├── synchronized_lighting.jpg ├── .gitignore ├── synchronized_lighting_new.zip ├── lib ├── bldc_uart │ ├── crc.h │ ├── bldc_interface_uart.h │ ├── vesc_uart.h │ ├── arduino_uart_wrapper.h │ ├── packet.h │ ├── arduino_uart_wrapper.cpp │ ├── buffer.h │ ├── bldc_interface_uart.c │ ├── crc.c │ ├── bldc_interface.h │ ├── vesc_uart.c │ ├── packet.c │ ├── buffer.c │ ├── datatypes.h │ └── bldc_interface.c ├── colors_conversions │ ├── hsv_to_rgb.h │ └── hsv_to_rgb.cpp ├── vesc_standby_lights │ ├── generate_random_hue.h │ ├── breathing_lights.h │ ├── generate_random_hue.cpp │ ├── cie1931.h │ └── breathing_lights.cpp ├── color_shifting_logic │ ├── color_shifting.h │ └── color_shifting.cpp ├── led_strip_apa102 │ ├── led_strip_apa102.cpp │ └── led_strip_apa102.h └── color_palletes │ ├── color_palletes.cpp │ └── color_palletes.h ├── src └── main.cpp ├── README.md └── LICENSE /synchronized_lighting.jpg: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fadh3r/synchronized_lighting_for_vesc/HEAD/synchronized_lighting.jpg -------------------------------------------------------------------------------- /.gitignore: -------------------------------------------------------------------------------- 1 | .pioenvs 2 | .piolibdeps 3 | .clang_complete 4 | .gcc-flags.json 5 | platformio.ini 6 | .travis.yml 7 | readme.txt 8 | -------------------------------------------------------------------------------- /synchronized_lighting_new.zip: -------------------------------------------------------------------------------- https://raw.githubusercontent.com/fadh3r/synchronized_lighting_for_vesc/HEAD/synchronized_lighting_new.zip -------------------------------------------------------------------------------- /lib/bldc_uart/crc.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016 Benjamin Vedder benjamin@vedder.se 3 | 4 | This file is part of the VESC firmware. 5 | 6 | The VESC firmware is free software: you can redistribute it and/or modify 7 | it under the terms of the GNU General Public License as published by 8 | the Free Software Foundation, either version 3 of the License, or 9 | (at your option) any later version. 10 | 11 | The VESC firmware is distributed in the hope that it will be useful, 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | GNU General Public License for more details. 15 | 16 | You should have received a copy of the GNU General Public License 17 | along with this program. If not, see . 18 | */ 19 | 20 | #ifndef CRC_H_ 21 | #define CRC_H_ 22 | 23 | /* 24 | * Functions 25 | */ 26 | unsigned short crc16(unsigned char *buf, unsigned int len); 27 | 28 | #endif /* CRC_H_ */ 29 | -------------------------------------------------------------------------------- /lib/colors_conversions/hsv_to_rgb.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef HSV_TO_RGB_H 20 | #define HSV_TO_RGB_H 21 | 22 | #include 23 | 24 | rgb_color hsvToRgb(uint16_t h, uint8_t s, uint8_t v); 25 | 26 | #endif /* HSV_TO_RGB_H */ 27 | -------------------------------------------------------------------------------- /lib/vesc_standby_lights/generate_random_hue.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef GENERATE_RANDOM_HUE 20 | #define GENERATE_RANDOM_HUE 21 | 22 | #include 23 | 24 | int16_t generate_random_hue(void); 25 | 26 | #endif /* GENERATE_RANDOM_HUE */ 27 | -------------------------------------------------------------------------------- /lib/vesc_standby_lights/breathing_lights.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef BREATHING_LIGHTS_H 20 | #define BREATHING_LIGHTS_H 21 | 22 | extern const uint16_t STANDBY_TIMEOUT; 23 | 24 | void vesc_standby_lights(void); 25 | bool vesc_standby(void); 26 | 27 | #endif /* BREATHING_LIGHTS_H */ 28 | -------------------------------------------------------------------------------- /lib/color_shifting_logic/color_shifting.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef COLOR_SHIFTING_H 20 | #define COLOR_SHIFTING_H 21 | 22 | #include 23 | 24 | extern const uint8_t WHEEL_SIZE_RATIO; 25 | extern const uint8_t STRIP_DIRECTION; 26 | 27 | void update_strip_colors(void); 28 | 29 | 30 | #endif /* COLOR_SHIFTING_H */ 31 | -------------------------------------------------------------------------------- /lib/led_strip_apa102/led_strip_apa102.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include "led_strip_apa102.h" 20 | 21 | // Create an object for writing to LED strip. 22 | APA102 led_strip; 23 | // Create a buffer for holding colors (3 bytes per color). 24 | rgb_color led_strip_colors[LED_COUNT]; 25 | 26 | 27 | void update_strip() { 28 | led_strip.write(led_strip_colors, LED_COUNT, LED_STRIP_BRIGHTNESS); 29 | } 30 | -------------------------------------------------------------------------------- /lib/vesc_standby_lights/generate_random_hue.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include "generate_random_hue.h" 21 | 22 | int16_t recent_random_color; 23 | 24 | int16_t generate_random_hue(void) { 25 | int16_t random_hue; 26 | while(1) { 27 | random_hue = random(360); 28 | if (abs(recent_random_color - random_hue) > 60) { 29 | recent_random_color = random_hue; 30 | return random_hue; 31 | } 32 | } 33 | } 34 | -------------------------------------------------------------------------------- /lib/bldc_uart/bldc_interface_uart.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2015 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | /* 19 | * bldc_interface_uart.h 20 | * 21 | * Created on: 9 okt 2015 22 | * Author: benjamin 23 | */ 24 | 25 | #ifndef BLDC_INTERFACE_UART_H_ 26 | #define BLDC_INTERFACE_UART_H_ 27 | 28 | // Includes 29 | #include "packet.h" // For the MAX_PACKET_LEN define 30 | 31 | // Functions 32 | void bldc_interface_uart_init(void(*func)(unsigned char *data, unsigned int len)); 33 | void bldc_interface_uart_process_byte(unsigned char b); 34 | void bldc_interface_uart_run_timer(void); 35 | 36 | #endif /* BLDC_INTERFACE_UART_H_ */ 37 | -------------------------------------------------------------------------------- /lib/color_palletes/color_palletes.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include "color_palletes.h" 20 | #include "led_strip_apa102.h" 21 | #include "hsv_to_rgb.h" 22 | 23 | 24 | rgb_color get_pallete_color(uint32_t position) { 25 | uint16_t hue; 26 | rgb_color rgb_return_val; 27 | if (position != 0) 28 | position = position % CURRENT_PALLETE_WIDTH; 29 | hue = pgm_read_word_near(CURRENT_PALLETE + position); 30 | rgb_return_val = hsvToRgb(hue, 255, 255); 31 | return rgb_return_val; 32 | } 33 | -------------------------------------------------------------------------------- /lib/bldc_uart/vesc_uart.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef VESC_UART_H 20 | #define VESC_UART_H 21 | 22 | //declare global "mc_values_ptr" pointer of type "mc_values" for received from VESC data 23 | //dox - https://stackoverflow.com/questions/1433204/how-do-i-use-extern-to-share-variables-between-source-files 24 | #include "bldc_interface.h" 25 | extern mc_values *mc_values_ptr; 26 | 27 | void bldc_get_values(void); 28 | void comm_uart_init(void); 29 | long unsigned int bldc_get_tachometer_value(void); 30 | 31 | #endif /* VESC_UART_H */ 32 | -------------------------------------------------------------------------------- /lib/bldc_uart/arduino_uart_wrapper.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef ARDUINO_UART_H 20 | #define ARDUINO_UART_H 21 | 22 | #ifdef __cplusplus 23 | extern "C" { 24 | #endif 25 | void serial_begin(long speed); 26 | int serial_available(void); 27 | int serial_write(unsigned char *data, unsigned int length); 28 | int serial_read(void); 29 | unsigned int serial_print(char *data); 30 | unsigned int serial_println(char *data); 31 | unsigned int serial_println_int(int data); 32 | void do_delay(unsigned long time); 33 | #ifdef __cplusplus 34 | } 35 | #endif 36 | 37 | #endif/* ARDUINO_UART_H */ 38 | -------------------------------------------------------------------------------- /lib/led_strip_apa102/led_strip_apa102.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef LED_STRIP_APA102_H 20 | #define LED_STRIP_APA102_H 21 | 22 | #include "stdint.h" 23 | #include 24 | #define APA102_USE_FAST_GPIO 25 | #include 26 | 27 | /* define here Arduino pins connected to APA102 strip */ 28 | #define DATA_PIN 11 29 | #define CLOCK_PIN 12 30 | /* define here number of leds on strip */ 31 | #define LED_COUNT 42 32 | /* define APA102 brightness - 31 max */ 33 | #define LED_STRIP_BRIGHTNESS 31 34 | 35 | extern rgb_color led_strip_colors[]; 36 | 37 | void update_strip(void); 38 | 39 | #endif /* LED_STRIP_APA102_H */ 40 | -------------------------------------------------------------------------------- /lib/bldc_uart/packet.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016 Benjamin Vedder benjamin@vedder.se 3 | 4 | This file is part of the VESC firmware. 5 | 6 | The VESC firmware is free software: you can redistribute it and/or modify 7 | it under the terms of the GNU General Public License as published by 8 | the Free Software Foundation, either version 3 of the License, or 9 | (at your option) any later version. 10 | 11 | The VESC firmware is distributed in the hope that it will be useful, 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | GNU General Public License for more details. 15 | 16 | You should have received a copy of the GNU General Public License 17 | along with this program. If not, see . 18 | */ 19 | 20 | #ifndef PACKET_H_ 21 | #define PACKET_H_ 22 | 23 | #include 24 | 25 | // Settings 26 | #define PACKET_RX_TIMEOUT 1000 27 | // #define PACKET_HANDLERS 2 28 | #define PACKET_HANDLERS 1 29 | // #define PACKET_MAX_PL_LEN 1024 30 | #define PACKET_MAX_PL_LEN 64 31 | 32 | 33 | // Functions 34 | void packet_init(void (*s_func)(unsigned char *data, unsigned int len), 35 | void (*p_func)(unsigned char *data, unsigned int len), int handler_num); 36 | void packet_process_byte(uint8_t rx_data, int handler_num); 37 | void packet_timerfunc(void); 38 | void packet_send_packet(unsigned char *data, unsigned int len, int handler_num); 39 | 40 | #endif /* PACKET_H_ */ 41 | -------------------------------------------------------------------------------- /lib/bldc_uart/arduino_uart_wrapper.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include "arduino_uart_wrapper.h" 21 | 22 | 23 | //https://www.arduino.cc/reference/en/language/functions/communication/serial/read/ 24 | //https://github.com/arduino/Arduino/blob/master/hardware/arduino/avr/cores/arduino/HardwareSerial.h 25 | 26 | void serial_begin(long speed) { 27 | return Serial.begin(speed); 28 | } 29 | 30 | int serial_available(void) { 31 | return Serial.available(); 32 | } 33 | 34 | int serial_write(unsigned char *data, unsigned int length) { 35 | return Serial.write(data, length); 36 | } 37 | 38 | 39 | int serial_read(void) { 40 | return Serial.read(); 41 | } 42 | 43 | unsigned int serial_print(char *data) { 44 | return Serial.print(data); 45 | } 46 | 47 | unsigned int serial_println(char *data) { 48 | return Serial.println(data); 49 | } 50 | 51 | void do_delay(unsigned long time) { 52 | return delay(time); 53 | } 54 | -------------------------------------------------------------------------------- /lib/colors_conversions/hsv_to_rgb.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | /* Converts a color from HSV to RGB. 21 | * h is hue, as a number between 0 and 360. 22 | * s is the saturation, as a number between 0 and 255. 23 | * v is the value, as a number between 0 and 255. */ 24 | /* This function from APA102 Arduino examples library */ 25 | rgb_color hsvToRgb(uint16_t h, uint8_t s, uint8_t v) { 26 | uint8_t f = (h % 60) * 255 / 60; 27 | uint8_t p = (255 - s) * (uint16_t)v / 255; 28 | uint8_t q = (255 - f * (uint16_t)s / 255) * (uint16_t)v / 255; 29 | uint8_t t = (255 - (255 - f) * (uint16_t)s / 255) * (uint16_t)v / 255; 30 | uint8_t r = 0, g = 0, b = 0; 31 | switch((h / 60) % 6){ 32 | case 0: r = v; g = t; b = p; break; 33 | case 1: r = q; g = v; b = p; break; 34 | case 2: r = p; g = v; b = t; break; 35 | case 3: r = p; g = q; b = v; break; 36 | case 4: r = t; g = p; b = v; break; 37 | case 5: r = v; g = p; b = q; break; 38 | } 39 | return rgb_color(r, g, b); 40 | } 41 | -------------------------------------------------------------------------------- /src/main.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include 21 | #include "breathing_lights.h" 22 | #include "color_shifting.h" 23 | 24 | // set "STRIP_DIRECTION" to zero if you want to reverse color movement 25 | const uint8_t STRIP_DIRECTION = 1; 26 | // tune "WHEEL_SIZE_RATIO" for velocity of color_pallete change 27 | const uint8_t WHEEL_SIZE_RATIO = 20; 28 | // time in standby before breating lights 29 | const uint16_t STANDBY_TIMEOUT = 5000; 30 | 31 | /* extern "C" - allows to use C header files with C++ code 32 | for more info see - https://stackoverflow.com/questions/1041866/in-c-source-what-is-the-effect-of-extern-c */ 33 | extern "C" { 34 | #include "vesc_uart.h" 35 | }; 36 | 37 | 38 | // SETUP 39 | void setup() { 40 | // UART Initialize 41 | comm_uart_init(); 42 | // delay for vesc startup 43 | delay(2000); 44 | 45 | }// END-OF-SETUP 46 | 47 | 48 | void loop() { 49 | // get values from VESC 50 | bldc_get_values(); 51 | // bldc_interface_setters works only with disconnected PPM 52 | //bldc_interface_set_current(2.00); 53 | //bldc_interface_set_rpm(1000); 54 | 55 | if (vesc_standby()) 56 | vesc_standby_lights(); 57 | else 58 | update_strip_colors(); 59 | 60 | }// end-of-loop 61 | -------------------------------------------------------------------------------- /lib/color_shifting_logic/color_shifting.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include "color_shifting.h" 20 | #include "led_strip_apa102.h" 21 | #include "color_palletes.h" 22 | 23 | 24 | /* extern "C" - allows to use C header files with C++ code 25 | for more info see - https://stackoverflow.com/questions/1041866/in-c-source-what-is-the-effect-of-extern-c */ 26 | extern "C" { 27 | #include "vesc_uart.h" 28 | }; 29 | 30 | 31 | void update_strip_colors_forward(void) { 32 | uint32_t current_tacho_value; 33 | uint32_t pallete_travel; 34 | current_tacho_value = bldc_get_tachometer_value(); 35 | pallete_travel = current_tacho_value / WHEEL_SIZE_RATIO; 36 | for (uint8_t i; i < LED_COUNT; i++) { 37 | led_strip_colors[i] = get_pallete_color(pallete_travel + i); 38 | } 39 | } 40 | 41 | 42 | void update_strip_colors_reverse(void) { 43 | uint32_t current_tacho_value; 44 | uint32_t pallete_travel; 45 | current_tacho_value = bldc_get_tachometer_value(); 46 | pallete_travel = current_tacho_value / WHEEL_SIZE_RATIO; 47 | for (uint8_t i; i < LED_COUNT; i++) { 48 | led_strip_colors[i] = get_pallete_color(pallete_travel - i); 49 | } 50 | } 51 | 52 | 53 | void update_strip_colors(void) { 54 | if (STRIP_DIRECTION == 1) 55 | update_strip_colors_forward(); 56 | else 57 | update_strip_colors_reverse(); 58 | update_strip(); 59 | } 60 | -------------------------------------------------------------------------------- /lib/vesc_standby_lights/cie1931.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | // CIE1931 correction table 20 | // Automatically generated 21 | 22 | const unsigned char cie[256] = { 23 | 0, 0, 0, 0, 0, 1, 1, 1, 1, 1, 24 | 1, 1, 1, 1, 2, 2, 2, 2, 2, 2, 25 | 2, 2, 2, 3, 3, 3, 3, 3, 3, 3, 26 | 3, 4, 4, 4, 4, 4, 4, 5, 5, 5, 27 | 5, 5, 6, 6, 6, 6, 6, 7, 7, 7, 28 | 7, 8, 8, 8, 8, 9, 9, 9, 10, 10, 29 | 10, 10, 11, 11, 11, 12, 12, 12, 13, 13, 30 | 13, 14, 14, 15, 15, 15, 16, 16, 17, 17, 31 | 17, 18, 18, 19, 19, 20, 20, 21, 21, 22, 32 | 22, 23, 23, 24, 24, 25, 25, 26, 26, 27, 33 | 28, 28, 29, 29, 30, 31, 31, 32, 32, 33, 34 | 34, 34, 35, 36, 37, 37, 38, 39, 39, 40, 35 | 41, 42, 43, 43, 44, 45, 46, 47, 47, 48, 36 | 49, 50, 51, 52, 53, 54, 54, 55, 56, 57, 37 | 58, 59, 60, 61, 62, 63, 64, 65, 66, 67, 38 | 68, 70, 71, 72, 73, 74, 75, 76, 77, 79, 39 | 80, 81, 82, 83, 85, 86, 87, 88, 90, 91, 40 | 92, 94, 95, 96, 98, 99, 100, 102, 103, 105, 41 | 106, 108, 109, 110, 112, 113, 115, 116, 118, 120, 42 | 121, 123, 124, 126, 128, 129, 131, 132, 134, 136, 43 | 138, 139, 141, 143, 145, 146, 148, 150, 152, 154, 44 | 155, 157, 159, 161, 163, 165, 167, 169, 171, 173, 45 | 175, 177, 179, 181, 183, 185, 187, 189, 191, 193, 46 | 196, 198, 200, 202, 204, 207, 209, 211, 214, 216, 47 | 218, 220, 223, 225, 228, 230, 232, 235, 237, 240, 48 | 242, 245, 247, 250, 252, 255, 49 | }; 50 | -------------------------------------------------------------------------------- /lib/bldc_uart/buffer.