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Fixed crystal clock failure handling.
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 - Fixed speed loop automatic tune.
 - Added CAN register SET/GET functions.
 - Fixed CAN remote connection.
 - Small fixes in analog knob control.
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@rombrew
rombrew committed Mar 13, 2024
1 parent a5ddebc commit e559a60
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Showing 17 changed files with 294 additions and 351 deletions.
1 change: 1 addition & 0 deletions bench/tsfunc.c
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Original file line number Diff line number Diff line change
Expand Up @@ -303,6 +303,7 @@ void ts_probe_spinup()

printf("forced_maximal = %.2f (rad/s)\n", pm.forced_maximal);
printf("forced_accel = %.1f (rad/s2)\n", pm.forced_accel);
printf("lu_gain_mq_LP = %.2E\n", pm.lu_gain_mq_LP);
printf("s_gain_P = %.2E\n", pm.s_gain_P);
printf("s_gain_D = %.2E\n", pm.s_gain_D);
}
Expand Down
2 changes: 1 addition & 1 deletion phobia/config.c
View file
Original file line number Diff line number Diff line change
Expand Up @@ -239,6 +239,6 @@ void config_default(struct config_phobia *fe)

strcpy(fe->fuzzy, "setpoint");

fe->regfile = 482;
fe->regfile = 488;
}

272 changes: 78 additions & 194 deletions phobia/phobia.c
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Original file line number Diff line number Diff line change
Expand Up @@ -1965,128 +1965,6 @@ reg_linked(struct public *pub, const char *sym, const char *name)
ctx->style.combo = combo;
}

static void
reg_float_prog(struct public *pub, const char *sym, const char *name)
{
struct nk_sdl *nk = pub->nk;
struct link_pmc *lp = pub->lp;
struct nk_context *ctx = &nk->ctx;
struct link_reg *reg;

struct nk_style_edit edit;
struct nk_color hidden;

int rc, pce = 0;

edit = ctx->style.edit;

nk_layout_row_template_begin(ctx, 0);
nk_layout_row_template_push_variable(ctx, 1);
nk_layout_row_template_push_static(ctx, pub->fe_base * 6);
nk_layout_row_template_push_static(ctx, pub->fe_base * 0);
nk_layout_row_template_push_static(ctx, pub->fe_base * 11);
nk_layout_row_template_push_static(ctx, pub->fe_base * 2);
nk_layout_row_template_push_static(ctx, pub->fe_base * 8);
nk_layout_row_template_push_static(ctx, pub->fe_base * 2);
nk_layout_row_template_end(ctx);

reg = link_reg_lookup(lp, sym);

if (reg != NULL) {

if (reg->fetched + 500 > lp->clock) {

struct nk_color flash;

flash = nk->table[NK_COLOR_FLICKER_LIGHT];

ctx->style.edit.normal = nk_style_item_color(flash);
ctx->style.edit.hover = nk_style_item_color(flash);
ctx->style.edit.active = nk_style_item_color(flash);
}

pub_name_label(pub, name, reg);

if ( reg->started != 0
&& reg->fmin < reg->fmax) {

pce = (int) (1000.f * (reg->fval - reg->fmin)
/ (reg->fmax - reg->fmin));
}

if (reg->mode & LINK_REG_READ_ONLY) {

nk_prog(ctx, pce, 1000, nk_false);
}
else {
rc = nk_prog(ctx, pce, 1000, nk_true);

if (rc != pce) {

pce = (rc > 1000) ? 1000 : (rc < 0) ? 0 : rc;

reg->fval = (float) pce * (reg->fmax - reg->fmin)
/ 1000.f + reg->fmin;

sprintf(reg->val, "%.4f", reg->fval);

reg->modified = lp->clock;
}
}

nk_spacer(ctx);

if (reg->mode & LINK_REG_READ_ONLY) {

nk_edit_string_zero_terminated(ctx, NK_EDIT_SELECTABLE,
reg->val, 79, nk_filter_default);
}
else {
rc = nk_edit_string_zero_terminated(ctx, NK_EDIT_FIELD
| NK_EDIT_SIG_ENTER, reg->val, 79, nk_filter_default);

if (rc & (NK_EDIT_DEACTIVATED | NK_EDIT_COMMITED)) {

reg->modified = lp->clock;
}
}

nk_spacer(ctx);

