add vesc uart lib
This commit is contained in:
Patrick Pichler
13
src/VescUartControl-VESC6/.gitignore
vendored
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13
src/VescUartControl-VESC6/.gitignore
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################################################################################
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# This .gitignore file was automatically created by Microsoft(R) Visual Studio.
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################################################################################
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*.d
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*.o
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*.hex
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*.elf
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*.xml
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*.buildinfo
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*.a
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*.suo
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/examples/VescTestGetTelemetry/__vm/.VescTestGetTelemetry.vsarduino.h
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15
src/VescUartControl-VESC6/LICENSE.md
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src/VescUartControl-VESC6/LICENSE.md
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VescUartControl library
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Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
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This program is free software : you can redistribute it and / or modify
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.If not, see <http://www.gnu.org/licenses/>.
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48
src/VescUartControl-VESC6/Readme.md
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src/VescUartControl-VESC6/Readme.md
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#VescUartControl library
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Library for arduino to interface over UART with the Vesc BLDC controler (http://vedder.se/2015/01/vesc-open-source-esc/)
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It is used in the ArduBoardControl. Refer here: https://github.com/RollingGecko/ArduBoardControler
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The files libraries
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crc
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datatypes
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buffer
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are directly forked from https://github.com/vedderb/bldc
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All available UART handlers the VESC can deal with can be found in the file commands.c (https://github.com/vedderb/bldc)
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in the function commands_process_packet. You can write easily own handler functions. Use converting functions in
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the library buffer.c.
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The rest shut be comment sufficient in the VescUart.h. Take also a look to the RX-Site of the ArduBoardControler (https://github.com/RollingGecko/ArduBoardControler)
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##Requirements to use this library on bldc FW
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The needed changes where already merged by Vedder to the FW. :)
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In bldc-tool please activate UART and if needed the nunchuk application.
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##Some details to the UART port used in the VESC
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It is a uint8_t byte stream.
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First byte:
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0x02 for payload length of 256 byte >> next byte is for the payload length
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0x03 for >256 byte payload length >> next 2 byte for the payload length
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The follwing 2 bytes after the payload are the checksum. (see crc.h)
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The byte stream it terminated with a 0x03.
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For more details please refer also to http://vedder.se/2015/10/communicating-with-the-vesc-using-uart/
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556
src/VescUartControl-VESC6/VescUart.cpp
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src/VescUartControl-VESC6/VescUart.cpp
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/*
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Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
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This program is free software : you can redistribute it and / or modify
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it under the terms of the GNU General Public License as published by
|
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the Free Software Foundation, either version 3 of the License, or
|
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(at your option) any later version.
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This program is distributed in the hope that it will be useful,
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program.If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "VescUart.h"
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#include "buffer.h"
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#include "crc.h"
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#include "datatypes.h"
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//#include <SoftwareSerial.h>
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static SerialType* serialPort1;
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static SerialType* serialPort2;
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static SerialType* serialPort3;
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static SerialType* serialPort4;
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static SerialType* debugSerialPort = NULL;
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bool UnpackPayload(uint8_t* message, int lenMes, uint8_t* payload, int lenPa);
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bool ProcessReadPacket(uint8_t* message, struct bldcMeasure& values, int len);
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void SetSerialPort(SerialType* _serialPort1, SerialType* _serialPort2, SerialType* _serialPort3, SerialType* _serialPort4)
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{
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serialPort1 = _serialPort1;
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serialPort2 = _serialPort2;
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serialPort3 = _serialPort3;
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serialPort4 = _serialPort4;
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}
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void SetSerialPort(SerialType* _serialPort)
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{
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SetSerialPort(_serialPort, _serialPort, _serialPort, _serialPort);
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}
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void SetDebugSerialPort(SerialType * _debugSerialPort)
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{
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debugSerialPort = _debugSerialPort;
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}
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//SerialType *serial; ///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
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int ReceiveUartMessage(uint8_t* payloadReceived, int num) {
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//Messages <= 255 start with 2. 2nd byte is length
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//Messages >255 start with 3. 2nd and 3rd byte is length combined with 1st >>8 and then &0xFF
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int counter = 0;
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int endMessage = 256;
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bool messageRead = false;
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uint8_t messageReceived[256];
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int lenPayload = 0;
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SerialType* serial;
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switch (num) {
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case 0:
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serial = serialPort1;
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break;
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case 1:
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serial = serialPort2;
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break;
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case 2:
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serial = serialPort3;
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break;
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case 3:
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serial = serialPort4;
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break;
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default:
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break;
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}
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int mycnt=0;
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if(!serial->available())delay(10);
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while (serial->available()) {
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mycnt++;
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messageReceived[counter++] = serial->read();
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if (counter == 2) {//case if state of 'counter' with last read 1
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switch (messageReceived[0])
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{
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case 2:
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endMessage = messageReceived[1] + 5; //Payload size + 2 for sice + 3 for SRC and End.
