Some renaming and machine probing fixes.

README.md

@@ -22,11 +22,11 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 - Robust ORTEGA observer with gain scheduling against speed.
 - Accurate KALMAN observer having convergence at HF injection.
 - Flux weakening and MTPA control (**EXPERIMENTAL**).
-- Three and two phase machine support.
+- Three and two phases machine connection.
 - Hardware abstraction layer (HAL) over STM32F4 and STM32F7.
 - Various controller hardware are supported (including VESC clones).
-- Regular Command Line Interface (CLI) with autocompletion and history.
-- Graphical front-end software based on
+- Command Line Interface (CLI) with autocompletion and history.
+- Graphical User Interface (PGUI) based on
   [Nuklear](https://github.com/Immediate-Mode-UI/Nuklear) and
   [SDL2](https://www.libsdl.org/).
 - Non time-critical tasks are managed by
@@ -36,7 +36,8 @@ 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 schemes includes two or three sensors configuration
+
+- 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
   symmetrical channels.
@@ -86,14 +87,14 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 	- DC link current consumption and regeneration.
 	- DC link overvoltage and undervoltage.
 	- Maximal speed (forward and reverse) and acceleration.
-	- Absolute location maximal and minimal limit.
+	- Absolute location limits in servo operation.
 
 - Input control interfaces:
 	- Analog input knob with brake signal.
 	- RC servo pulse width modulation.
 	- CAN bus flexible configurable data transfers.
 	- STEP/DIR (or CW/CCW) interface (**EXPERIMENTAL**).
-	- Manual control through CLI or graphical front-end.
+	- Manual control through CLI or PGUI.
 	- Custom embedded application can implement any control strategy.
 
 - Advanced CAN networking:
@@ -111,20 +112,20 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 	- Battery energy (Wh) and charge (Ah) consumed.
 	- Fuel gauge percentage.
 
-## Hardware specification (`REV5A`, `REV5B`)
+## Hardware specification (`REV5`)
 
 - Dimension: 82mm x 55mm x 35mm.
 - Weight: 40g (PCB) or about 400g (with wires and heatsink).
 - Wires: 10 AWG.
 - Connector: XT90-S and bullet 5.5mm.
-- Battery voltage from 5v to 50v.
+- Battery voltage from 5v to 52v.
 - Phase current up to 120A (with IPT007N06N, 60v, 0.75 mOhm).
 - Light capacitor bank (4 x 4.7uF + 2 x 330uF).
 - PWM frequency from 20 to 60 kHz.
 - STM32F405RG microcontroller (Cortex-M4F at 168 MHz).
 
 - Onboard sensors:
-	- Two current shunts (0.5 mOhm) with amplifiers (AD8418) give a
+	- Two current shunts 0.5 mOhm with amplifiers AD8418 give a
 	  measuring range of 165A.
 	- Battery voltage from 0 to 60v.
 	- Three terminal voltages from 0 to 60v.
@@ -153,8 +154,8 @@ There are a few videos about PMC on [youtube](https://www.youtube.com/@romblv).
 ## TODO
 
 - Make a detailed documentation.
-- Improve GUI front-end software.
+- Improve PGUI software.
 - Add pulse output signal.
-- Make a drawing of the heatsink case for `REV5A`.
+- Make a drawing of the heatsink case for `REV5`.
 - Design the new hardware for 120v battery voltage.
 

bench/bench.c

@@ -161,7 +161,7 @@ tlm_plot_grab()
 	fmt_GP(pm.base_TIM, 0);
 	fmt_GP(pm.hold_TIM, 0);
 
-	sym_GP(atan2(pm.forced_F[1], pm.forced_F[0]) * kDEG, "pm.forced_F", "°");
+	sym_GP(atan2(pm.forced_F[1], pm.forced_F[0]) * kDEG, "pm.forced_F", "deg");
 	fmk_GP(pm.forced_wS, kRPM, "rpm");
 
 	fmt_GP(pm.forced_track_D, "A");
@@ -174,7 +174,7 @@ tlm_plot_grab()
 	fmt_GP(pm.flux_X[0], "Wb");
 	fmt_GP(pm.flux_X[1], "Wb");
 	fmt_GP(pm.flux_lambda, "Wb");
-	sym_GP(atan2(pm.flux_F[1], pm.flux_F[0]) * kDEG, "pm.flux_F", "°");
+	sym_GP(atan2(pm.flux_F[1], pm.flux_F[0]) * kDEG, "pm.flux_F", "deg");
 	fmk_GP(pm.flux_wS, kRPM, "rpm");
 
 	fmt_GP(pm.kalman_bias_Q, "V");
@@ -185,12 +185,12 @@ tlm_plot_grab()
 	fmt_GP(pm.hfi_wave[0], 0);
 	fmt_GP(pm.hfi_wave[1], 0);
 