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | /* 19 | * buffer.h 20 | * 21 | * Created on: 13 maj 2013 22 | * Author: benjamin 23 | */ 24 | 25 | #ifndef BUFFER_H_ 26 | #define BUFFER_H_ 27 | 28 | #include 29 | 30 | void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index); 31 | void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index); 32 | void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index); 33 | void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index); 34 | void buffer_append_int64(uint8_t* buffer, int64_t number, int32_t *index); 35 | void buffer_append_uint64(uint8_t* buffer, uint64_t number, int32_t *index); 36 | void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index); 37 | void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index); 38 | void buffer_append_double64(uint8_t* buffer, double number, double scale, int32_t *index); 39 | void buffer_append_float32_auto(uint8_t* buffer, float number, int32_t *index); 40 | int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index); 41 | uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index); 42 | int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index); 43 | uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index); 44 | int64_t buffer_get_int64(const uint8_t *buffer, int32_t *index); 45 | uint64_t buffer_get_uint64(const uint8_t *buffer, int32_t *index); 46 | float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index); 47 | float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index); 48 | double buffer_get_double64(const uint8_t *buffer, double scale, int32_t *index); 49 | float buffer_get_float32_auto(const uint8_t *buffer, int32_t *index); 50 | 51 | #endif /* BUFFER_H_ */ 52 | -------------------------------------------------------------------------------- /lib/bldc_uart/bldc_interface_uart.c: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2015 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | /* 19 | * bldc_interface_uart.c 20 | * 21 | * Created on: 9 okt 2015 22 | * Author: benjamin 23 | */ 24 | 25 | #include "bldc_interface_uart.h" 26 | // #include "ch.h" 27 | // #include "hal.h" 28 | #include "bldc_interface.h" 29 | 30 | // Settings 31 | #define PACKET_HANDLER 0 32 | 33 | // Private functions 34 | static void process_packet(unsigned char *data, unsigned int len); 35 | static void send_packet_bldc_interface(unsigned char *data, unsigned int len); 36 | 37 | /** 38 | * Initialize the UART BLDC interface and provide a function to be used for 39 | * sending packets. 40 | * 41 | * @param func 42 | * Function provided for sending packets. 43 | */ 44 | void bldc_interface_uart_init(void(*func)(unsigned char *data, unsigned int len)) { 45 | // Initialize packet handler 46 | packet_init(func, process_packet, PACKET_HANDLER); 47 | 48 | // Initialize the bldc interface and provide a send function 49 | bldc_interface_init(send_packet_bldc_interface); 50 | } 51 | 52 | /** 53 | * Process one byte received on the UART. Once a full packet is received the 54 | * corresponding callback will be called by bldc_interface. 55 | * 56 | * @param b 57 | * The byte received on the UART to process. 58 | */ 59 | void bldc_interface_uart_process_byte(unsigned char b) { 60 | packet_process_byte(b, PACKET_HANDLER); 61 | } 62 | 63 | /** 64 | * Call this function at around 1 khz to reset the state of the packet 65 | * interface after a timeout in case data is lost. 66 | */ 67 | void bldc_interface_uart_run_timer(void) { 68 | packet_timerfunc(); 69 | } 70 | 71 | /** 72 | * Callback for the packet handled for when a whole packet is received, 73 | * assembled and checked. 74 | * 75 | * @param data 76 | * Data array pointer 77 | * @param len 78 | * Data array length 79 | */ 80 | static void process_packet(unsigned char *data, unsigned int len) { 81 | // Let bldc_interface process the packet. 82 | bldc_interface_process_packet(data, len); 83 | } 84 | 85 | /** 86 | * Callback that bldc_interface uses to send packets. 87 | * 88 | * @param data 89 | * Data array pointer 90 | * @param len 91 | * Data array length 92 | */ 93 | static void send_packet_bldc_interface(unsigned char *data, unsigned int len) { 94 | // Pass the packet to the packet handler to add checksum, length, start and stop bytes. 95 | packet_send_packet(data, len, PACKET_HANDLER); 96 | } 97 | -------------------------------------------------------------------------------- /lib/bldc_uart/crc.c: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016 Benjamin Vedder benjamin@vedder.se 3 | 4 | This file is part of the VESC firmware. 5 | 6 | The VESC firmware is free software: you can redistribute it and/or modify 7 | it under the terms of the GNU General Public License as published by 8 | the Free Software Foundation, either version 3 of the License, or 9 | (at your option) any later version. 10 | 11 | The VESC firmware is distributed in the hope that it will be useful, 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | GNU General Public License for more details. 15 | 16 | You should have received a copy of the GNU General Public License 17 | along with this program. If not, see . 18 | */ 19 | 20 | #include "crc.h" 21 | 22 | // CRC Table 23 | const unsigned short crc16_tab[] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084, 24 | 0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad, 25 | 0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7, 26 | 0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de, 27 | 0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a, 28 | 0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672, 29 | 0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719, 30 | 0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7, 31 | 0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948, 32 | 0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50, 33 | 0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b, 34 | 0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41, 35 | 0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97, 36 | 0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe, 37 | 0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca, 38 | 0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3, 39 | 0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d, 40 | 0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214, 41 | 0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c, 42 | 0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405, 43 | 0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3, 44 | 0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d, 45 | 0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806, 46 | 0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e, 47 | 0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1, 48 | 0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b, 49 | 0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0, 50 | 0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8, 51 | 0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 }; 52 | 53 | unsigned short crc16(unsigned char *buf, unsigned int len) { 54 | unsigned int i; 55 | unsigned short cksum = 0; 56 | for (i = 0; i < len; i++) { 57 | cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8); 58 | } 59 | return cksum; 60 | } 61 | -------------------------------------------------------------------------------- /README.md: -------------------------------------------------------------------------------- 1 | # Synchronized Lighting for VESC # 2 | 3 | * The idea is to lightup the underbody of a skateboard in accordance with the movement - for example, like you skating the rainbow ;) 4 | 5 | * You can choose from existing options and and also create your own lighting color palletes. 6 | 7 | * While standby - "breathing lights" mode enabed. 8 | 9 | **click to watch video** 10 | [![Better to see once than hear a hundred times](https://img.youtube.com/vi/jkwX-VA8xU0/hqdefault.jpg)](https://youtu.be/jkwX-VA8xU0) 11 | 12 | 13 | ## This project is easy to repeat - all you need is: 14 | 15 | * [Arduino Nano](https://aliexpress.com/item/Nano-V3-ATmega328-CH340G-Micro-USB-Pin-headers-NOT-soldered-Compatible-for-Arduino-Nano-V3-0/32664577152.html) - brains for project 16 | 17 | * [APA102](https://aliexpress.com/item/1m-5m-APA102-Smart-LED-Pixel-Strip-30-60-144-LEDs-Pixels-m-IP30-IP65-IP67/32780224340.html) - led strip 18 | 19 | * [LM2596HVS](https://aliexpress.com/item/DC-DC-Converter-Adjustable-Power-Supply-DC-DC-Step-Down-3A-LM2596HVS-LM2596HV-DC-Step-Down/32485142548.html) - DC-DC step down converter 20 | 21 | **don't forget to set stepdown converter to +5volts** 22 | ![connection diagram](synchronized_lighting.jpg) 23 | 24 | 25 | ## Tuning your VESC Synchronized Lighting 26 | 27 | 1. Set strip length(led num) and strip brightness(1-31 max) in **"lib/led_strip_apa102/led_strip_apa102.h"** file: 28 | ``` 29 | #define LED_COUNT 42 30 | #define LED_STRIP_BRIGHTNESS 31 31 | ``` 32 | 33 | 2. Tune "WHEEL_SIZE_RATIO" constant in **"main.cpp"** for velocity of color pallete change 34 | ``` 35 | const uint8_t WHEEL_SIZE_RATIO = 20; 36 | ``` 37 | 38 | 3. Also you can tune "STANDBY_TIMEOUT" constant in order to enable standby lighting mode 39 | ``` 40 | const uint16_t STANDBY_TIMEOUT = 3000; 41 | ``` 42 | 43 | 4. Select **"PPM and UART"** in **"APP setting"** of **"VESC tool"**. 44 | 45 | 5. You are ready to go! 46 | 47 | 6. You can create your own color palletes and set it up in **"lib/color_palletes/color_palletes.h"** file. 48 | 49 | **CURRENT_PALLETE_WIDTH** must be equal to pallete elements, for example, if you want to create new pallete with 3 elements: 50 | ``` 51 | const hsv_color pallete_name[3] PROGMEM = { 0, 240, 0 }; 52 | ``` 53 | or 54 | ``` 55 | const hsv_color another_pallete_name[6] PROGMEM = { 0, 240, 0, 240, 0, 240, }; 56 | ``` 57 | so **CURRENT_PALLETE_WIDTH** must be equal to number in **[ ]** brackets and count of values in **{ }** brackets. 58 | 59 | 7. If you want to change direction of color movement tune "STRIP_DIRECTION" constant in **"main.cpp"**. 60 | 61 | 62 | ## To compile this project in Arduino IDE: 63 | 64 | 1. Create new folder for this project. For example name it **synchronized_lighting**. 65 | 66 | 2. Copy main.cpp to this folder. 67 | 68 | 3. Rename **main.cpp** to **synchronized_lighting.ino** 69 | 70 | 4. Copy all files from **lib** folder and subfolders to your newly created directory **synchronized_lighting** folder. 71 | 72 | 5. Open Arduino IDE and install **FastGPIO** and **APA102** libraries. 73 | 74 | 6. Compile! 75 | 76 | 7. **Power down or even disconnect Arduino from your VESC when uploading new firmware.** 77 | 78 | 79 | ### If you use this project and like it - Please Donate 80 | 81 | [![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donateCC_LG.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_s-xclick&hosted_button_id=LHTUV26X68QS6) 82 | 83 | -------------------------------------------------------------------------------- /lib/vesc_standby_lights/breathing_lights.cpp: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include 20 | #include "breathing_lights.h" 21 | #include "led_strip_apa102.h" 22 | #include "generate_random_hue.h" 23 | #include "hsv_to_rgb.h" 24 | #include "cie1931.h" 25 | 26 | extern "C" { 27 | #include "vesc_uart.h" 28 | }; 29 | 30 | uint32_t previous_tacho_value = 0; 31 | uint32_t previous_millis = 0; 32 | uint8_t fadeout_flag = 0; 33 | uint8_t standby_flag = 0; 34 | 35 | 36 | static bool vesc_standby_tacho(void) { 37 | bldc_get_values(); 38 | if (previous_tacho_value == bldc_get_tachometer_value()) return true; 39 | return false; 40 | } 41 | 42 | static bool vesc_standby_timeout(uint16_t standby_timeout) { 43 | if (millis() - previous_millis > standby_timeout) return true; 44 | return false; 45 | } 46 | 47 | 48 | static void fadeout(void) { 49 | fadeout_flag = 1; 50 | rgb_color rgb; 51 | for (uint8_t i = 255; i > 00; i--) { 52 | for (uint8_t z = 0; z < LED_COUNT; z++) { 53 | if (led_strip_colors[z].red > 1) led_strip_colors[z].red -= 1; 54 | if (led_strip_colors[z].green > 1) led_strip_colors[z].green -= 1; 55 | if (led_strip_colors[z].blue > 1) led_strip_colors[z].blue -= 1; 56 | } 57 | if (!vesc_standby_tacho()) return; 58 | update_strip(); 59 | } 60 | } 61 | 62 | 63 | bool vesc_standby(void) { 64 | if (vesc_standby_tacho()) { 65 | if (vesc_standby_timeout(STANDBY_TIMEOUT)) { return true; } 66 | return false; 67 | } 68 | else { 69 | previous_tacho_value = bldc_get_tachometer_value(); 70 | previous_millis = millis(); 71 | fadeout_flag = 0; 72 | return false; 73 | } 74 | } 75 | 76 | 77 | void vesc_standby_lights(void) { 78 | if (fadeout_flag == 0) 79 | fadeout(); 80 | 81 | if (!vesc_standby_tacho()) return; 82 | 83 | rgb_color current_rgb_color; 84 | uint16_t random_hue = generate_random_hue(); 85 | current_rgb_color = hsvToRgb(random_hue, 255, 255); 86 | 87 | for (uint8_t i = 0; i < 255; i++) { 88 | current_rgb_color = hsvToRgb(random_hue, 255, cie[i]); 89 | for (uint8_t z = 0; z < LED_COUNT; z++) { led_strip_colors[z] = current_rgb_color; } 90 | update_strip(); 91 | } 92 | if (!vesc_standby_tacho()) return; 93 | 94 | for (uint8_t i = 255; i > 40; i--) { 95 | current_rgb_color = hsvToRgb(random_hue, 255, cie[i]); 96 | for (uint8_t z = 0; z < LED_COUNT; z++) { led_strip_colors[z] = current_rgb_color; } 97 | update_strip(); 98 | if (!vesc_standby_tacho()) return; 99 | } 100 | 101 | } 102 | -------------------------------------------------------------------------------- /lib/bldc_uart/bldc_interface.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | #ifndef BLDC_INTERFACE_H_ 19 | #define BLDC_INTERFACE_H_ 20 | 21 | #include "datatypes.h" 22 | 23 | // interface functions 24 | void bldc_interface_init(void(*func)(unsigned char *data, unsigned int len)); 25 | void bldc_interface_set_forward_can(int32_t vesc_id); 26 | void bldc_interface_set_forward_func(void(*func)(unsigned char *data, unsigned int len)); 27 | void bldc_interface_send_packet(unsigned char *data, unsigned int len); 28 | void bldc_interface_process_packet(unsigned char *data, unsigned int len); 29 | 30 | // Function pointer setters 31 | void bldc_interface_set_rx_value_func(void(*func)(mc_values *values)); 32 | // void bldc_interface_set_rx_printf_func(void(*func)(char *str)); 33 | // void bldc_interface_set_rx_fw_func(void(*func)(int major, int minor)); 34 | // void bldc_interface_set_rx_rotor_pos_func(void(*func)(float pos)); 35 | // void bldc_interface_set_rx_mcconf_func(void(*func)(mc_configuration *conf)); 36 | // void bldc_interface_set_rx_appconf_func(void(*func)(app_configuration *conf)); 37 | // void bldc_interface_set_rx_detect_func(void(*func)(float cycle_int_limit, float coupling_k, 38 | // const signed char *hall_table, signed char hall_res)); 39 | // void bldc_interface_set_rx_dec_ppm_func(void(*func)(float val, float ms)); 40 | // void bldc_interface_set_rx_dec_adc_func(void(*func)(float val, float voltage)); 41 | // void bldc_interface_set_rx_dec_chuk_func(void(*func)(float val)); 42 | // void bldc_interface_set_rx_mcconf_received_func(void(*func)(void)); 43 | // void bldc_interface_set_rx_appconf_received_func(void(*func)(void)); 44 | 45 | // Setters 46 | // void bldc_interface_terminal_cmd(char* cmd); 47 | // void bldc_interface_set_duty_cycle(float dutyCycle); 48 | void bldc_interface_set_current(float current); 49 | // void bldc_interface_set_current_brake(float current); 50 | void bldc_interface_set_rpm(int rpm); 51 | // void bldc_interface_set_pos(float pos); 52 | // void bldc_interface_set_servo_pos(float pos); 53 | // void bldc_interface_set_mcconf(const mc_configuration *mcconf); 54 | // void bldc_interface_set_appconf(const app_configuration *appconf); 55 | 56 | // Getters 57 | // void bldc_interface_get_fw_version(void); 58 | void bldc_interface_get_values(void); 59 | // void bldc_interface_get_mcconf(void); 60 | // void bldc_interface_get_appconf(void); 61 | // void bldc_interface_get_decoded_ppm(void); 62 | // void bldc_interface_get_decoded_adc(void); 63 | // void bldc_interface_get_decoded_chuk(void); 64 | 65 | // Other functions 66 | // void bldc_interface_detect_motor_param(float current, float min_rpm, float low_duty); 67 | void bldc_interface_reboot(void); 68 | void bldc_interface_send_alive(void); 69 | 70 | // Helpers 71 | // const char* bldc_interface_fault_to_string(mc_fault_code fault); 72 | 73 | #endif /* BLDC_INTERFACE_H_ */ 74 | -------------------------------------------------------------------------------- /lib/bldc_uart/vesc_uart.c: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #include "vesc_uart.h" 20 | #include "arduino_uart_wrapper.h" 21 | 22 | // extern "C" { 23 | // Include libraries copied from VESC 24 | #include "datatypes.h" 25 | #include "buffer.h" 26 | #include "crc.h" 27 | #include "bldc_interface.h" 28 | /* bldc_interface.c and bldc_interface.h - These files can assemble the payload for all the commands 29 | that the VESC supports. They can also interpret packets from the VESC and extract 30 | the data from them. Notice that only the payload is handled in these files, 31 | not the start, stop, length and checksum bytes since these are different for the CAN interface. 32 | */ 33 | #include "bldc_interface_uart.h" 34 | /* bldc_interface_uart.c and bldc_interface_uart.h - Connects packet and bldc_interface to provide a clean 35 | UART interface. This is where the user has to make the connection to the UART interface for the platform of choice. 