Renamed VESC hardware files, enabled USB debug logging.

doc/HardwareVESC.md

@@ -4,16 +4,16 @@ This page gives you an overview of VESC hardware supported by PMC.
 
 ## Hardware
 
-| Item                                  | HWREV     | Notes             |
-|:--------------------------------------|:---------:|:------------------|
-| FLIPSKY FSESC 6.7                     | VESC6A    | Bad PCB design    |
-| Makerbase VESC 60100 V2               | VESC6A    |                   |
-| FLIPSKY MINI FSESC 6.7 PRO            | VESC6B    | Low side shunts   |
-| VESC 6 MkVI                           | VESC6C    |                   |
-| Holybro Mini FOC ESC Based on VESC6   | VESC6H    |                   |
-| FLIPSKY 75100 V202 ESC                | VESC75A   | Low side shunts   |
-| Makerbase VESC 75200 V2 84V 200A      | VESC75A   | Low side shunts   |
-| VESC 75/300 R3                        | VESC75C   |                   |
+| Item                                  | HWREV       | Notes             |
+|:--------------------------------------|:-----------:|:------------------|
+| FLIPSKY FSESC 6.7                     | FSESC67     | Bad PCB design    |
+| FLIPSKY MINI FSESC 6.7 PRO            | FSESC67PRO  | Low side shunts   |
+| FLIPSKY 75100 V202 ESC                | FSESC75100  | Low side shunts   |
+| Makerbase VESC 75200 V2 84V 200A      | FSESC75100  | Low side shunts   |
+| Holybro Mini FOC ESC Based on VESC6   | HBESC6FOC   |                   |
+| Makerbase VESC 60100 V2               | MKESC60100  |                   |
+| VESC 6 MkVI                           | VESC6MK5    |                   |
+| VESC 75/300 R3                        | VESC75300   |                   |
 
 Note that some of VESC clone have bad PCB design that causes distorted current
 measurement and total malfunction at high load. Also prefer to use PCB with
@@ -26,12 +26,12 @@ You can build the firmware binary yourself from sources or get it from the
 bundle release.
 
 	$ cd phobia/src
-	$ make HWREV=VESC6A
+	$ make HWREV=MKESC60100
 
 To load the firmware into the MCU first time you will need SWD probe. Next time
 to upgrade the firmware you can use USB DFU or serial bootloader.
 
-	$ make HWREV=VESC6A stlink
+	$ make HWREV=MKESC60100 stlink
 
 Also check [GettingStarted](GettingStarted.md) page howto build and load the
 firmware to MCU.

phobia/phobia.c

@@ -4562,9 +4562,6 @@ page_lu_eabi(struct public *pub)
 static void
 page_lu_sincos(struct public *pub)
 {
-	struct nk_sdl			*nk = pub->nk;
-	struct nk_context		*ctx = &nk->ctx;
-
 	/* TODO */
 }
 

src/cherry/usb_config.h

@@ -13,7 +13,7 @@
 #endif
 
 #ifndef CONFIG_USB_DBG_LEVEL
-#define CONFIG_USB_DBG_LEVEL		-1
+#define CONFIG_USB_DBG_LEVEL		USB_DBG_ERROR
 #endif
 
 #ifndef CONFIG_USB_ALIGN_SIZE

src/epcan.c

@@ -676,8 +676,8 @@ LD_TASK void task_EPCAN_TX(void *pData)
 
 			EPCAN_send_msg(&msg);
 
-			/* Do not send messages too frequently especially if
-			 * you were asked to.
+			/* Do not send messages too frequently
+			 * especially if you were asked to.
 			 * */
 			if (local.flow_tx_paused != 0) {
 
@@ -719,7 +719,7 @@ void EPCAN_startup()
 	local.tx_queue = xQueueCreate(80, sizeof(char));
 	local.remote_queue = xQueueCreate(40, sizeof(char));
 	local.log_queue = xQueueCreate(320, sizeof(char));
-	local.net_queue = xQueueCreate(1, sizeof(int));
+	local.net_queue = xQueueCreate(10, sizeof(int));
 