-	sym_GP(atan2(pm.hall_F[1], pm.hall_F[0]) * kDEG, "pm.hall_F", "°");
+	sym_GP(atan2(pm.hall_F[1], pm.hall_F[0]) * kDEG, "pm.hall_F", "deg");
 	fmk_GP(pm.hall_wS, kRPM, "rpm");
 
 	fmt_GP(pm.eabi_ADJUST, 0);
 
-	sym_GP(atan2(pm.eabi_F[1], pm.eabi_F[0]) * kDEG, "pm.eabi_F", "°");
+	sym_GP(atan2(pm.eabi_F[1], pm.eabi_F[0]) * kDEG, "pm.eabi_F", "deg");
 	fmk_GP(pm.eabi_wS, kRPM, "rpm");
 
 	fmt_GP(pm.watt_DC_MAX, 0);
@@ -408,14 +408,16 @@ void bench_script()
 	ts_script_base();
 	blm_restart(&m);
 
+	pm.config_LU_ESTIMATE = PM_FLUX_KALMAN;
+
 	pm.fsm_req = PM_STATE_LU_STARTUP;
 	ts_wait_IDLE();
 
 	pm.s_setpoint_speed = 4000.f;
 	sim_runtime(1.0);
 
-	m.Udc = 30.;
-	m.Rdc = 50.;
+	//m.Udc = 30.;
+	//m.Rdc = 50.;
 
 	pm.watt_wP_reverse = 1000.f;
 	pm.watt_uDC_maximal = 48.f;
@@ -427,7 +429,7 @@ void bench_script()
 	//pm.s_track = 0.f;
 	sim_runtime(0.3);
 
-	m.Rdc = 1.;
+	//m.Rdc = 1.;
 	sim_runtime(0.5);
 
 	tlm_PWM_grab();

bench/blm.c

@@ -68,14 +68,14 @@ void blm_enable(blm_t *m)
 	m->Ld = 11.E-6;
 	m->Lq = 16.E-6;
 
-	/* Flux linkage constant (Weber).
-         * */
-        m->lambda = blm_Kv_lambda(m, 270.);
-
 	/* Number of the rotor pole pairs.
 	 * */
 	m->Zp = 14;
 
+	/* Flux linkage constant (Weber).
+         * */
+        m->lambda = blm_Kv_lambda(m, 270.);
+
 	/* Ambient temperature (Celsius).
 	 * */
 	m->Ta = 25.;

bench/tsfunc.c

@@ -196,14 +196,15 @@ void ts_probe_spinup()
 		if (ts_wait_IDLE() != PM_OK)
 			break;
 
-		if (pm.flux_LINKAGE != PM_ENABLED) {
+		if (		pm.flux_LINKAGE != PM_ENABLED
+				&& pm.config_EXCITATION == PM_EXCITATION_CONST) {
 
 			pm.s_setpoint_speed = pm.probe_speed_hold;
 
 			if (ts_wait_spinup() != PM_OK)
 				break;
 
-			printf("zone_lpf_wS = %.2f (rad/s)\n", pm.zone_lpf_wS);
+			sim_runtime(400 / (double) TS_TICK_RATE);
 
 			pm.fsm_req = PM_STATE_PROBE_CONST_FLUX_LINKAGE;
 
@@ -219,24 +220,22 @@ void ts_probe_spinup()
 		pm_auto(&pm, PM_AUTO_PROBE_SPEED_HOLD);
 		pm_auto(&pm, PM_AUTO_FORCED_MAXIMAL);
 
+		printf("probe_speed_hold = %.2f (rad/s)\n", pm.probe_speed_hold);
+		printf("forced_maximal = %.2f (rad/s)\n", pm.forced_maximal);
+
 		printf("zone_noise = %.2f (rad/s) %.3f (V)\n",
 				pm.zone_noise,
-				pm.zone_noise * pm.const_lambda);
+				pm.zone_noise * pm.const_lambda / pm.k_EMAX);
 
 		printf("zone_threshold = %.2f (rad/s) %.3f (V)\n",
 				pm.zone_threshold,
-				pm.zone_threshold * pm.const_lambda);
-
-		printf("probe_speed_hold = %.2f (rad/s)\n", pm.probe_speed_hold);
-		printf("forced_maximal = %.2f (rad/s)\n", pm.forced_maximal);
+				pm.zone_threshold * pm.const_lambda / pm.k_EMAX);
 
 		pm.s_setpoint_speed = pm.probe_speed_hold;
 
 		if (ts_wait_spinup() != PM_OK)
 			break;
 