36 | */ 37 | // }; 38 | 39 | // define pointer "mc_values_ptr" of type mc_values 40 | mc_values *mc_values_ptr; 41 | 42 | /* NOTE: 43 | bldc_interface.c - changed "send_buffer[]" size 44 | packet.h changed "PACKET_MAX_PL_LEN" size and "PACKET_HANDLERS" quantity 45 | bldc_interface_uart.c - commented #include "ch.h" and #include "hal.h" 46 | */ 47 | 48 | /* - datatypes.h - The data structures used by the VESC. 49 | - crc.c and crc.h - For calculating the CRC checksum 50 | - buffer.c and buffer.h - Helper functions for for going between C types and byte arrays. These are used by the bldc_interface files 51 | - packet.c and packet.h - For assembling the packets for the VESC with start, stop, length and checksum bytes. These 52 | files also have a state machine where one byte received from the VESC can be added at a time 53 | to assemble a packet and check the checksum correctness. 54 | - comm_uart.c - The connection between these files and the UART port is done in the file comm_uart.c, 55 | which is the file that you have to implement if you want to port this to a different platform. 56 | */ 57 | 58 | 59 | // The bldc_interface_uart files have three functions that have to be used: 60 | // --bldc_interface_uart_init 61 | // --bldc_interface_uart_process_byte - you could call bldc_interface_uart_process_byte directly from an interrupt handler every time you receive a byte. 62 | // --bldc_interface_uart_run_timer 63 | 64 | 65 | 66 | //user implementation of function that will send the bytes in *data with length len on the UART 67 | static void send_packet(unsigned char *data, unsigned int len) { 68 | serial_write(data, len); 69 | } 70 | 71 | 72 | // Callback function for the received data from vesc 73 | static void bldc_val_received(mc_values *val) { 74 | mc_values_ptr = val; 75 | } 76 | 77 | 78 | void comm_uart_init() { 79 | serial_begin(115200); 80 | // serial_print("Debug console started!"); 81 | // Initialize the bldc interface and provide send function 82 | bldc_interface_uart_init(send_packet); 83 | // Give bldc_interface a callback function to call for handling the data when values are received. 84 | bldc_interface_set_rx_value_func(bldc_val_received); 85 | } 86 | 87 | 88 | 89 | /* Custom function to get actual values from VESC, based on Benjamin Vedder tutorial. 90 | Use values in bldc_val_received() callback function. */ 91 | void bldc_get_values(void) { 92 | /* Every time you want to read the realtime data you call the corresponding getter. 93 | This will send the get command to the VESC and return. When the data is received 94 | the callback will be called from the UART interface. */ 95 | bldc_interface_get_values(); 96 | 97 | //delay to give some time vesc to answer 98 | do_delay(10); 99 | 100 | while (serial_available()) { 101 | /* Call bldc_interface_uart_process_byte() function every time a byte is received on the UART 102 | with the received byte. It will run the state machine in the packet assembler and the callbacks in 103 | bldc interface will be called when the packets are ready. 104 | You could call bldc_interface_uart_process_byte directly from an interrupt handler every time you receive a byte. */ 105 | bldc_interface_uart_process_byte(serial_read()); 106 | } 107 | 108 | bldc_interface_uart_run_timer(); 109 | //Call this function every millisecond to reset the packet state machine after a timeout in case data is lost. 110 | } 111 | 112 | 113 | /* get current VESC tachometer value */ 114 | long unsigned int bldc_get_tachometer_value(void) { 115 | return mc_values_ptr->tachometer; 116 | } 117 | 118 | 119 | /* Communicating is a uint8_t byte stream. 120 | First byte: "0x02" for packet length < 256 byte, second byte is for the packet length. 121 | Second byte: "0x03" for > 256 byte packet length, and next 2 bytes for the packet length. 122 | The follwing 2 bytes after the packet are the checksum. (see crc.h) 123 | The byte stream it terminated with a 0x03. 124 | */ 125 | -------------------------------------------------------------------------------- /lib/bldc_uart/packet.c: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016 Benjamin Vedder benjamin@vedder.se 3 | 4 | This file is part of the VESC firmware. 5 | 6 | The VESC firmware is free software: you can redistribute it and/or modify 7 | it under the terms of the GNU General Public License as published by 8 | the Free Software Foundation, either version 3 of the License, or 9 | (at your option) any later version. 10 | 11 | The VESC firmware is distributed in the hope that it will be useful, 12 | but WITHOUT ANY WARRANTY; without even the implied warranty of 13 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 14 | GNU General Public License for more details. 15 | 16 | You should have received a copy of the GNU General Public License 17 | along with this program. If not, see . 18 | */ 19 | 20 | #include 21 | #include "packet.h" 22 | #include "crc.h" 23 | 24 | typedef struct { 25 | volatile unsigned char rx_state; 26 | volatile unsigned short rx_timeout; 27 | void(*send_func)(unsigned char *data, unsigned int len); 28 | void(*process_func)(unsigned char *data, unsigned int len); 29 | unsigned int payload_length; 30 | unsigned char rx_buffer[PACKET_MAX_PL_LEN]; 31 | unsigned char tx_buffer[PACKET_MAX_PL_LEN + 6]; 32 | unsigned int rx_data_ptr; 33 | unsigned char crc_low; 34 | unsigned char crc_high; 35 | } PACKET_STATE_t; 36 | 37 | static PACKET_STATE_t handler_states[PACKET_HANDLERS]; 38 | 39 | void packet_init(void (*s_func)(unsigned char *data, unsigned int len), 40 | void (*p_func)(unsigned char *data, unsigned int len), int handler_num) { 41 | handler_states[handler_num].send_func = s_func; 42 | handler_states[handler_num].process_func = p_func; 43 | } 44 | 45 | void packet_send_packet(unsigned char *data, unsigned int len, int handler_num) { 46 | if (len > PACKET_MAX_PL_LEN) { 47 | return; 48 | } 49 | 50 | int b_ind = 0; 51 | 52 | if (len <= 256) { 53 | handler_states[handler_num].tx_buffer[b_ind++] = 2; 54 | handler_states[handler_num].tx_buffer[b_ind++] = len; 55 | } else { 56 | handler_states[handler_num].tx_buffer[b_ind++] = 3; 57 | handler_states[handler_num].tx_buffer[b_ind++] = len >> 8; 58 | handler_states[handler_num].tx_buffer[b_ind++] = len & 0xFF; 59 | } 60 | 61 | memcpy(handler_states[handler_num].tx_buffer + b_ind, data, len); 62 | b_ind += len; 63 | 64 | unsigned short crc = crc16(data, len); 65 | handler_states[handler_num].tx_buffer[b_ind++] = (uint8_t)(crc >> 8); 66 | handler_states[handler_num].tx_buffer[b_ind++] = (uint8_t)(crc & 0xFF); 67 | handler_states[handler_num].tx_buffer[b_ind++] = 3; 68 | 69 | if (handler_states[handler_num].send_func) { 70 | handler_states[handler_num].send_func(handler_states[handler_num].tx_buffer, b_ind); 71 | } 72 | } 73 | 74 | /** 75 | * Call this function every millisecond. 76 | */ 77 | void packet_timerfunc(void) { 78 | for (int i = 0;i < PACKET_HANDLERS;i++) { 79 | if (handler_states[i].rx_timeout) { 80 | handler_states[i].rx_timeout--; 81 | } else { 82 | handler_states[i].rx_state = 0; 83 | } 84 | } 85 | } 86 | 87 | void packet_process_byte(uint8_t rx_data, int handler_num) { 88 | switch (handler_states[handler_num].rx_state) { 89 | case 0: 90 | if (rx_data == 2) { 91 | // 1 byte PL len 92 | handler_states[handler_num].rx_state += 2; 93 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 94 | handler_states[handler_num].rx_data_ptr = 0; 95 | handler_states[handler_num].payload_length = 0; 96 | } else if (rx_data == 3) { 97 | // 2 byte PL len 98 | handler_states[handler_num].rx_state++; 99 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 100 | handler_states[handler_num].rx_data_ptr = 0; 101 | handler_states[handler_num].payload_length = 0; 102 | } else { 103 | handler_states[handler_num].rx_state = 0; 104 | } 105 | break; 106 | 107 | case 1: 108 | handler_states[handler_num].payload_length = (unsigned int)rx_data << 8; 109 | handler_states[handler_num].rx_state++; 110 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 111 | break; 112 | 113 | case 2: 114 | handler_states[handler_num].payload_length |= (unsigned int)rx_data; 115 | if (handler_states[handler_num].payload_length > 0 && 116 | handler_states[handler_num].payload_length <= PACKET_MAX_PL_LEN) { 117 | handler_states[handler_num].rx_state++; 118 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 119 | } else { 120 | handler_states[handler_num].rx_state = 0; 121 | } 122 | break; 123 | 124 | case 3: 125 | handler_states[handler_num].rx_buffer[handler_states[handler_num].rx_data_ptr++] = rx_data; 126 | if (handler_states[handler_num].rx_data_ptr == handler_states[handler_num].payload_length) { 127 | handler_states[handler_num].rx_state++; 128 | } 129 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 130 | break; 131 | 132 | case 4: 133 | handler_states[handler_num].crc_high = rx_data; 134 | handler_states[handler_num].rx_state++; 135 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 136 | break; 137 | 138 | case 5: 139 | handler_states[handler_num].crc_low = rx_data; 140 | handler_states[handler_num].rx_state++; 141 | handler_states[handler_num].rx_timeout = PACKET_RX_TIMEOUT; 142 | break; 143 | 144 | case 6: 145 | if (rx_data == 3) { 146 | if (crc16(handler_states[handler_num].rx_buffer, handler_states[handler_num].payload_length) 147 | == ((unsigned short)handler_states[handler_num].crc_high << 8 148 | | (unsigned short)handler_states[handler_num].crc_low)) { 149 | // Packet received! 150 | if (handler_states[handler_num].process_func) { 151 | handler_states[handler_num].process_func(handler_states[handler_num].rx_buffer, 152 | handler_states[handler_num].payload_length); 153 | } 154 | } 155 | } 156 | handler_states[handler_num].rx_state = 0; 157 | break; 158 | 159 | default: 160 | handler_states[handler_num].rx_state = 0; 161 | break; 162 | } 163 | } 164 | -------------------------------------------------------------------------------- /lib/bldc_uart/buffer.c: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | /* 19 | * buffer.c 20 | * 21 | * Created on: 13 maj 2013 22 | * Author: benjamin 23 | */ 24 | 25 | #include "buffer.h" 26 | #include 27 | #include 28 | 29 | void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index) { 30 | buffer[(*index)++] = number >> 8; 31 | buffer[(*index)++] = number; 32 | } 33 | 34 | void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index) { 35 | buffer[(*index)++] = number >> 8; 36 | buffer[(*index)++] = number; 37 | } 38 | 39 | void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index) { 40 | buffer[(*index)++] = number >> 24; 41 | buffer[(*index)++] = number >> 16; 42 | buffer[(*index)++] = number >> 8; 43 | buffer[(*index)++] = number; 44 | } 45 | 46 | void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index) { 47 | buffer[(*index)++] = number >> 24; 48 | buffer[(*index)++] = number >> 16; 49 | buffer[(*index)++] = number >> 8; 50 | buffer[(*index)++] = number; 51 | } 52 | 53 | void buffer_append_int64(uint8_t* buffer, int64_t number, int32_t *index) { 54 | buffer[(*index)++] = number >> 56; 55 | buffer[(*index)++] = number >> 48; 56 | buffer[(*index)++] = number >> 40; 57 | buffer[(*index)++] = number >> 32; 58 | buffer[(*index)++] = number >> 24; 59 | buffer[(*index)++] = number >> 16; 60 | buffer[(*index)++] = number >> 8; 61 | buffer[(*index)++] = number; 62 | } 63 | 64 | void buffer_append_uint64(uint8_t* buffer, uint64_t number, int32_t *index) { 65 | buffer[(*index)++] = number >> 56; 66 | buffer[(*index)++] = number >> 48; 67 | buffer[(*index)++] = number >> 40; 68 | buffer[(*index)++] = number >> 32; 69 | buffer[(*index)++] = number >> 24; 70 | buffer[(*index)++] = number >> 16; 71 | buffer[(*index)++] = number >> 8; 72 | buffer[(*index)++] = number; 73 | } 74 | 75 | void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index) { 76 | buffer_append_int16(buffer, (int16_t)(number * scale), index); 77 | } 78 | 79 | void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index) { 80 | buffer_append_int32(buffer, (int32_t)(number * scale), index); 81 | } 82 | 83 | void buffer_append_double64(uint8_t* buffer, double number, double scale, int32_t *index) { 84 | buffer_append_int64(buffer, (int64_t)(number * scale), index); 85 | } 86 | 87 | void buffer_append_float32_auto(uint8_t* buffer, float number, int32_t *index) { 88 | int e = 0; 89 | float sig = frexpf(number, &e); 90 | float sig_abs = fabsf(sig); 91 | uint32_t sig_i = 0; 92 | 93 | if (sig_abs >= 0.5) { 94 | sig_i = (uint32_t)((sig_abs - 0.5f) * 2.0f * 8388608.0f); 95 | e += 126; 96 | } 97 | 98 | uint32_t res = ((e & 0xFF) << 23) | (sig_i & 0x7FFFFF); 99 | if (sig < 0) { 100 | res |= 1 << 31; 101 | } 102 | 103 | buffer_append_uint32(buffer, res, index); 104 | } 105 | 106 | int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index) { 107 | int16_t res = ((uint16_t) buffer[*index]) << 8 | 108 | ((uint16_t) buffer[*index + 1]); 109 | *index += 2; 110 | return res; 111 | } 112 | 113 | uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) { 114 | uint16_t res = ((uint16_t) buffer[*index]) << 8 | 115 | ((uint16_t) buffer[*index + 1]); 116 | *index += 2; 117 | return res; 118 | } 119 | 120 | int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) { 121 | int32_t res = ((uint32_t) buffer[*index]) << 24 | 122 | ((uint32_t) buffer[*index + 1]) << 16 | 123 | ((uint32_t) buffer[*index + 2]) << 8 | 124 | ((uint32_t) buffer[*index + 3]); 125 | *index += 4; 126 | return res; 127 | } 128 | 129 | uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) { 130 | uint32_t res = ((uint32_t) buffer[*index]) << 24 | 131 | ((uint32_t) buffer[*index + 1]) << 16 | 132 | ((uint32_t) buffer[*index + 2]) << 8 | 133 | ((uint32_t) buffer[*index + 3]); 134 | *index += 4; 135 | return res; 136 | } 137 | 138 | int64_t buffer_get_int64(const uint8_t *buffer, int32_t *index) { 139 | int64_t res = ((uint64_t) buffer[*index]) << 56 | 140 | ((uint64_t) buffer[*index + 1]) << 48 | 141 | ((uint64_t) buffer[*index + 2]) << 40 | 142 | ((uint64_t) buffer[*index + 3]) << 32 | 143 | ((uint64_t) buffer[*index + 4]) << 24 | 144 | ((uint64_t) buffer[*index + 5]) << 16 | 145 | ((uint64_t) buffer[*index + 6]) << 8 | 146 | ((uint64_t) buffer[*index + 7]); 147 | *index += 8; 148 | return res; 149 | } 150 | 151 | uint64_t buffer_get_uint64(const uint8_t *buffer, int32_t *index) { 152 | uint64_t res = ((uint64_t) buffer[*index]) << 56 | 153 | ((uint64_t) buffer[*index + 1]) << 48 | 154 | ((uint64_t) buffer[*index + 2]) << 40 | 155 | ((uint64_t) buffer[*index + 3]) << 32 | 156 | ((uint64_t) buffer[*index + 4]) << 24 | 157 | ((uint64_t) buffer[*index + 5]) << 16 | 158 | ((uint64_t) buffer[*index + 6]) << 8 | 159 | ((uint64_t) buffer[*index + 7]); 160 | *index += 8; 161 | return res; 162 | } 163 | 164 | float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index) { 165 | return (float)buffer_get_int16(buffer, index) / scale; 166 | } 167 | 168 | float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index) { 169 | return (float)buffer_get_int32(buffer, index) / scale; 170 | } 171 | 172 | double buffer_get_double64(const uint8_t *buffer, double scale, int32_t *index) { 173 | return (double)buffer_get_int64(buffer, index) / scale; 174 | } 175 | 176 | float buffer_get_float32_auto(const uint8_t *buffer, int32_t *index) { 177 | uint32_t res = buffer_get_uint32(buffer, index); 178 | 179 | int e = (res >> 23) & 0xFF; 180 | uint32_t sig_i = res & 0x7FFFFF; 181 | bool neg = res & (1 << 31); 182 | 183 | float sig = 0.0; 184 | if (e != 0 || sig_i != 0) { 185 | sig = (float)sig_i / (8388608.0 * 2.0) + 0.5; 186 | e -= 126; 187 | } 188 | 189 | if (neg) { 190 | sig = -sig; 191 | } 192 | 193 | return ldexpf(sig, e); 194 | } 195 | -------------------------------------------------------------------------------- /lib/color_palletes/color_palletes.h: -------------------------------------------------------------------------------- 1 | /* 2 | This is Synchronized Lighting project for VESC controller 3 | Copyright (C) 2018 Maksim Reshetnikov ju_mpe_r@electric-skates.ru 4 | 5 | This program is free software: you can redistribute it and/or modify 6 | it under the terms of the GNU General Public License as published by 7 | the Free Software Foundation, either version 3 of the License, or 8 | (at your option) any later version. 9 | 10 | This program is distributed in the hope that it will be useful, 11 | but WITHOUT ANY WARRANTY; without even the implied warranty of 12 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 13 | GNU General Public License for more details. 14 | 15 | You should have received a copy of the GNU General Public License 16 | along with this program. If not, see . 