Added freewheeling option in forced control.

bench/tsfunc.c

@@ -684,7 +684,7 @@ void ts_script_test()
 	m.Udc = 48.;
 	m.Rdc = 0.1;
 	m.Zp = 5;
-        m.lambda = blm_Kv_lambda(&m, 525.);
+	m.lambda = blm_Kv_lambda(&m, 525.);
 	m.Jm = 2.E-4;
 
 	ts_script_default();
@@ -695,7 +695,7 @@ void ts_script_test()
 	blm_restart(&m);
 
 	/*ts_script_hfi();
-	blm_restart(&m);*/
+	  blm_restart(&m);*/
 
 	printf("\n---- Turnigy RotoMax 1.20 ----\n");
 
@@ -707,7 +707,7 @@ void ts_script_test()
 	m.Udc = 22.;
 	m.Rdc = 0.1;
 	m.Zp = 14;
-        m.lambda = blm_Kv_lambda(&m, 270.);
+	m.lambda = blm_Kv_lambda(&m, 270.);
 	m.Jm = 3.E-4;
 
 	ts_script_default();
@@ -736,7 +736,7 @@ void ts_script_test()
 	m.Udc = 48.;
 	m.Rdc = 0.5;
 	m.Zp = 15;
-        m.lambda = blm_Kv_lambda(&m, 15.7);
+	m.lambda = blm_Kv_lambda(&m, 15.);
 	m.Jm = 6.E-3;
 
 	ts_script_default();
@@ -751,5 +751,31 @@ void ts_script_test()
 
 	ts_script_hall();
 	blm_restart(&m);
+
+	printf("\n---- QS 138 (3000W) ----\n");
+
+	tlm_restart();
+
+	m.Rs = 4.E-3;
+	m.Ld = 31.E-6;
+	m.Lq = 44.E-6;
+	m.Udc = 48.;
+	m.Rdc = 0.1;
+	m.Zp = 5;
+	m.lambda = blm_Kv_lambda(&m, 58.);
+	m.Jm = 4.E-3;
+
+	ts_script_default();
+	ts_script_base();
+	blm_restart(&m);
+
+	ts_script_speed();
+	blm_restart(&m);
+
+	/*ts_script_weakening();
+	  blm_restart(&m);*/
+
+	ts_script_hall();
+	blm_restart(&m);
 }
 

doc/HardwareVESC.md

@@ -7,7 +7,7 @@ This page gives you an overview of VESC hardware supported by PMC.
 | Item                                  | HWREV       | Notes             |
 |:--------------------------------------|:-----------:|:------------------|
 | FLIPSKY FSESC 6.7                     | FSESC67     | Bad PCB design    |
-| FLIPSKY MINI FSESC 6.7 PRO            | FSESC67PRO  | Low side shunts   |
+| FLIPSKY MINI FSESC 6.7 PRO            | FSESC67MINI | Low side shunts   |
 | FLIPSKY 75100 V202 ESC                | FSESC75100  | Low side shunts   |
 | Makerbase VESC 75200 V2 84V 200A      | FSESC75100  | Low side shunts   |
 | Holybro Mini FOC ESC Based on VESC6   | HBESC6FOC   |                   |

doc/InputAnalogKnob.md

@@ -90,14 +90,14 @@ Now you are ready to enable the analog knob interface.
 
 To stop the control we check if machine is run or setpoint is high. If setpoint
 is out of input range and machine does not make full turns for
-`ap.idle_timeout` seconds the shutdown is requested.
+`ap.timeout_IDLE` seconds the shutdown is requested.
 
-	(pmc) reg ap.idle_timeout <s>
+	(pmc) reg ap.timeout_IDLE <s>
 
 # Disarm timeout
 
 To ensure a safe startup it is required to hold low `ANG` signal for
-`ap.disarm_timeout` seconds until disarmed state was reset.
+`ap.timeout_DISARM` seconds until disarmed state was reset.
 
