Improved DC link voltage constraints, DRV updates.

bench/Makefile

@@ -34,9 +34,9 @@ $(TARGET): $(SIM_OBJS)
 	@ echo "  LD    " $(notdir $@)
 	@ $(LD) $(CFLAGS) -o $@ $^ $(LFLAGS)
 
-verify: $(TARGET)
+test: $(TARGET)
 	@ echo "  TEST	" $(notdir $<)
-	@ $< verify
+	@ $< test
 
 run: $(TARGET)
 	@ echo "  RUN	" $(notdir $<)

bench/bench.c

@@ -203,6 +203,9 @@ tlm_plot_grab()
 	fmt_GP(pm.mtpa_D, "A");
 	fmt_GP(pm.weak_D, "A");
 
+	fmt_GP(pm.v_DC_MAX, 0);
+	fmt_GP(pm.v_DC_MIN, 0);
+
 	fmk_GP(pm.s_setpoint_speed, kRPM, "rpm");
 	fmk_GP(pm.s_track, kRPM, "rpm");
 	fmt_GP(pm.s_integral, "A");
@@ -372,41 +375,61 @@ void bench_script()
 
 	tlm_restart();
 
-	m.Rs = 14.E-3;
-	m.Ld = 10.E-6;
-	m.Lq = 15.E-6;
-	m.Udc = 22.;
+	m.Rs = 8.1E-3;
+	m.Ld = 3.2E-6;
+	m.Lq = 4.8E-6;
+	m.Udc = 48.;
+	m.Rdc = 0.1;
+	m.Zp = 21;
+	m.lambda = blm_Kv_lambda(&m, 109.);
+	m.Jm = 5.39E-3;
+
+	/*m.Rs = 28.E-3;
+	m.Ld = 14.E-6;
+	m.Lq = 22.E-6;
+	m.Udc = 48.;
 	m.Rdc = 0.1;
 	m.Zp = 14;
-	m.lambda = blm_Kv_lambda(&m, 270.);
-	m.Jm = 3.E-4;
-
-	m.eabi_ERES = 16384;
-	m.eabi_WRAP = 16384;
+	m.lambda = blm_Kv_lambda(&m, 87.);
+	m.Jm = 0.82E-3;*/
+
+	/*m.Rs = 0.24;
+	m.Ld = 520.E-6;
+	m.Lq = 650.E-6;
+	m.Udc = 48.;
+	m.Rdc = 0.5;
+	m.Zp = 15;
+        m.lambda = blm_Kv_lambda(&m, 15.7);
+	m.Jm = 6.E-3;*/
 
 	ts_script_default();
 	ts_script_base();
 	blm_restart(&m);
 
-	pm.config_EABI_FRONTEND = PM_EABI_ABSOLUTE;
+	//pm.config_LU_FORCED = PM_DISABLED;
+	pm.watt_uDC_maximal = 49.f;
+	pm.watt_uDC_minimal = 47.f;
+	//pm.zone_threshold = 5.0 / pm.const_lambda;
 
-	ts_adjust_sensor_eabi();
-	blm_restart(&m);
+	pm.s_accel = 500000.f;
 
-	//pm.config_LU_ESTIMATE = PM_FLUX_NONE;
-	pm.config_LU_SENSOR = PM_SENSOR_EABI;
+	//m.Udc = 10.;
+	m.Rdc = 0.5;
 
 	pm.fsm_req = PM_STATE_LU_STARTUP;
 	ts_wait_for_idle();
 
-	pm.s_setpoint_speed = 40.f;
-	sim_runtime(1.);
+	pm.s_setpoint_speed = 2000.f;
+	sim_runtime(1.0);
+
+	m.Mq[0] = - 1.5 * m.Zp * m.lambda * 10.f;
+	sim_runtime(1.0);
 
-	pm.s_setpoint_speed = 200.f;
-	sim_runtime(2.);
+	m.Mq[0] = 0.f;
+	sim_runtime(1.0);
 
-	pm.s_setpoint_speed = -50.f;
-	sim_runtime(2.);
+	pm.s_setpoint_speed = 100.f;
+	sim_runtime(2.0);
 
 	tlm_PWM_grab();
 }
@@ -420,9 +443,9 @@ int main(int argc, char *argv[])
 
 	lfg_start((int) time(NULL));
 
