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Pr drone can support flight test patch #3

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merged 3 commits into from
Oct 8, 2024
Merged

Pr drone can support flight test patch #3

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ba46024
fix current value convert
Huibean Sep 19, 2024
8badfbd
add motor kv and tune to dronecan params
Huibean Sep 20, 2024
1f9a17c
add HSE support and VIMDRONES_NANO_L431_CAN
Huibean Sep 21, 2024
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37 changes: 25 additions & 12 deletions Inc/targets.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,30 @@
#define EEPROM_START_ADD (uint32_t)0x0801F800
#endif

#ifdef VIMDRONES_NANO_L431
#define FIRMWARE_NAME "VM_NANO"
#define FILE_NAME "VIMDRONES_NANO_L431"
#define DEAD_TIME 45
#define HARDWARE_GROUP_L4_B
#define TARGET_VOLTAGE_DIVIDER 110
#define MILLIVOLT_PER_AMP 20
#define USE_SERIAL_TELEMETRY
#endif

#ifdef VIMDRONES_NANO_L431_CAN
#define FIRMWARE_NAME "VM_NANO_CAN"
#define FILE_NAME "VIMDRONES_NANO_L431_CAN"
#define DRONECAN_SUPPORT 1
#define USE_HSE
#undef HSE_VALUE
#define HSE_VALUE 24000000
#define DEAD_TIME 45
#define HARDWARE_GROUP_L4_B
#define TARGET_VOLTAGE_DIVIDER 110
#define MILLIVOLT_PER_AMP 2
#define USE_SERIAL_TELEMETRY
#endif

#ifdef SIERRA_PULSE1_L431_CAN
#define FIRMWARE_NAME "SierraPulse1"
#define FILE_NAME "SIERRA_PULSE1_L431_CAN"
Expand All @@ -102,18 +126,7 @@
#define TARGET_VOLTAGE_DIVIDER 100
#define MILLIVOLT_PER_AMP 100
#define USE_SERIAL_TELEMETRY
#define EEPROM_START_ADD (uint32_t)0x0800F800
#endif

#ifdef VIMDRONES_NANO_L431
#define FIRMWARE_NAME "VM_NANO"
#define FILE_NAME "VIMDRONES_NANO_L431"
#define DEAD_TIME 45
#define HARDWARE_GROUP_L4_B
#define TARGET_VOLTAGE_DIVIDER 110
#define MILLIVOLT_PER_AMP 20
#define USE_SERIAL_TELEMETRY
#define EEPROM_START_ADD (uint32_t)0x0800F800
#define EEPROM_START_ADD (uint32_t)0x0801F800
#endif

#ifdef REF_L431
Expand Down
13 changes: 13 additions & 0 deletions Mcu/l431/Src/peripherals.c
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Original file line number Diff line number Diff line change
Expand Up @@ -60,6 +60,17 @@ void SystemClock_Config(void)
while (LL_PWR_IsActiveFlag_VOS() != 0)
{
}

#ifdef USE_HSE
LL_RCC_HSE_EnableBypass();
LL_RCC_HSE_Enable();
#if HSE_VALUE == 24000000
LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_HSE, LL_RCC_PLLM_DIV_3, 20, LL_RCC_PLLR_DIV_2);
#else
#error "Unsupported HSE_VALUE"
#endif

#else
LL_RCC_MSI_Enable();

/* Wait till MSI is ready */
Expand All @@ -71,6 +82,8 @@ void SystemClock_Config(void)
LL_RCC_MSI_SetRange(LL_RCC_MSIRANGE_6);
LL_RCC_MSI_SetCalibTrimming(0);
LL_RCC_PLL_ConfigDomain_SYS(LL_RCC_PLLSOURCE_MSI, LL_RCC_PLLM_DIV_1, 40, LL_RCC_PLLR_DIV_2);
#endif

LL_RCC_PLL_EnableDomain_SYS();
LL_RCC_PLL_Enable();

Expand Down
43 changes: 42 additions & 1 deletion Src/DroneCAN/DroneCAN.c
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Original file line number Diff line number Diff line change
Expand Up @@ -34,6 +34,10 @@
#define CANARD_POOL_SIZE 4096
#endif

#define EEPROM_MOTOR_KV_INDEX 26
#define EEPROM_TUNE_INDEX 48
#define EEPROM_TUNE_MAX_LEN 128

static CanardInstance canard;
static uint8_t canard_memory_pool[CANARD_POOL_SIZE];