17 | */ 18 | 19 | #ifndef COLOR_PALLETES_H 20 | #define COLOR_PALLETES_H 21 | 22 | #include 23 | #include 24 | #include "led_strip_apa102.h" 25 | 26 | 27 | /* set your pallete name here */ 28 | #define CURRENT_PALLETE test_pallete 29 | /* set width of your pallete here */ 30 | static const uint16_t CURRENT_PALLETE_WIDTH = 30; 31 | 32 | 33 | void write_custom_color_pallete(void); 34 | rgb_color get_pallete_color(uint32_t position); 35 | 36 | 37 | /* hue 0-360, saturation 0-255, value 0-255 */ 38 | typedef struct { 39 | uint16_t hue; 40 | // uint8_t saturation; 41 | // uint8_t value; 42 | } hsv_color; 43 | 44 | 45 | 46 | 47 | /* -== COLOR PALLETES PART ==- */ 48 | /* Pallete values are Hue value of HSV color space (0 - 360) for each led */ 49 | 50 | /* TEST PALLETE */ 51 | const hsv_color test_pallete[30] PROGMEM = { 52 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 53 | 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 54 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 55 | }; 56 | 57 | /* POLICE PALLETE */ 58 | const hsv_color police_pallete[80] PROGMEM = { 59 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 60 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 61 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 62 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 63 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 64 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 65 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 66 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 67 | }; 68 | 69 | /* akhlut POLICE PALLETE */ 70 | const hsv_color akhlut_police_pallete[460] PROGMEM = { 71 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 72 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 73 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 74 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 75 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 76 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 77 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 78 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 79 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 80 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 81 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 82 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 83 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 84 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 85 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 86 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 87 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 88 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 89 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 90 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 91 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 92 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 93 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 94 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 95 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 96 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 97 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 98 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 99 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 100 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 101 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 102 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 103 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 104 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 105 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 106 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 107 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 108 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 109 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 110 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 111 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 112 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 113 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 114 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 115 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 116 | 240, 240, 240, 240, 240, 240, 240, 240, 240, 240, 117 | }; 118 | 119 | 120 | /* FULL HUE PALLETE */ 121 | const hsv_color full_hue[360] PROGMEM = { 122 | 0, 1, 2, 3, 4, 5, 6, 7, 8, 9, 123 | 10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 124 | 20, 21, 22, 23, 24, 25, 26, 27, 28, 29, 125 | 30, 31, 32, 33, 34, 35, 36, 37, 38, 39, 126 | 40, 41, 42, 43, 44, 45, 46, 47, 48, 49, 127 | 50, 51, 52, 53, 54, 55, 56, 57, 58, 59, 128 | 60, 61, 62, 63, 64, 65, 66, 67, 68, 69, 129 | 70, 71, 72, 73, 74, 75, 76, 77, 78, 79, 130 | 80, 81, 82, 83, 84, 85, 86, 87, 88, 89, 131 | 90, 91, 92, 93, 94, 95, 96, 97, 98, 99, 132 | 100, 101, 102, 103, 104, 105, 106, 107, 108, 109, 133 | 110, 111, 112, 113, 114, 115, 116, 117, 118, 119, 134 | 120, 121, 122, 123, 124, 125, 126, 127, 128, 129, 135 | 130, 131, 132, 133, 134, 135, 136, 137, 138, 139, 136 | 140, 141, 142, 143, 144, 145, 146, 147, 148, 149, 137 | 150, 151, 152, 153, 154, 155, 156, 157, 158, 159, 138 | 160, 161, 162, 163, 164, 165, 166, 167, 168, 169, 139 | 170, 171, 172, 173, 174, 175, 176, 177, 178, 179, 140 | 180, 181, 182, 183, 184, 185, 186, 187, 188, 189, 141 | 190, 191, 192, 193, 194, 195, 196, 197, 198, 199, 142 | 200, 201, 202, 203, 204, 205, 206, 207, 208, 209, 143 | 210, 211, 212, 213, 214, 215, 216, 217, 218, 219, 144 | 220, 221, 222, 223, 224, 225, 226, 227, 228, 229, 145 | 230, 231, 232, 233, 234, 235, 236, 237, 238, 239, 146 | 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 147 | 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 148 | 260, 261, 262, 263, 264, 265, 266, 267, 268, 269, 149 | 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 150 | 280, 281, 282, 283, 284, 285, 286, 287, 288, 289, 151 | 290, 291, 292, 293, 294, 295, 296, 297, 298, 299, 152 | 300, 301, 302, 303, 304, 305, 306, 307, 308, 309, 153 | 310, 311, 312, 313, 314, 315, 316, 317, 318, 319, 154 | 320, 321, 322, 323, 324, 325, 326, 327, 328, 329, 155 | 330, 331, 332, 333, 334, 335, 336, 337, 338, 339, 156 | 340, 341, 342, 343, 344, 345, 346, 347, 348, 349, 157 | 350, 351, 352, 353, 354, 355, 356, 357, 358, 359, 158 | }; 159 | 160 | /* RASTA PALLETE */ 161 | const hsv_color rasta_pallete[60] PROGMEM = { 162 | 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 163 | 120, 120, 120, 120, 120, 120, 120, 120, 120, 120, 164 | 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 165 | 60, 60, 60, 60, 60, 60, 60, 60, 60, 60, 166 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 167 | 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 168 | }; 169 | 170 | /* ORION PALLETE */ 171 | const hsv_color orion_pallete [80] PROGMEM = { 172 | 240, 241, 242, 243, 244, 245, 246, 247, 248, 249, 173 | 250, 251, 252, 253, 254, 255, 256, 257, 258, 259, 174 | 260, 261, 262, 263, 264, 265, 265, 267, 268, 269, 175 | 270, 271, 272, 273, 274, 275, 276, 277, 278, 279, 176 | 280, 279, 278, 277, 276, 275, 274, 273, 272, 271, 177 | 270, 269, 268, 267, 266, 265, 264, 263, 262, 261, 178 | 260, 259, 258, 257, 256, 255, 254, 253, 252, 251, 179 | 250, 249, 248, 247, 246, 245, 244, 243, 242, 241, 180 | }; 181 | 182 | #endif /* COLOR_PALLETES_H */ 183 | -------------------------------------------------------------------------------- /LICENSE: -------------------------------------------------------------------------------- 1 | GNU GENERAL PUBLIC LICENSE 2 | Version 3, 29 June 2007 3 | 4 | Copyright (C) 2007 Free Software Foundation, Inc. 5 | Everyone is permitted to copy and distribute verbatim copies 6 | of this license document, but changing it is not allowed. 7 | 8 | Preamble 9 | 10 | The GNU General Public License is a free, copyleft license for 11 | software and other kinds of works. 12 | 13 | The licenses for most software and other practical works are designed 14 | to take away your freedom to share and change the works. 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If not, see . 649 | 650 | Also add information on how to contact you by electronic and paper mail. 651 | 652 | If the program does terminal interaction, make it output a short 653 | notice like this when it starts in an interactive mode: 654 | 655 | Copyright (C) 656 | This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. 657 | This is free software, and you are welcome to redistribute it 658 | under certain conditions; type `show c' for details. 659 | 660 | The hypothetical commands `show w' and `show c' should show the appropriate 661 | parts of the General Public License. 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But first, please read 674 | . 675 | -------------------------------------------------------------------------------- /lib/bldc_uart/datatypes.h: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016-2017 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | #ifndef DATATYPES_H_ 19 | #define DATATYPES_H_ 20 | 21 | #include 22 | #include 23 | 24 | // For double precision literals 25 | #define D(x) ((double)x##L) 26 | #define D_PI D(3.14159265358979323846) 27 | 28 | // Sizes 29 | #define LOG_NAME_MAX_LEN 20 30 | 31 | // Constants 32 | #define MS_PER_DAY (24 * 60 * 60 * 1000) 33 | 34 | // CAN ID mask for DecaWave module 35 | #define CAN_MASK_DW (5 << 8) 36 | #define CAN_DW_ID_ANY 255 37 | 38 | // Orientation data 39 | // typedef struct { 40 | // float q0; 41 | // float q1; 42 | // float q2; 43 | // float q3; 44 | // float integralFBx; 45 | // float integralFBy; 46 | // float integralFBz; 47 | // float accMagP; 48 | // int initialUpdateDone; 49 | // } ATTITUDE_INFO; 50 | 51 | // Position and orientation state 52 | // typedef struct { 53 | // float px; // Meters 54 | // float py; // Meters 55 | // float pz; // Meters 56 | // float vx; // Meters / second 57 | // float vy; // Meters / second 58 | // float speed; // Meters / second 59 | // float roll; // Degrees 60 | // float pitch; // Degrees 61 | // float yaw; // Degrees 62 | // float roll_rate; // Degrees / second 63 | // float pitch_rate; // Degrees / second 64 | // float yaw_rate; // Degrees / second 65 | // float q0; 66 | // float q1; 67 | // float q2; 68 | // float q3; 69 | // 70 | // // Current gps position and time stamp 71 | // float px_gps; 72 | // float py_gps; 73 | // float pz_gps; 74 | // int32_t gps_ms; 75 | // int gps_fix_type; 76 | // float gps_last_corr_diff; 77 | // 78 | // // Previous GPS position and time stamp 79 | // float px_gps_last; 80 | // float py_gps_last; 81 | // float pz_gps_last; 82 | // int32_t gps_ms_last; 83 | // 84 | // float gps_corr_cnt; 85 | // float gps_ang_corr_x_last_gps; 86 | // float gps_ang_corr_y_last_gps; 87 | // float gps_ang_corr_x_last_car; 88 | // float gps_ang_corr_y_last_car; 89 | // float gps_ground_level; 90 | // 91 | // uint32_t gps_corr_time; 92 | // uint32_t ultra_update_time; 93 | // 94 | // // Multirotor state 95 | // float tilt_roll_err; 96 | // float tilt_pitch_err; 97 | // 98 | // float error_vx_last; 99 | // float error_vy_last; 100 | // 101 | // float vel_corr_x_int; 102 | // float vel_corr_y_int; 103 | // 104 | // float tilt_corr_x_int; 105 | // float tilt_corr_y_int; 106 | // } POS_STATE; 107 | 108 | // Autopilot map point 109 | // typedef struct { 110 | // float px; 111 | // float py; 112 | // float pz; 113 | // float speed; 114 | // int32_t time; 115 | // } ROUTE_POINT; 116 | 117 | // Position history point 118 | // typedef struct { 119 | // float px; 120 | // float py; 121 | // float pz; 122 | // float yaw; 123 | // float speed; 124 | // int32_t time; 125 | // } POS_POINT; 126 | 127 | // typedef enum { 128 | // MOTE_PACKET_FILL_RX_BUFFER = 0, 129 | // MOTE_PACKET_FILL_RX_BUFFER_LONG, 130 | // MOTE_PACKET_PROCESS_RX_BUFFER, 131 | // MOTE_PACKET_PROCESS_SHORT_BUFFER, 132 | // } MOTE_PACKET; 133 | 134 | // CAN commands 135 | // typedef enum { 136 | // CAN_PACKET_FILL_RX_BUFFER = 5, 137 | // CAN_PACKET_FILL_RX_BUFFER_LONG, 138 | // CAN_PACKET_PROCESS_RX_BUFFER, 139 | // CAN_PACKET_PROCESS_SHORT_BUFFER, 140 | // CAN_PACKET_STATUS 141 | // } CAN_PACKET_ID; 142 | 143 | // Commands 144 | // typedef enum { 145 | // // General commands 146 | // CMD_PRINTF = 0, 147 | // CMD_TERMINAL_CMD, 148 | // 149 | // // Common vehicle commands 150 | // CMD_VESC_FWD = 50, 151 | // CMD_SET_POS, 152 | // CMD_SET_POS_ACK, 153 | // CMD_SET_ENU_REF, 154 | // CMD_GET_ENU_REF, 155 | // CMD_AP_ADD_POINTS, 156 | // CMD_AP_REMOVE_LAST_POINT, 157 | // CMD_AP_CLEAR_POINTS, 158 | // CMD_AP_GET_ROUTE_PART, 159 | // CMD_AP_SET_ACTIVE, 160 | // CMD_AP_REPLACE_ROUTE, 161 | // CMD_AP_SYNC_POINT, 162 | // CMD_SEND_RTCM_USB, 163 | // CMD_SEND_NMEA_RADIO, 164 | // CMD_SET_YAW_OFFSET, 165 | // CMD_SET_YAW_OFFSET_ACK, 166 | // CMD_LOG_LINE_USB, 167 | // CMD_PLOT_INIT, 168 | // CMD_PLOT_DATA, 169 | // CMD_SET_MS_TODAY, 170 | // CMD_SET_SYSTEM_TIME, 171 | // CMD_SET_SYSTEM_TIME_ACK, 172 | // CMD_REBOOT_SYSTEM, 173 | // CMD_REBOOT_SYSTEM_ACK, 174 | // CMD_RADAR_SETUP_SET, 175 | // CMD_RADAR_SETUP_GET, 176 | // CMD_RADAR_SAMPLES, 177 | // CMD_DW_SAMPLE, 178 | // CMD_EMERGENCY_STOP, 179 | // CMD_SET_MAIN_CONFIG, 180 | // CMD_GET_MAIN_CONFIG, 181 | // CMD_GET_MAIN_CONFIG_DEFAULT, 182 | // 183 | // // Car commands 184 | // CMD_GET_STATE = 120, 185 | // CMD_RC_CONTROL, 186 | // CMD_SET_SERVO_DIRECT, 187 | // 188 | // // Multirotor commands 189 | // CMD_MR_GET_STATE = 160, 190 | // CMD_MR_RC_CONTROL, 191 | // CMD_MR_OVERRIDE_POWER, 192 | // 193 | // // Mote commands 194 | // CMD_MOTE_UBX_START_BASE = 200, 195 | // CMD_MOTE_UBX_START_BASE_ACK, 196 | // CMD_MOTE_UBX_BASE_STATUS 197 | // } CMD_PACKET; 198 | 199 | // RC control modes 200 | // typedef enum { 201 | // RC_MODE_CURRENT = 0, 202 | // RC_MODE_DUTY, 203 | // RC_MODE_PID, 204 | // RC_MODE_CURRENT_BRAKE 205 | // } RC_MODE; 206 | 207 | // typedef struct { 208 | // bool yaw_use_odometry; // Use odometry data for yaw angle correction. 209 | // float yaw_imu_gain; // Gain for yaw angle from IMU (vs odometry) 210 | // bool disable_motor; // Disable motor drive commands to make sure that the motor does not move. 211 | // bool simulate_motor; // Simulate motor movement without motor controller feedback 212 | // 213 | // float gear_ratio; 214 | // float wheel_diam; 215 | // float motor_poles; 216 | // float steering_max_angle_rad; // = arctan(axist_distance / turn_radius_at_maximum_steering_angle) 217 | // float steering_center; 218 | // float steering_range; 219 | // float steering_ramp_time; // Ramp time constant for the steering servo in seconds 220 | // float axis_distance; 221 | // } MAIN_CONFIG_CAR; 222 | 223 | // typedef struct { 224 | // // Dead reckoning 225 | // float vel_decay_e; 226 | // float vel_decay_l; 227 | // float vel_max; 228 | // float map_min_x; 229 | // float map_max_x; 230 | // float map_min_y; 231 | // float map_max_y; 232 | // 233 | // // State correction for dead reckoning 234 | // float vel_gain_p; 235 | // float vel_gain_i; 236 | // float vel_gain_d; 237 | // 238 | // float tilt_gain_p; 239 | // float tilt_gain_i; 240 | // float tilt_gain_d; 241 | // 242 | // float max_corr_error; 243 | // float max_tilt_error; 244 | // 245 | // // Attitude controller 246 | // float ctrl_gain_roll_p; 247 | // float ctrl_gain_roll_i; 248 | // float ctrl_gain_roll_dp; 249 | // float ctrl_gain_roll_de; 250 | // 251 | // float ctrl_gain_pitch_p; 252 | // float ctrl_gain_pitch_i; 253 | // float ctrl_gain_pitch_dp; 254 | // float ctrl_gain_pitch_de; 255 | // 256 | // float ctrl_gain_yaw_p; 257 | // float ctrl_gain_yaw_i; 258 | // float ctrl_gain_yaw_dp; 259 | // float ctrl_gain_yaw_de; 260 | // 261 | // // Position controller 262 | // float ctrl_gain_pos_p; 263 | // float ctrl_gain_pos_i; 264 | // float ctrl_gain_pos_d; 265 | // 266 | // // Altitude controller 267 | // float ctrl_gain_alt_p; 268 | // float ctrl_gain_alt_i; 269 | // float ctrl_gain_alt_d; 270 | // 271 | // // Joystick gain 272 | // float js_gain_tilt; 273 | // float js_gain_yaw; 274 | // bool js_mode_rate; 275 | // 276 | // // Motor mapping and configuration 277 | // int8_t motor_fl_f; // x: Front Left +: Front 278 | // int8_t motor_bl_l; // x: Back Left +: Left 279 | // int8_t motor_fr_r; // x: Front Right +: Right 280 | // int8_t motor_br_b; // x: Back Right +: Back 281 | // bool motors_x; // Use x motor configuration (use + if false) 282 | // bool motors_cw; // Front left (or front in + mode) runs in the clockwise direction (ccw if false) 283 | // uint16_t motor_pwm_min_us; // Minimum servo pulse length for motor in microseconds 284 | // uint16_t motor_pwm_max_us; // Maximum servo pulse length for motor in microseconds 285 | // } MAIN_CONFIG_MULTIROTOR; 286 | 287 | // Car configuration 288 | // typedef struct { 289 | // // Common vehicle settings 290 | // bool mag_use; // Use the magnetometer 291 | // bool mag_comp; // Should be 0 when capturing samples for the calibration 292 | // float yaw_mag_gain; // Gain for yaw angle from magnetomer (vs gyro) 293 | // 294 | // // Magnetometer calibration 295 | // float mag_cal_cx; 296 | // float mag_cal_cy; 297 | // float mag_cal_cz; 298 | // float mag_cal_xx; 299 | // float mag_cal_xy; 300 | // float mag_cal_xz; 301 | // float mag_cal_yx; 302 | // float mag_cal_yy; 303 | // float mag_cal_yz; 304 | // float mag_cal_zx; 305 | // float mag_cal_zy; 306 | // float mag_cal_zz; 307 | // 308 | // // GPS parameters 309 | // float gps_ant_x; // Antenna offset from vehicle center