Merge pull request #284 from tinymovr/studio/argument_input_dialog

Add dialog for inputting function arguments

firmware/src/can/can.c

@@ -161,7 +161,7 @@ void CAN_restore_config(CANConfig *config_)
     config = *config_;
 }
 
-void CAN_task(void) {
+void CAN_update(void) {
     // Transmit heartbeat
     const uint32_t msg_diff = msTicks - state.last_msg_ms;
     if (msg_diff >= config.heartbeat_period && PAC55XX_CAN->SR.TBS != 0)

firmware/src/can/can.h

@@ -40,4 +40,4 @@ void CAN_process_interrupt(void);
 CANConfig *CAN_get_config(void);
 void CAN_restore_config(CANConfig *config_);
 
-void CAN_task(void);
+void CAN_update(void);

firmware/src/can/can_endpoints.c

@@ -18,8 +18,8 @@
 #include <src/can/can_endpoints.h>
 
 
-uint8_t (*avlos_endpoints[81])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_invoke_bootloader, &avlos_scheduler_total, &avlos_scheduler_busy, &avlos_scheduler_errors, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_offset, &avlos_motor_direction, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_encoder_position_estimate, &avlos_encoder_velocity_estimate, &avlos_encoder_type, &avlos_encoder_bandwidth, &avlos_encoder_calibrated, &avlos_encoder_errors, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
-uint32_t avlos_proto_hash = 4244018107;
+uint8_t (*avlos_endpoints[79])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd) = {&avlos_protocol_hash, &avlos_uid, &avlos_fw_version, &avlos_hw_revision, &avlos_Vbus, &avlos_Ibus, &avlos_power, &avlos_temp, &avlos_calibrated, &avlos_errors, &avlos_save_config, &avlos_erase_config, &avlos_reset, &avlos_enter_dfu, &avlos_scheduler_errors, &avlos_controller_state, &avlos_controller_mode, &avlos_controller_warnings, &avlos_controller_errors, &avlos_controller_position_setpoint, &avlos_controller_position_p_gain, &avlos_controller_velocity_setpoint, &avlos_controller_velocity_limit, &avlos_controller_velocity_p_gain, &avlos_controller_velocity_i_gain, &avlos_controller_velocity_deadband, &avlos_controller_velocity_increment, &avlos_controller_current_Iq_setpoint, &avlos_controller_current_Id_setpoint, &avlos_controller_current_Iq_limit, &avlos_controller_current_Iq_estimate, &avlos_controller_current_bandwidth, &avlos_controller_current_Iq_p_gain, &avlos_controller_current_max_Ibus_regen, &avlos_controller_current_max_Ibrake, &avlos_controller_voltage_Vq_setpoint, &avlos_controller_calibrate, &avlos_controller_idle, &avlos_controller_position_mode, &avlos_controller_velocity_mode, &avlos_controller_current_mode, &avlos_controller_set_pos_vel_setpoints, &avlos_comms_can_rate, &avlos_comms_can_id, &avlos_motor_R, &avlos_motor_L, &avlos_motor_pole_pairs, &avlos_motor_type, &avlos_motor_offset, &avlos_motor_direction, &avlos_motor_calibrated, &avlos_motor_I_cal, &avlos_motor_errors, &avlos_encoder_position_estimate, &avlos_encoder_velocity_estimate, &avlos_encoder_type, &avlos_encoder_bandwidth, &avlos_encoder_calibrated, &avlos_encoder_errors, &avlos_traj_planner_max_accel, &avlos_traj_planner_max_decel, &avlos_traj_planner_max_vel, &avlos_traj_planner_t_accel, &avlos_traj_planner_t_decel, &avlos_traj_planner_t_total, &avlos_traj_planner_move_to, &avlos_traj_planner_move_to_tlimit, &avlos_traj_planner_errors, &avlos_homing_velocity, &avlos_homing_max_homing_t, &avlos_homing_retract_dist, &avlos_homing_warnings, &avlos_homing_stall_detect_velocity, &avlos_homing_stall_detect_delta_pos, &avlos_homing_stall_detect_t, &avlos_homing_home, &avlos_watchdog_enabled, &avlos_watchdog_triggered, &avlos_watchdog_timeout };
+uint32_t avlos_proto_hash = 4118115615;
 
 uint32_t _avlos_get_proto_hash(void)
 {
@@ -164,42 +164,18 @@ uint8_t avlos_reset(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
     return AVLOS_RET_CALL;
 }
 