if (reg->um[0] != 0) {

sprintf(pub->lbuf, "(%.16s)", reg->um);
nk_label(ctx, pub->lbuf, NK_TEXT_LEFT);
}
else {
nk_spacer(ctx);
}

nk_spacer(ctx);

reg->shown = lp->clock;
}
else {
hidden = nk->table[NK_COLOR_HIDDEN];

pub_name_label_hidden(pub, name, sym);

pub->lbuf[0] = 0;

nk_spacer(ctx);
nk_spacer(ctx);

nk_edit_string_zero_terminated(ctx, NK_EDIT_SELECTABLE,
pub->lbuf, 79, nk_filter_default);

nk_spacer(ctx);
nk_label_colored(ctx, "x", NK_TEXT_LEFT, hidden);
nk_spacer(ctx);
}

ctx->style.edit = edit;
}

static void
reg_float_prog_by_ID(struct public *pub, int reg_ID)
{
Expand Down Expand Up @@ -2651,8 +2529,7 @@ page_serial(struct public *pub)
config_write(pub->fe);
}

pub_popup_progress(pub, POPUP_LINK_PROGRESS,
"Reading", link_pce);
pub_popup_progress(pub, POPUP_LINK_PROGRESS, "Reading", link_pce);
}

nk_layout_row_dynamic(ctx, 0, 1);
Expand Down Expand Up @@ -3333,7 +3210,7 @@ page_in_network(struct public *pub)

nk_spacer(ctx);

if (strstr(lp->network, "remote") == NULL) {
if (strstr(lp->network, "REMOTE") == NULL) {

if (nk_button_label_styled(ctx, &orange, "Connect")) {

Expand Down Expand Up @@ -3370,7 +3247,7 @@ page_in_network(struct public *pub)

nk_spacer(ctx);

if (strstr(lp->network, "remote") == NULL) {
if (strstr(lp->network, "REMOTE") == NULL) {

nk_button_label_styled(ctx, &disabled, "Connect");
}
Expand Down Expand Up @@ -3433,93 +3310,96 @@ page_in_network(struct public *pub)
nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);

reg_enum_combo(pub, "net.ep0_MODE", "EP 0 operation mode", 1);
if (pub->popup_enum != POPUP_LINK_PROGRESS) {

reg = link_reg_lookup(lp, "net.ep0_MODE");
reg_enum_combo(pub, "net.ep0_MODE", "EP 0 operation mode", 1);

if (reg != NULL && reg->lval != 0) {
reg = link_reg_lookup(lp, "net.ep0_MODE");

reg = link_reg_lookup(lp, "net.ep0_reg_DATA");
if (reg != NULL) { reg->update = 200; }
if (reg != NULL && reg->lval != 0) {

reg_float(pub, "net.ep0_ID", "EP 0 network ID");
reg_float(pub, "net.ep0_clock_ID", "EP 0 clock ID");
reg_float_prog(pub, "net.ep0_reg_DATA", "EP 0 control DATA");
reg_linked(pub, "net.ep0_reg_ID", "EP 0 register ID");
reg_enum_combo(pub, "net.ep0_PAYLOAD", "EP 0 payload type", 0);
reg_enum_toggle(pub, "net.ep0_STARTUP", "EP 0 startup control");
reg_float(pub, "net.ep0_rate", "EP 0 frequency");
reg_float(pub, "net.ep0_range0", "EP 0 range LOW");
reg_float(pub, "net.ep0_range1", "EP 0 range HIGH");
}
reg = link_reg_lookup(lp, "net.ep0_reg_DATA");
if (reg != NULL) { reg->update = 200; }

nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);
reg_float(pub, "net.ep0_ID", "EP 0 network ID");
reg_float(pub, "net.ep0_clock_ID", "EP 0 clock ID");
reg_float(pub, "net.ep0_reg_DATA", "EP 0 control DATA");
reg_linked(pub, "net.ep0_reg_ID", "EP 0 register ID");
reg_enum_combo(pub, "net.ep0_PAYLOAD", "EP 0 payload type", 0);
reg_enum_toggle(pub, "net.ep0_STARTUP", "EP 0 startup control");
reg_float(pub, "net.ep0_rate", "EP 0 frequency");
reg_float(pub, "net.ep0_range0", "EP 0 range LOW");
reg_float(pub, "net.ep0_range1", "EP 0 range HIGH");
}

nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);

reg_enum_combo(pub, "net.ep1_MODE", "EP 1 operation mode", 1);
reg_enum_combo(pub, "net.ep1_MODE", "EP 1 operation mode", 1);