in X 310 | // float gps_ant_y; // Antenna offset from vehicle center in Y 311 | // bool gps_comp; // Use GPS position correction 312 | // bool gps_req_rtk; // Require RTK solution 313 | // bool gps_use_rtcm_base_as_enu_ref; // Use RTCM base station position as ENU reference 314 | // float gps_corr_gain_stat; // Static GPS correction gain 315 | // float gps_corr_gain_dyn; // Dynamic GPS correction gain 316 | // float gps_corr_gain_yaw; // Gain for yaw correction 317 | // bool gps_send_nmea; // Send NMEA data for logging and debugging 318 | // bool gps_use_ubx_info; // Use info about the ublox solution 319 | // float gps_ubx_max_acc; // Maximum ublox accuracy to use solution (m, higher = worse) 320 | // 321 | // // Autopilot parameters 322 | // bool ap_repeat_routes; // Repeat the same route when the end is reached 323 | // float ap_base_rad; // Radius around car at 0 speed 324 | // int ap_mode_time; // Drive to route points based on time (1 = abs time, 2 = rel since start) 325 | // float ap_max_speed; // Maximum allowed speed for autopilot 326 | // int32_t ap_time_add_repeat_ms; // Time to add to each point for each repetition of the route 327 | // 328 | // // Logging 329 | // int log_rate_hz; 330 | // bool log_en; 331 | // char log_name[LOG_NAME_MAX_LEN + 1]; 332 | // int log_en_uart; 333 | // int log_uart_baud; 334 | // 335 | // MAIN_CONFIG_CAR car; 336 | // MAIN_CONFIG_MULTIROTOR mr; 337 | // } MAIN_CONFIG; 338 | 339 | // typedef struct { 340 | // // GPS position 341 | // double lat; 342 | // double lon; 343 | // double height; 344 | // double x; 345 | // double y; 346 | // double z; 347 | // int fix_type; // 0=Invalid, 1=SPP, 4=RTK fix, 5=RTK float 348 | // int sats; 349 | // int32_t ms; // Milliseconds today 350 | // uint32_t update_time; 351 | // // Local position (ENU frame) 352 | // bool local_init_done; 353 | // float lx; 354 | // float ly; 355 | // float lz; 356 | // // Initial local position 357 | // double ix; 358 | // double iy; 359 | // double iz; 360 | // // Rotation matrix for local position 361 | // float r1c1, r1c2, r1c3; 362 | // float r2c1, r2c2, r2c3; 363 | // float r3c1, r3c2, r3c3; 364 | // } GPS_STATE; 365 | 366 | // DW Logging Info 367 | // typedef struct { 368 | // bool valid; 369 | // uint8_t dw_anchor; 370 | // int32_t time_today_ms; 371 | // float dw_dist; 372 | // float px; 373 | // float py; 374 | // float px_gps; 375 | // float py_gps; 376 | // float pz_gps; 377 | // } DW_LOG_INFO; 378 | 379 | // ============== UBLOX Datatypes ================== // 380 | 381 | // typedef struct { 382 | // uint16_t ref_station_id; 383 | // uint32_t i_tow; // GPS time of week of the navigation epoch 384 | // float pos_n; // Position north in meters 385 | // float pos_e; // Position east in meters 386 | // float pos_d; // Position down in meters 387 | // float acc_n; // Accuracy north in meters 388 | // float acc_e; // Accuracy east in meters 389 | // float acc_d; // Accuracy down in meters 390 | // bool fix_ok; // A valid fix 391 | // bool diff_soln; // Differential corrections are applied 392 | // bool rel_pos_valid; // Relative position components and accuracies valid 393 | // int carr_soln; // fix_type 0: no fix, 1: float, 2: fix 394 | // } ubx_nav_relposned; 395 | 396 | // typedef struct { 397 | // uint32_t i_tow; // GPS time of week of the navigation epoch 398 | // uint32_t dur; // Passed survey-in observation time (s) 399 | // double meanX; // Current survey-in mean position ECEF X coordinate 400 | // double meanY; // Current survey-in mean position ECEF Y coordinate 401 | // double meanZ; // Current survey-in mean position ECEF Z coordinate 402 | // float meanAcc; // Current survey-in mean position accuracy 403 | // uint32_t obs; // Number of position observations used during survey-in 404 | // bool valid; // Survey-in position validity flag, 1 = valid, otherwise 0 405 | // bool active; // Survey-in in progress flag, 1 = in-progress, otherwise 0 406 | // } ubx_nav_svin; 407 | 408 | // typedef struct { 409 | // double pr_mes; 410 | // double cp_mes; 411 | // float do_mes; 412 | // uint8_t gnss_id; 413 | // uint8_t sv_id; 414 | // uint8_t freq_id; 415 | // uint16_t locktime; 416 | // uint8_t cno; 417 | // uint8_t pr_stdev; 418 | // uint8_t cp_stdev; 419 | // uint8_t do_stdev; 420 | // bool pr_valid; 421 | // bool cp_valid; 422 | // bool half_cyc_valid; 423 | // bool half_cyc_sub; 424 | // } ubx_rxm_rawx_obs; 425 | 426 | // typedef struct { 427 | // double rcv_tow; 428 | // uint16_t week; 429 | // int8_t leaps; 430 | // uint8_t num_meas; 431 | // bool leap_sec; 432 | // bool clk_reset; 433 | // ubx_rxm_rawx_obs obs[32]; 434 | // } ubx_rxm_rawx; 435 | 436 | // typedef struct { 437 | // uint32_t baudrate; 438 | // bool in_rtcm3; 439 | // bool in_rtcm2; 440 | // bool in_nmea; 441 | // bool in_ubx; 442 | // bool out_rtcm3; 443 | // bool out_nmea; 444 | // bool out_ubx; 445 | // } ubx_cfg_prt_uart; 446 | 447 | // typedef struct { 448 | // bool lla; // Use lla instead of ecef 449 | // int mode; // Mode. 0 = Disabled, 1 = Survey in, 2 = Fixed 450 | // double ecefx_lat; 451 | // double ecefy_lon; 452 | // double ecefz_alt; 453 | // float fixed_pos_acc; // Fixed position accuracy 454 | // uint32_t svin_min_dur; // SVIN minimum duration (s) 455 | // float svin_acc_limit; // SVIN accuracy limit 456 | // } ubx_cfg_tmode3; 457 | 458 | // typedef struct { 459 | // bool apply_dyn; // Apply dynamic model settings 460 | // bool apply_min_el; // Apply minimum elevation settings 461 | // bool apply_pos_fix_mode; // Apply fix mode settings 462 | // bool apply_pos_mask; // Apply position mask settings 463 | // bool apply_time_mask; // Apply time mask settings 464 | // bool apply_static_hold_mask; // Apply static hold settings 465 | // bool apply_dgps; // Apply DGPS settings. 466 | // bool apply_cno; // Apply CNO threshold settings (cnoThresh, cnoThreshNumSVs). 467 | // bool apply_utc; // Apply UTC settings 468 | // 469 | // /* 470 | // * Dynamic platform model: 471 | // * 0: portable 472 | // * 2: stationary 473 | // * 3: pedestrian 474 | // * 4: automotive 475 | // * 5: sea 476 | // * 6: airborne with <1g acceleration 477 | // * 7: airborne with <2g acceleration 478 | // * 8: airborne with <4g acceleration 479 | // * 9: wrist worn watch 480 | // */ 481 | // uint8_t dyn_model; 482 | // 483 | // /* 484 | // * Position Fixing Mode: 485 | // * 1: 2D only 486 | // * 2: 3D only 487 | // * 3: auto 2D/3D 488 | // */ 489 | // uint8_t fix_mode; 490 | // 491 | // double fixed_alt; // Fixed altitude (mean sea level) for 2D fix mode. (m) 492 | // double fixed_alt_var; // Fixed altitude variance for 2D mode. (m^2) 493 | // int8_t min_elev; // Minimum Elevation for a GNSS satellite to be used in NAV (deg) 494 | // float p_dop; // Position DOP Mask to use 495 | // float t_dop; // Time DOP Mask to use 496 | // uint16_t p_acc; // Position Accuracy Mask (m) 497 | // uint16_t t_acc; // Time Accuracy Mask (m) 498 | // uint8_t static_hold_thres; // Static hold threshold (cm/s) 499 | // uint8_t dgnss_timeout; // DGNSS (RTK) timeout (s) 500 | // uint8_t cno_tres_num_sat; // Number of satellites required to have C/N0 above cnoThresh for a fix to be attempted 501 | // uint8_t cno_tres; // C/N0 threshold for deciding whether to attempt a fix (dBHz) 502 | // uint16_t static_hold_max_dist; // Static hold distance threshold (before quitting static hold) (m) 503 | // 504 | // /* 505 | // * UTC standard to be used: 506 | // * 0: Automatic; receiver selects based on GNSS configuration (see GNSS time bases). 507 | // * 3: UTC as operated by the U.S. Naval Observatory (USNO); derived from GPS time 508 | // * 6: UTC as operated by the former Soviet Union; derived from GLONASS time 509 | // * 7: UTC as operated by the National Time Service Center, China; derived from BeiDou time 510 | // */ 511 | // uint8_t utc_standard; 512 | // } ubx_cfg_nav5; 513 | 514 | // typedef struct { 515 | // uint8_t tp_idx; // Timepulse selection. 0=TP1, 1=TP2 516 | // int16_t ant_cable_delay; // Antenna cable delay in ns 517 | // int16_t rf_group_delay; // RF group delay in ns 518 | // uint32_t freq_period; // Frequency or time period, Hz or us 519 | // uint32_t freq_period_lock; // Frequency or time period when locked to GNSS time, Hz or us 520 | // uint32_t pulse_len_ratio; // Pulse length or duty cycle, us or 2^-32 521 | // uint32_t pulse_len_ratio_lock; // Pulse length or duty cycle when locked to GNSS time, us or 2^-32 522 | // int32_t user_config_delay; // User configurable time pulse delay, ns 523 | // 524 | // /* 525 | // * If set enable time pulse; if pin assigned to another function, other function takes 526 | // * precedence. Must be set for FTS variant. 527 | // */ 528 | // bool active; 529 | // 530 | // /* 531 | // * If set synchronize time pulse to GNSS as soon as GNSS time is valid. If not 532 | // * set, or before GNSS time is valid use local clock. This flag is ignored by 533 | // * the FTS product variant; in this case the receiver always locks to the best 534 | // * available time/frequency reference (which is not necessarily GNSS). 535 | // */ 536 | // bool lockGnssFreq; 537 | // 538 | // /* 539 | // * If set the receiver switches between the timepulse settings given by 'freqPeriodLocked' & 540 | // * 'pulseLenLocked' and those given by 'freqPeriod' & 'pulseLen'. The 'Locked' settings are 541 | // * used where the receiver has an accurate sense of time. For non-FTS products, this occurs 542 | // * when GNSS solution with a reliable time is available, but for FTS products the setting syncMode 543 | // * field governs behavior. In all cases, the receiver only uses 'freqPeriod' & 'pulseLen' when 544 | // * the flag is unset. 545 | // */ 546 | // bool lockedOtherSet; 547 | // 548 | // /* 549 | // * If set 'freqPeriodLock' and 'freqPeriod' are interpreted as frequency, 550 | // * otherwise interpreted as period. 551 | // */ 552 | // bool isFreq; 553 | // 554 | // /* 555 | // * If set 'pulseLenRatioLock' and 'pulseLenRatio' interpreted as pulse 556 | // * length, otherwise interpreted as duty cycle. 557 | // */ 558 | // bool isLength; 559 | // 560 | // /* 561 | // * Align pulse to top of second (period time must be integer fraction of 1s). 562 | // * Also set 'lockGnssFreq' to use this feature. 563 | // * This flag is ignored by the FTS product variant; it is assumed to be always set 564 | // * (as is lockGnssFreq). Set maxSlewRate and maxPhaseCorrRate fields of CFG-SMGR to 565 | // * 0 to disable alignment. 566 | // */ 567 | // bool alignToTow; 568 | // 569 | // /* 570 | // * Pulse polarity: 571 | // * 0: falling edge at top of second 572 | // * 1: rising edge at top of second 573 | // */ 574 | // bool polarity; 575 | // 576 | // /* 577 | // * Timegrid to use: 578 | // * 0: UTC 579 | // * 1: GPS 580 | // * 2: GLONASS 581 | // * 3: BeiDou 582 | // * 4: Galileo (not supported in protocol versions less than 18) 583 | // * This flag is only relevant if 'lockGnssFreq' and 'alignToTow' are set. 584 | // * Note that configured GNSS time is estimated by the receiver if locked to 585 | // * any GNSS system. If the receiver has a valid GNSS fix it will attempt to 586 | // * steer the TP to the specified time grid even if the specified time is not 587 | // * based on information from the constellation's satellites. To ensure timing 588 | // * based purely on a given GNSS, restrict the supported constellations in CFG-GNSS. 589 | // */ 590 | // uint8_t gridUtcGnss; 591 | // 592 | // /* 593 | // * Sync Manager lock mode to use: 594 | // * 595 | // * 0: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync 596 | // * Manager has an accurate time, never switch back to 'freqPeriod' and 'pulseLenRatio' 597 | // * 598 | // * 1: switch to 'freqPeriodLock' and 'pulseLenRatioLock' as soon as Sync Manager has 599 | // * an accurate time, and switch back to 'freqPeriod' and 'pulseLenRatio' as soon as 600 | // * time gets inaccurate. 601 | // * 602 | // * This field is only relevant for the FTS product variant. 603 | // * This field is only relevant if the flag 'lockedOtherSet' is set. 604 | // */ 605 | // uint8_t syncMode; 606 | // } ubx_cfg_tp5; 607 | 608 | // ============== RTCM Datatypes ================== // 609 | 610 | // typedef struct { 611 | // double t_tow; // Time of week (GPS) 612 | // double t_tod; // Time of day (GLONASS) 613 | // double t_wn; // Week number 614 | // int staid; // ref station id 615 | // bool sync; // True if more messages are coming 616 | // int type; // RTCM Type 617 | // } rtcm_obs_header_t; 618 | 619 | // typedef struct { 620 | // double P[2]; // Pseudorange observation 621 | // double L[2]; // Carrier phase observation 622 | // uint8_t cn0[2]; // Carrier-to-Noise density [dB Hz] 623 | // uint8_t lock[2]; // Lock. Set to 0 when the lock has changed, 127 otherwise. TODO: is this correct? 624 | // uint8_t prn; // Sattelite 625 | // uint8_t freq; // Frequency slot (GLONASS) 626 | // uint8_t code[2]; // Code indicator 627 | // } rtcm_obs_t; 628 | 629 | // typedef struct { 630 | // int staid; 631 | // double lat; 632 | // double lon; 633 | // double height; 634 | // double ant_height; 635 | // } rtcm_ref_sta_pos_t; 636 | 637 | // typedef struct { 638 | // double tgd; // Group delay differential between L1 and L2 [s] 639 | // double c_rs; // Amplitude of the sine harmonic correction term to the orbit radius [m] 640 | // double c_rc; // Amplitude of the cosine harmonic correction term to the orbit radius [m] 641 | // double c_uc; // Amplitude of the cosine harmonic correction term to the argument of latitude [rad] 642 | // double c_us; // Amplitude of the sine harmonic correction term to the argument of latitude [rad] 643 | // double c_ic; // Amplitude of the cosine harmonic correction term to the angle of inclination [rad] 644 | // double c_is; // Amplitude of the sine harmonic correction term to the angle of inclination [rad] 645 | // double dn; // Mean motion difference [rad/s] 646 | // double m0; // Mean anomaly at reference time [radians] 647 | // double ecc; // Eccentricity of satellite orbit 648 | // double sqrta; // Square root of the semi-major axis of orbit [m^(1/2)] 649 | // double omega0; // Longitude of ascending node of orbit plane at weekly epoch [rad] 650 | // double omegadot; // Rate of right ascension [rad/s] 651 | // double w; // Argument of perigee [rad] 652 | // double inc; // Inclination [rad] 653 | // double inc_dot; // Inclination first derivative [rad/s] 654 | // double af0; // Polynomial clock correction coefficient (clock bias) [s] 655 | // double af1; // Polynomial clock correction coefficient (clock drift) [s/s] 656 | // double af2; // Polynomial clock correction coefficient (rate of clock drift) [s/s^2] 657 | // double toe_tow; // Time of week [s] 658 | // uint16_t toe_wn; // Week number [week] 659 | // double toc_tow; // Clock reference time of week [s] 660 | // int sva; // SV accuracy (URA index) 661 | // int svh; // SV health (0:ok) 662 | // int code; // GPS/QZS: code on L2, GAL/CMP: data sources 663 | // int flag; // GPS/QZS: L2 P data flag, CMP: nav type 664 | // double fit; // fit interval (h) 665 | // uint8_t prn; // Sattelite 666 | // uint8_t iode; // Issue of ephemeris data 667 | // uint16_t iodc; // Issue of clock data 668 | // } rtcm_ephemeris_t; 669 | 670 | // typedef struct { 671 | // int buffer_ptr; 672 | // int len; 673 | // uint8_t buffer[1100]; 674 | // rtcm_obs_header_t header; 675 | // rtcm_obs_t obs[32]; // 32 observations per sat system should be more than enough 676 | // rtcm_ref_sta_pos_t pos; 677 | // rtcm_ephemeris_t eph; 678 | // void(*rx_rtcm_obs)(rtcm_obs_header_t *header, rtcm_obs_t *obs, int obs_num); 679 | // void(*rx_rtcm_1005_1006)(rtcm_ref_sta_pos_t *pos); 680 | // void(*rx_rtcm_1019)(rtcm_ephemeris_t *eph); 681 | // void(*rx_rtcm)(uint8_t *data, int len, int type); 682 | // } rtcm3_state; 683 | 684 | // ============== Radar Datatypes ================== // 685 | 686 | // typedef struct { 687 | // bool log_en; 688 | // float f_center; 689 | // float f_span; 690 | // int points; 691 | // float t_sweep; 692 | // float cc_x; 693 | // float cc_y; 694 | // float cc_rad; 695 | // int log_rate_ms; 696 | // float map_plot_avg_factor; 697 | // float map_plot_max_div; 698 | // int plot_mode; // 0 = off, 1 = sample, 2 = fft 699 | // int map_plot_start; 700 | // int map_plot_end; 701 | // } radar_settings_t; 702 | 703 | // ============== VESC Datatypes ================== // 704 | 705 | // CAN status sent by VESC 706 | // typedef struct { 707 | // int id; 708 | // uint32_t rx_time; 709 | // float rpm; 710 | // float current; 711 | // float duty; 712 | // } can_status_msg; 713 | 714 | // typedef enum { 715 | // PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended 716 | // PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode 717 | // PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs 718 | // } mc_pwm_mode; 719 | 720 | // typedef enum { 721 | // COMM_MODE_INTEGRATE = 0, 722 | // COMM_MODE_DELAY 723 | // } mc_comm_mode; 724 | 725 | // typedef enum { 726 | // SENSOR_MODE_SENSORLESS = 