-	(pmc) reg ap.disarm_timeout <s>
+	(pmc) reg ap.timeout_DISARM <s>
 

phobia/link.c

@@ -192,7 +192,7 @@ link_fetch_network(struct link_pmc *lp)
 
 	if (strstr(lbuf, "(pmc)") == lbuf) {
 
-		sprintf(lp->network, "local");
+		sprintf(lp->network, "SERIAL");
 
 		rc = 1;
 	}
@@ -201,7 +201,7 @@ link_fetch_network(struct link_pmc *lp)
 
 		if (lk_stoi(&n, lbuf + 5) != NULL) {
 
-			sprintf(lp->network, "remote/%i", n);
+			sprintf(lp->network, "REMOTE/%i", n);
 		}
 		else {
 			lp->network[0] = 0;
@@ -370,10 +370,7 @@ link_fetch_hwinfo(struct link_pmc *lp)
 
 		tok = lk_token(&sp);
 
-		if (strcmp(tok, "OK") != 0) {
-
-			sprintf(priv->hw_crc32 + strlen(priv->hw_crc32), " (%.16s)", tok);
-		}
+		sprintf(priv->hw_crc32 + strlen(priv->hw_crc32), " (%.16s)", tok);
 
 		sprintf(lp->hwinfo, "%.16s / %.16s / %.36s", priv->hw_revision,
 				priv->hw_build, priv->hw_crc32);

phobia/phobia.c

@@ -185,6 +185,8 @@ pub_primal_reg(struct public *pub, const struct link_reg *reg)
 {
 	const char	*primal_map[] = {
 
+		"pm.scale_uS0",
+		"pm.scale_uS1",
 		"pm.probe_current_hold",
 		"pm.probe_current_weak",
 		"pm.probe_current_sine",
@@ -2812,6 +2814,12 @@ page_diagnose(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
+	reg_float(pub, "pm.scale_uS0", "DC link voltage offset");
+	reg_float(pub, "pm.scale_uS1", "DC link voltage scale");
+
+	nk_layout_row_dynamic(ctx, 0, 1);
+	nk_spacer(ctx);
+
 	reg_enum_toggle(pub, "pm.tvm_ACTIVE", "TVM is active");
 	reg_float(pub, "pm.tvm_FIR_A_tau", "A voltage FIR tau");
 	reg_float(pub, "pm.tvm_FIR_B_tau", "B voltage FIR tau");
@@ -3649,8 +3657,8 @@ page_in_pwm(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "ap.idle_timeout", "IDLE timeout");
-	reg_float(pub, "ap.disarm_timeout", "DISARM timeout");
+	reg_float(pub, "ap.timeout_DISARM", "Timeout DISARM ");
+	reg_float(pub, "ap.timeout_IDLE", "Timeout IDLE");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3727,8 +3735,8 @@ page_in_knob(struct public *pub)
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
-	reg_float(pub, "ap.idle_timeout", "IDLE timeout");
-	reg_float(pub, "ap.disarm_timeout", "DISARM timeout");
+	reg_float(pub, "ap.timeout_DISARM", "Timeout DISARM");
+	reg_float(pub, "ap.timeout_IDLE", "Timeout IDLE");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3739,27 +3747,49 @@ static void
 page_application(struct public *pub)
 {
 	struct nk_sdl			*nk = pub->nk;
+	struct link_pmc			*lp = pub->lp;
 	struct nk_context		*ctx = &nk->ctx;
+	struct link_reg			*reg;
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
 
 	reg_enum_toggle(pub, "ap.task_AUTOSTART", "Startup automatic");
+
+	reg = link_reg_lookup(lp, "ap.task_AUTOSTART");
+
+	if (		reg != NULL
+			&& reg->lval != 0) {
+
+		nk_layout_row_dynamic(ctx, 0, 1);
+		nk_spacer(ctx);
+
+		reg_float(pub, "ap.auto_reg_DATA", "Auto register DATA");
+		reg_linked(pub, "ap.auto_reg_ID", "Auto register ID");
+
+		nk_layout_row_dynamic(ctx, 0, 1);
+		nk_spacer(ctx);
+	}
+
 	reg_enum_toggle(pub, "ap.task_BUTTON", "Button control");
 	reg_enum_toggle(pub, "ap.task_AS5047", "AS5047 magnetic encoder");
 	reg_enum_toggle(pub, "ap.task_HX711", "HX711 load cell ADC");
-	reg_enum_toggle(pub, "ap.task_MPU6050", "MPU6050 inertial unit");
 
-	nk_layout_row_dynamic(ctx, 0, 1);
-	nk_spacer(ctx);
+	reg = link_reg_lookup(lp, "ap.task_HX711");
 
-	reg_float(pub, "ap.auto_reg_DATA", "Auto register DATA");
-	reg_linked(pub, "ap.auto_reg_ID", "Auto register ID");
+	if (		reg != NULL
+			&& reg->lval != 0) {
 
-	nk_layout_row_dynamic(ctx, 0, 1);
-	nk_spacer(ctx);
+		nk_layout_row_dynamic(ctx, 0, 1);
+		nk_spacer(ctx);
+
+		reg_float(pub, "ap.load_HX711", "HX711 measurement");
+
+		nk_layout_row_dynamic(ctx, 0, 1);
+		nk_spacer(ctx);
+	}
 