reg = link_reg_lookup(lp, "net.ep1_MODE");
reg = link_reg_lookup(lp, "net.ep1_MODE");

if (reg != NULL && reg->lval != 0) {
if (reg != NULL && reg->lval != 0) {

reg = link_reg_lookup(lp, "net.ep1_reg_DATA");
if (reg != NULL) { reg->update = 200; }
reg = link_reg_lookup(lp, "net.ep1_reg_DATA");
if (reg != NULL) { reg->update = 200; }

reg_float(pub, "net.ep1_ID", "EP 1 network ID");
reg_float(pub, "net.ep1_clock_ID", "EP 1 clock ID");
reg_float_prog(pub, "net.ep1_reg_DATA", "EP 1 control DATA");
reg_linked(pub, "net.ep1_reg_ID", "EP 1 register ID");
reg_enum_combo(pub, "net.ep1_PAYLOAD", "EP 1 payload type", 0);
reg_enum_toggle(pub, "net.ep1_STARTUP", "EP 1 startup control");
reg_float(pub, "net.ep1_rate", "EP 1 frequency");
reg_float(pub, "net.ep1_range0", "EP 1 range LOW");
reg_float(pub, "net.ep1_range1", "EP 1 range HIGH");
}
reg_float(pub, "net.ep1_ID", "EP 1 network ID");
reg_float(pub, "net.ep1_clock_ID", "EP 1 clock ID");
reg_float(pub, "net.ep1_reg_DATA", "EP 1 control DATA");
reg_linked(pub, "net.ep1_reg_ID", "EP 1 register ID");
reg_enum_combo(pub, "net.ep1_PAYLOAD", "EP 1 payload type", 0);
reg_enum_toggle(pub, "net.ep1_STARTUP", "EP 1 startup control");
reg_float(pub, "net.ep1_rate", "EP 1 frequency");
reg_float(pub, "net.ep1_range0", "EP 1 range LOW");
reg_float(pub, "net.ep1_range1", "EP 1 range HIGH");
}

nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);
nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);

reg_enum_combo(pub, "net.ep2_MODE", "EP 2 operation mode", 1);
reg_enum_combo(pub, "net.ep2_MODE", "EP 2 operation mode", 1);

reg = link_reg_lookup(lp, "net.ep2_MODE");
reg = link_reg_lookup(lp, "net.ep2_MODE");

if (reg != NULL && reg->lval != 0) {
if (reg != NULL && reg->lval != 0) {

reg = link_reg_lookup(lp, "net.ep2_reg_DATA");
if (reg != NULL) { reg->update = 200; }
reg = link_reg_lookup(lp, "net.ep2_reg_DATA");
if (reg != NULL) { reg->update = 200; }

reg_float(pub, "net.ep2_ID", "EP 2 network ID");
reg_float(pub, "net.ep2_clock_ID", "EP 2 clock ID");
reg_float_prog(pub, "net.ep2_reg_DATA", "EP 2 control DATA");
reg_linked(pub, "net.ep2_reg_ID", "EP 2 register ID");
reg_enum_combo(pub, "net.ep2_PAYLOAD", "EP 2 payload type", 0);
reg_enum_toggle(pub, "net.ep2_STARTUP", "EP 2 startup control");
reg_float(pub, "net.ep2_rate", "EP 2 frequency");
reg_float(pub, "net.ep2_range0", "EP 2 range LOW");
reg_float(pub, "net.ep2_range1", "EP 2 range HIGH");
}
reg_float(pub, "net.ep2_ID", "EP 2 network ID");
reg_float(pub, "net.ep2_clock_ID", "EP 2 clock ID");
reg_float(pub, "net.ep2_reg_DATA", "EP 2 control DATA");
reg_linked(pub, "net.ep2_reg_ID", "EP 2 register ID");
reg_enum_combo(pub, "net.ep2_PAYLOAD", "EP 2 payload type", 0);
reg_enum_toggle(pub, "net.ep2_STARTUP", "EP 2 startup control");
reg_float(pub, "net.ep2_rate", "EP 2 frequency");
reg_float(pub, "net.ep2_range0", "EP 2 range LOW");
reg_float(pub, "net.ep2_range1", "EP 2 range HIGH");
}

nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);
nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);