0, 727 | // SENSOR_MODE_SENSORED, 728 | // SENSOR_MODE_HYBRID 729 | // } mc_sensor_mode; 730 | 731 | // typedef enum { 732 | // FOC_SENSOR_MODE_SENSORLESS = 0, 733 | // FOC_SENSOR_MODE_ENCODER, 734 | // FOC_SENSOR_MODE_HALL 735 | // } mc_foc_sensor_mode; 736 | 737 | // typedef enum { 738 | // MOTOR_TYPE_BLDC = 0, 739 | // MOTOR_TYPE_DC, 740 | // MOTOR_TYPE_FOC 741 | // } mc_motor_type; 742 | 743 | typedef enum { 744 | FAULT_CODE_NONE = 0, 745 | FAULT_CODE_OVER_VOLTAGE, 746 | FAULT_CODE_UNDER_VOLTAGE, 747 | FAULT_CODE_DRV, 748 | FAULT_CODE_ABS_OVER_CURRENT, 749 | FAULT_CODE_OVER_TEMP_FET, 750 | FAULT_CODE_OVER_TEMP_MOTOR 751 | } mc_fault_code; 752 | 753 | typedef struct { 754 | float v_in; 755 | float temp_mos; 756 | float temp_motor; 757 | float current_motor; 758 | float current_in; 759 | float id; 760 | float iq; 761 | float rpm; 762 | float duty_now; 763 | float amp_hours; 764 | float amp_hours_charged; 765 | float watt_hours; 766 | float watt_hours_charged; 767 | int tachometer; 768 | int tachometer_abs; 769 | mc_fault_code fault_code; 770 | } mc_values; 771 | 772 | // typedef enum { 773 | // SENSOR_PORT_MODE_HALL = 0, 774 | // SENSOR_PORT_MODE_ABI, 775 | // SENSOR_PORT_MODE_AS5047_SPI 776 | // } sensor_port_mode; 777 | 778 | // typedef enum { 779 | // DRV8301_OC_LIMIT = 0, 780 | // DRV8301_OC_LATCH_SHUTDOWN, 781 | // DRV8301_OC_REPORT_ONLY, 782 | // DRV8301_OC_DISABLED 783 | // } drv8301_oc_mode; 784 | 785 | typedef enum { 786 | MOTOR_CONTROL_DUTY = 0, 787 | MOTOR_CONTROL_CURRENT, 788 | MOTOR_CONTROL_CURRENT_BRAKE, 789 | MOTOR_CONTROL_RPM, 790 | MOTOR_CONTROL_POS 791 | } motor_control_mode; 792 | 793 | // typedef struct { 794 | // // Switching and drive 795 | // mc_pwm_mode pwm_mode; 796 | // mc_comm_mode comm_mode; 797 | // mc_motor_type motor_type; 798 | // mc_sensor_mode sensor_mode; 799 | // // Limits 800 | // float l_current_max; 801 | // float l_current_min; 802 | // float l_in_current_max; 803 | // float l_in_current_min; 804 | // float l_abs_current_max; 805 | // float l_min_erpm; 806 | // float l_max_erpm; 807 | // float l_erpm_start; 808 | // float l_max_erpm_fbrake; 809 | // float l_max_erpm_fbrake_cc; 810 | // float l_min_vin; 811 | // float l_max_vin; 812 | // float l_battery_cut_start; 813 | // float l_battery_cut_end; 814 | // bool l_slow_abs_current; 815 | // float l_temp_fet_start; 816 | // float l_temp_fet_end; 817 | // float l_temp_motor_start; 818 | // float l_temp_motor_end; 819 | // float l_min_duty; 820 | // float l_max_duty; 821 | // float l_watt_max; 822 | // float l_watt_min; 823 | // // Overridden limits (Computed during runtime) 824 | // float lo_current_max; 825 | // float lo_current_min; 826 | // float lo_in_current_max; 827 | // float lo_in_current_min; 828 | // float lo_current_motor_max_now; 829 | // float lo_current_motor_min_now; 830 | // // Sensorless (bldc) 831 | // float sl_min_erpm; 832 | // float sl_min_erpm_cycle_int_limit; 833 | // float sl_max_fullbreak_current_dir_change; 834 | // float sl_cycle_int_limit; 835 | // float sl_phase_advance_at_br; 836 | // float sl_cycle_int_rpm_br; 837 | // float sl_bemf_coupling_k; 838 | // // Hall sensor 839 | // int8_t hall_table[8]; 840 | // float hall_sl_erpm; 841 | // // FOC 842 | // float foc_current_kp; 843 | // float foc_current_ki; 844 | // float foc_f_sw; 845 | // float foc_dt_us; 846 | // float foc_encoder_offset; 847 | // bool foc_encoder_inverted; 848 | // float foc_encoder_ratio; 849 | // float foc_motor_l; 850 | // float foc_motor_r; 851 | // float foc_motor_flux_linkage; 852 | // float foc_observer_gain; 853 | // float foc_observer_gain_slow; 854 | // float foc_pll_kp; 855 | // float foc_pll_ki; 856 | // float foc_duty_dowmramp_kp; 857 | // float foc_duty_dowmramp_ki; 858 | // float foc_openloop_rpm; 859 | // float foc_sl_openloop_hyst; 860 | // float foc_sl_openloop_time; 861 | // float foc_sl_d_current_duty; 862 | // float foc_sl_d_current_factor; 863 | // mc_foc_sensor_mode foc_sensor_mode; 864 | // uint8_t foc_hall_table[8]; 865 | // float foc_sl_erpm; 866 | // bool foc_sample_v0_v7; 867 | // float foc_sat_comp; 868 | // bool foc_temp_comp; 869 | // float foc_temp_comp_base_temp; 870 | // // Speed PID 871 | // float s_pid_kp; 872 | // float s_pid_ki; 873 | // float s_pid_kd; 874 | // float s_pid_min_erpm; 875 | // bool s_pid_allow_braking; 876 | // // Pos PID 877 | // float p_pid_kp; 878 | // float p_pid_ki; 879 | // float p_pid_kd; 880 | // float p_pid_ang_div; 881 | // // Current controller 882 | // float cc_startup_boost_duty; 883 | // float cc_min_current; 884 | // float cc_gain; 885 | // float cc_ramp_step_max; 886 | // // Misc 887 | // int32_t m_fault_stop_time_ms; 888 | // float m_duty_ramp_step; 889 | // float m_current_backoff_gain; 890 | // uint32_t m_encoder_counts; 891 | // sensor_port_mode m_sensor_port_mode; 892 | // bool m_invert_direction; 893 | // drv8301_oc_mode m_drv8301_oc_mode; 894 | // int m_drv8301_oc_adj; 895 | // float m_bldc_f_sw_min; 896 | // float m_bldc_f_sw_max; 897 | // float m_dc_f_sw; 898 | // } mc_configuration; 899 | 900 | // Applications to use 901 | // typedef enum { 902 | // APP_NONE = 0, 903 | // APP_PPM, 904 | // APP_ADC, 905 | // APP_UART, 906 | // APP_PPM_UART, 907 | // APP_ADC_UART, 908 | // APP_NUNCHUK, 909 | // APP_NRF, 910 | // APP_CUSTOM 911 | // } app_use; 912 | 913 | // Throttle curve mode 914 | // typedef enum { 915 | // THR_EXP_EXPO = 0, 916 | // THR_EXP_NATURAL, 917 | // THR_EXP_POLY 918 | // } thr_exp_mode; 919 | 920 | // PPM control types 921 | // typedef enum { 922 | // PPM_CTRL_TYPE_NONE = 0, 923 | // PPM_CTRL_TYPE_CURRENT, 924 | // PPM_CTRL_TYPE_CURRENT_NOREV, 925 | // PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE, 926 | // PPM_CTRL_TYPE_DUTY, 927 | // PPM_CTRL_TYPE_DUTY_NOREV, 928 | // PPM_CTRL_TYPE_PID, 929 | // PPM_CTRL_TYPE_PID_NOREV 930 | // } ppm_control_type; 931 | 932 | // typedef struct { 933 | // ppm_control_type ctrl_type; 934 | // float pid_max_erpm; 935 | // float hyst; 936 | // float pulse_start; 937 | // float pulse_end; 938 | // float pulse_center; 939 | // bool median_filter; 940 | // bool safe_start; 941 | // float throttle_exp; 942 | // thr_exp_mode throttle_exp_mode; 943 | // float ramp_time_pos; 944 | // float ramp_time_neg; 945 | // bool multi_esc; 946 | // bool tc; 947 | // float tc_max_diff; 948 | // } ppm_config; 949 | 950 | // ADC control types 951 | // typedef enum { 952 | // ADC_CTRL_TYPE_NONE = 0, 953 | // ADC_CTRL_TYPE_CURRENT, 954 | // ADC_CTRL_TYPE_CURRENT_REV_CENTER, 955 | // ADC_CTRL_TYPE_CURRENT_REV_BUTTON, 956 | // ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER, 957 | // ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON, 958 | // ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC, 959 | // ADC_CTRL_TYPE_DUTY, 960 | // ADC_CTRL_TYPE_DUTY_REV_CENTER, 961 | // ADC_CTRL_TYPE_DUTY_REV_BUTTON 962 | // } adc_control_type; 963 | 964 | // typedef struct { 965 | // adc_control_type ctrl_type; 966 | // float hyst; 967 | // float voltage_start; 968 | // float voltage_end; 969 | // float voltage_center; 970 | // float voltage2_start; 971 | // float voltage2_end; 972 | // bool use_filter; 973 | // bool safe_start; 974 | // bool cc_button_inverted; 975 | // bool rev_button_inverted; 976 | // bool voltage_inverted; 977 | // bool voltage2_inverted; 978 | // float throttle_exp; 979 | // thr_exp_mode throttle_exp_mode; 980 | // bool multi_esc; 981 | // bool tc; 982 | // float tc_max_diff; 983 | // uint32_t update_rate_hz; 984 | // } adc_config; 985 | 986 | // Nunchuk control types 987 | // typedef enum { 988 | // CHUK_CTRL_TYPE_NONE = 0, 989 | // CHUK_CTRL_TYPE_CURRENT, 990 | // CHUK_CTRL_TYPE_CURRENT_NOREV 991 | // } chuk_control_type; 992 | 993 | // typedef struct { 994 | // chuk_control_type ctrl_type; 995 | // float hyst; 996 | // float ramp_time_pos; 997 | // float ramp_time_neg; 998 | // float stick_erpm_per_s_in_cc; 999 | // float throttle_exp; 1000 | // thr_exp_mode throttle_exp_mode; 1001 | // bool multi_esc; 1002 | // bool tc; 1003 | // float tc_max_diff; 1004 | // } chuk_config; 1005 | 1006 | // NRF Datatypes 1007 | // typedef enum { 1008 | // NRF_SPEED_250K = 0, 1009 | // NRF_SPEED_1M, 1010 | // NRF_SPEED_2M 1011 | // } NRF_SPEED; 1012 | 1013 | // typedef enum { 1014 | // NRF_POWER_M18DBM = 0, 1015 | // NRF_POWER_M12DBM, 1016 | // NRF_POWER_M6DBM, 1017 | // NRF_POWER_0DBM 1018 | // } NRF_POWER; 1019 | 1020 | // typedef enum { 1021 | // NRF_AW_3 = 0, 1022 | // NRF_AW_4, 1023 | // NRF_AW_5 1024 | // } NRF_AW; 1025 | 1026 | // typedef enum { 1027 | // NRF_CRC_DISABLED = 0, 1028 | // NRF_CRC_1B, 1029 | // NRF_CRC_2B 1030 | // } NRF_CRC; 1031 | 1032 | // typedef enum { 1033 | // NRF_RETR_DELAY_250US = 0, 1034 | // NRF_RETR_DELAY_500US, 1035 | // NRF_RETR_DELAY_750US, 1036 | // NRF_RETR_DELAY_1000US, 1037 | // NRF_RETR_DELAY_1250US, 1038 | // NRF_RETR_DELAY_1500US, 1039 | // NRF_RETR_DELAY_1750US, 1040 | // NRF_RETR_DELAY_2000US, 1041 | // NRF_RETR_DELAY_2250US, 1042 | // NRF_RETR_DELAY_2500US, 1043 | // NRF_RETR_DELAY_2750US, 1044 | // NRF_RETR_DELAY_3000US, 1045 | // NRF_RETR_DELAY_3250US, 1046 | // NRF_RETR_DELAY_3500US, 1047 | // NRF_RETR_DELAY_3750US, 1048 | // NRF_RETR_DELAY_4000US 1049 | // } NRF_RETR_DELAY; 1050 | 1051 | // typedef struct { 1052 | // NRF_SPEED speed; 1053 | // NRF_POWER power; 1054 | // NRF_CRC crc_type; 1055 | // NRF_RETR_DELAY retry_delay; 1056 | // unsigned char retries; 1057 | // unsigned char channel; 1058 | // unsigned char address[3]; 1059 | // bool send_crc_ack; 1060 | // } nrf_config; 1061 | 1062 | // typedef struct { 1063 | // // Settings 1064 | // uint8_t controller_id; 1065 | // uint32_t timeout_msec; 1066 | // float timeout_brake_current; 1067 | // bool send_can_status; 1068 | // uint32_t send_can_status_rate_hz; 1069 | // 1070 | // // Application to use 1071 | // app_use app_to_use; 1072 | // 1073 | // // PPM application settings 1074 | // ppm_config app_ppm_conf; 1075 | // 1076 | // // ADC application settings 1077 | // adc_config app_adc_conf; 1078 | // 1079 | // // UART application settings 1080 | // uint32_t app_uart_baudrate; 1081 | // 1082 | // // Nunchuk application settings 1083 | // chuk_config app_chuk_conf; 1084 | // 1085 | // // NRF application settings 1086 | // nrf_config app_nrf_conf; 1087 | // } app_configuration; 1088 | 1089 | // Communication commands 1090 | typedef enum { 1091 | COMM_FW_VERSION = 0, 1092 | COMM_JUMP_TO_BOOTLOADER, 1093 | COMM_ERASE_NEW_APP, 1094 | COMM_WRITE_NEW_APP_DATA, 1095 | COMM_GET_VALUES, 1096 | COMM_SET_DUTY, 1097 | COMM_SET_CURRENT, 1098 | COMM_SET_CURRENT_BRAKE, 1099 | COMM_SET_RPM, 1100 | COMM_SET_POS, 1101 | COMM_SET_HANDBRAKE, 1102 | COMM_SET_DETECT, 1103 | COMM_SET_SERVO_POS, 1104 | COMM_SET_MCCONF, 1105 | COMM_GET_MCCONF, 1106 | COMM_GET_MCCONF_DEFAULT, 1107 | COMM_SET_APPCONF, 1108 | COMM_GET_APPCONF, 1109 | COMM_GET_APPCONF_DEFAULT, 1110 | COMM_SAMPLE_PRINT, 1111 | COMM_TERMINAL_CMD, 1112 | COMM_PRINT, 1113 | COMM_ROTOR_POSITION, 1114 | COMM_EXPERIMENT_SAMPLE, 1115 | COMM_DETECT_MOTOR_PARAM, 1116 | COMM_DETECT_MOTOR_R_L, 1117 | COMM_DETECT_MOTOR_FLUX_LINKAGE, 1118 | COMM_DETECT_ENCODER, 1119 | COMM_DETECT_HALL_FOC, 1120 | COMM_REBOOT, 1121 | COMM_ALIVE, 1122 | COMM_GET_DECODED_PPM, 1123 | COMM_GET_DECODED_ADC, 1124 | COMM_GET_DECODED_CHUK, 1125 | COMM_FORWARD_CAN, 1126 | COMM_SET_CHUCK_DATA, 1127 | COMM_CUSTOM_APP_DATA, 1128 | COMM_NRF_START_PAIRING 1129 | } COMM_PACKET_ID; 1130 | 1131 | // ============== Decawave Datatypes ================== // 1132 | 1133 | // typedef enum { 1134 | // CMD_DW_RANGE = 0 1135 | // } CMD_DW; 1136 | 1137 | #endif /* DATATYPES_H_ */ 1138 | -------------------------------------------------------------------------------- /lib/bldc_uart/bldc_interface.c: -------------------------------------------------------------------------------- 1 | /* 2 | Copyright 2016-2017 Benjamin Vedder benjamin@vedder.se 3 | 4 | This program is free software: you can redistribute it and/or modify 5 | it under the terms of the GNU General Public License as published by 6 | the Free Software Foundation, either version 3 of the License, or 7 | (at your option) any later version. 8 | 9 | This program is distributed in the hope that it will be useful, 10 | but WITHOUT ANY WARRANTY; without even the implied warranty of 11 | MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the 12 | GNU General Public License for more details. 13 | 14 | You should have received a copy of the GNU General Public License 15 | along with this program. If not, see . 16 | */ 17 | 18 | /* 19 | * bldc_interface.c 20 | * 21 | * Compatible Firmware Versions 22 | * 3.20 23 | * 3.21 24 | * 3.22 25 | * 26 | */ 27 | 28 | #include "bldc_interface.h" 29 | #include "buffer.h" 30 | #include 31 | 32 | // Private variables 33 | // static unsigned char send_buffer[1024]; 34 | static unsigned char send_buffer[128]; 35 | 36 | // Private variables for received data 37 | static mc_values values; 38 | // static mc_values values; 39 | // static int fw_major; 40 | // static int fw_minor; 41 | // static float rotor_pos; 42 | // static mc_configuration mcconf; 43 | // static app_configuration appconf; 44 | // static float detect_cycle_int_limit; 45 | // static float detect_coupling_k; 46 | // static signed char detect_hall_table[8]; 47 | // static signed char detect_hall_res; 48 | // static float dec_ppm; 49 | // static float dec_ppm_len; 50 | // static float dec_adc; 51 | // static float dec_adc_voltage; 52 | // static float dec_chuk; 53 | 54 | // Private functions 55 | void send_packet_no_fwd(unsigned char *data, unsigned int len); 56 | 57 | // Function pointers 58 | static void(*send_func)(unsigned char *data, unsigned int len) = 0; 59 | static void(*forward_func)(unsigned char *data, unsigned int len) = 0; 60 | 61 | // Function pointers for received data 62 | static void(*rx_value_func)(mc_values *values) = 0; 63 | // static void(*rx_printf_func)(char *str) = 0; 64 | // static void(*rx_fw_func)(int major, int minor) = 0; 65 | // static void(*rx_rotor_pos_func)(float pos) = 0; 66 | // static void(*rx_mcconf_func)(mc_configuration *conf) = 0; 67 | // static void(*rx_appconf_func)(app_configuration *conf) = 0; 68 | // static void(*rx_detect_func)(float cycle_int_limit, float coupling_k, 69 | // const signed char *hall_table, signed char hall_res) = 0; 70 | // static void(*rx_dec_ppm_func)(float val, float ms) = 0; 71 | // static void(*rx_dec_adc_func)(float val, float voltage) = 0; 72 | // static void(*rx_dec_chuk_func)(float val) = 0; 73 | // static void(*rx_mcconf_received_func)(void) = 0; 74 | // static void(*rx_appconf_received_func)(void) = 0; 75 | static void(*motor_control_set_func)(motor_control_mode mode, float value) = 0; 76 | static void(*values_requested_func)(void) = 0; 77 | 78 | void bldc_interface_init(void(*func)(unsigned char *data, unsigned int len)) { 79 | send_func = func; 80 | } 81 | 82 | void bldc_interface_set_forward_func(void(*func)(unsigned char *data, unsigned int len)) { 83 | forward_func = func; 84 | } 85 | 86 | /** 87 | * Send a packet using the set send function. 88 | * 89 | * @param data 90 | * The packet data. 91 | * 92 | * @param len 93 | * The data length. 94 | */ 95 | void bldc_interface_send_packet(unsigned char *data, unsigned int len) { 96 | if (send_func) { 97 | send_func(data, len); 98 | } 99 | } 100 | 101 | /** 102 | * Process a received buffer with commands and data. 103 | * 104 | * @param data 105 | * The buffer to process. 106 | * 107 | * @param len 108 | * The length of the buffer. 