new conf system

conf/template/enc_fb0.txt

@@ -0,0 +1,11 @@
+load enc_fb
+enc_fb0.rt_prio = 2
+enc_fb0.frt_prio = 1
+enc_fb0.res = conf0.fb_res
+enc_fb0.sin = adc0.sin3
+enc_fb0.cos = adc0.cos3
+enc_fb0.quad = adc0.quad
+rev1.in = enc_fb0.pos
+fb_switch0.mot_polecount = 1
+fb_switch0.mot_state = 1
+fault0.mot_fb_error = enc_fb0.error

conf/template/misc.txt

@@ -0,0 +1,15 @@
+fault0.mot_temp = 0
+term0.wave0 = vel0.pos_out
+term0.wave1 = fb_switch0.pos_fb
+term0.wave2 = vel0.vel
+term0.wave3 = vel1.vel
+conf0.autophase = 0
+conf0.max_ac_cur = 5
+conf0.out_rev = 1
+conf0.vel_i = 2
+conf0.j = 0.0002
+conf0.cur_i = 0.0001
+conf0.cur_p = 0.2
+rev1.rev = 1
+rev0.in = sim0.msin
+sim0.freq = 0.2

conf/template/pid.txt

@@ -1,6 +1,6 @@
 load conf
 load adc
-load res_limit
+load reslimit
 load rev
 load rev
 load rev
@@ -16,9 +16,8 @@ load iit
 load sim
 load stp
 load io
-confload
 adc0.rt_prio = 1
-res_limit0.rt_prio = 3
+reslimit0.rt_prio = 3
 rev0.rt_prio = 4
 rev1.rt_prio = 4
 rev2.rt_prio = 4
@@ -110,59 +109,3 @@ io0.out0 = fault0.mot_brake
 io0.fan = fault0.hv_fan
 io0.fault = fault0.fault
 io0.state = fault0.state
-load pmsm_limits
-load pmsm_ttc
-pmsm_limits0.rt_prio = 7
-pmsm_ttc0.rt_prio = 9
-pmsm_limits0.r = conf0.r
-pmsm_limits0.ld = conf0.l
-pmsm_limits0.lq = conf0.l
-pmsm_limits0.psi = conf0.psi
-pmsm_limits0.j = conf0.j
-pmsm_limits0.polecount = conf0.polecount
-pmsm_ttc0.psi = conf0.psi
-pmsm_ttc0.polecount = conf0.polecount
-pmsm_limits0.ac_volt = hv0.pwm_volt
-pmsm_limits0.iq = hv0.q_fb
-pmsm_limits0.id = hv0.d_fb
-pid0.max_torque = pmsm_limits0.max_torque
-pid0.min_torque = pmsm_limits0.min_torque
-pid0.max_vel = pmsm_limits0.abs_max_vel
-pmsm_ttc0.torque = pid0.torque_cor_cmd
-hv0.q_cmd = pmsm_ttc0.cur
-load enc_fb
-enc_fb0.rt_prio = 2
-enc_fb0.frt_prio = 1
-enc_fb0.res = conf0.fb_res
-enc_fb0.sin = adc0.sin3
-enc_fb0.cos = adc0.cos3
-enc_fb0.quad = adc0.quad
-rev1.in = enc_fb0.pos
-fb_switch0.mot_polecount = 1
-fb_switch0.mot_state = 1
-fault0.mot_fb_error = enc_fb0.error
-load uvw
-uvw0.rt_prio = 2
-uvw0.u = io0.fb1a
-uvw0.v = io0.fb1b
-uvw0.w = io0.fb1z
-rev2.in = uvw0.pos
-fb_switch0.com_state = 3
-fb_switch0.com_polecount = conf0.polecount
-fault0.mot_temp = 0
-term0.wave0 = vel0.pos_out
-term0.wave1 = fb_switch0.pos_fb
-term0.wave2 = vel0.vel
-term0.wave3 = vel1.vel
-conf0.autophase = 0
-conf0.max_ac_cur = 5
-conf0.out_rev = 1
-conf0.vel_i = 2
-conf0.j = 0.0002
-conf0.cur_i = 0.0001
-conf0.cur_p = 0.2
-rev1.rev = 1
-rev0.in = sim0.msin
-sim0.freq = 0.2
-init_hw
-start