-uint8_t avlos_invoke_bootloader(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
+uint8_t avlos_enter_dfu(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
 {
-    system_invoke_bootloader();
+    system_enter_dfu();
 
     return AVLOS_RET_CALL;
 }
 
-uint8_t avlos_scheduler_total(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
-{
-if (AVLOS_CMD_READ == cmd) {
-        uint32_t v;
-        v = Scheduler_GetTotalCycles();
-        *buffer_len = sizeof(v);
-        memcpy(buffer, &v, sizeof(v));
-        return AVLOS_RET_READ;
-    }
-    return AVLOS_RET_NOACTION;
-}
-
-uint8_t avlos_scheduler_busy(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
-{
-if (AVLOS_CMD_READ == cmd) {
-        uint32_t v;
-        v = Scheduler_GetBusyCycles();
-        *buffer_len = sizeof(v);
-        memcpy(buffer, &v, sizeof(v));
-        return AVLOS_RET_READ;
-    }
-    return AVLOS_RET_NOACTION;
-}
-
 uint8_t avlos_scheduler_errors(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd)
 {
 if (AVLOS_CMD_READ == cmd) {
         uint8_t v;
-        v = controller_get_errors();
+        v = scheduler_get_errors();
         *buffer_len = sizeof(v);
         memcpy(buffer, &v, sizeof(v));
         return AVLOS_RET_READ;

firmware/src/can/can_endpoints.h

@@ -27,7 +27,12 @@ typedef enum
 {
     ERRORS_NONE = 0,
     ERRORS_UNDERVOLTAGE = (1 << 0), 
-    ERRORS_DRIVER_FAULT = (1 << 1)
+    ERRORS_DRIVER_FAULT = (1 << 1), 
+    ERRORS_CHARGE_PUMP_FAULT_STAT = (1 << 2), 
+    ERRORS_CHARGE_PUMP_FAULT = (1 << 3), 
+    ERRORS_DRV10_DISABLE = (1 << 4), 
+    ERRORS_DRV32_DISABLE = (1 << 5), 
+    ERRORS_DRV54_DISABLE = (1 << 6)
 } errors_flags;
 
 typedef enum
@@ -91,7 +96,7 @@ typedef enum
 } encoder_type_options;
 
 extern uint32_t avlos_proto_hash;
-extern uint8_t (*avlos_endpoints[81])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
+extern uint8_t (*avlos_endpoints[79])(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 extern uint32_t _avlos_get_proto_hash(void);
 
 /*
@@ -225,34 +230,14 @@ uint8_t avlos_erase_config(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command
 uint8_t avlos_reset(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 
 /*
-* avlos_invoke_bootloader
+* avlos_enter_dfu
 *
-* Invoke the bootloader.
+* Enter DFU mode.
 *
 * @param buffer
 * @param buffer_len
 */
-uint8_t avlos_invoke_bootloader(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
-
-/*
-* avlos_scheduler_total
-*
-* Total processor cycles in a single PWM cycle.
-*
-* @param buffer
-* @param buffer_len
-*/
-uint8_t avlos_scheduler_total(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
-
-/*
-* avlos_scheduler_busy
-*
-* Busy processor cycles in a single PWM cycle.
-*
-* @param buffer
-* @param buffer_len
-*/
-uint8_t avlos_scheduler_busy(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
+uint8_t avlos_enter_dfu(uint8_t * buffer, uint8_t * buffer_len, Avlos_Command cmd);
 
 /*
 * avlos_scheduler_errors

firmware/src/config.h

@@ -27,8 +27,9 @@
 // Timer clock divider
 #define TXCTL_PS_DIV                TXCTL_PS_DIV2
 
-// Desired PWM Frequency (Hz).
+// PWM and Systick frequency
 #define PWM_FREQ_HZ              (20000)
+#define SYSTICK_FREQ_HZ          (1000)
 
 // Control parameters
 #define PWM_LIMIT                   (0.8f)

firmware/src/controller/controller.c

@@ -124,11 +124,11 @@ void Controller_ControlLoop(void)
             reset_calibration();
             if (ENCODER_MA7XX == encoder_get_type())
             {
-                (void)((CalibrateResistance() && CalibrateInductance()) && CalibrateDirectionAndPolePairs() && calibrate_offset_and_rectification());
+                (void)((CalibrateADCOffset() && CalibrateResistance() && CalibrateInductance()) && CalibrateDirectionAndPolePairs() && calibrate_offset_and_rectification());
             }
             else if (ENCODER_HALL == encoder_get_type())
             {
-                (void)((CalibrateResistance() && CalibrateInductance()) && calibrate_hall_sequence());
+                (void)((CalibrateADCOffset() && CalibrateResistance() && CalibrateInductance()) && calibrate_hall_sequence());
             }
             state.is_calibrating = false;
             controller_set_state(STATE_IDLE);

firmware/src/gatedriver/gatedriver.c

@@ -19,13 +19,6 @@
 #include <src/motor/motor.h>
 #include <src/gatedriver/gatedriver.h>
 
