Updated to firmware 2.16 and implemented CAN forwarding for bldc_interface

bldc_interface.h

 /*
-	Copyright 2015 Benjamin Vedder	benjamin@vedder.se
+	Copyright 2016 Benjamin Vedder	benjamin@vedder.se
 
 	This program is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
@@ -15,13 +15,6 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
-/*
- * bldc_interface.h
- *
- *  Created on: 6 aug 2015
- *      Author: benjamin
- */
-
 #ifndef BLDC_INTERFACE_H_
 #define BLDC_INTERFACE_H_
 
@@ -29,12 +22,14 @@
 
 // interface functions
 void bldc_interface_init(void(*func)(unsigned char *data, unsigned int len));
+void bldc_interface_set_forward_can(int32_t vesc_id);
 void bldc_interface_set_forward_func(void(*func)(unsigned char *data, unsigned int len));
 void bldc_interface_send_packet(unsigned char *data, unsigned int len);
 void bldc_interface_process_packet(unsigned char *data, unsigned int len);
 
 // Function pointer setters
 void bldc_interface_set_rx_value_func(void(*func)(mc_values *values));
+void bldc_interface_set_rx_printf_func(void(*func)(char *str));
 void bldc_interface_set_rx_fw_func(void(*func)(int major, int minor));
 void bldc_interface_set_rx_rotor_pos_func(void(*func)(float pos));
 void bldc_interface_set_rx_mcconf_func(void(*func)(mc_configuration *conf));
@@ -48,6 +43,7 @@ void bldc_interface_set_rx_mcconf_received_func(void(*func)(void));
 void bldc_interface_set_rx_appconf_received_func(void(*func)(void));
 
 // Setters
+void bldc_interface_terminal_cmd(char* cmd);
 void bldc_interface_set_duty_cycle(float dutyCycle);
 void bldc_interface_set_current(float current);
 void bldc_interface_set_current_brake(float current);

datatypes.h

 /*
-	Copyright 2012-2014 Benjamin Vedder	benjamin@vedder.se
+	Copyright 2012-2016 Benjamin Vedder	benjamin@vedder.se
 
 	This program is free software: you can redistribute it and/or modify
     it under the terms of the GNU General Public License as published by
@@ -15,13 +15,6 @@
     along with this program.  If not, see <http://www.gnu.org/licenses/>.
     */
 
-/*
- * datatypes.h
- *
- *  Created on: 14 sep 2014
- *      Author: benjamin
- */
-
 #ifndef DATATYPES_H_
 #define DATATYPES_H_
 
@@ -29,14 +22,6 @@
 #include <stdbool.h>
 #include "ch.h"
 
-// Data types
-typedef enum {
-   MC_STATE_OFF = 0,
-   MC_STATE_DETECTING,
-   MC_STATE_RUNNING,
-   MC_STATE_FULL_BRAKE,
-} mc_state;
-
 typedef enum {
 	PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended
 	PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
@@ -54,9 +39,16 @@ typedef enum {
 	SENSOR_MODE_HYBRID
 } mc_sensor_mode;
 
+typedef enum {
+	FOC_SENSOR_MODE_SENSORLESS = 0,
+	FOC_SENSOR_MODE_ENCODER,
+	FOC_SENSOR_MODE_HALL
+} mc_foc_sensor_mode;
+
 typedef enum {
 	MOTOR_TYPE_BLDC = 0,
 	MOTOR_TYPE_DC,
+	MOTOR_TYPE_FOC
 } mc_motor_type;
 
 typedef enum {
@@ -69,24 +61,28 @@ typedef enum {
 	FAULT_CODE_OVER_TEMP_MOTOR
 } mc_fault_code;
 
-typedef enum {
-	CONTROL_MODE_DUTY = 0,
-	CONTROL_MODE_SPEED,
-	CONTROL_MODE_CURRENT,
-	CONTROL_MODE_CURRENT_BRAKE,
-	CONTROL_MODE_POS,
-	CONTROL_MODE_NONE
-} mc_control_mode;
-
+// VESC Types
 typedef struct {
-	float cycle_int_limit;
-	float cycle_int_limit_running;
-	float cycle_int_limit_max;
-	float comm_time_sum;
-	float comm_time_sum_min_rpm;
-	int32_t comms;
-	uint32_t time_at_comm;
-} mc_rpm_dep_struct;
+	float v_in;
+	float temp_mos1;
+	float temp_mos2;
+	float temp_mos3;
+	float temp_mos4;
+    float temp_mos5;
+    float temp_mos6;
+    float temp_pcb;
+    float current_motor;
+    float current_in;
+    float rpm;
+    float duty_now;
+    float amp_hours;
+    float amp_hours_charged;
+    float watt_hours;
+    float watt_hours_charged;
+    int32_t tachometer;
+    int tachometer_abs;
+    mc_fault_code fault_code;
+} mc_values;
 