-	reg_float(pub, "ap.load_HX711", "HX711 measurement");
+	reg_enum_toggle(pub, "ap.task_MPU6050", "MPU6050 inertial unit");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
 	nk_spacer(ctx);
@@ -3827,8 +3857,8 @@ page_thermal(struct public *pub)
 	reg_float(pub, "ap.heat_PCB_temp_derate", "PCB derate threshold");
 	reg_float(pub, "ap.heat_PCB_temp_FAN", "PCB fan ON threshold");
 	reg_float(pub, "ap.heat_EXT_temp_derate", "EXT derate threshold");
-	reg_float(pub, "ap.heat_derated_PCB", "PCB derated current");
-	reg_float(pub, "ap.heat_derated_EXT", "EXT derated current");
+	reg_float(pub, "ap.heat_maximal_PCB", "PCB maximal current");
+	reg_float(pub, "ap.heat_maximal_EXT", "EXT maximal current");
 	reg_float(pub, "ap.heat_temp_recovery", "Recovery hysteresis");
 
 	nk_layout_row_dynamic(ctx, 0, 1);
@@ -3901,6 +3931,7 @@ page_config(struct public *pub)
 	nk_spacer(ctx);
 
 	reg_enum_toggle(pub, "pm.config_LU_FORCED", "Forced control");
+	reg_enum_toggle(pub, "pm.config_LU_FREEWHEEL", "Allow freewheeling");
 	reg_enum_combo(pub, "pm.config_LU_ESTIMATE", "Sensorless estimate", 1);
 	reg_enum_combo(pub, "pm.config_LU_SENSOR", "Position sensor type", 1);
 	reg_enum_combo(pub, "pm.config_LU_LOCATION", "Servo location source", 1);
@@ -3914,8 +3945,8 @@ page_config(struct public *pub)
 	reg_enum_toggle(pub, "pm.config_RELUCTANCE", "Reluctance MTPA control");
 	reg_enum_toggle(pub, "pm.config_WEAKENING", "Flux weakening control");
 
-	reg_enum_toggle(pub, "pm.config_REVERSE_BRAKE", "Reverse brake");
-	reg_enum_toggle(pub, "pm.config_SPEED_MAXIMAL", "Speed constraints");
+	reg_enum_toggle(pub, "pm.config_REVERSE_BRAKE", "Reverse brake function");
+	reg_enum_toggle(pub, "pm.config_SPEED_MAXIMAL", "Speed maximal function");
 
 	reg_enum_combo(pub, "pm.config_EABI_FRONTEND", "EABI frontend", 0);
 	reg_enum_combo(pub, "pm.config_SINCOS_FRONTEND", "SINCOS frontend", 0);

src/app/autostart.c

@@ -25,7 +25,8 @@ LD_TASK void app_AUTOSTART(void *pData)
 	do {
 		vTaskDelay((TickType_t) 100);
 
-		if (pm.lu_MODE == PM_LU_DISABLED) {
+		if (		pm.lu_MODE == PM_LU_DISABLED
+				&& pm.const_fb_U > pm.watt_uDC_minimal) {
 
 			pm.fsm_req = PM_STATE_LU_STARTUP;
 

src/app/mpu6050.c

@@ -11,6 +11,13 @@
 
 LD_TASK void app_MPU6050(void *pData)
 {
-	/* TODO */
+	volatile int		*knob = (volatile int *) pData;
+
+	do {
+		/* TODO */
+	}
+	while (*knob != 0);
+
+	vTaskDelete(NULL);
 }
 

src/epcan.c

@@ -155,7 +155,7 @@ EPCAN_pipe_message_IN(const CAN_msg_t *msg)
 			ep->tx_N = 0;
 
 			if (		ep->ACTIVE == PM_ENABLED
-					&& pm.fsm_errno != PM_OK) {
+					&& pm.lu_MODE == PM_LU_DISABLED) {
 
 				ep->ACTIVE = PM_DISABLED;
 			}
@@ -164,7 +164,6 @@ EPCAN_pipe_message_IN(const CAN_msg_t *msg)
 					&& ep->ACTIVE != PM_ENABLED
 					&& pm.lu_MODE == PM_LU_DISABLED) {
 
-				pm.fsm_errno = PM_OK;
 				pm.fsm_req = PM_STATE_LU_STARTUP;
 
 				ep->ACTIVE = PM_ENABLED;