conf/template/pmsm.txt

@@ -0,0 +1,20 @@
+load pmsm_limits
+load pmsm_ttc
+pmsm_limits0.rt_prio = 7
+pmsm_ttc0.rt_prio = 9
+pmsm_limits0.r = conf0.r
+pmsm_limits0.ld = conf0.l
+pmsm_limits0.lq = conf0.l
+pmsm_limits0.psi = conf0.psi
+pmsm_limits0.j = conf0.j
+pmsm_limits0.polecount = conf0.polecount
+pmsm_ttc0.psi = conf0.psi
+pmsm_ttc0.polecount = conf0.polecount
+pmsm_limits0.ac_volt = hv0.pwm_volt
+pmsm_limits0.iq = hv0.q_fb
+pmsm_limits0.id = hv0.d_fb
+pid0.max_torque = pmsm_limits0.max_torque
+pid0.min_torque = pmsm_limits0.min_torque
+pid0.max_vel = pmsm_limits0.abs_max_vel
+pmsm_ttc0.torque = pid0.torque_cor_cmd
+hv0.q_cmd = pmsm_ttc0.cur

conf/template/uvw.txt

@@ -0,0 +1,8 @@
+load uvw
+uvw0.rt_prio = 2
+uvw0.u = io0.fb1a
+uvw0.v = io0.fb1b
+uvw0.w = io0.fb1z
+rev2.in = uvw0.pos
+fb_switch0.com_state = 3
+fb_switch0.com_polecount = conf0.polecount

shared/hal.c

@@ -697,7 +697,29 @@ void hal_print_pin(volatile hal_pin_inst_t * p){
    }
 }
 
+char * findline(char * ptr){
+   for(int i = 0; i < 64; i++){
+      if(ptr[i] == 0){
+         return(0);
+      }
+      if(ptr[i] == '\n'){
+         return(ptr + i + 1);
+      }
+   }
+   return(0);
+}
+
+uint32_t hal_parse_(char * cmd);
+
 uint32_t hal_parse(char * cmd){
+   do{
+      hal_parse_(cmd);
+      cmd = findline(cmd);
+   }while(cmd);
+   return(0);
+}
+
+uint32_t hal_parse_(char * cmd){
    if(call_cmd(cmd)){
       return(1);
    }

src/comps/conf.c

@@ -66,179 +66,6 @@ HAL_PIN(cur_ff);
 HAL_PIN(cur_ind);
 HAL_PIN(max_sat);
 