109 | */ 110 | void bldc_interface_process_packet(unsigned char *data, unsigned int len) { 111 | if (!len) { 112 | return; 113 | } 114 | 115 | if (forward_func) { 116 | forward_func(data, len); 117 | return; 118 | } 119 | 120 | int32_t ind = 0; 121 | int i = 0; 122 | unsigned char id = data[0]; 123 | data++; 124 | len--; 125 | 126 | switch (id) { 127 | // case COMM_FW_VERSION: 128 | // if (len == 2) { 129 | // ind = 0; 130 | // fw_major = data[ind++]; 131 | // fw_minor = data[ind++]; 132 | // } else { 133 | // fw_major = -1; 134 | // fw_minor = -1; 135 | // } 136 | // break; 137 | 138 | // case COMM_ERASE_NEW_APP: 139 | // case COMM_WRITE_NEW_APP_DATA: 140 | // // TODO 141 | // break; 142 | 143 | case COMM_GET_VALUES: 144 | ind = 0; 145 | values.temp_mos = buffer_get_float16(data, 1e1, &ind); 146 | values.temp_motor = buffer_get_float16(data, 1e1, &ind); 147 | values.current_motor = buffer_get_float32(data, 1e2, &ind); 148 | values.current_in = buffer_get_float32(data, 1e2, &ind); 149 | values.id = buffer_get_float32(data, 1e2, &ind); 150 | values.iq = buffer_get_float32(data, 1e2, &ind); 151 | values.duty_now = buffer_get_float16(data, 1e3, &ind); 152 | values.rpm = buffer_get_float32(data, 1e0, &ind); 153 | values.v_in = buffer_get_float16(data, 1e1, &ind); 154 | values.amp_hours = buffer_get_float32(data, 1e4, &ind); 155 | values.amp_hours_charged = buffer_get_float32(data, 1e4, &ind); 156 | values.watt_hours = buffer_get_float32(data, 1e4, &ind); 157 | values.watt_hours_charged = buffer_get_float32(data, 1e4, &ind); 158 | values.tachometer = buffer_get_int32(data, &ind); 159 | values.tachometer_abs = buffer_get_int32(data, &ind); 160 | values.fault_code = (mc_fault_code)data[ind++]; 161 | 162 | if (rx_value_func) { 163 | rx_value_func(&values); 164 | } 165 | break; 166 | 167 | // case COMM_PRINT: 168 | // if (rx_printf_func) { 169 | // data[len] = '\0'; 170 | // rx_printf_func((char*)data); 171 | // } 172 | // break; 173 | // 174 | // case COMM_SAMPLE_PRINT: 175 | // // TODO 176 | // break; 177 | // 178 | // case COMM_ROTOR_POSITION: 179 | // ind = 0; 180 | // rotor_pos = buffer_get_float32(data, 100000.0, &ind); 181 | // 182 | // if (rx_rotor_pos_func) { 183 | // rx_rotor_pos_func(rotor_pos); 184 | // } 185 | // break; 186 | // 187 | // case COMM_EXPERIMENT_SAMPLE: 188 | // // TODO 189 | // break; 190 | // 191 | // case COMM_GET_MCCONF: 192 | // case COMM_GET_MCCONF_DEFAULT: 193 | // ind = 0; 194 | // mcconf.pwm_mode = data[ind++]; 195 | // mcconf.comm_mode = data[ind++]; 196 | // mcconf.motor_type = data[ind++]; 197 | // mcconf.sensor_mode = data[ind++]; 198 | // 199 | // mcconf.l_current_max = buffer_get_float32_auto(data, &ind); 200 | // mcconf.l_current_min = buffer_get_float32_auto(data, &ind); 201 | // mcconf.l_in_current_max = buffer_get_float32_auto(data, &ind); 202 | // mcconf.l_in_current_min = buffer_get_float32_auto(data, &ind); 203 | // mcconf.l_abs_current_max = buffer_get_float32_auto(data, &ind); 204 | // mcconf.l_min_erpm = buffer_get_float32_auto(data, &ind); 205 | // mcconf.l_max_erpm = buffer_get_float32_auto(data, &ind); 206 | // mcconf.l_erpm_start = buffer_get_float32_auto(data, &ind); 207 | // mcconf.l_max_erpm_fbrake = buffer_get_float32_auto(data, &ind); 208 | // mcconf.l_max_erpm_fbrake_cc = buffer_get_float32_auto(data, &ind); 209 | // mcconf.l_min_vin = buffer_get_float32_auto(data, &ind); 210 | // mcconf.l_max_vin = buffer_get_float32_auto(data, &ind); 211 | // mcconf.l_battery_cut_start = buffer_get_float32_auto(data, &ind); 212 | // mcconf.l_battery_cut_end = buffer_get_float32_auto(data, &ind); 213 | // mcconf.l_slow_abs_current = data[ind++]; 214 | // mcconf.l_temp_fet_start = buffer_get_float32_auto(data, &ind); 215 | // mcconf.l_temp_fet_end = buffer_get_float32_auto(data, &ind); 216 | // mcconf.l_temp_motor_start = buffer_get_float32_auto(data, &ind); 217 | // mcconf.l_temp_motor_end = buffer_get_float32_auto(data, &ind); 218 | // mcconf.l_min_duty = buffer_get_float32_auto(data, &ind); 219 | // mcconf.l_max_duty = buffer_get_float32_auto(data, &ind); 220 | // mcconf.l_watt_max = buffer_get_float32_auto(data, &ind); 221 | // mcconf.l_watt_min = buffer_get_float32_auto(data, &ind); 222 | // 223 | // mcconf.lo_current_max = mcconf.l_current_max; 224 | // mcconf.lo_current_min = mcconf.l_current_min; 225 | // mcconf.lo_in_current_max = mcconf.l_in_current_max; 226 | // mcconf.lo_in_current_min = mcconf.l_in_current_min; 227 | // mcconf.lo_current_motor_max_now = mcconf.l_current_max; 228 | // mcconf.lo_current_motor_min_now = mcconf.l_current_min; 229 | // 230 | // mcconf.sl_min_erpm = buffer_get_float32_auto(data, &ind); 231 | // mcconf.sl_min_erpm_cycle_int_limit = buffer_get_float32_auto(data, &ind); 232 | // mcconf.sl_max_fullbreak_current_dir_change = buffer_get_float32_auto(data, &ind); 233 | // mcconf.sl_cycle_int_limit = buffer_get_float32_auto(data, &ind); 234 | // mcconf.sl_phase_advance_at_br = buffer_get_float32_auto(data, &ind); 235 | // mcconf.sl_cycle_int_rpm_br = buffer_get_float32_auto(data, &ind); 236 | // mcconf.sl_bemf_coupling_k = buffer_get_float32_auto(data, &ind); 237 | // 238 | // memcpy(mcconf.hall_table, data + ind, 8); 239 | // ind += 8; 240 | // mcconf.hall_sl_erpm = buffer_get_float32_auto(data, &ind); 241 | // 242 | // mcconf.foc_current_kp = buffer_get_float32_auto(data, &ind); 243 | // mcconf.foc_current_ki = buffer_get_float32_auto(data, &ind); 244 | // mcconf.foc_f_sw = buffer_get_float32_auto(data, &ind); 245 | // mcconf.foc_dt_us = buffer_get_float32_auto(data, &ind); 246 | // mcconf.foc_encoder_inverted = data[ind++]; 247 | // mcconf.foc_encoder_offset = buffer_get_float32_auto(data, &ind); 248 | // mcconf.foc_encoder_ratio = buffer_get_float32_auto(data, &ind); 249 | // mcconf.foc_sensor_mode = data[ind++]; 250 | // mcconf.foc_pll_kp = buffer_get_float32_auto(data, &ind); 251 | // mcconf.foc_pll_ki = buffer_get_float32_auto(data, &ind); 252 | // mcconf.foc_motor_l = buffer_get_float32_auto(data, &ind); 253 | // mcconf.foc_motor_r = buffer_get_float32_auto(data, &ind); 254 | // mcconf.foc_motor_flux_linkage = buffer_get_float32_auto(data, &ind); 255 | // mcconf.foc_observer_gain = buffer_get_float32_auto(data, &ind); 256 | // mcconf.foc_observer_gain_slow = buffer_get_float32_auto(data, &ind); 257 | // mcconf.foc_duty_dowmramp_kp = buffer_get_float32_auto(data, &ind); 258 | // mcconf.foc_duty_dowmramp_ki = buffer_get_float32_auto(data, &ind); 259 | // mcconf.foc_openloop_rpm = buffer_get_float32_auto(data, &ind); 260 | // mcconf.foc_sl_openloop_hyst = buffer_get_float32_auto(data, &ind); 261 | // mcconf.foc_sl_openloop_time = buffer_get_float32_auto(data, &ind); 262 | // mcconf.foc_sl_d_current_duty = buffer_get_float32_auto(data, &ind); 263 | // mcconf.foc_sl_d_current_factor = buffer_get_float32_auto(data, &ind); 264 | // memcpy(mcconf.foc_hall_table, data + ind, 8); 265 | // ind += 8; 266 | // mcconf.foc_sl_erpm = buffer_get_float32_auto(data, &ind); 267 | // mcconf.foc_sample_v0_v7 = data[ind++]; 268 | // mcconf.foc_sat_comp = buffer_get_float32_auto(data, &ind); 269 | // mcconf.foc_temp_comp = data[ind++]; 270 | // mcconf.foc_temp_comp_base_temp = buffer_get_float32_auto(data, &ind); 271 | // 272 | // mcconf.s_pid_kp = buffer_get_float32_auto(data, &ind); 273 | // mcconf.s_pid_ki = buffer_get_float32_auto(data, &ind); 274 | // mcconf.s_pid_kd = buffer_get_float32_auto(data, &ind); 275 | // mcconf.s_pid_min_erpm = buffer_get_float32_auto(data, &ind); 276 | // mcconf.s_pid_allow_braking = data[ind++]; 277 | // 278 | // mcconf.p_pid_kp = buffer_get_float32_auto(data, &ind); 279 | // mcconf.p_pid_ki = buffer_get_float32_auto(data, &ind); 280 | // mcconf.p_pid_kd = buffer_get_float32_auto(data, &ind); 281 | // mcconf.p_pid_ang_div = buffer_get_float32_auto(data, &ind); 282 | // 283 | // mcconf.cc_startup_boost_duty = buffer_get_float32_auto(data, &ind); 284 | // mcconf.cc_min_current = buffer_get_float32_auto(data, &ind); 285 | // mcconf.cc_gain = buffer_get_float32_auto(data, &ind); 286 | // mcconf.cc_ramp_step_max = buffer_get_float32_auto(data, &ind); 287 | // 288 | // mcconf.m_fault_stop_time_ms = buffer_get_int32(data, &ind); 289 | // mcconf.m_duty_ramp_step = buffer_get_float32_auto(data, &ind); 290 | // mcconf.m_current_backoff_gain = buffer_get_float32_auto(data, &ind); 291 | // mcconf.m_encoder_counts = buffer_get_uint32(data, &ind); 292 | // mcconf.m_sensor_port_mode = data[ind++]; 293 | // mcconf.m_invert_direction = data[ind++]; 294 | // mcconf.m_drv8301_oc_mode = data[ind++]; 295 | // mcconf.m_drv8301_oc_adj = data[ind++]; 296 | // mcconf.m_bldc_f_sw_min = buffer_get_float32_auto(data, &ind); 297 | // mcconf.m_bldc_f_sw_max = buffer_get_float32_auto(data, &ind); 298 | // mcconf.m_dc_f_sw = buffer_get_float32_auto(data, &ind); 299 | // 300 | // if (rx_mcconf_func) { 301 | // rx_mcconf_func(&mcconf); 302 | // } 303 | // break; 304 | // 305 | // case COMM_GET_APPCONF: 306 | // case COMM_GET_APPCONF_DEFAULT: 307 | // ind = 0; 308 | // appconf.controller_id = data[ind++]; 309 | // appconf.timeout_msec = buffer_get_uint32(data, &ind); 310 | // appconf.timeout_brake_current = buffer_get_float32_auto(data, &ind); 311 | // appconf.send_can_status = data[ind++]; 312 | // appconf.send_can_status_rate_hz = buffer_get_uint16(data, &ind); 313 | // 314 | // appconf.app_to_use = data[ind++]; 315 | // 316 | // appconf.app_ppm_conf.ctrl_type = data[ind++]; 317 | // appconf.app_ppm_conf.pid_max_erpm = buffer_get_float32_auto(data, &ind); 318 | // appconf.app_ppm_conf.hyst = buffer_get_float32_auto(data, &ind); 319 | // appconf.app_ppm_conf.pulse_start = buffer_get_float32_auto(data, &ind); 320 | // appconf.app_ppm_conf.pulse_end = buffer_get_float32_auto(data, &ind); 321 | // appconf.app_ppm_conf.pulse_center = buffer_get_float32_auto(data, &ind); 322 | // appconf.app_ppm_conf.median_filter = data[ind++]; 323 | // appconf.app_ppm_conf.safe_start = data[ind++]; 324 | // appconf.app_ppm_conf.throttle_exp = buffer_get_float32_auto(data, &ind); 325 | // appconf.app_ppm_conf.throttle_exp_mode = data[ind++]; 326 | // appconf.app_ppm_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind); 327 | // appconf.app_ppm_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind); 328 | // appconf.app_ppm_conf.multi_esc = data[ind++]; 329 | // appconf.app_ppm_conf.tc = data[ind++]; 330 | // appconf.app_ppm_conf.tc_max_diff = buffer_get_float32_auto(data, &ind); 331 | // 332 | // appconf.app_adc_conf.ctrl_type = data[ind++]; 333 | // appconf.app_adc_conf.hyst = buffer_get_float32_auto(data, &ind); 334 | // appconf.app_adc_conf.voltage_start = buffer_get_float32_auto(data, &ind); 335 | // appconf.app_adc_conf.voltage_end = buffer_get_float32_auto(data, &ind); 336 | // appconf.app_adc_conf.voltage_center = buffer_get_float32_auto(data, &ind); 337 | // appconf.app_adc_conf.voltage2_start = buffer_get_float32_auto(data, &ind); 338 | // appconf.app_adc_conf.voltage2_end = buffer_get_float32_auto(data, &ind); 339 | // appconf.app_adc_conf.use_filter = data[ind++]; 340 | // appconf.app_adc_conf.safe_start = data[ind++]; 341 | // appconf.app_adc_conf.cc_button_inverted = data[ind++]; 342 | // appconf.app_adc_conf.rev_button_inverted = data[ind++]; 343 | // appconf.app_adc_conf.voltage_inverted = data[ind++]; 344 | // appconf.app_adc_conf.voltage2_inverted = data[ind++]; 345 | // appconf.app_adc_conf.throttle_exp = buffer_get_float32_auto(data, &ind); 346 | // appconf.app_adc_conf.throttle_exp_mode = data[ind++]; 347 | // appconf.app_adc_conf.multi_esc = data[ind++]; 348 | // appconf.app_adc_conf.tc = data[ind++]; 349 | // appconf.app_adc_conf.tc_max_diff = buffer_get_float32_auto(data, &ind); 350 | // appconf.app_adc_conf.update_rate_hz = buffer_get_uint16(data, &ind); 351 | // 352 | // appconf.app_uart_baudrate = buffer_get_uint32(data, &ind); 353 | // 354 | // appconf.app_chuk_conf.ctrl_type = data[ind++]; 355 | // appconf.app_chuk_conf.hyst = buffer_get_float32_auto(data, &ind); 356 | // appconf.app_chuk_conf.ramp_time_pos = buffer_get_float32_auto(data, &ind); 357 | // appconf.app_chuk_conf.ramp_time_neg = buffer_get_float32_auto(data, &ind); 358 | // appconf.app_chuk_conf.stick_erpm_per_s_in_cc = buffer_get_float32_auto(data, &ind); 359 | // appconf.app_chuk_conf.throttle_exp = buffer_get_float32_auto(data, &ind); 360 | // appconf.app_chuk_conf.throttle_exp_mode = data[ind++]; 361 | // appconf.app_chuk_conf.multi_esc = data[ind++]; 362 | // appconf.app_chuk_conf.tc = data[ind++]; 363 | // appconf.app_chuk_conf.tc_max_diff = buffer_get_float32_auto(data, &ind); 364 | // 365 | // appconf.app_nrf_conf.speed = data[ind++]; 366 | // appconf.app_nrf_conf.power = data[ind++]; 367 | // appconf.app_nrf_conf.crc_type = data[ind++]; 368 | // appconf.app_nrf_conf.retry_delay = data[ind++]; 369 | // appconf.app_nrf_conf.retries = data[ind++]; 370 | // appconf.app_nrf_conf.channel = data[ind++]; 371 | // memcpy(appconf.app_nrf_conf.address, data + ind, 3); 372 | // ind += 3; 373 | // appconf.app_nrf_conf.send_crc_ack = data[ind++]; 374 | // 375 | // if (rx_appconf_func) { 376 | // rx_appconf_func(&appconf); 377 | // } 378 | // break; 379 | // 380 | // case COMM_DETECT_MOTOR_PARAM: 381 | // ind = 0; 382 | // detect_cycle_int_limit = buffer_get_float32(data, 1000.0, &ind); 383 | // detect_coupling_k = buffer_get_float32(data, 1000.0, &ind); 384 | // for (i = 0;i < 8;i++) { 385 | // detect_hall_table[i] = (const signed char)(data[ind++]); 386 | // } 387 | // detect_hall_res = (const signed char)(data[ind++]); 388 | // 389 | // if (rx_detect_func) { 390 | // rx_detect_func(detect_cycle_int_limit, detect_coupling_k, 391 | // detect_hall_table, detect_hall_res); 392 | // } 393 | // break; 394 | // 395 | // case COMM_DETECT_MOTOR_R_L: { 396 | // // TODO! 397 | // } break; 398 | // 399 | // case COMM_DETECT_MOTOR_FLUX_LINKAGE: { 400 | // // TODO! 401 | // } break; 402 | // 403 | // case COMM_DETECT_ENCODER: { 404 | // // TODO! 405 | // } break; 406 | // 407 | // case COMM_DETECT_HALL_FOC: { 408 | // // TODO! 409 | // } break; 410 | // 411 | // case COMM_GET_DECODED_PPM: 412 | // ind = 0; 413 | // dec_ppm = buffer_get_float32(data, 1000000.0, &ind); 414 | // dec_ppm_len = buffer_get_float32(data, 1000000.0, &ind); 415 | // 416 | // if (rx_dec_ppm_func) { 417 | // rx_dec_ppm_func(dec_ppm, dec_ppm_len); 418 | // } 419 | // break; 420 | // 421 | // case COMM_GET_DECODED_ADC: 422 | // ind = 0; 423 | // dec_adc = buffer_get_float32(data, 1000000.0, &ind); 424 | // dec_adc_voltage = buffer_get_float32(data, 1000000.0, &ind); 425 | // // TODO for adc2 426 | // 427 | // if (rx_dec_adc_func) { 428 | // rx_dec_adc_func(dec_adc, dec_adc_voltage); 429 | // } 430 | // break; 431 | // 432 | // case COMM_GET_DECODED_CHUK: 433 | // ind = 0; 434 | // dec_chuk = buffer_get_float32(data, 1000000.0, &ind); 435 | // 436 | // if (rx_dec_chuk_func) { 437 | // rx_dec_chuk_func(dec_chuk); 438 | // } 439 | // break; 440 | // 441 | // case COMM_SET_MCCONF: 442 | // // This is a confirmation that the new mcconf is received. 443 | // if (rx_mcconf_received_func) { 444 | // rx_mcconf_received_func(); 445 | // } 446 | // break; 447 | // 448 | // case COMM_SET_APPCONF: 449 | // // This is a confirmation that the new appconf is received. 450 | // if (rx_appconf_received_func) { 451 | // rx_appconf_received_func(); 452 | // } 453 | // break; 454 | 455 | default: 456 | break; 457 | } 458 | } 459 | 460 | /** 461 | * Function pointer setters. When data that is requested with the get functions 462 | * is received, the corresponding function pointer will be called with the 463 | * received data. 464 | * 465 | * @param func 466 | * A function to be called when the corresponding data is received. 467 | */ 468 | 469 | void bldc_interface_set_rx_value_func(void(*func)(mc_values *values)) { 470 | rx_value_func = func; 471 | } 472 | 473 | // void bldc_interface_set_rx_printf_func(void(*func)(char *str)) { 474 | // rx_printf_func = func; 475 | // } 476 | 477 | // void bldc_interface_set_rx_fw_func(void(*func)(int major, int minor)) { 478 | // rx_fw_func = func; 479 | // } 480 | 481 | // void bldc_interface_set_rx_rotor_pos_func(void(*func)(float pos)) { 482 | // rx_rotor_pos_func = func; 483 | // } 484 | 485 | // void bldc_interface_set_rx_mcconf_func(void(*func)(mc_configuration *conf)) { 486 | // rx_mcconf_func = func; 487 | // } 488 | 489 | // void bldc_interface_set_rx_appconf_func(void(*func)(app_configuration *conf)) { 490 | // rx_appconf_func = func; 491 | // } 492 | 493 | // void bldc_interface_set_rx_detect_func(void(*func)(float cycle_int_limit, float coupling_k, 494 | // const signed char *hall_table, signed char hall_res)) { 495 | // rx_detect_func = func; 496 | // } 497 | 498 | // void bldc_interface_set_rx_dec_ppm_func(void(*func)(float val, float ms)) { 499 | // rx_dec_ppm_func = func; 500 | // } 501 | 502 | // void bldc_interface_set_rx_dec_adc_func(void(*func)(float val, float voltage)) { 503 | // rx_dec_adc_func = func; 504 | // } 505 | 506 | // void bldc_interface_set_rx_dec_chuk_func(void(*func)(float val)) { 507 | // rx_dec_chuk_func = func; 508 | // } 509 | 510 | // void bldc_interface_set_rx_mcconf_received_func(void(*func)(void)) { 511 | // rx_mcconf_received_func = func; 512 | // } 513 | 514 | // void bldc_interface_set_rx_appconf_received_func(void(*func)(void)) { 515 | // rx_appconf_received_func = func; 516 | // } 517 | 518 | // void bldc_interface_set_sim_control_function(void(*func)(motor_control_mode mode, float value)) { 519 | // motor_control_set_func = func; 520 | // } 521 | 522 | // void bldc_interface_set_sim_values_func(void(*func)(void)) { 523 | // values_requested_func = func; 524 | // } 525 | 526 | // Setters 527 | // void bldc_interface_terminal_cmd(char* cmd) { 528 | // int len = strlen(cmd); 529 | // send_buffer[0] = COMM_TERMINAL_CMD; 530 | // memcpy(send_buffer + 1, cmd, len); 531 | // send_packet_no_fwd(send_buffer, len + 1); 532 | // } 533 | 534 | // void bldc_interface_set_duty_cycle(float dutyCycle) { 535 | // if (motor_control_set_func) { 536 | // motor_control_set_func(MOTOR_CONTROL_DUTY, dutyCycle); 537 | // return; 538 | // } 539 | // int32_t send_index = 0; 540 | // send_buffer[send_index++] = COMM_SET_DUTY; 541 | // buffer_append_float32(send_buffer, dutyCycle, 100000.0, &send_index); 542 | // send_packet_no_fwd(send_buffer, send_index); 543 | // } 544 | 545 | void bldc_interface_set_current(float current) { 546 | if (motor_control_set_func) { 547 | motor_control_set_func(MOTOR_CONTROL_CURRENT, current); 548 | return; 549 | } 550 | int32_t send_index = 0; 551 | send_buffer[send_index++] = COMM_SET_CURRENT; 