FW 3.9: Final float serialization update, new option to invert motor …

…direction, UUID readout

CHANGELOG

@@ -1,3 +1,10 @@
+=== FW 3.9 ===
+* Configuration option for inverting the motor direction.
+* STM32 96-bit unique ID in firmware version command.
+
+=== FW 3.8 ===
+* Communication protocol update for floating point variables. This breaks almost all compatibility with old firmwares.
+
 === FW 3.7 ===
 * Delay after app and motor conf write.
  - Fixes NRF bug.

buffer.c

@@ -68,7 +68,7 @@ void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *
  *         return 0.0;
  *     }
  *
- *     *e = ceilf(logf(fabsf(f)) / logf(2.0));
+ *     *e = ceilf(log2f(fabsf(f)));
  *     float res = f / powf(2.0, (float)*e);
  *
  *     if (res >= 1.0) {
@@ -88,7 +88,7 @@ void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *
  *     return f * powf(2.0, (float)e);
  * }
  *
- * 8388608.0 is 2^23, which scales the result to fit within 24 bits.
+ * 8388608.0 is 2^23, which scales the result to fit within 23 bits if sig_abs < 1.0.
  *
  * This should be a relatively fast and efficient way to serialize
  * floating point numbers in a fully defined manner.
@@ -99,14 +99,9 @@ void buffer_append_float32_auto(uint8_t* buffer, float number, int32_t *index) {
 	float sig_abs = fabsf(sig);
 	uint32_t sig_i = 0;
 
-	// Exponent range -126 to +127. This addition makes the bits look similar
-	// to actual floats on most system, so a direct memcpy can be done if you
-	// are lazy or know what you are doing. Otherwise, this manual encoding and
-	// decoding hopefully is portable and safe.
-	e += 126;
-
 	if (sig_abs >= 0.5) {
 		sig_i = (uint32_t)((sig_abs - 0.5f) * 2.0f * 8388608.0f);
+		e += 126;
 	}
 
 	uint32_t res = ((e & 0xFF) << 23) | (sig_i & 0x7FFFFF);
@@ -163,11 +158,11 @@ float buffer_get_float32_auto(const uint8_t *buffer, int32_t *index) {
 	int e = (res >> 23) & 0xFF;
 	uint32_t sig_i = res & 0x7FFFFF;
 	bool neg = res & (1 << 31);
-	e -= 126;
 
 	float sig = 0.0;
 	if (e != 0 || sig_i != 0) {
 		sig = (float)sig_i / (8388608.0 * 2.0) + 0.5;
+		e -= 126;
 	}
 
 	if (neg) {

conf_general.c

@@ -249,6 +249,7 @@ void conf_general_get_default_mc_configuration(mc_configuration *conf) {
 	conf->m_current_backoff_gain = MCCONF_M_CURRENT_BACKOFF_GAIN;
 	conf->m_encoder_counts = MCCONF_M_ENCODER_COUNTS;
 	conf->m_sensor_port_mode = MCCONF_M_SENSOR_PORT_MODE;
+	conf->m_invert_direction = MCCONF_M_INVERT_DIRECTION;
 }
 
 /**
@@ -411,7 +412,7 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 	}
 
 	// Wait one second for things to get ready after
-	// the fault disapears. (will fry things otherwise...)
+	// the fault disappears. (will fry things otherwise...)
 	chThdSleepMilliseconds(1000);
 
 	// Disable timeout
@@ -446,9 +447,9 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 	// Release the motor and wait a few commutations
 	mc_interface_lock_override_once();
 	mc_interface_set_current(0.0);
-	int tacho = mcpwm_get_tachometer_value(0);
+	int tacho = mc_interface_get_tachometer_value(0);
 	for (int i = 0;i < 2000;i++) {
-		if ((mcpwm_get_tachometer_value(0) - tacho) < 3) {
+		if ((mc_interface_get_tachometer_value(0) - tacho) < 3) {
 			chThdSleepMilliseconds(1);
 		} else {
 			ok_steps++;
@@ -458,9 +459,9 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 
 	// Average the cycle integrator for 50 commutations
 	mcpwm_read_reset_avg_cycle_integrator();
-	tacho = mcpwm_get_tachometer_value(0);
+	tacho = mc_interface_get_tachometer_value(false);
 	for (int i = 0;i < 3000;i++) {
-		if ((mcpwm_get_tachometer_value(0) - tacho) < 50) {
+		if ((mc_interface_get_tachometer_value(false) - tacho) < 50) {
 			chThdSleepMilliseconds(1);
 		} else {
 			ok_steps++;
@@ -488,11 +489,11 @@ bool conf_general_detect_motor_param(float current, float min_rpm, float low_dut
 