-//initialise empty or corrupt flash section
-uint16_t conf_init(){
-   FLASH_Unlock();
-   uint16_t ret = EE_Init();
-   FLASH_Lock();
-   printf("OK\n");
-   return ret;
-}
-COMMAND("confinit", conf_init);
-
-//save all pins to flash
-void conf_save(){
-   //TODO: check hal running?
-   // if(hal.rt_state != RT_STOP || hal.frt_state != FRT_STOP){
-   //    printf("cannot save while hal is running(run 'stop' command)\n");
-   //    return;
-   // }
-   hal_comp_inst_t *inst;
-   inst = (hal_comp_inst_t*)comp_inst_by_name("conf",0);
-   if(!inst){
-      printf("conf0 not loaded\n");
-      return;
-   }
-   typedef union{
-      float f;
-      uint16_t byte[2];
-   }param_t;
-   param_t param;
-   uint16_t elo;
-   uint16_t ehi;
-   uint16_t address = 0;
-   crc16_t crc = crc16_init();
-   FLASH_Unlock();
-
-   for(int i = 2; i < inst->comp->pin_count; i++){
-      if(address >= NB_OF_VAR){
-         printf("NB_OF_VAR too small\n");
-         FLASH_Lock();
-         return;
-      }
-      param.f = inst->pin_insts[i].source->value;
-      crc = crc16_update(crc, (void*)&param.byte[0], 2);
-      crc = crc16_update(crc, (void*)&param.byte[1], 2);
-      //printf("param: %s=%f address:%i\n",inst->pins[i],param.f,address);
-      elo = EE_WriteVariable(address,param.byte[0]);
-      ehi = EE_WriteVariable(address+1,param.byte[1]);
-      if(elo != FLASH_COMPLETE || ehi != FLASH_COMPLETE){
-         FLASH_Lock();
-         printf("error writing to address %i: error: %i,%i\n",address,elo,ehi);
-         return;
-      }
-      address+=2;
-   }
-   //write crc
-   crc = crc16_finalize(crc);
-   elo = EE_WriteVariable(address, crc);
-   if(elo != FLASH_COMPLETE){
-      printf("error writing crc to address %i: error: %i\n",address,elo);
-      FLASH_Lock();
-      return;
-   }
-   FLASH_Lock();
-   printf("saved %lu parameters to flash\n",inst->comp->pin_count-2);
-}
-
-COMMAND("confsave", conf_save);
-
-//load pins from flash
-int conf_load(){
-   //TODO: check hal running?
-   // if(hal.rt_state != RT_STOP || hal.frt_state != FRT_STOP){
-   //    return(-4);
-   // }
-   hal_comp_inst_t *inst;
-   inst = (hal_comp_inst_t*)comp_inst_by_name("conf",0);
-   if(!inst){
-      printf("conf0 not loaded\n");
-      return 0;
-   }
-
-   typedef union{
-      float f;
-      uint16_t byte[2];
-   }param_t;
-   param_t param;
-   uint16_t address = 0;
-   uint16_t lo;
-   uint16_t hi;
-   uint16_t elo;
-   uint16_t ehi;
-   crc16_t crc = crc16_init();
-   
-   for(int i = 2; i < inst->comp->pin_count; i++){
-      if(address >= NB_OF_VAR){
-         return -2;
-      }
-      elo = EE_ReadVariable(address,&lo);
-      ehi = EE_ReadVariable(address+1,&hi);
-      crc = crc16_update(crc, (void*)&lo, 2);
-      crc = crc16_update(crc, (void*)&hi, 2);
-      if(elo == 0 && ehi == 0){
-         param.byte[0] = lo;
-         param.byte[1] = hi;
-         inst->pin_insts[i].source = &(inst->pin_insts[i]);
-         inst->pin_insts[i].value = param.f;
-      }else{
-         printf("error reading address %i: %i,%i\n",address,elo,ehi);
-         return -3;
-      }
-      address+=2;
-      Wait(1);//TODO: remove wait?
-   }
-   elo = EE_ReadVariable(address,&lo);
-   if(elo != 0){
-      printf("error reading crc from address %i: %i\n",address,elo);
-      return -3;
-   }
-   crc = crc16_finalize(crc);
-   if(crc != lo){//CRC error
-      return -5;
-   }
-   printf("loaded %lu parameters from flash\n",inst->comp->pin_count-2);
-   //TODO: update stuff
-   //update cmd/fb links
-   //update_cmd();
-   //update_fb();
-   //update_mot();
-   return 0;
-}
-COMMAND("confload", conf_load);
-
-//
-// void hal_conf_diff(){
-//    typedef union{
-//       float f;
-//       uint16_t byte[2];
-//    }param_t;
-//    param_t param;
-//    uint16_t address = 0;
-//    uint16_t lo;
-//    uint16_t hi;
-//    uint16_t elo;
-//    uint16_t ehi;
-//    crc16_t crc = crc16_init();
-//    for(int i = 0; i < hal.hal_pin_count; i++){
-//       if(address >= NB_OF_VAR){
-//          printf("NB_OF_VAR too small\n");
-//          return;
-//       }
-//       char name[6];
-//       strncpy(name,hal.hal_pins[i]->name,5);
-//       name[5] =  '\0';
-//       if(!strcmp(name, "conf0")){
-//          elo = EE_ReadVariable(address,&lo);
-//          ehi = EE_ReadVariable(address+1,&hi);
-//          crc = crc16_update(crc, (void*)&lo, 2);
-//          crc = crc16_update(crc, (void*)&hi, 2);
-//          if(elo == 0 && ehi == 0){
-//             param.byte[0] = lo;
-//             param.byte[1] = hi;
-//             if(hal.hal_pins[i]->value != param.f){
-//                hal_term_print_pin(hal.hal_pins[i]);
-//             }
-//          }else{
-//             printf("error reading address %i: %i,%i\n",address,elo,ehi);
-//             return;
-//          }
-//          address+=2;
-//          Wait(1);//TODO: remove wait?
-//       }
-//    }
-// }
-
 hal_comp_t conf_comp_struct = {
   .name = "conf",
   .nrt = 0,