-struct GateDriver_ gateDriver = 
-{
-    .state = GATEDRIVER_DISABLED
-};
-
-void GateDriver_Init(void) {}
-
 TM_RAMFUNC void gate_driver_enable(void)
 {
     // Select PWMA peripheral for Port B
@@ -47,7 +40,6 @@ TM_RAMFUNC void gate_driver_enable(void)
 
     pac5xxx_tile_register_write(ADDR_CFGDRV4,
             pac5xxx_tile_register_read(ADDR_CFGDRV4) | 0x1); // BBM is bit 0
-    gateDriver.state = GATEDRIVER_ENABLED;
 }
 
 TM_RAMFUNC void gate_driver_disable(void)
@@ -66,12 +58,11 @@ TM_RAMFUNC void gate_driver_disable(void)
 
     // Turn on output enables
     PAC55XX_GPIOB->OUTMASK.w = 0x00;
-    gateDriver.state = GATEDRIVER_DISABLED;
 }
 
 TM_RAMFUNC bool gate_driver_is_enabled(void)
 {
-    return (GATEDRIVER_ENABLED == gateDriver.state);
+    return ((pac5xxx_tile_register_read(ADDR_ENDRV) & 0x1) == 1);
 }
 
 TM_RAMFUNC void gate_driver_set_duty_cycle(const FloatTriplet *dutycycles)

firmware/src/gatedriver/gatedriver.h

@@ -18,17 +18,7 @@
 #ifndef GATEDRIVER_GATEDRIVER_H_
 #define GATEDRIVER_GATEDRIVER_H_
 
-typedef enum {
-	GATEDRIVER_DISABLED = 0,
-	GATEDRIVER_ENABLED = 1
-} GateDriverState;
 
-struct GateDriver_
-{
-    GateDriverState state;
-};
-
-void GateDriver_Init(void);
 void gate_driver_enable(void);
 void gate_driver_disable(void);
 bool gate_driver_is_enabled(void);

firmware/src/main.c

@@ -39,7 +39,6 @@ int main(void)
     UART_Init();
 	observer_init();
 	ADC_Init();
-	GateDriver_Init();
     CAN_init();
     Timer_Init();
     Watchdog_init();

firmware/src/motor/calibration.c

@@ -30,6 +30,14 @@
 static inline void set_epos_and_wait(float angle, float I_setpoint);
 static inline void wait_a_while(void);
 
+bool CalibrateADCOffset(void)
+{
+    // We only need to wait here, the ADC loop will
+    // perform the offset calibration automatically
+    wait_a_while();
+    return true;
+}
+
 bool CalibrateResistance(void)
 {
     if (!motor_get_is_gimbal())

firmware/src/motor/calibration.h

@@ -34,6 +34,7 @@
 #define CAL_V_INDUCTANCE      (5.0f)
 #endif
 
+bool CalibrateADCOffset(void);
 bool CalibrateResistance(void);
 bool CalibrateInductance(void);
 bool CalibrateDirectionAndPolePairs(void);

firmware/src/scheduler/scheduler.c

@@ -63,7 +63,6 @@ void WaitForControlLoopInterrupt(void)
 		else
 		{
 			state.busy = false;
-			state.busy_cycles = DWT->CYCCNT - state.busy_loop_start;
 			// Go back to sleep
 			__DSB();
 			__ISB();
@@ -72,15 +71,14 @@ void WaitForControlLoopInterrupt(void)
 	}
 	state.busy = true;
 	state.adc_interrupt = false;
-	state.busy_loop_start = DWT->CYCCNT;
 	// We have to service the control loop by updating
 	// current measurements and encoder estimates.
 	if (ENCODER_MA7XX == encoder_get_type())
 	{
 		ma7xx_send_angle_cmd();
 	}
 	ADC_update();
-	system_update();
+
 	encoder_update(true);
 	observer_update();
 	// At this point control is returned to main loop.
@@ -103,10 +101,6 @@ void ADC_IRQHandler(void)
 	{
 		state.adc_interrupt = true;
 	}
-
-    const uint32_t current_timestamp = DWT->CYCCNT;
-	state.total_cycles = current_timestamp - state.total_loop_start;
-	state.total_loop_start = current_timestamp;
 }
 
 void CAN_IRQHandler(void)
@@ -118,7 +112,8 @@ void CAN_IRQHandler(void)
 void SysTick_Handler(void)
 {                               
     msTicks = msTicks + 1; 
-    CAN_task();
+    CAN_update();
+	system_update();
 }
 
 void UART_ReceiveMessageHandler(void)
@@ -134,16 +129,6 @@ void Wdt_IRQHandler(void)
     PAC55XX_WWDT->WWDTFLAG.IF = 1;
 }
 