-	if (strcmp(argv[1], "verify") == 0) {
+	if (strcmp(argv[1], "test") == 0) {
 
-		ts_script_verify();
+		ts_script_test();
 	}
 	else if (strcmp(argv[1], "bench") == 0) {
 

bench/blm.c

@@ -125,7 +125,7 @@ void blm_enable(blm_t *m)
 	m->range_A = 165.;	/* (Ampere) */
 	m->range_B = 60.;	/* (Volt)   */
 
-	/* Hall sensor mount angles.
+	/* Hall sensor installation angles.
 	 * */
 	m->hall[0] = 30.7;
 	m->hall[1] = 150.1;

bench/tsfunc.c

@@ -671,7 +671,7 @@ ts_script_eabi(int knob_EABI)
 	pm.config_LU_SENSOR = PM_SENSOR_NONE;
 }
 
-void ts_script_verify()
+void ts_script_test()
 {
 	blm_enable(&m);
 	blm_restart(&m);
@@ -701,6 +701,8 @@ void ts_script_verify()
 
 	printf("\n---- Turnigy RotoMax 1.20 ----\n");
 
+	tlm_restart();
+
 	m.Rs = 14.E-3;
 	m.Ld = 10.E-6;
 	m.Lq = 15.E-6;
@@ -726,7 +728,9 @@ void ts_script_verify()
 	ts_script_eabi(PM_EABI_ABSOLUTE);
 	blm_restart(&m);
 
-	printf("\n---- 8-inch Hub Motor (350W) ----\n");
+	printf("\n---- Hub Motor (250W) ----\n");
+
+	tlm_restart();
 
 	m.Rs = 0.24;
 	m.Ld = 520.E-6;

bench/tsfunc.h

@@ -13,7 +13,7 @@ int ts_wait_for_spinup();
 
 void ts_script_default();
 void ts_script_base();
-void ts_script_verify();
+void ts_script_test();
 
 #endif /* _H_TSFUNC_ */
 

doc/CommandLineInterface.md

@@ -1,7 +1,7 @@
 ## Overview
 
 This page introduces you to the Command Line Interface (CLI). We have a regular
-CLI with autocompletion and command history.
+CLI with autocompletion function and command history.
 
 ## Key mapping
 

doc/HardwareDesign.md

@@ -7,8 +7,8 @@ PMC internals. Also this page will be useful for understanding.
 
 We have a three-phase Voltage Source Inverter (VSI) which consists of at least
 six metal–oxide–semiconductor field-effect transistors (MOSFET). The voltage at
-each of the output terminals is measured. Phase current A and B (optionally
-C) is measured. The output terminals are connected to the machine.
+each of the output terminals is measured. Phase current A and B (optionally C)
+is measured. The output terminals are connected to the machine.
 
 ```
 	  (VCC) >---+--------+---------+---------+
@@ -88,10 +88,11 @@ amount of uncertainty in the output voltage `dU` expressed as follows:
 ```
 
 The voltage divider (R1, R2) and filter capacitor (C1) are used to measure the
-terminal voltage (uA, uB, uC). This RC scheme forms an exponential integrator
-that allows us to restore the pulse width by measured voltage. Additional
-resistor R3 is used to bias the operating point into the linear region. You
-can skip voltage sensing if you do not need related features.
+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 is used to bias the operating point into the
+linear region. You can skip the terminal voltage sensing if you do not need
+related features but supply voltage measuring is mandatory.
 
 To get acceptable accuracy you need to make sure that the RC scheme time
 constant is comparable to dT. Also make sure that your capacitors are stable
@@ -143,9 +144,7 @@ measurement you will need to configure the software appropriately.
 	        +---< Terminal
 ```
 
-Also supply voltage (uS) is measured using a voltage divider.
-
-## Control loop
+## Sampling scheme
 
 Currents are sampled strictly in the middle of PWM period simultaneously using
 three ADCs. Then the voltages and other signals are sampled depending on
@@ -188,9 +187,9 @@ switching occur at this time then ADC result is discarded.
 	     |             |        |   |        |             |
 	  ---*--*--*-------------------------------------------*--*--*--------
 	                                         |             |
-                                          -->|  clearence  |<--
-                                                           |      |
-                                                        -->| skip |<--
+	                                      -->|  clearence  |<--
+	                                                       |      |
+	                                                    -->| skip |<--
 ```
 