reg_enum_combo(pub, "net.ep3_MODE", "EP 3 operation mode", 1);
reg_enum_combo(pub, "net.ep3_MODE", "EP 3 operation mode", 1);

reg = link_reg_lookup(lp, "net.ep3_MODE");
reg = link_reg_lookup(lp, "net.ep3_MODE");

if (reg != NULL && reg->lval != 0) {
if (reg != NULL && reg->lval != 0) {

reg = link_reg_lookup(lp, "net.ep3_reg_DATA");
if (reg != NULL) { reg->update = 200; }
reg = link_reg_lookup(lp, "net.ep3_reg_DATA");
if (reg != NULL) { reg->update = 200; }

reg_float(pub, "net.ep3_ID", "EP 3 network ID");
reg_float(pub, "net.ep3_clock_ID", "EP 3 clock ID");
reg_float_prog(pub, "net.ep3_reg_DATA", "EP 3 control DATA");
reg_linked(pub, "net.ep3_reg_ID", "EP 3 register ID");
reg_enum_combo(pub, "net.ep3_PAYLOAD", "EP 3 payload type", 0);
reg_enum_toggle(pub, "net.ep3_STARTUP", "EP 3 startup control");
reg_float(pub, "net.ep3_rate", "EP 3 frequency");
reg_float(pub, "net.ep3_range0", "EP 3 range LOW");
reg_float(pub, "net.ep3_range1", "EP 3 range HIGH");
reg_float(pub, "net.ep3_ID", "EP 3 network ID");
reg_float(pub, "net.ep3_clock_ID", "EP 3 clock ID");
reg_float(pub, "net.ep3_reg_DATA", "EP 3 control DATA");
reg_linked(pub, "net.ep3_reg_ID", "EP 3 register ID");
reg_enum_combo(pub, "net.ep3_PAYLOAD", "EP 3 payload type", 0);
reg_enum_toggle(pub, "net.ep3_STARTUP", "EP 3 startup control");
reg_float(pub, "net.ep3_rate", "EP 3 frequency");
reg_float(pub, "net.ep3_range0", "EP 3 range LOW");
reg_float(pub, "net.ep3_range1", "EP 3 range HIGH");
}
}

if (pub->popup_enum == POPUP_LINK_PROGRESS) {
Expand All @@ -3541,8 +3421,7 @@ page_in_network(struct public *pub)
config_write(pub->fe);
}

pub_popup_progress(pub, POPUP_LINK_PROGRESS,
"Reading", link_pce);
pub_popup_progress(pub, POPUP_LINK_PROGRESS, "Reading", link_pce);
}

nk_layout_row_dynamic(ctx, 0, 1);
Expand Down Expand Up @@ -4067,6 +3946,7 @@ page_lu_forced(struct public *pub)
nk_spacer(ctx);

reg_float(pub, "pm.forced_hold_D", "Forced hold current");
reg_float(pub, "pm.forced_weak_D", "Forced weak current");
reg_float_um(pub, "pm.forced_maximal", "Maximal forward speed", 0);
reg_float_um(pub, "pm.forced_reverse", "Maximal reverse speed", 0);
reg_float_um(pub, "pm.forced_accel", "Forced acceleration", 0);
Expand Down Expand Up @@ -4770,12 +4650,13 @@ page_lp_speed(struct public *pub)
nk_spacer(ctx);

reg_float(pub, "pm.l_track_tol", "Tracking tolerance");
reg_float(pub, "pm.l_gain_LP", "Blend gain LPF");
reg_float(pub, "pm.l_gain_LP", "Tracking blend gain LPF");

nk_layout_row_dynamic(ctx, 0, 1);
nk_spacer(ctx);

reg_float(pub, "pm.s_damping", "Damping percentage");
reg_float(pub, "pm.lu_gain_mq_LP", "Load torque gain LPF");
reg_float(pub, "pm.s_gain_P", "Proportional gain");
reg_float(pub, "pm.s_gain_I", "Integral gain");
reg_float(pub, "pm.s_gain_D", "Derivative gain");
Expand All @@ -4786,6 +4667,9 @@ page_lp_speed(struct public *pub)
if ( reg != NULL
&& reg->fetched == lp->clock) {

reg = link_reg_lookup(lp, "pm.lu_gain_mq_LP");
if (reg != NULL) { reg->onefetch = 1; }

reg = link_reg_lookup(lp, "pm.s_gain_P");
if (reg != NULL) { reg->onefetch = 1; }

Expand Down
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