 	/* Allocate semaphore.
 	 * */

src/hal/hw/FSESC67.h

@@ -0,0 +1,86 @@
+#define HW_MCU_STM32F405
+
+/* Tested on FLIPSKY FSESC 6.7
+ * */
+
+#define HW_HAVE_DRV_ON_PCB
+#define HW_HAVE_ANALOG_KNOB
+#define HW_HAVE_BRAKE_KNOB
+#define HW_HAVE_STEP_DIR_KNOB
+#define HW_HAVE_NTC_ON_PCB
+#define HW_HAVE_NTC_MACHINE
+#define HW_HAVE_USB_CDC_ACM
+#define HW_HAVE_NETWORK_EPCAN
+
+#define HW_CLOCK_CRYSTAL_HZ		8000000U
+
+#define HW_PWM_FREQUENCY_HZ		28571.f
+#define HW_PWM_DEADTIME_NS		400.f		/* NVMFS5C612NL */
+
+#define HW_PWM_MINIMAL_PULSE		0.4f
+#define HW_PWM_CLEARANCE_ZONE		9.0f
+#define HW_PWM_SKIP_ZONE		2.0f
+#define HW_PWM_BOOTSTRAP_RETENTION	100.f		/* DRV8301 */
+
+#define HW_DRV_ID_ON_PCB		BUS_ID_SPI3
+
+#define HW_DRV_PARTNO			DRV_PART_DRV8301
+#define HW_DRV_GATE_CURRENT		2
+#define HW_DRV_OCP_LEVEL		32
+
+#define HW_ADC_SAMPLING_SEQUENCE	ADC_SEQUENCE__ABC_UTT_TXX
+
+#define HW_ADC_REFERENCE_VOLTAGE	3.3f
+#define HW_ADC_SHUNT_RESISTANCE		0.0005f
+#define HW_ADC_AMPLIFIER_GAIN		20.f		/* AD8418 */
+
+#define HW_ADC_VOLTAGE_R1		39000.f
+#define HW_ADC_VOLTAGE_R2		2200.f
+#define HW_ADC_VOLTAGE_R3		1000000000000.f		/* have no bias */
+
+#define HW_ADC_KNOB_R1			0.f			/* have no */
+#define HW_ADC_KNOB_R2			1000.f
+
+#define HW_NTC_PCB_TYPE			NTC_VCC
+#define HW_NTC_PCB_BALANCE		10000.f
+#define HW_NTC_PCB_NTC0			10000.f
+#define HW_NTC_PCB_TA0			25.f
+#define HW_NTC_PCB_BETTA		3380.f			/* unknown part */
+
+#define HW_NTC_EXT_BALANCE		10000.f
+
+#define GPIO_ADC_CURRENT_A		XGPIO_DEF3('C', 0, 10)
+#define GPIO_ADC_CURRENT_B		XGPIO_DEF3('C', 1, 11)
+#define GPIO_ADC_CURRENT_C		XGPIO_DEF3('C', 2, 12)
+#define GPIO_ADC_VOLTAGE_U		XGPIO_DEF3('C', 3, 13)
+#define GPIO_ADC_VOLTAGE_A		XGPIO_DEF3('A', 0, 0)
+#define GPIO_ADC_VOLTAGE_B		XGPIO_DEF3('A', 1, 1)
+#define GPIO_ADC_VOLTAGE_C		XGPIO_DEF3('A', 2, 2)
+#define GPIO_ADC_NTC_PCB		XGPIO_DEF3('A', 3, 3)
+#define GPIO_ADC_NTC_EXT		XGPIO_DEF3('C', 4, 14)
+#define GPIO_ADC_KNOB_ANG		XGPIO_DEF3('A', 5, 5)
+#define GPIO_ADC_KNOB_BRK		XGPIO_DEF3('A', 6, 6)
+
+#define GPIO_STEP			XGPIO_DEF2('A', 5)
+#define GPIO_DIR			XGPIO_DEF2('A', 6)
+
+#define GPIO_DRV_GATE_EN		XGPIO_DEF2('B', 5)
+#define GPIO_DRV_FAULT			XGPIO_DEF2('B', 7)
+
+#define GPIO_SPI3_NSS			XGPIO_DEF2('C', 9)
+#define GPIO_SPI3_SCK			XGPIO_DEF4('C', 10, 0, 6)
+#define GPIO_SPI3_MISO			XGPIO_DEF4('C', 11, 0, 6)
+#define GPIO_SPI3_MOSI			XGPIO_DEF4('C', 12, 0, 6)
+
+#define GPIO_USART3_TX			XGPIO_DEF4('B', 10, 0, 7)
+#define GPIO_USART3_RX			XGPIO_DEF4('B', 11, 0, 7)
+
+#define GPIO_OTG_FS_DM			XGPIO_DEF4('A', 11, 0, 10)
+#define GPIO_OTG_FS_DP			XGPIO_DEF4('A', 12, 0, 10)
+
+#define GPIO_CAN_RX			XGPIO_DEF4('B', 8, 0, 9)
+#define GPIO_CAN_TX			XGPIO_DEF4('B', 9, 0, 9)
+
+#define GPIO_LED_ALERT			XGPIO_DEF2('B', 1)
+#define GPIO_LED_MODE			XGPIO_DEF2('B', 0)
+