 The diagram above shows `clearance` and `skip` parameters that is used in

doc/HardwareVESC.md

@@ -12,7 +12,7 @@ This page gives you an overview of VESC hardware supported by PMC.
 | VESC 6 MkVI                           | VESC6C    | Original          |
 | Holybro Mini FOC ESC Based on VESC6   | VESC6H    |                   |
 | FLIPSKY 75100 V202 ESC                | VESC75A   | Low side shunts   |
-| Makerbase VESC 75200 V2 84V 200A      | VESC75A   | Bad PCB design    |
+| Makerbase VESC 75200 V2 84V 200A      | VESC75A   |                   |
 | VESC 75/300 R3                        | VESC75B   | Original          |
 
 Note that some of VESC clone have bad PCB design that causes distorted current

doc/InputAnalogKnob.md

@@ -70,8 +70,8 @@ the control variable will be interpolated to this value.
 If you need you can change input lost range. If signal goes beyond this range
 it is considered lost and halt happens with `PM_ERROR_SENSOR_HALL_FAULT` reason.
 
-	(pmc) reg ap.knob_range_LST0 <V>
-	(pmc) reg ap.knob_range_LST1 <V>
+	(pmc) reg ap.knob_range_LOS0 <V>
+	(pmc) reg ap.knob_range_LOS1 <V>
 
 Enable machine startup control. Each time when `ANG` signal is in range the
 startup is requested.

doc/MachineProbe.md

@@ -23,14 +23,16 @@ you will need to decrease probe currents for a small machine.
   amplitude that is used to estimate stator impedance.
 * `pm.probe_speed_hold` - Speed setpoint for the initial spinup. At this speed
   flux linkage and noise threshold will be estimated.
+* `pm.probe_loss_maximal` - Maximal heating losses on stator winding. This
+  allows us to assume maximal machine current.
 
 Also pay attention to the forced control parameters which are used to achieve
 initial spinup.
 
 	(pmc) reg pm.forced
 
-* `pm.forced_hold_D` - Current setpoint which should be enough to hold rotor in
-  aligned position and force it turn.
+* `pm.forced_hold_D` - Forced current setpoint which should be enough to hold
+  rotor in aligned position and force it turn.
 * `pm.forced_accel` - Allowed acceleration of the forced control.
 
 If you use power supply that not tolerate reverse current then consider the

doc/MachineTuning.md

@@ -5,11 +5,11 @@ conditions. We will consider the most important of them.
 
 ## Forced control
 
-If the machine is at low speed then FLUX observer is unable to provide reliable
-estimates. You need to use some sort of position sensor. If this is not
-possible the forced control is used. We apply a current vector without feedback
-to force rotor turn. You can adapt the current value and acceleration to your
-needs.
+If the machine is at low speed then sensorless flux observer is unable to
+provide reliable estimates. You need to use some sort of position sensor. If
+this is not possible the forced control is used. We apply a current vector
+without feedback to force rotor turn. You can adapt the current value and
+acceleration to your needs.
 
 	(pmc) reg pm.forced_hold_D <A>
 	(pmc) reg pm.forced_accel <rad/s2>

phobia/config.c

@@ -239,6 +239,6 @@ void config_default(struct config_phobia *fe)
 
 	strcpy(fe->fuzzy, "setpoint");
 
-	fe->regfile = 480;
+	fe->regfile = 485;
 }
 

phobia/link.c

@@ -584,7 +584,8 @@ void link_remote(struct link_pmc *lp)
 
 	lp->reg_MAX_N = 0;
 
-	serial_fputs(priv->fd, LINK_EOL);
+	sprintf(priv->lbuf, "\x04\x04\x04\x04" LINK_EOL);
+	serial_fputs(priv->fd, priv->lbuf);
 
 	sprintf(priv->lbuf, "ap_version" LINK_EOL);
 	serial_fputs(priv->fd, priv->lbuf);

phobia/nuklear.h

@@ -7662,9 +7662,9 @@ nk_rgb_factor(struct nk_color col, const float factor)
 {
     if (factor == 1.0f)
         return col;
-    col.r *= factor;
-    col.g *= factor;
-    col.b *= factor;
+    col.r = (nk_byte)(col.r * factor);
+    col.g = (nk_byte)(col.g * factor);
+    col.b = (nk_byte)(col.b * factor);
     return col;
 }
 NK_API struct nk_color

phobia/phobia.c

@@ -988,7 +988,7 @@ pub_popup_telemetry_grab(struct public *pub, int popup)
 
