Updated docs, GP and Nuklear sources.

README.md

@@ -36,7 +36,6 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 - Least Squares estimate library
   [LSE](https://github.com/rombrew/lse).
 
-
 - Phase current sampling scheme includes two or three sensors configuration
   with inline or low-side placement.
 - Self-adjustment of all onboard measurements (current and voltage) along

doc/CommandLineInterface.md

@@ -1,7 +1,8 @@
 ## Overview
 
-This page introduces you to the Command Line Interface (CLI). We have a regular
-CLI with autocompletion function and command history.
+The main control interface of PMC is Command Line Interface (CLI). We have a
+regular UNIX-like CLI with autocompletion function and command history.
+Depending on the hardware it is available on USART, USB and CAN interface.
 
 ## Key mapping
 
@@ -12,10 +13,10 @@ These are the basic special keys that are used in the CLI:
 - `Tab` or (@) - Automplete function.
 - `Shift` + `Tab` - Automplete function reverse.
 - `Ctrl` + `C` or `Ctrl` + `D` - Drop the content of the line or abort the command.
-- `Ctrl` + `P` or `Up` or `*` - History function scroll up.
-- `Ctrl` + `N` or `Down` or `!` - History function scroll down.
+- `Ctrl` + `P` or `Up` - History function scroll up.
+- `Ctrl` + `N` or `Down` - History function scroll down.
 
-## Register file
+## Register concept
 
 A register is a scalar variable known by its name and having associated
 attributes. All registers together are called the register file. This is a
@@ -31,7 +32,7 @@ command.
 - You can specify a register number instead of its name to refer the exactly
   one register.
 
-Something like that.
+Try something like that.
 
 	(pmc) reg <pattern> <value>
 	(pmc) reg <ID> <value>
@@ -88,7 +89,7 @@ Command to grab telemetry into RAM and flush textual dump.
 	(pmc) tlm_grab <rate>
 	(pmc) tlm_flush_sync
 
-Run in endless loop of grabbing until PMC stops with error.
+Run in endless loop of grabbing until PMC stops with an error.
 
 	(pmc) tlm_watch <rate>
 
@@ -162,7 +163,7 @@ Show instant analog knob input voltages.
 	(pmc) reg ap.knob_in_ANG
 	(pmc) reg ap.knob_in_BRK
 
-Enable the HX711 helper task.
+Enable the HX711 helper application.
 