-TM_RAMFUNC uint32_t Scheduler_GetTotalCycles(void)
-{
-    return state.total_cycles;
-}
-
-TM_RAMFUNC uint32_t Scheduler_GetBusyCycles(void)
-{
-    return state.busy_cycles;
-}
-
 TM_RAMFUNC uint8_t scheduler_get_errors(void)
 {
 	return state.errors;

firmware/src/scheduler/scheduler.h

@@ -26,15 +26,8 @@ typedef struct
 	bool busy;
 
     uint8_t errors;
-    uint32_t busy_cycles;
-    uint32_t total_cycles;
-    uint32_t busy_loop_start;
-    uint32_t total_loop_start;
 } SchedulerState;
 
 void WaitForControlLoopInterrupt(void);
 
-uint32_t Scheduler_GetTotalCycles(void);
-uint32_t Scheduler_GetBusyCycles(void);
-
 uint8_t scheduler_get_errors(void);

firmware/src/system/system.c

@@ -82,22 +82,17 @@ void system_init(void)
     // Vp = 10V , 440mA-540mA, Charge Pump Enable
     pac5xxx_tile_register_write(ADDR_SYSCONF, 0x01);
 
-    // Ensure ADC GP0 register is zero, to bypass bootloader on next boot
+    // Ensure ADC GP0 register is zero, to bypass DFU mode on next boot
     pac5xxx_tile_register_write(ADDR_GP0, 0);
 
-    // Configure reporting of mcu cycles
-    CoreDebug->DEMCR |= CoreDebug_DEMCR_TRCENA_Msk;
-    DWT->CYCCNT = 0;
-    DWT->CTRL |= DWT_CTRL_CYCCNTENA_Msk;
-
     // Configure error handling
     SCB->CCR |= 0x10;
 
     // Arbitrary value to avoid division by zero
     state.Vbus = 12.0f;
 
     // Derive VBus D value for given tau value
-    config.Vbus_D = 1.0f - powf(EPSILON, -1.0f / (config.Vbus_tau * PWM_FREQ_HZ));
+    config.Vbus_D = 1.0f - powf(EPSILON, -1.0f / (config.Vbus_tau * SYSTICK_FREQ_HZ));
 
     /* Initialize Systick per 1ms */
     SysTick_Config(150000); // TODO: Use var
@@ -110,6 +105,18 @@ TM_RAMFUNC void system_update(void)
     {
         state.errors |= ERRORS_UNDERVOLTAGE;
     }
+    const uint8_t drv_status = pac5xxx_tile_register_read(ADDR_STATDRV);
+    if (drv_status > 0)
+    {
+        state.errors |= ((drv_status & 0x7) << 4);
+    }
+    const uint8_t drv_fault = pac5xxx_tile_register_read(ADDR_DRV_FLT);
+    if (drv_fault > 0)
+    {
+        // We use 0x5 mask because we ignore CHARGE_PUMP_FAULT_STAT
+        // for the time being, as it seems to always be set.
+        state.errors |= ((drv_fault & 0x5) << 1);
+    }
 }
 
 void system_reset(void)
@@ -118,7 +125,7 @@ void system_reset(void)
     NVIC_SystemReset();
 }
 
-void system_invoke_bootloader(void)
+void system_enter_dfu(void)
 {
     pac5xxx_tile_register_write(ADDR_GP0, BTL_TRIGGER_PATTERN);
     NVIC_SystemReset();

firmware/src/system/system.h

@@ -36,7 +36,7 @@ typedef struct {
 void system_init(void);
 void system_update(void);
 void system_reset(void);
-void system_invoke_bootloader(void);
+void system_enter_dfu(void);
 
 inline uint8_t system_get_fw_version_string(char *buffer)
 {

studio/Python/Manifest.in

@@ -7,4 +7,5 @@ include tinymovr/resources/icons/empty.png
 include tinymovr/resources/icons/empty@2x.png
 include tinymovr/resources/icons/empty_dark.png
 include tinymovr/resources/icons/empty_dark@2x.png
-include tinymovr/config/device.yaml
+include tinymovr/specs/device.yaml
+include tinymovr/specs/dfu.yaml