Expand Down Expand Up @@ -80,6 +84,8 @@ static struct
enum VarType {
T_BOOL = 0,
T_UINT8,
T_UINT16,
T_STRING,
};

static void can_printf(const char *fmt, ...);
Expand All @@ -96,6 +102,7 @@ extern char dir_reversed;
extern char bi_direction;
extern char advance_level;
extern char motor_poles;
extern uint16_t motor_kv;
extern char VARIABLE_PWM;
extern char use_sin_start;
extern char comp_pwm;
Expand All @@ -119,6 +126,7 @@ static struct parameter {
{ "CAN_NODE", T_UINT8, 0, 127, &settings.can_node, 176},
{ "ESC_INDEX", T_UINT8, 0, 32, &settings.esc_index, 177},
{ "DIR_REVERSED", T_BOOL, 0, 1, &dir_reversed, 0 },
{ "MOTOR_KV", T_UINT16,0, 10220, &motor_kv, EEPROM_MOTOR_KV_INDEX},
{ "BI_DIRECTIONAL", T_BOOL, 0, 1, &bi_direction, 0 },
{ "MOTOR_POLES", T_UINT8, 0, 64, &motor_poles, 27 },
{ "REQUIRE_ARMING", T_BOOL, 0, 1, &settings.require_arming, 178 },
Expand All @@ -128,6 +136,7 @@ static struct parameter {
{ "COMP_PWM", T_BOOL, 0, 1, &comp_pwm, 0},
{ "STUCK_ROTOR_PROTECTION", T_BOOL, 0, 1, &stuck_rotor_protection, 0},
{ "ADVANCE_LEVEL", T_UINT8, 0, 4, &advance_level, 0},
{ "TUNE", T_STRING,0, 4, NULL, EEPROM_TUNE_INDEX},
};

/*
Expand Down Expand Up @@ -273,12 +282,31 @@ static void handle_param_GetSet(CanardInstance* ins, CanardRxTransfer* transfer)
eepromBuffer[p->eeprom_index] = *(uint8_t *)p->ptr;
}
break;
case T_UINT16:
*(uint16_t *)p->ptr = req.value.integer_value;
if (p->eeprom_index == EEPROM_MOTOR_KV_INDEX) {
eepromBuffer[EEPROM_MOTOR_KV_INDEX] = (uint8_t)((*(uint16_t *)p->ptr - 20) / 40);
}
break;
case T_BOOL:
*(uint8_t *)p->ptr = req.value.boolean_value?1:0;
if (p->eeprom_index != 0) {
eepromBuffer[p->eeprom_index] = *(uint8_t *)p->ptr;
}
break;
case T_STRING:
if (req.value.union_tag == UAVCAN_PROTOCOL_PARAM_VALUE_STRING_VALUE) {
if (p->eeprom_index == EEPROM_TUNE_INDEX) {
for (size_t i = 0; i < EEPROM_TUNE_MAX_LEN; i++) {
if (i < req.value.string_value.len) {
eepromBuffer[EEPROM_TUNE_INDEX + i] = req.value.string_value.data[i];
} else {
eepromBuffer[EEPROM_TUNE_INDEX + i] = 0xFF;
}
}
}
}
break;
default:
return;
}
Expand All @@ -299,6 +327,19 @@ static void handle_param_GetSet(CanardInstance* ins, CanardRxTransfer* transfer)
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = *(uint8_t *)p->ptr;
break;
case T_UINT16:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_INTEGER_VALUE;
pkt.value.integer_value = *(uint16_t *)p->ptr;
break;
case T_STRING:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_STRING_VALUE;
if (p->eeprom_index == EEPROM_TUNE_INDEX) {
pkt.value.string_value.len = EEPROM_TUNE_MAX_LEN;
for (size_t i=0; i < EEPROM_TUNE_MAX_LEN; i++) {
pkt.value.string_value.data[i] = eepromBuffer[EEPROM_TUNE_INDEX + i];
}
}
break;
case T_BOOL:
pkt.value.union_tag = UAVCAN_PROTOCOL_PARAM_VALUE_BOOLEAN_VALUE;
pkt.value.boolean_value = (*(uint8_t *)p->ptr)?true:false;
Expand Down Expand Up @@ -852,7 +893,7 @@ static void send_ESCStatus(void)
// make up some synthetic status data
pkt.error_count = 0;
pkt.voltage = battery_voltage * 0.01;
pkt.current = actual_current * 0.02;
pkt.current = actual_current * 0.001;
pkt.temperature = C_TO_KELVIN(degrees_celsius);
pkt.rpm = (e_rpm * 100) / ((uint8_t)motor_poles);
pkt.power_rating_pct = 0; // how do we get this?
Expand Down
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