 typedef struct {
 	// Switching and drive
@@ -132,6 +128,30 @@ typedef struct {
 	// Hall sensor
 	int8_t hall_table[8];
 	float hall_sl_erpm;
+	// FOC
+	float foc_current_kp;
+	float foc_current_ki;
+	float foc_f_sw;
+	float foc_dt_us;
+	float foc_encoder_offset;
+	bool foc_encoder_inverted;
+	float foc_encoder_ratio;
+	float foc_motor_l;
+	float foc_motor_r;
+	float foc_motor_flux_linkage;
+	float foc_observer_gain;
+	float foc_pll_kp;
+	float foc_pll_ki;
+	float foc_duty_dowmramp_kp;
+	float foc_duty_dowmramp_ki;
+	float foc_openloop_rpm;
+	float foc_sl_openloop_hyst;
+	float foc_sl_openloop_time;
+	float foc_sl_d_current_duty;
+	float foc_sl_d_current_factor;
+	mc_foc_sensor_mode foc_sensor_mode;
+	uint8_t foc_hall_table[8];
+	float foc_hall_sl_erpm;
 	// Speed PID
 	float s_pid_kp;
 	float s_pid_ki;
@@ -141,6 +161,7 @@ typedef struct {
 	float p_pid_kp;
 	float p_pid_ki;
 	float p_pid_kd;
+	float p_pid_ang_div;
 	// Current controller
 	float cc_startup_boost_duty;
 	float cc_min_current;
@@ -151,6 +172,7 @@ typedef struct {
 	float m_duty_ramp_step;
 	float m_duty_ramp_step_rpm_lim;
 	float m_current_backoff_gain;
+	uint32_t m_encoder_counts;
 } mc_configuration;
 
 // Applications to use
@@ -201,6 +223,7 @@ typedef enum {
 	ADC_CTRL_TYPE_CURRENT_REV_BUTTON,
 	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
 	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
+	ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
 	ADC_CTRL_TYPE_DUTY,
 	ADC_CTRL_TYPE_DUTY_REV_CENTER,
 	ADC_CTRL_TYPE_DUTY_REV_BUTTON
@@ -244,6 +267,62 @@ typedef struct {
 	float tc_max_diff;
 } chuk_config;
 
+// NRF Datatypes
+typedef enum {
+	NRF_SPEED_250K = 0,
+	NRF_SPEED_1M,
+	NRF_SPEED_2M
+} NRF_SPEED;
+
+typedef enum {
+	NRF_POWER_M18DBM = 0,
+	NRF_POWER_M12DBM,
+	NRF_POWER_M6DBM,
+	NRF_POWER_0DBM
+} NRF_POWER;
+
+typedef enum {
+	NRF_AW_3 = 0,
+	NRF_AW_4,
+	NRF_AW_5
+} NRF_AW;
+
+typedef enum {
+	NRF_CRC_DISABLED = 0,
+	NRF_CRC_1B,
+	NRF_CRC_2B
+} NRF_CRC;
+
+typedef enum {
+	NRF_RETR_DELAY_250US = 0,
+	NRF_RETR_DELAY_500US,
+	NRF_RETR_DELAY_750US,
+	NRF_RETR_DELAY_1000US,
+	NRF_RETR_DELAY_1250US,
+	NRF_RETR_DELAY_1500US,
+	NRF_RETR_DELAY_1750US,
+	NRF_RETR_DELAY_2000US,
+	NRF_RETR_DELAY_2250US,
+	NRF_RETR_DELAY_2500US,
+	NRF_RETR_DELAY_2750US,
+	NRF_RETR_DELAY_3000US,
+	NRF_RETR_DELAY_3250US,
+	NRF_RETR_DELAY_3500US,
+	NRF_RETR_DELAY_3750US,
+	NRF_RETR_DELAY_4000US
+} NRF_RETR_DELAY;
+
+typedef struct {
+	NRF_SPEED speed;
+	NRF_POWER power;
+	NRF_CRC crc_type;
+	NRF_RETR_DELAY retry_delay;
+	unsigned char retries;
+	unsigned char channel;
+	unsigned char address[3];
+	bool send_crc_ack;
+} nrf_config;
+
 typedef struct {
 	// Settings
 	uint8_t controller_id;
@@ -266,6 +345,9 @@ typedef struct {
 
