{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max,rtP_Right.i_max) ,1 ,I_MOT_MAX ,0 ,40 ,A2BIT_CONV ,4 ,NULL ,"Maximum phase current [A]"},
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{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max,rtP_Right.n_max) ,2 ,N_MOT_MAX ,0 ,2000 ,0 ,4 ,NULL ,"Maximum motor [RPM]"},
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{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna,rtP_Right.b_fieldWeakEna) ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,NULL ,"Enable field weakening"},
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{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi,rtP_Right.r_fieldWeakHi) ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,4 ,Input_Lim_Init ,"Field weak high [RPM]"},
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{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo,rtP_Right.r_fieldWeakLo) ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,4 ,Input_Lim_Init ,"Field weak low [RPM)"},
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{PARAMETER ,"FIEL_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax,rtP_Right.id_fieldWeakMax),0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,4 ,NULL ,"Field weak max current [A](only for FOC)"},
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{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax,rtP_Right.a_phaAdvMax) ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,4 ,NULL ,"Maximum Phase Advance angle [Deg](only for SIN)"},
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{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink,rtU_Right.i_DCLink) ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,NULL ,"DC Link current [A]"},
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{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg,speedAvg) ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Speed Average [RPM]"},
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// Type ,Name ,ValueL ptr ,ValueR ,EEPRM Addr ,Init ,Min ,Max ,Div ,Fix ,Callback Function ,Help text
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{PARAMETER ,"CTRL_MOD_REQ" ,ADD_PARAM(ctrlModReqRaw) ,NULL ,0 ,CTRL_MOD_REQ ,1 ,3 ,0 ,0 ,NULL ,"Ctrl mode [1] voltage [2] Speed [3] Torque"},
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{PARAMETER ,"CTRL_TYP_SEL" ,ADD_PARAM(rtP_Left.z_ctrlTypSel) ,&rtP_Right.z_ctrlTypSel ,0 ,CTRL_TYP_SEL ,0 ,2 ,0 ,0 ,NULL ,"Ctrl type [0] Commutation [1] Sinusoidal [2] FOC"},
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{PARAMETER ,"I_MOT_MAX" ,ADD_PARAM(rtP_Left.i_max) ,&rtP_Right.i_max ,1 ,I_MOT_MAX ,0 ,40 ,A2BIT_CONV ,4 ,NULL ,"Maximum phase current [A]"},
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{PARAMETER ,"N_MOT_MAX" ,ADD_PARAM(rtP_Left.n_max) ,&rtP_Right.n_max ,2 ,N_MOT_MAX ,0 ,2000 ,0 ,4 ,NULL ,"Maximum motor [RPM]"},
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{PARAMETER ,"FIELD_WEAK_ENA" ,ADD_PARAM(rtP_Left.b_fieldWeakEna) ,&rtP_Right.b_fieldWeakEna ,0 ,FIELD_WEAK_ENA ,0 ,1 ,0 ,0 ,NULL ,"Enable field weakening"},
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{PARAMETER ,"FIELD_WEAK_HI" ,ADD_PARAM(rtP_Left.r_fieldWeakHi) ,&rtP_Right.r_fieldWeakHi ,0 ,FIELD_WEAK_HI ,0 ,1500 ,0 ,4 ,Input_Lim_Init ,"Field weak high [RPM]"},
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{PARAMETER ,"FIELD_WEAK_LO" ,ADD_PARAM(rtP_Left.r_fieldWeakLo) ,&rtP_Right.r_fieldWeakLo ,0 ,FIELD_WEAK_LO ,0 ,1000 ,0 ,4 ,Input_Lim_Init ,"Field weak low [RPM)"},
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{PARAMETER ,"FIEL_WEAK_MAX" ,ADD_PARAM(rtP_Left.id_fieldWeakMax) ,&rtP_Right.id_fieldWeakMax,0 ,FIELD_WEAK_MAX ,0 ,20 ,A2BIT_CONV ,4 ,NULL ,"Field weak max current [A](only for FOC)"},
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{PARAMETER ,"PHASE_ADV_MAX" ,ADD_PARAM(rtP_Left.a_phaAdvMax) ,&rtP_Right.a_phaAdvMax ,0 ,PHASE_ADV_MAX ,0 ,55 ,0 ,4 ,NULL ,"Maximum Phase Advance angle [Deg](only for SIN)"},
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{VARIABLE ,"I_DC_LINK" ,ADD_PARAM(rtU_Left.i_DCLink) ,&rtU_Right.i_DCLink ,0 ,0 ,0 ,0 ,A2BIT_CONV ,0 ,NULL ,"DC Link current [A]"},
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{VARIABLE ,"SPEED_AVG" ,ADD_PARAM(speedAvg) ,NULL ,0 ,0 ,0 ,0 ,0 ,0 ,NULL ,"Motor Speed Average [RPM]"},
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{VARIABLE ,"RATE" ,0 , NULL ,NULL ,0 ,RATE ,0 ,0 ,0 ,4 ,NULL ,"Rate"},
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{VARIABLE ,"SPEED_COEFFICIENT" ,0 , NULL ,NULL ,0 ,SPEED_COEFFICIENT ,0 ,0 ,0 ,4 ,NULL ,"Speed Coefficient"},
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{VARIABLE ,"STEER_COEFFICIENT" ,0 , NULL ,NULL ,0 ,STEER_COEFFICIENT ,0 ,0 ,0 ,4 ,NULL ,"Steer Coefficient"},
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};
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uint8_t setParam(uint8_t index, int32_t newValue) {
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uint8_t setParamVal(uint8_t index, int32_t newValue) {
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// Only Parameters can be set
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if (params[index].parameter_type == VARIABLE) return 0;
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if (params[index].type == VARIABLE) return 0;
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int32_t value = newValue;
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// check mean and max before conversion to internal values
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if (value >= params[index].min && value <= params[index].max){
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// Check divider
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// Multiply to translate to internal format
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if(params[index].div){
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value *= params[index].div;
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}
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// Check Shift
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// Shift to translate to internal format
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if (params[index].fix){
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value <<= params[index].fix;
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}
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if (*(int32_t*)params[index].valueL != value){
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// if value is different, beep and assign new value
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// if value is different, beep, cast and assign new value
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beepShort(8);
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switch (params[index].variable_type){
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switch (params[index].datatype){
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case UINT8_T:
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*(uint8_t*)params[index].valueL = *(uint8_t*)params[index].valueR = value;
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if (params[index].valueL != NULL) *(uint8_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint8_t*)params[index].valueR = value;
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break;
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case UINT16_T:
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*(uint16_t*)params[index].valueL = *(uint16_t*)params[index].valueR = value;
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if (params[index].valueL != NULL) *(uint16_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint16_t*)params[index].valueR = value;
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break;
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case UINT32_T:
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*(uint32_t*)params[index].valueL = *(uint32_t*)params[index].valueR = value;