552 | buffer_append_float32(send_buffer, current, 1000.0, &send_index); 553 | send_packet_no_fwd(send_buffer, send_index); 554 | } 555 | 556 | // void bldc_interface_set_current_brake(float current) { 557 | // if (motor_control_set_func) { 558 | // motor_control_set_func(MOTOR_CONTROL_CURRENT_BRAKE, current); 559 | // return; 560 | // } 561 | // int32_t send_index = 0; 562 | // send_buffer[send_index++] = COMM_SET_CURRENT_BRAKE; 563 | // buffer_append_float32(send_buffer, current, 1000.0, &send_index); 564 | // send_packet_no_fwd(send_buffer, send_index); 565 | // } 566 | 567 | void bldc_interface_set_rpm(int rpm) { 568 | if (motor_control_set_func) { 569 | motor_control_set_func(MOTOR_CONTROL_RPM, rpm); 570 | return; 571 | } 572 | int32_t send_index = 0; 573 | send_buffer[send_index++] = COMM_SET_RPM; 574 | buffer_append_int32(send_buffer, rpm, &send_index); 575 | send_packet_no_fwd(send_buffer, send_index); 576 | } 577 | 578 | // void bldc_interface_set_pos(float pos) { 579 | // if (motor_control_set_func) { 580 | // motor_control_set_func(MOTOR_CONTROL_POS, pos); 581 | // return; 582 | // } 583 | // int32_t send_index = 0; 584 | // send_buffer[send_index++] = COMM_SET_POS; 585 | // buffer_append_float32(send_buffer, pos, 1000000.0, &send_index); 586 | // send_packet_no_fwd(send_buffer, send_index); 587 | // } 588 | 589 | // void bldc_interface_set_handbrake(float current) { 590 | // int32_t send_index = 0; 591 | // send_buffer[send_index++] = COMM_SET_HANDBRAKE; 592 | // buffer_append_float32(send_buffer, current, 1e3, &send_index); 593 | // send_packet_no_fwd(send_buffer, send_index); 594 | // } 595 | 596 | // void bldc_interface_set_servo_pos(float pos) { 597 | // int32_t send_index = 0; 598 | // send_buffer[send_index++] = COMM_SET_SERVO_POS; 599 | // buffer_append_float16(send_buffer, pos, 1000.0, &send_index); 600 | // send_packet_no_fwd(send_buffer, send_index); 601 | // } 602 | 603 | // void bldc_interface_set_mcconf(const mc_configuration *mcconf) { 604 | // int32_t ind = 0; 605 | // send_buffer[ind++] = COMM_SET_MCCONF; 606 | // 607 | // send_buffer[ind++] = mcconf->pwm_mode; 608 | // send_buffer[ind++] = mcconf->comm_mode; 609 | // send_buffer[ind++] = mcconf->motor_type; 610 | // send_buffer[ind++] = mcconf->sensor_mode; 611 | // 612 | // buffer_append_float32_auto(send_buffer, mcconf->l_current_max, &ind); 613 | // buffer_append_float32_auto(send_buffer, mcconf->l_current_min, &ind); 614 | // buffer_append_float32_auto(send_buffer, mcconf->l_in_current_max, &ind); 615 | // buffer_append_float32_auto(send_buffer, mcconf->l_in_current_min, &ind); 616 | // buffer_append_float32_auto(send_buffer, mcconf->l_abs_current_max, &ind); 617 | // buffer_append_float32_auto(send_buffer, mcconf->l_min_erpm, &ind); 618 | // buffer_append_float32_auto(send_buffer, mcconf->l_max_erpm, &ind); 619 | // buffer_append_float32_auto(send_buffer, mcconf->l_erpm_start, &ind); 620 | // buffer_append_float32_auto(send_buffer, mcconf->l_max_erpm_fbrake, &ind); 621 | // buffer_append_float32_auto(send_buffer, mcconf->l_max_erpm_fbrake_cc, &ind); 622 | // buffer_append_float32_auto(send_buffer, mcconf->l_min_vin, &ind); 623 | // buffer_append_float32_auto(send_buffer, mcconf->l_max_vin, &ind); 624 | // buffer_append_float32_auto(send_buffer, mcconf->l_battery_cut_start, &ind); 625 | // buffer_append_float32_auto(send_buffer, mcconf->l_battery_cut_end, &ind); 626 | // send_buffer[ind++] = mcconf->l_slow_abs_current; 627 | // buffer_append_float32_auto(send_buffer, mcconf->l_temp_fet_start, &ind); 628 | // buffer_append_float32_auto(send_buffer, mcconf->l_temp_fet_end, &ind); 629 | // buffer_append_float32_auto(send_buffer, mcconf->l_temp_motor_start, &ind); 630 | // buffer_append_float32_auto(send_buffer, mcconf->l_temp_motor_end, &ind); 631 | // buffer_append_float32_auto(send_buffer, mcconf->l_min_duty, &ind); 632 | // buffer_append_float32_auto(send_buffer, mcconf->l_max_duty, &ind); 633 | // buffer_append_float32_auto(send_buffer, mcconf->l_watt_max, &ind); 634 | // buffer_append_float32_auto(send_buffer, mcconf->l_watt_min, &ind); 635 | // 636 | // buffer_append_float32_auto(send_buffer, mcconf->sl_min_erpm, &ind); 637 | // buffer_append_float32_auto(send_buffer, mcconf->sl_min_erpm_cycle_int_limit, &ind); 638 | // buffer_append_float32_auto(send_buffer, mcconf->sl_max_fullbreak_current_dir_change, &ind); 639 | // buffer_append_float32_auto(send_buffer, mcconf->sl_cycle_int_limit, &ind); 640 | // buffer_append_float32_auto(send_buffer, mcconf->sl_phase_advance_at_br, &ind); 641 | // buffer_append_float32_auto(send_buffer, mcconf->sl_cycle_int_rpm_br, &ind); 642 | // buffer_append_float32_auto(send_buffer, mcconf->sl_bemf_coupling_k, &ind); 643 | // 644 | // memcpy(send_buffer + ind, mcconf->hall_table, 8); 645 | // ind += 8; 646 | // buffer_append_float32_auto(send_buffer, mcconf->hall_sl_erpm, &ind); 647 | // 648 | // buffer_append_float32_auto(send_buffer, mcconf->foc_current_kp, &ind); 649 | // buffer_append_float32_auto(send_buffer, mcconf->foc_current_ki, &ind); 650 | // buffer_append_float32_auto(send_buffer, mcconf->foc_f_sw, &ind); 651 | // buffer_append_float32_auto(send_buffer, mcconf->foc_dt_us, &ind); 652 | // send_buffer[ind++] = mcconf->foc_encoder_inverted; 653 | // buffer_append_float32_auto(send_buffer, mcconf->foc_encoder_offset, &ind); 654 | // buffer_append_float32_auto(send_buffer, mcconf->foc_encoder_ratio, &ind); 655 | // send_buffer[ind++] = mcconf->foc_sensor_mode; 656 | // buffer_append_float32_auto(send_buffer, mcconf->foc_pll_kp, &ind); 657 | // buffer_append_float32_auto(send_buffer, mcconf->foc_pll_ki, &ind); 658 | // buffer_append_float32_auto(send_buffer, mcconf->foc_motor_l, &ind); 659 | // buffer_append_float32_auto(send_buffer, mcconf->foc_motor_r, &ind); 660 | // buffer_append_float32_auto(send_buffer, mcconf->foc_motor_flux_linkage, &ind); 661 | // buffer_append_float32_auto(send_buffer, mcconf->foc_observer_gain, &ind); 662 | // buffer_append_float32_auto(send_buffer, mcconf->foc_observer_gain_slow, &ind); 663 | // buffer_append_float32_auto(send_buffer, mcconf->foc_duty_dowmramp_kp, &ind); 664 | // buffer_append_float32_auto(send_buffer, mcconf->foc_duty_dowmramp_ki, &ind); 665 | // buffer_append_float32_auto(send_buffer, mcconf->foc_openloop_rpm, &ind); 666 | // buffer_append_float32_auto(send_buffer, mcconf->foc_sl_openloop_hyst, &ind); 667 | // buffer_append_float32_auto(send_buffer, mcconf->foc_sl_openloop_time, &ind); 668 | // buffer_append_float32_auto(send_buffer, mcconf->foc_sl_d_current_duty, &ind); 669 | // buffer_append_float32_auto(send_buffer, mcconf->foc_sl_d_current_factor, &ind); 670 | // memcpy(send_buffer + ind, mcconf->foc_hall_table, 8); 671 | // ind += 8; 672 | // buffer_append_float32_auto(send_buffer, mcconf->foc_sl_erpm, &ind); 673 | // send_buffer[ind++] = mcconf->foc_sample_v0_v7; 674 | // buffer_append_float32_auto(send_buffer, mcconf->foc_sat_comp, &ind); 675 | // send_buffer[ind++] = mcconf->foc_temp_comp; 676 | // buffer_append_float32_auto(send_buffer, mcconf->foc_temp_comp_base_temp, &ind); 677 | // 678 | // buffer_append_float32_auto(send_buffer, mcconf->s_pid_kp, &ind); 679 | // buffer_append_float32_auto(send_buffer, mcconf->s_pid_ki, &ind); 680 | // buffer_append_float32_auto(send_buffer, mcconf->s_pid_kd, &ind); 681 | // buffer_append_float32_auto(send_buffer, mcconf->s_pid_min_erpm, &ind); 682 | // send_buffer[ind++] = mcconf->s_pid_allow_braking; 683 | // 684 | // buffer_append_float32_auto(send_buffer, mcconf->p_pid_kp, &ind); 685 | // buffer_append_float32_auto(send_buffer, mcconf->p_pid_ki, &ind); 686 | // buffer_append_float32_auto(send_buffer, mcconf->p_pid_kd, &ind); 687 | // buffer_append_float32_auto(send_buffer, mcconf->p_pid_ang_div, &ind); 688 | // 689 | // buffer_append_float32_auto(send_buffer, mcconf->cc_startup_boost_duty, &ind); 690 | // buffer_append_float32_auto(send_buffer, mcconf->cc_min_current, &ind); 691 | // buffer_append_float32_auto(send_buffer, mcconf->cc_gain, &ind); 692 | // buffer_append_float32_auto(send_buffer, mcconf->cc_ramp_step_max, &ind); 693 | // 694 | // buffer_append_int32(send_buffer, mcconf->m_fault_stop_time_ms, &ind); 695 | // buffer_append_float32_auto(send_buffer, mcconf->m_duty_ramp_step, &ind); 696 | // buffer_append_float32_auto(send_buffer, mcconf->m_current_backoff_gain, &ind); 697 | // buffer_append_uint32(send_buffer, mcconf->m_encoder_counts, &ind); 698 | // send_buffer[ind++] = mcconf->m_sensor_port_mode; 699 | // send_buffer[ind++] = mcconf->m_invert_direction; 700 | // send_buffer[ind++] = mcconf->m_drv8301_oc_mode; 701 | // send_buffer[ind++] = mcconf->m_drv8301_oc_adj; 702 | // buffer_append_float32_auto(send_buffer, mcconf->m_bldc_f_sw_min, &ind); 703 | // buffer_append_float32_auto(send_buffer, mcconf->m_bldc_f_sw_max, &ind); 704 | // buffer_append_float32_auto(send_buffer, mcconf->m_dc_f_sw, &ind); 705 | // 706 | // send_packet_no_fwd(send_buffer, ind); 707 | // } 708 | 709 | // void bldc_interface_set_appconf(const app_configuration *appconf) { 710 | // int32_t ind = 0; 711 | // // send_buffer[ind++] = COMM_SET_APPCONF; 712 | // send_buffer[ind++] = appconf->controller_id; 713 | // buffer_append_uint32(send_buffer, appconf->timeout_msec, &ind); 714 | // buffer_append_float32_auto(send_buffer, appconf->timeout_brake_current, &ind); 715 | // send_buffer[ind++] = appconf->send_can_status; 716 | // buffer_append_uint16(send_buffer, appconf->send_can_status_rate_hz, &ind); 717 | // 718 | // send_buffer[ind++] = appconf->app_to_use; 719 | // 720 | // send_buffer[ind++] = appconf->app_ppm_conf.ctrl_type; 721 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pid_max_erpm, &ind); 722 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.hyst, &ind); 723 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_start, &ind); 724 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_end, &ind); 725 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.pulse_center, &ind); 726 | // send_buffer[ind++] = appconf->app_ppm_conf.median_filter; 727 | // send_buffer[ind++] = appconf->app_ppm_conf.safe_start; 728 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.throttle_exp, &ind); 729 | // send_buffer[ind++] = appconf->app_ppm_conf.throttle_exp_mode; 730 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.ramp_time_pos, &ind); 731 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.ramp_time_neg, &ind); 732 | // send_buffer[ind++] = appconf->app_ppm_conf.multi_esc; 733 | // send_buffer[ind++] = appconf->app_ppm_conf.tc; 734 | // buffer_append_float32_auto(send_buffer, appconf->app_ppm_conf.tc_max_diff, &ind); 735 | // 736 | // send_buffer[ind++] = appconf->app_adc_conf.ctrl_type; 737 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.hyst, &ind); 738 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_start, &ind); 739 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_end, &ind); 740 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage_center, &ind); 741 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage2_start, &ind); 742 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.voltage2_end, &ind); 743 | // send_buffer[ind++] = appconf->app_adc_conf.use_filter; 744 | // send_buffer[ind++] = appconf->app_adc_conf.safe_start; 745 | // send_buffer[ind++] = appconf->app_adc_conf.cc_button_inverted; 746 | // send_buffer[ind++] = appconf->app_adc_conf.rev_button_inverted; 747 | // send_buffer[ind++] = appconf->app_adc_conf.voltage_inverted; 748 | // send_buffer[ind++] = appconf->app_adc_conf.voltage2_inverted; 749 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.throttle_exp, &ind); 750 | // send_buffer[ind++] = appconf->app_adc_conf.throttle_exp_mode; 751 | // send_buffer[ind++] = appconf->app_adc_conf.multi_esc; 752 | // send_buffer[ind++] = appconf->app_adc_conf.tc; 753 | // buffer_append_float32_auto(send_buffer, appconf->app_adc_conf.tc_max_diff, &ind); 754 | // buffer_append_uint16(send_buffer, appconf->app_adc_conf.update_rate_hz, &ind); 755 | // 756 | // buffer_append_uint32(send_buffer, appconf->app_uart_baudrate, &ind); 757 | // 758 | // send_buffer[ind++] = appconf->app_chuk_conf.ctrl_type; 759 | // buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.hyst, &ind); 760 | // buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.ramp_time_pos, &ind); 761 | // buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.ramp_time_neg, &ind); 762 | // buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.stick_erpm_per_s_in_cc, &ind); 763 | // buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.throttle_exp, &ind); 764 | // send_buffer[ind++] = appconf->app_chuk_conf.throttle_exp_mode; 765 | // send_buffer[ind++] = appconf->app_chuk_conf.multi_esc; 766 | // send_buffer[ind++] = appconf->app_chuk_conf.tc; 767 | // buffer_append_float32_auto(send_buffer, appconf->app_chuk_conf.tc_max_diff, &ind); 768 | // 769 | // send_buffer[ind++] = appconf->app_nrf_conf.speed; 770 | // send_buffer[ind++] = appconf->app_nrf_conf.power; 771 | // send_buffer[ind++] = appconf->app_nrf_conf.crc_type; 772 | // send_buffer[ind++] = appconf->app_nrf_conf.retry_delay; 773 | // send_buffer[ind++] = appconf->app_nrf_conf.retries; 774 | // send_buffer[ind++] = appconf->app_nrf_conf.channel; 775 | // memcpy(send_buffer + ind, appconf->app_nrf_conf.address, 3); 776 | // ind += 3; 777 | // send_buffer[ind++] = appconf->app_nrf_conf.send_crc_ack; 778 | // 779 | // send_packet_no_fwd(send_buffer, ind); 780 | // } 781 | 782 | // Getters 783 | // void bldc_interface_get_fw_version(void) { 784 | // int32_t send_index = 0; 785 | // send_buffer[send_index++] = COMM_FW_VERSION; 786 | // send_packet_no_fwd(send_buffer, send_index); 787 | // } 788 | 789 | void bldc_interface_get_values(void) { 790 | if (values_requested_func) { 791 | values_requested_func(); 792 | return; 793 | } 794 | int32_t send_index = 0; 795 | send_buffer[send_index++] = COMM_GET_VALUES; 796 | send_packet_no_fwd(send_buffer, send_index); 797 | } 798 | 799 | // void bldc_interface_get_mcconf(void) { 800 | // int32_t send_index = 0; 801 | // send_buffer[send_index++] = COMM_GET_MCCONF; 802 | // send_packet_no_fwd(send_buffer, send_index); 803 | // } 804 | 805 | // void bldc_interface_get_appconf(void) { 806 | // int32_t send_index = 0; 807 | // send_buffer[send_index++] = COMM_GET_APPCONF; 808 | // send_packet_no_fwd(send_buffer, send_index); 809 | // } 810 | 811 | // void bldc_interface_get_decoded_ppm(void) { 812 | // int32_t send_index = 0; 813 | // send_buffer[send_index++] = COMM_GET_DECODED_PPM; 814 | // send_packet_no_fwd(send_buffer, send_index); 815 | // } 816 | 817 | // void bldc_interface_get_decoded_adc(void) { 818 | // int32_t send_index = 0; 819 | // send_buffer[send_index++] = COMM_GET_DECODED_ADC; 820 | // send_packet_no_fwd(send_buffer, send_index); 821 | // } 822 | 823 | // void bldc_interface_get_decoded_chuk(void) { 824 | // int32_t send_index = 0; 825 | // send_buffer[send_index++] = COMM_GET_DECODED_CHUK; 826 | // send_packet_no_fwd(send_buffer, send_index); 827 | // } 828 | 829 | // Other functions 830 | // void bldc_interface_detect_motor_param(float current, float min_rpm, float low_duty) { 831 | // int32_t send_index = 0; 832 | // send_buffer[send_index++] = COMM_DETECT_MOTOR_PARAM; 833 | // buffer_append_float32(send_buffer, current, 1000.0, &send_index); 834 | // buffer_append_float32(send_buffer, min_rpm, 1000.0, &send_index); 835 | // buffer_append_float32(send_buffer, low_duty, 1000.0, &send_index); 836 | // send_packet_no_fwd(send_buffer, send_index); 837 | // } 838 | 839 | void bldc_interface_reboot(void) { 840 | int32_t send_index = 0; 841 | send_buffer[send_index++] = COMM_REBOOT; 842 | send_packet_no_fwd(send_buffer, send_index); 843 | } 844 | 845 | void bldc_interface_send_alive(void) { 846 | int32_t send_index = 0; 847 | send_buffer[send_index++] = COMM_ALIVE; 848 | send_packet_no_fwd(send_buffer, send_index); 849 | } 850 | 851 | // void send_values_to_receiver(mc_values *values) { 852 | // if (rx_value_func) { 853 | // rx_value_func(values); 854 | // } 855 | // } 856 | 857 | // Helpers 858 | // const char* bldc_interface_fault_to_string(mc_fault_code fault) { 859 | // switch (fault) { 860 | // case FAULT_CODE_NONE: return "FAULT_CODE_NONE"; 861 | // case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE"; 862 | // case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE"; 863 | // case FAULT_CODE_DRV: return "FAULT_CODE_DRV"; 864 | // case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT"; 865 | // case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET"; 866 | // case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR"; 867 | // default: return "Unknown fault"; 868 | // } 869 | // } 870 | 871 | // Private functions 872 | void send_packet_no_fwd(unsigned char *data, unsigned int len) { 873 | if (!forward_func) { 874 | bldc_interface_send_packet(data, len); 875 | } 876 | } 877 | --------------------------------------------------------------------------------