 	// Nunchuk application settings
 	chuk_config app_chuk_conf;
+
+	// NRF application settings
+	nrf_config app_nrf_conf;
 } app_configuration;
 
 // Communication commands
@@ -284,119 +366,28 @@ typedef enum {
 	COMM_SET_SERVO_POS,
 	COMM_SET_MCCONF,
 	COMM_GET_MCCONF,
+	COMM_GET_MCCONF_DEFAULT,
 	COMM_SET_APPCONF,
 	COMM_GET_APPCONF,
+	COMM_GET_APPCONF_DEFAULT,
 	COMM_SAMPLE_PRINT,
 	COMM_TERMINAL_CMD,
 	COMM_PRINT,
 	COMM_ROTOR_POSITION,
 	COMM_EXPERIMENT_SAMPLE,
 	COMM_DETECT_MOTOR_PARAM,
+	COMM_DETECT_MOTOR_R_L,
+	COMM_DETECT_MOTOR_FLUX_LINKAGE,
+	COMM_DETECT_ENCODER,
+	COMM_DETECT_HALL_FOC,
 	COMM_REBOOT,
 	COMM_ALIVE,
 	COMM_GET_DECODED_PPM,
 	COMM_GET_DECODED_ADC,
 	COMM_GET_DECODED_CHUK,
-	COMM_FORWARD_CAN
+	COMM_FORWARD_CAN,
+	COMM_SET_CHUCK_DATA,
+	COMM_CUSTOM_APP_DATA
 } COMM_PACKET_ID;
 
-// CAN commands
-typedef enum {
-	CAN_PACKET_SET_DUTY = 0,
-	CAN_PACKET_SET_CURRENT,
-	CAN_PACKET_SET_CURRENT_BRAKE,
-	CAN_PACKET_SET_RPM,
-	CAN_PACKET_SET_POS,
-	CAN_PACKET_FILL_RX_BUFFER,
-	CAN_PACKET_FILL_RX_BUFFER_LONG,
-	CAN_PACKET_PROCESS_RX_BUFFER,
-	CAN_PACKET_PROCESS_SHORT_BUFFER,
-	CAN_PACKET_STATUS
-} CAN_PACKET_ID;
-
-// Logged fault data
-typedef struct {
-	mc_fault_code fault;
-	float current;
-	float current_filtered;
-	float voltage;
-	float duty;
-	float rpm;
-	int tacho;
-	int cycles_running;
-	int pwm_cycles;
-	int tim_val_samp;
-	int tim_current_samp;
-	int tim_top;
-	int comm_step;
-	float temperature;
-} fault_data;
-
-// External LED state
-typedef enum {
-	LED_EXT_OFF = 0,
-	LED_EXT_NORMAL,
-	LED_EXT_BRAKE,
-	LED_EXT_TURN_LEFT,
-	LED_EXT_TURN_RIGHT,
-	LED_EXT_BRAKE_TURN_LEFT,
-	LED_EXT_BRAKE_TURN_RIGHT,
-	LED_EXT_BATT
-} LED_EXT_STATE;
-
-typedef struct {
-	int js_x;
-	int js_y;
-	int acc_x;
-	int acc_y;
-	int acc_z;
-	bool bt_c;
-	bool bt_z;
-} chuck_data;
-
-typedef struct {
-	int id;
-	systime_t rx_time;
-	float rpm;
-	float current;
-	float duty;
-} can_status_msg;
-
-typedef struct {
-	uint8_t js_x;
-	uint8_t js_y;
-	bool bt_c;
-	bool bt_z;
-	bool bt_push;
-	float vbat;
-} mote_state;
-
-typedef enum {
-	MOTE_PACKET_BATT_LEVEL = 0,
-	MOTE_PACKET_BUTTONS,
-	MOTE_PACKET_ALIVE
-} MOTE_PACKET;
-
-typedef struct {
-	float v_in;
-	float temp_mos1;
-	float temp_mos2;
-	float temp_mos3;
-	float temp_mos4;
-    float temp_mos5;
-    float temp_mos6;
-    float temp_pcb;
-    float current_motor;
-    float current_in;
-    float rpm;
-    float duty_now;
-    float amp_hours;
-    float amp_hours_charged;
-    float watt_hours;
-    float watt_hours_charged;
-    int tachometer;
-    int tachometer_abs;
-    mc_fault_code fault_code;
-} mc_values;
-
 #endif /* DATATYPES_H_ */