src/main.c

@@ -81,6 +81,65 @@ void nv_reset(char * ptr){
 }
 COMMAND("reset", nv_reset);
 
+
+char config[15*1024];
+const char* config_ro = (char*)0x08008000;
+
+void flashloadconf(char * ptr){
+   strncpy(config,config_ro,sizeof(config));
+}
+COMMAND("flashloadconf", flashloadconf);
+
+void flashsaveconf(char * ptr){
+   printf("erasing flash page...\n");
+   FLASH_Unlock();
+   if(FLASH_EraseSector(FLASH_Sector_2,VoltageRange_3) != FLASH_COMPLETE){
+      printf("error!\n");
+      FLASH_Lock();
+      return;
+   }
+   printf("saving conf\n");
+   int i = 0;
+   int ret = 0;
+   do{
+      ret = FLASH_ProgramByte((uint32_t)(config_ro + i), config[i]) != FLASH_COMPLETE;
+      if(ret){
+         printf("error writing %i\n",ret);
+         break;
+      }
+   }while(config[i++] != 0);
+   printf("OK %i bytes written\n",i);
+   FLASH_Lock();
+}
+COMMAND("flashsaveconf", flashsaveconf);
+
+void loadconf(char * ptr){
+   hal_parse(config);
+}
+COMMAND("loadconf", loadconf);
+
+void showconf(char * ptr){
+   printf("** ram **\n");
+   printf("%s",config);
+   printf("** flash **\n");
+   printf("%s",config_ro);
+}
+COMMAND("showconf", showconf);
+
+void appendconf(char * ptr){
+   printf("adding %s\n",ptr);
+   strncat(config,ptr,sizeof(config) - 1);
+   strncat(config,"\n",sizeof(config) - 1);
+}
+COMMAND("appendconf", appendconf);
+
+void deleteconf(char * ptr){
+   config[0] = '\0';
+}
+COMMAND("deleteconf", deleteconf);
+
+
+
 int main(void)
 {
    // Relocate interrupt vectors
@@ -92,12 +151,16 @@ int main(void)
    hal_init(0.0002, 0.00005);
    // hal load comps
    load_comp(comp_by_name("term"));
+   hal_parse("flashloadconf");
+   hal_parse("loadconf");
+   
    // load_comp(comp_by_name("sim"));
    // load_comp(comp_by_name("io"));
    // load_comp(comp_by_name("encm"));
    // load_comp(comp_by_name("hv"));
    // load_comp(comp_by_name("hal_test"));
-   hal_parse("term0.rt_prio = 20");
+   //hal_parse("term0.rt_prio = 20");
+   // hal_parse("load conf\nload adc\n        load          reslimit\n# foo bar\nload rev\nload pid");
    // hal_parse("encm0.rt_prio = 1");
    // hal_parse("sim0.rt_prio = 2");
    // hal_parse("io0.rt_prio = 10");