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if (params[index].valueL != NULL) *(uint32_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(uint32_t*)params[index].valueR = value;
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break;
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case INT8_T:
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*(int8_t*)params[index].valueL = *(int8_t*)params[index].valueR = value;
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if (params[index].valueL != NULL) *(int8_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int8_t*)params[index].valueR = value;
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break;
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case INT16_T:
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*(int16_t*)params[index].valueL = *(int16_t*)params[index].valueR = value;
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if (params[index].valueL != NULL) *(int16_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int16_t*)params[index].valueR = value;
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break;
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case INT32_T:
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*(int32_t*)params[index].valueL = *(int32_t*)params[index].valueR = value;
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if (params[index].valueL != NULL) *(int32_t*)params[index].valueL = value;
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if (params[index].valueR != NULL) *(int32_t*)params[index].valueR = value;
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break;
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}
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}
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@ -309,90 +319,140 @@ uint8_t setParam(uint8_t index, int32_t newValue) {
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}
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}
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uint8_t initParam(uint8_t index) {
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// Only Parameters can be initialized
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if (params[index].parameter_type == VARIABLE) return 0;
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return setParam(index,(int32_t) params[index].init);
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uint32_t getParamVal(uint8_t index) {
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int32_t value = 0;
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int countVar = 0;
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if (params[index].valueL != NULL) countVar++;
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if (params[index].valueR != NULL) countVar++;
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if (countVar > 0){
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// Read Left and Right values and calculate average
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// If left and right have to be summed up, DIV field could be adapted to multiply by 2
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// Cast to parameter datatype
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switch (params[index].datatype){
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case UINT8_T:
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if (params[index].valueL != NULL) value += *(uint8_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint8_t*)params[index].valueR;
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break;
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case UINT16_T:
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if (params[index].valueL != NULL) value += *(uint16_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint16_t*)params[index].valueR;
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break;
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case UINT32_T:
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if (params[index].valueL != NULL) value += *(uint32_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(uint32_t*)params[index].valueR;
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break;
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case INT8_T:
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if (params[index].valueL != NULL) value += *(int8_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int8_t*)params[index].valueR;
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break;
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case INT16_T:
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if (params[index].valueL != NULL) value += *(int16_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int16_t*)params[index].valueR;
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break;
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case INT32_T:
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if (params[index].valueL != NULL) value += *(int32_t*)params[index].valueL;
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if (params[index].valueR != NULL) value += *(int32_t*)params[index].valueR;
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break;
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default:
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value = 0;
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}
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// Divide by number of values provided for the parameter
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value /= countVar;
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// Divide to translate to external format
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if(params[index].div){
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value /= params[index].div;
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}
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// Shift to translate to external format
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if(params[index].fix){
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value >>= params[index].fix;
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}
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return value;
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}else{
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// No variable was provided, return init value that might contain a macro
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return params[index].init;
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}
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return 0;
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}
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uint32_t getParam(uint8_t index) {
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int32_t value;
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switch (params[index].variable_type){
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case UINT8_T:
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value = *(uint8_t*)params[index].valueL + *(uint8_t*)params[index].valueR /2;
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break;
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case UINT16_T:
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value = *(uint16_t*)params[index].valueL + *(uint16_t*)params[index].valueR /2;
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break;
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case UINT32_T:
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value = *(uint32_t*)params[index].valueL + *(uint32_t*)params[index].valueR /2;
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break;
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case INT8_T:
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value = *(int8_t*)params[index].valueL + *(int8_t*)params[index].valueR /2;
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break;
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case INT16_T:
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value = *(int16_t*)params[index].valueL + *(int16_t*)params[index].valueR /2;
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break;
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case INT32_T:
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value = *(int32_t*)params[index].valueL + *(int32_t*)params[index].valueR /2;
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break;
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default:
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value = 0;
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}
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if(params[index].div){
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value /= params[index].div;
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}
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if(params[index].fix){
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value >>= params[index].fix;
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}
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return value;
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}
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void dumpParamValues(){
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void dumpParamVal(){
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printf("*");
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for(int index=0;index<PARAM_SIZE(params);index++){
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printf("%s:%li ",params[index].name,getParam(index));
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printf("%s:%li ",params[index].name,getParamVal(index));
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}
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printf("\r\n");
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}
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void dumpParameters(){
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void dumpParamDef(){
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for(int index=0;index<PARAM_SIZE(params);index++){
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printf("#name:%s help:%s value:%li init:%li min:%li max:%li\r\n",params[index].name,params[index].help,getParam(index),params[index].init,params[index].min,params[index].max);
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printf("#name:%s help:%s value:%li init:%li min:%li max:%li\r\n",
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params[index].name,
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params[index].help,
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getParamVal(index),
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params[index].init,
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params[index].min,
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params[index].max);
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}
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}
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uint8_t incrParam(uint8_t index) {
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uint8_t incrParamVal(uint8_t index) {
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// Only Parameters can be set
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if (params[index].parameter_type == VARIABLE) return 0;
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if (params[index].type == VARIABLE) return 0;
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uint32_t value = getParam(index);
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uint32_t value = getParamVal(index);
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if (value < params[index].max){
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return setParam(index,value + 1);
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return setParamVal(index,value + 1);
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}else{
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return setParam(index,(int32_t) params[index].min);
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return setParamVal(index,(int32_t) params[index].min);
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}
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}
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uint8_t saveParam(uint8_t index) {
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uint8_t saveParamVal(uint8_t index) {
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// Only Parameters can be saved to EEPROM
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if (params[index].parameter_type == VARIABLE) return 0;
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if (params[index].type == VARIABLE) return 0;
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if (params[index].addr){
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HAL_FLASH_Unlock();
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EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getValue(index));
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EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamVal(index));
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HAL_FLASH_Lock();
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return 1;
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}
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return 0;
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}
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void saveAllParams() {
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uint8_t initParamVal(uint8_t index) {
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// Only Parameters can be loaded from EEPROM
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if (params[index].type == VARIABLE) return 0;
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if (params[index].addr){
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// if EEPROM address is specified, init from EEPROM address
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uint16_t readEEPROMVal;
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HAL_FLASH_Unlock();
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EE_ReadVariable(VirtAddVarTab[params[index].addr] , &readEEPROMVal);
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return setParamVal(index,(int32_t) readEEPROMVal);
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HAL_FLASH_Lock();
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return 1;
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}else{
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// Initialize from param array
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setParamVal(index,(int32_t) params[index].init);
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return 1;
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}
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return 0;
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}
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void saveAllParamVal() {
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HAL_FLASH_Unlock();
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for(int index=0;index<PARAM_SIZE(params);index++){
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if (params[index].parameter_type != VARIABLE && params[index].addr){
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EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getValue(index));
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if (params[index].type != VARIABLE && params[index].addr){
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EE_WriteVariable(VirtAddVarTab[params[index].addr] , (uint16_t)getParamVal(index));
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}
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}
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HAL_FLASH_Lock();
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