 	(pmc) reg ap.task_HX711 1
 

doc/GettingStarted.md

@@ -49,7 +49,9 @@ erased MCU) then short BOOT pin to +3.3v before the power up.
 	                          +--/ --+
 ```
 
-**WARNING**: You also can use an USB connection if your hardware has one.
+**WARNING**: You also can use an USB connection if your hardware has one. Refer
+to your hardware manual or look into `src/hal/hw/...` directory to find out
+available serial interfaces.
 
 ## Software
 
@@ -94,7 +96,7 @@ files by `mkconfig` python script before build.
 	$ ./mkconfig
 	$ make HWREV=PHOBIA_rev5
 
-## Load
+## MCU flash
 
 There are several ways to load the firmware into the MCU.
 
@@ -147,7 +149,7 @@ for setting PMC up.
 - [Hardware VESC](HardwareVESC.md)
 - [Integrity Self Test](IntegritySelfTest.md)
 - [Machine Probe](MachineProbe.md)
-- [Machine Tuning](MachineTuning.md)
+- [Control Tuning](ControlTuning.md)
 - [High Frequency Injection](HighFrequencyInjection.md)
 - [Input Analog Knob](InputAnalogKnob.md)
 - [Input Pulse Width](InputPulseWidth.md)

doc/GraphicalUserInterface.md

@@ -1,7 +1,8 @@
 ## Overview
 
 This page introduces you to the Phobia Graphical User Interface (PGUI). We have
-a regular GUI application.
+the regular GUI front-end application that communicates with PMC via serial
+interface.
 
 ## TODO
 

doc/HardwareDesign.md

@@ -90,7 +90,7 @@ uncertainty in the output voltage `DTu` expressed as follows.
 The voltage divider (R1, R2) and filter capacitor (C1) are used to measure the
 terminal voltage (uA, uB, uC) and supply voltage (uS). This RC scheme forms an
 exponential integrator that allows us to restore the pulse width by measured
-voltage. Additional resistor R3 can be used to bias the zero volatege into the
+voltage. Additional resistor R3 can be used to bias the zero voltage into the
 linear region. You can skip the terminal voltage sensing if you do not need
 related features but supply voltage measuring is mandatory.
 

doc/HardwareVESC.md

@@ -23,7 +23,7 @@ You are also welcome to look into `src/hal/hw/...` directory to get a full
 actual information about specific hardware port.
 
 You can build the firmware binary yourself from sources or get it from the
-bundle releases.
+bundle [resleases](https://github.com/rombrew/phobia/releases).
 
 	$ cd phobia/src
 	$ make HWREV=MKESC_60100_v2

doc/IntegritySelfTest.md

@@ -3,7 +3,7 @@
 This page describes how to verify the electrical integrity of PMC hardware.
 
 **WARNING**: The procedures listed here are MUST DO in case of new hardware
-first powerup.
+first power up.
 
 ## Automated Self Test
 
@@ -16,7 +16,7 @@ This test does the following steps in this order.
 
 - Get current sensors zero drift and check it is within the acceptable range.
 - Check actual bootstrap retention time and compare with configuration.
-- Check the power stage responds to the control.
+- Check the power stages respond to the control.
 - Check measurement accuracy against the distortion introduced by PWM.
 
 You can do it with or without machine connected. Ignore the appropriate error

doc/MachineProbe.md

@@ -32,15 +32,13 @@ you will need to decrease probing currents for a small machine.
 If you use power supply that not tolerate reverse current then pay attention to
 the wattage limit settings.
 
-    (pmc) reg pm.watt
-
 - `pm.watt_wA_reverse` - Maximal reverse current on DC link.
 - `pm.watt_uDC_maximal` - Maximal overvoltage on DC link.
 
 Also do not forget to reset the machine parameters if you have previously run
 another machine.
 
-    (pmc) pm_default_probe
+    (pmc) pm_default_machine
 
 ## Sensors adjustment
 
@@ -101,7 +99,8 @@ to reach this condition.
 	(pmc) pm_probe_spinup
 
 If the procedure fails to spinup the machine try to adjust forced control
-parameters. Also you can specify Kv manually if you know it exactly.
+parameters. Also you can specify Kv manually if you know it exactly and Zp
+number is already configured correcly.
 
 	(pmc) reg pm.const_lambda_kv <rpm/V>
 
@@ -110,6 +109,7 @@ speed and request lambda probing manually. Do not load the machine at this.
 
 	(pmc) pm_fsm_startup
 	(pmc) reg pm.s_setpoint_rpm <rpm>
+	...
 	(pmc) pm_probe_const_flux_linkage
 
 ## No forced spinup
@@ -124,21 +124,38 @@ PMC will wait for the machine to reach at least `pm.zone_threshold` speed.
 
 ## Speed noise threshold
 
-After a flux linkage we estimate speed noise level to know the lower bound of
-flux observer operation. As a result these threshold values are calculated.
+In case of you use `pm_probe_spinup` after a flux linkage we estimate speed
+noise level to know the lower bound of flux observer operation. As a result
+these threshold values are calculated.
 
 	(pmc) reg pm.zone_noise
 	(pmc) reg pm.zone_threshold
 
+If you have estimated flux linkage in detached mode or specified Kv manually
+you should probe the noise threshold manually when the machine is in run.
+
+	(pmc) pm_fsm_startup
+	(pmc) reg pm.s_setpoint_rpm <rpm>
+	...
+	(pmc) pm_probe_noise_threshold
+
 ## Moment of inertia
 
-Final estimate is a moment of inertia `pm.const_Ja`. To do this possible a
-speed maneuver will be performed. Note that this may result energy regeneration
-so your power supply must tolerate this. Either you should limit maximal DC
-link current reverse as stated above.
+In case of you use `pm_probe_spinup` the final estimate is a moment of inertia
+`pm.const_Ja`. To do this possible a speed maneuver will be performed. Note
+that this may result energy regeneration so your power supply must tolerate
+this. Either you should limit maximal DC link current reverse as stated above.
 
 This constant is used to tune speed control loop. Also it is used in operation
-to predict the speed changes from an applied current.
+to predict the speed changes from an applied current and so on.
+
+If you have estimated flux linkage in detached mode or specified Kv manually
+you should probe the moment of inertia manually.
+
+	(pmc) pm_fsm_startup
+	(pmc) reg pm.s_setpoint_rpm <rpm>
+	...
+	(pmc) pm_probe_const_inertia
 
 ## See also
 

doc/NetworkCAN.md

@@ -10,19 +10,22 @@ TODO
 conventional two wire bus
 uses a linear bus terminated at each end
 
-	       +------------------------*--------------------
-	       |                        |
-	       |     +------------------|-----*--------------
-	       |     |                  |     |
-	+------|-----|------+    +------|-----|------+
-	|    CAN_H CAN_L    |    |    CAN_H CAN_L    |    ...
-	|                   |    |                   |
-
+	       +-------------------------*------------------~~~
+	       |                         |
+	       |      +------------------|------*-----------~~~
+	       |      |                  |      |
+	+------+------+------+    +------+------+------+
+	|    CAN_H  CAN_L    |    |    CAN_H  CAN_L    |    ...
+	|                    |    |                    |
+	|    PMC (node 1)    |    |    PMC (node 2)    |
 
 ## Protocol
 
 We use base frame format with 11-bit identifier.
 
+	+---------------+-------------+------------------------+
+	|  ID (11-bit)  |  N (4-bit)  |    payload (64-bit)    |
+	+---------------+-------------+------------------------+
 
 ## Network survey