 	// Average the cycle integrator for 100 commutations
 	mcpwm_read_reset_avg_cycle_integrator();
-	tacho = mcpwm_get_tachometer_value(0);
+	tacho = mc_interface_get_tachometer_value(0);
 	float rpm_sum = 0.0;
 	float rpm_iterations = 0.0;
 	for (int i = 0;i < 3000;i++) {
-		if ((mcpwm_get_tachometer_value(0) - tacho) < 100) {
+		if ((mc_interface_get_tachometer_value(0) - tacho) < 100) {
 			rpm_sum += mc_interface_get_rpm();
 			rpm_iterations += 1;
 			chThdSleepMilliseconds(1);

conf_general.h

@@ -22,15 +22,10 @@
 
 // Firmware version
 #define FW_VERSION_MAJOR		3
-#define FW_VERSION_MINOR		7
+#define FW_VERSION_MINOR		9
 
 #include "datatypes.h"
 
-/*
- * Settings
- */
-#define SYSTEM_CORE_CLOCK			168000000
-
 // Settings and parameters to override
 //#define VIN_R1						33000.0
 //#define VIN_R1						39200.0
@@ -136,6 +131,13 @@
 #define AS5047_USE_HW_SPI_PINS		0
 #endif
 
+/*
+ * Settings / Macros
+ */
+#define SYSTEM_CORE_CLOCK			168000000
+#define STM32_UUID					((uint32_t *)0x1FFF7A10)
+#define STM32_UUID_8				((uint8_t *)0x1FFF7A10)
+
 // Functions
 void conf_general_init(void);
 void conf_general_get_default_app_configuration(app_configuration *conf);

datatypes.h

@@ -197,6 +197,7 @@ typedef struct {
 	float m_current_backoff_gain;
 	uint32_t m_encoder_counts;
 	sensor_port_mode m_sensor_port_mode;
+	bool m_invert_direction;
 } mc_configuration;
 
 // Applications to use

mc_interface.c

@@ -31,6 +31,9 @@
 #include "encoder.h"
 #include <math.h>
 
+// Macros
+#define DIR_MULT		(m_conf.m_invert_direction ? -1.0 : 1.0)
+
 // Global variables
 volatile uint16_t ADC_Value[HW_ADC_CHANNELS];
 volatile int ADC_curr_norm_value[3];
@@ -305,11 +308,11 @@ void mc_interface_set_duty(float dutyCycle) {
 	switch (m_conf.motor_type) {
 	case MOTOR_TYPE_BLDC:
 	case MOTOR_TYPE_DC:
-		mcpwm_set_duty(dutyCycle);
+		mcpwm_set_duty(DIR_MULT * dutyCycle);
 		break;
 
 	case MOTOR_TYPE_FOC:
-		mcpwm_foc_set_duty(dutyCycle);
+		mcpwm_foc_set_duty(DIR_MULT * dutyCycle);
 		break;
 
 	default:
@@ -325,11 +328,11 @@ void mc_interface_set_duty_noramp(float dutyCycle) {
 	switch (m_conf.motor_type) {
 	case MOTOR_TYPE_BLDC:
 	case MOTOR_TYPE_DC:
-		mcpwm_set_duty_noramp(dutyCycle);
+		mcpwm_set_duty_noramp(DIR_MULT * dutyCycle);
 		break;
 
 	case MOTOR_TYPE_FOC:
-		mcpwm_foc_set_duty_noramp(dutyCycle);
+		mcpwm_foc_set_duty_noramp(DIR_MULT * dutyCycle);
 		break;
 
 	default:
@@ -345,11 +348,11 @@ void mc_interface_set_pid_speed(float rpm) {
 	switch (m_conf.motor_type) {
 	case MOTOR_TYPE_BLDC:
 	case MOTOR_TYPE_DC:
-		mcpwm_set_pid_speed(rpm);
+		mcpwm_set_pid_speed(DIR_MULT * rpm);
 		break;
 
