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@@ -25,54 +25,57 @@
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extern float target_d;
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extern float target_q;
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#endif
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-static u32 _app_low_task(void *args);
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-static u32 _app_report_task(void *args);
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-static u32 _app_plot_task(void *args);
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+static u32 app_low_task(void *args);
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+static u32 app_report_task(void *args);
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+static u32 app_plot_task(void *args);
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//static u32 _app_trq_test_task(void *args);
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extern void PMSM_FOC_LogDebug(void);
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extern void mc_err_code_log(void);
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extern void encoder_log(void);
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extern void sample_log(void);
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extern void thro_torque_log(void);
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-extern void eCtrl_debug_log(void);
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extern bool can_is_connect_pc(void);
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extern measure_time_t g_meas_hall;
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extern measure_time_t g_meas_foc;
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extern measure_time_t g_meas_MCTask;
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-
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-#if 0
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-static s16 test_rpm = 0000;
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-static float test_trq = 0;
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-static float test_id = 0;
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-static float test_iq = 0;
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-static u32 _app_trq_test_task(void *args) {
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- DQ_t dq;
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- motor_mpta_fw_lookup(test_rpm, test_trq, &dq);
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- test_id = dq.d;
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- test_iq = dq.q;
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- sys_debug("lookup: %d, %f, %f, %f\n", test_rpm, test_trq, test_id, test_iq);
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- test_rpm = 8000;
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- test_trq += 5.0f;
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- return 500;
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-}
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-#endif
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void app_start(void){
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can_debug(true);
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can_message_init();
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nv_storage_init();
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mc_conf_init();
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- mc_err_block_init();
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+ mc_err_block_init(FOC_Reset_Reson);
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mc_init();
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- shark_task_create(_app_low_task, NULL);
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- shark_task_create(_app_report_task, NULL);
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- shark_task_create(_app_plot_task, NULL);
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- //shark_task_create(_app_trq_test_task, NULL);
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+ shark_task_create(app_low_task, NULL);
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+ shark_task_create(app_report_task, NULL);
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+ shark_task_create(app_plot_task, NULL);
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sys_debug("mc start\n");
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shark_task_run();
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}
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-static u32 _app_report_task(void *p) {
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+static void app_print_log(void) {
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+ //sys_debug("Slow: %d - %d\n", g_meas_MCTask.intval_time, g_meas_MCTask.exec_time);
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+ //sys_debug("Fast: %d - %d, err: %d-%d-%d\n", g_meas_foc.intval_time, g_meas_foc.exec_time, g_meas_foc.intval_hi_err, g_meas_foc.intval_low_err, g_meas_foc.exec_max_error_time);
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+ //sys_debug("FOC time err %d %d\n", g_meas_foc.intval_time_h_error, g_meas_foc.intval_time_l_error);
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+ //sys_debug("acc vol %d, bid %d\n", get_acc_vol(), gpio_board_id());
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+ //sys_debug("throttle %f\n", get_throttle_float());
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+ //sys_debug("ADC Vref %f, %f\n", get_adc_vref(), adc_5vref_compesion());
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+ //sys_debug("dead time %d\n", get_deadtime());
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+ //thro_torque_log();
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+ //sys_debug("_>%f, %f, %f\n", ladrc_observer_get()->ld, ladrc_observer_get()->lq, ladrc_observer_get()->poles);
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+ encoder_log();
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+ //motor_debug();
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+ sample_log();
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+ //PMSM_FOC_LogDebug();
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+ //F_debug();
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+ //eCtrl_debug_log();
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+ //sys_debug("enc err %d, %d\n", foc_observer_enc_errcount(), foc_observer_sensorless_stable());
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+ //mc_err_code_log();
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+ //sys_debug("=====\n");
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+
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+}
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+
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+static u32 app_report_task(void *p) {
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static u32 loop = 0;
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can_report_ext_status(0x43);
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@@ -99,26 +102,8 @@ static u32 _app_report_task(void *p) {
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can_report_mot_params_ested(mot_params_get_est_flux(), FLUX_TYPE);
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}
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- if (++loop % 5 == 0) {
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- //sys_debug("rst 0x%x\n", get_mcu_reset_source());
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- //sys_debug("Slow: %d - %d\n", g_meas_MCTask.intval_time, g_meas_MCTask.exec_time);
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- //sys_debug("Fast: %d - %d, err: %d-%d-%d\n", g_meas_foc.intval_time, g_meas_foc.exec_time, g_meas_foc.intval_hi_err, g_meas_foc.intval_low_err, g_meas_foc.exec_max_error_time);
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- //sys_debug("FOC time err %d %d\n", g_meas_foc.intval_time_h_error, g_meas_foc.intval_time_l_error);
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- //sys_debug("acc vol %d, bid %d\n", get_acc_vol(), gpio_board_id());
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- //sys_debug("throttle %f\n", get_throttle_float());
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- //sys_debug("ADC Vref %f, %f\n", get_adc_vref(), adc_5vref_compesion());
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- //sys_debug("dead time %d\n", get_deadtime());
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- //thro_torque_log();
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- //sys_debug("_>%f, %f, %f\n", ladrc_observer_get()->ld, ladrc_observer_get()->lq, ladrc_observer_get()->poles);
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- encoder_log();
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- //motor_debug();
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- sample_log();
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- //PMSM_FOC_LogDebug();
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- //F_debug();
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- //eCtrl_debug_log();
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- //sys_debug("enc err %d, %d\n", foc_observer_enc_errcount(), foc_observer_sensorless_stable());
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- //mc_err_code_log();
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- //sys_debug("=====\n");
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+ if (++loop % 10 == 0) {
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+ app_print_log();
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}
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return 200;
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}
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@@ -131,7 +116,7 @@ static void plot_smo_angle(void) {
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delta = fast_atan2(s, c)/PI*180.0f;
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can_plot3(foc()->in.mot_angle, smo_angle, delta);
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}
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-static u32 _app_plot_task(void * args) {
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+static u32 app_plot_task(void * args) {
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if (plot_type == 1) {
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s16 plot_arg1 = (s16)foc_observer_sensorless_speed();
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s16 plot_arg2 = (s16)mot_contrl_get_speed(&motor.controller);
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@@ -166,7 +151,7 @@ static u32 _app_plot_task(void * args) {
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}
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return 20;
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}
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-static u32 _app_low_task(void *args) {
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+static u32 app_low_task(void *args) {
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wdog_reload();
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if (!mot_contrl_is_start(&motor.controller)) {
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mc_err_block_save();
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unknown