 				if (reg_tlm != NULL) {
 
-					reg_tlm->lval = 1;
+					reg_tlm->lval = 0;
 				}
 			}
 		}
@@ -3220,6 +3220,12 @@ page_hal(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
+	reg_float(pub, "hal.CAN_bitfreq", "CAN frequency");
+	reg_float(pub, "hal.CAN_errate", "CAN bus errate");
+
+	nk_layout_row_dynamic(ctx, 0, 1);
+	nk_spacer(ctx);
+
 	reg_enum_combo(pub, "hal.DPS_mode", "DPS operation mode", 0);
 	reg_enum_combo(pub, "hal.PPM_mode", "PPM operation mode", 0);
 	reg_float(pub, "hal.PPM_frequency", "PPM frequency");
@@ -3234,7 +3240,6 @@ page_hal(struct public *pub)
 	reg_float(pub, "hal.DRV.status_raw", "DRV status raw");
 	reg_float(pub, "hal.DRV.gate_current", "DRV gate current");
 	reg_float(pub, "hal.DRV.ocp_level", "DRV OCP level");
-	reg_float(pub, "hal.DRV.fault_safety", "DRV fault safety");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3693,8 +3698,8 @@ page_in_knob(struct public *pub)
 	reg_float(pub, "ap.knob_range_ANG2", "ANG range HIGH");
 	reg_float(pub, "ap.knob_range_BRK0", "BRK range LOW");
 	reg_float(pub, "ap.knob_range_BRK1", "BRK range HIGH");
-	reg_float(pub, "ap.knob_range_LST0", "Lost range LOW");
-	reg_float(pub, "ap.knob_range_LST1", "Lost range HIGH");
+	reg_float(pub, "ap.knob_range_LOS0", "LOST range LOW");
+	reg_float(pub, "ap.knob_range_LOS1", "LOST range HIGH");
 	reg_float(pub, "ap.knob_control_ANG0", "Control range LOW");
 	reg_float(pub, "ap.knob_control_ANG1", "Control range MID");
 	reg_float(pub, "ap.knob_control_ANG2", "Control range HIGH");
@@ -3886,7 +3891,7 @@ page_config(struct public *pub)
 	reg_enum_combo(pub, "pm.config_NOP", "Number of machine phases", 0);
 	reg_enum_combo(pub, "pm.config_IFB", "Current measurement scheme", 0);
 	reg_enum_toggle(pub, "pm.config_TVM", "Terminal voltage measurement");
-	reg_enum_toggle(pub, "pm.config_DBG", "Debug facilities");
+	reg_enum_toggle(pub, "pm.config_DBG", "Debug information gather");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3952,10 +3957,10 @@ page_config(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "pm.fault_voltage_tol", "Voltage tolerance");
-	reg_float(pub, "pm.fault_current_tol", "Current tolerance");
-	reg_float(pub, "pm.fault_accuracy_tol", "Accuracy tolerance");
-	reg_float(pub, "pm.fault_terminal_tol", "Terminal tolerance");
+	reg_float(pub, "pm.fault_voltage_tol", "Voltage fault tolerance");
+	reg_float(pub, "pm.fault_current_tol", "Current fault tolerance");
+	reg_float(pub, "pm.fault_accuracy_tol", "Accuracy fault tolerance");
+	reg_float(pub, "pm.fault_terminal_tol", "Terminal fault tolerance");
 	reg_float(pub, "pm.fault_current_halt", "Current halt threshold");
 	reg_float(pub, "pm.fault_voltage_halt", "Voltage halt threshold");
 
@@ -4586,6 +4591,13 @@ page_wattage(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
+	reg_float(pub, "pm.v_uDC_tol", "DC regulation tolerance");
+	reg_float(pub, "pm.v_gain_P", "DC link proportional gain");
+	reg_float(pub, "pm.v_gain_I", "DC link integral gain");
+
+	nk_layout_row_dynamic(ctx, 0, 1);
+	nk_spacer(ctx);
+
 	reg = link_reg_lookup(lp, "pm.lu_MODE");
 
 	if (reg != NULL) {
@@ -4821,8 +4833,8 @@ page_lp_location(struct public *pub)
 
 	reg_float_um(pub, "pm.x_maximal", "Maximal location limit", um_def);
 	reg_float_um(pub, "pm.x_minimal", "Minimal location limit", um_def);
-	reg_float_um(pub, "pm.x_damping", "Damping range", 0);
-	reg_float_um(pub, "pm.x_tolerance", "Tolerance", 0);
+	reg_float_um(pub, "pm.x_damping", "Damping distance", 0);
+	reg_float_um(pub, "pm.x_residual_tol", "Residual tolerance", 0);
 	reg_float_um(pub, "pm.x_gain_P", "Proportional gain", 0);
 	reg_float(pub, "pm.x_gain_D", "Damped gain");