 	case MOTOR_TYPE_FOC:
-		mcpwm_foc_set_pid_speed(rpm);
+		mcpwm_foc_set_pid_speed(DIR_MULT * rpm);
 		break;
 
 	default:
@@ -367,11 +370,11 @@ void mc_interface_set_pid_pos(float pos) {
 	switch (m_conf.motor_type) {
 	case MOTOR_TYPE_BLDC:
 	case MOTOR_TYPE_DC:
-		mcpwm_set_pid_pos(pos);
+		mcpwm_set_pid_pos(DIR_MULT * m_position_set);
 		break;
 
 	case MOTOR_TYPE_FOC:
-		mcpwm_foc_set_pid_pos(pos);
+		mcpwm_foc_set_pid_pos(DIR_MULT * m_position_set);
 		break;
 
 	default:
@@ -387,11 +390,11 @@ void mc_interface_set_current(float current) {
 	switch (m_conf.motor_type) {
 	case MOTOR_TYPE_BLDC:
 	case MOTOR_TYPE_DC:
-		mcpwm_set_current(current);
+		mcpwm_set_current(DIR_MULT * current);
 		break;
 
 	case MOTOR_TYPE_FOC:
-		mcpwm_foc_set_current(current);
+		mcpwm_foc_set_current(DIR_MULT * current);
 		break;
 
 	default:
@@ -407,11 +410,11 @@ void mc_interface_set_brake_current(float current) {
 	switch (m_conf.motor_type) {
 	case MOTOR_TYPE_BLDC:
 	case MOTOR_TYPE_DC:
-		mcpwm_set_brake_current(current);
+		mcpwm_set_brake_current(DIR_MULT * current);
 		break;
 
 	case MOTOR_TYPE_FOC:
-		mcpwm_foc_set_brake_current(current);
+		mcpwm_foc_set_brake_current(DIR_MULT * current);
 		break;
 
 	default:
@@ -471,7 +474,7 @@ float mc_interface_get_duty_cycle_set(void) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 float mc_interface_get_duty_cycle_now(void) {
@@ -491,7 +494,7 @@ float mc_interface_get_duty_cycle_now(void) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 float mc_interface_get_sampling_frequency_now(void) {
@@ -531,7 +534,7 @@ float mc_interface_get_rpm(void) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 /**
@@ -667,7 +670,7 @@ float mc_interface_get_tot_current_directional(void) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 float mc_interface_get_tot_current_directional_filtered(void) {
@@ -687,7 +690,7 @@ float mc_interface_get_tot_current_directional_filtered(void) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 float mc_interface_get_tot_current_in(void) {
@@ -747,7 +750,7 @@ int mc_interface_get_tachometer_value(bool reset) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 int mc_interface_get_tachometer_abs_value(bool reset) {
@@ -814,7 +817,7 @@ float mc_interface_read_reset_avg_id(void) {
 	float res = m_motor_id_sum / m_motor_id_iterations;
 	m_motor_id_sum = 0.0;
 	m_motor_id_iterations = 0.0;
-	return res;
+	return DIR_MULT * res; // TODO: DIR_MULT?
 }
 
 /**
@@ -827,7 +830,7 @@ float mc_interface_read_reset_avg_iq(void) {
 	float res = m_motor_iq_sum / m_motor_iq_iterations;
 	m_motor_iq_sum = 0.0;
 	m_motor_iq_iterations = 0.0;
-	return res;
+	return DIR_MULT * res;
 }
 
 float mc_interface_get_pid_pos_set(void) {
@@ -851,7 +854,7 @@ float mc_interface_get_pid_pos_now(void) {
 		break;
 	}
 
-	return ret;
+	return DIR_MULT * ret;
 }
 
 float mc_interface_get_last_sample_adc_isr_duration(void) {

mcconf/mcconf_default.h

@@ -301,5 +301,8 @@
 #ifndef MCCONF_M_SENSOR_PORT_MODE
 #define MCCONF_M_SENSOR_PORT_MODE		SENSOR_PORT_MODE_HALL // The mode of the hall_encoder port
 #endif
+#ifndef MCCONF_M_INVERT_DIRECTION
+#define MCCONF_M_INVERT_DIRECTION		false // Invert the motor direction
+#endif
 
 #endif /* MCCONF_DEFAULT_H_ */