src/hal/hw/VESC6B.h → src/hal/hw/FSESC67PRO.h

@@ -16,7 +16,7 @@
 #define HW_CLOCK_CRYSTAL_HZ		8000000U
 
 #define HW_PWM_FREQUENCY_HZ		28571.f
-#define HW_PWM_DEADTIME_NS		330.f		/* NVMFS5C612NL */
+#define HW_PWM_DEADTIME_NS		400.f		/* NVMFS5C612NL */
 
 #define HW_PWM_MINIMAL_PULSE		0.4f
 #define HW_PWM_CLEARANCE_ZONE		5.0f

src/hal/hw/VESC6A.h → src/hal/hw/MKESC60100.h

@@ -1,7 +1,6 @@
 #define HW_MCU_STM32F405
 
-/* Tested on FLIPSKY FSESC 6.7
- * Tested on Makerbase VESC 60100 V2
+/* Tested on Makerbase VESC 60100 V2
  * */
 
 #define HW_HAVE_DRV_ON_PCB

src/hal/hw/VESC6C.h → src/hal/hw/VESC6MK5.h

@@ -15,7 +15,7 @@
 #define HW_CLOCK_CRYSTAL_HZ		8000000U
 
 #define HW_PWM_FREQUENCY_HZ		28571.f
-#define HW_PWM_DEADTIME_NS		330.f		/* IRF7749 */
+#define HW_PWM_DEADTIME_NS		400.f		/* IRF7749 */
 
 #define HW_PWM_MINIMAL_PULSE		0.4f
 #define HW_PWM_CLEARANCE_ZONE		5.0f

src/hal/mk/VESC6MK5.d

@@ -0,0 +1,7 @@
+HWMCU = STM32F405
+OBJ_HAL_DRV = 1
+OBJ_HAL_STEP = 1
+OBJ_CHERRY = 1
+OBJ_HAL_USB = 1
+OBJ_EPCAN = 1
+OBJ_HAL_CAN = 1

src/hal/usb.c

@@ -266,7 +266,7 @@ void USB_putc(int c)
 
 	if (xQueueSendToBack(priv_USB.tx_queue, &xbyte, (TickType_t) 100) != pdTRUE) {
 
-		log_TRACE("USB queue reset" EOL);
+		log_TRACE("USB queue overflow" EOL);
 
 		xQueueReset(priv_USB.tx_queue);
 	}