-		printf("zone_lpf_wS = %.2f (rad/s)\n", pm.zone_lpf_wS);
-
 		if (pm.flux_ZONE != PM_ZONE_HIGH) {
 
 			pm.fsm_errno = PM_ERROR_NO_FLUX_CAUGHT;
@@ -245,6 +244,8 @@ void ts_probe_spinup()
 
 		if (pm.config_EXCITATION == PM_EXCITATION_CONST) {
 
+			sim_runtime(400 / (double) TS_TICK_RATE);
+
 			pm.fsm_req = PM_STATE_PROBE_CONST_FLUX_LINKAGE;
 
 			if (ts_wait_IDLE() != PM_OK)
@@ -257,20 +258,27 @@ void ts_probe_spinup()
 			TS_assert_relative(pm.const_lambda, m.lambda);
 		}
 
+		sim_runtime(400 / (double) TS_TICK_RATE);
+
 		pm.fsm_req = PM_STATE_PROBE_NOISE_THRESHOLD;
 
 		if (ts_wait_IDLE() != PM_OK)
 			break;
 
 		pm_auto(&pm, PM_AUTO_ZONE_THRESHOLD);
+		pm_auto(&pm, PM_AUTO_PROBE_SPEED_HOLD);
+		pm_auto(&pm, PM_AUTO_FORCED_MAXIMAL);
+
+		printf("probe_speed_hold = %.2f (rad/s)\n", pm.probe_speed_hold);
+		printf("forced_maximal = %.2f (rad/s)\n", pm.forced_maximal);
 
 		printf("zone_noise = %.2f (rad/s) %.3f (V)\n",
 				pm.zone_noise,
-				pm.zone_noise * pm.const_lambda);
+				pm.zone_noise * pm.const_lambda / pm.k_EMAX);
 
 		printf("zone_threshold = %.2f (rad/s) %.3f (V)\n",
 				pm.zone_threshold,
-				pm.zone_threshold * pm.const_lambda);
+				pm.zone_threshold * pm.const_lambda / pm.k_EMAX);
 
 		pm.fsm_req = PM_STATE_PROBE_CONST_INERTIA;
 
@@ -297,11 +305,9 @@ void ts_probe_spinup()
 		if (ts_wait_IDLE() != PM_OK)
 			break;
 
-		pm_auto(&pm, PM_AUTO_FORCED_MAXIMAL);
 		pm_auto(&pm, PM_AUTO_FORCED_ACCEL);
 		pm_auto(&pm, PM_AUTO_LOOP_SPEED);
 
-		printf("forced_maximal = %.2f (rad/s)\n", pm.forced_maximal);
 		printf("forced_accel = %.1f (rad/s2)\n", pm.forced_accel);
 		printf("lu_gain_mq_LP = %.2E\n", pm.lu_gain_mq_LP);
 		printf("s_gain_P = %.2E\n", pm.s_gain_P);

doc/CommandLineInterface.md

@@ -7,15 +7,15 @@ CLI with autocompletion function and command history.
 
 These are the basic special keys that are used in the CLI:
 
-- `Return` - Run the current line.
+- `Return` - Run the command from current line.
 - `Backspace` or `Delete` - Erase last typed character.
 - `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.
 
-## Register file concept
+## Register file
 
 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
@@ -26,8 +26,8 @@ command.
 - Without arguments it will list all registers and their current values.
 - You can specify a pattern by which registers will be filtered. A pattern can
   be any part of the register name.
-- If only one register matches the specified pattern the second parameter
-  specifies its new value.
+- If only one register matches the specified pattern the second parameter can
+  specify its new value.
 - You can specify a register number instead of its name to refer the exactly
   one register.
 
@@ -64,7 +64,7 @@ registers that are required to configure data transfer between different
 subsystems.
 
 Keep in mind each register can have its own write and read event handler that
-can do any complex non-obvious actions during access to it.
+can do any non-obvious actions during access to it.
 
 ## Linkage concept
 
@@ -88,7 +88,7 @@ Command to grab telemetry into RAM and flush textual dump.
 	(pmc) tlm_grab <rate>
 	(pmc) tlm_flush_sync
 
-Run an endless loop grabbing until PMC stops with error.
+Run in endless loop of grabbing until PMC stops with error.
 
 	(pmc) tlm_watch <rate>
 
@@ -98,21 +98,18 @@ Use a real-time telemetry printout.
 
 Using CAN data pipes you are able to link register across CAN network. You can
 easily control many machines from single input. Build a traction control by
-exchange the speed signals across PMC instances.
+exchange the speed signals across PMC nodes.
 
 ## Textual transcription
 
 Some of integer registers printed out accompanied by textual transcription that
 describes register current value. Typically this is a configuration register
-responsible for selecting one of several possible options. Note that you must
-assign a new value to the register to find out its transcription.
+responsible for selecting one of several possible options. The textual
+transcription corresponds to the enumeration in the source code of PMC.
 
 	(pmc) reg pm.config_IFB
 	1 [151] pm.config_IFB = 2 (PM_IFB_ABC_INLINE)
 
-The textual transcription corresponds to the enumeration constants in the
-source code of PMC.
-
 ## Examples
 
 Show all raw feedback values that PMC uses in control loops.