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lenPayload = messageReceived[1];
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break;
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case 3:
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//ToDo: Add Message Handling > 255 (starting with 3)
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break;
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default:
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break;
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}
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}
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if (counter >= sizeof(messageReceived))
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{
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break;
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}
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if (counter == endMessage && messageReceived[endMessage - 1] == 3) {//+1: Because of counter++ state of 'counter' with last read = "endMessage"
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messageReceived[endMessage] = 0;
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if (debugSerialPort != NULL) {
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debugSerialPort->println("End of message reached!");
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}
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messageRead = true;
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break; //Exit if end of message is reached, even if there is still more data in buffer.
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}
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if(!serial->available())delay(50);
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}
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bool unpacked = false;
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if (messageRead) {
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unpacked = UnpackPayload(messageReceived, endMessage, payloadReceived, messageReceived[1]);
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}
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if (unpacked)
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{
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//Serial.println(String("")+"payload :"+lenPayload);
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return lenPayload; //Message was read
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}
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else {
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//Serial.println("not unpacked :(");
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return 0; //No Message Read
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}
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}
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bool UnpackPayload(uint8_t* message, int lenMes, uint8_t* payload, int lenPay) {
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uint16_t crcMessage = 0;
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uint16_t crcPayload = 0;
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//Rebuild src:
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crcMessage = message[lenMes - 3] << 8;
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crcMessage &= 0xFF00;
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crcMessage += message[lenMes - 2];
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if(debugSerialPort!=NULL){
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debugSerialPort->print("SRC received: "); debugSerialPort->println(crcMessage);
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} // DEBUG
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//Extract payload:
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memcpy(payload, &message[2], message[1]);
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crcPayload = crc16(payload, message[1]);
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if(debugSerialPort!=NULL){
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debugSerialPort->print("SRC calc: "); debugSerialPort->println(crcPayload);
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}
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if (crcPayload == crcMessage)
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{
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if(debugSerialPort!=NULL){
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debugSerialPort->print("Received: "); SerialPrint(message, lenMes); debugSerialPort->println();
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debugSerialPort->print("Payload : "); SerialPrint(payload, message[1] - 1); debugSerialPort->println();
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} // DEBUG
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return true;
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}
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else
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{
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return false;
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}
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}
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int PackSendPayload(uint8_t* payload, int lenPay, int num) {
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uint16_t crcPayload = crc16(payload, lenPay);
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int count = 0;
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uint8_t messageSend[256];
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if (lenPay <= 256)
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{
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messageSend[count++] = 2;
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messageSend[count++] = lenPay;
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}
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else
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{
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messageSend[count++] = 3;
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messageSend[count++] = (uint8_t)(lenPay >> 8);
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messageSend[count++] = (uint8_t)(lenPay & 0xFF);
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}
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memcpy(&messageSend[count], payload, lenPay);
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count += lenPay;
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messageSend[count++] = (uint8_t)(crcPayload >> 8);
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messageSend[count++] = (uint8_t)(crcPayload & 0xFF);
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messageSend[count++] = 3;
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messageSend[count] = NULL;
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if(debugSerialPort!=NULL){
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debugSerialPort->print("UART package send: "); SerialPrint(messageSend, count);
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} // DEBUG
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SerialType *serial;
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switch (num) {
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case 0:
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serial=serialPort1;
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break;
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case 1:
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serial=serialPort2;
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break;
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case 2:
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serial=serialPort3;
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break;
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case 3:
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serial=serialPort4;
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break;
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default:
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break;
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}
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//Sending package
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serial->write(messageSend, count);
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//Returns number of send bytes
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return count;
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}
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bool ProcessReadPacket(uint8_t* message, struct bldcMeasure& values, int len) {
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COMM_PACKET_ID packetId;
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int32_t ind = 0;
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packetId = (COMM_PACKET_ID)message[0];
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message++;//Eliminates the message id
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len--;
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switch (packetId)
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{
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case COMM_GET_VALUES:
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values.tempFetFiltered = buffer_get_float16(message, 1e1, &ind);
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values.tempMotorFiltered = buffer_get_float16(message, 1e1, &ind);
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values.avgMotorCurrent = buffer_get_float32(message, 100.0, &ind);
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values.avgInputCurrent = buffer_get_float32(message, 100.0, &ind);
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values.avgId = buffer_get_float32(message, 1e2, &ind);
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values.avgIq = buffer_get_float32(message, 1e2, &ind);
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values.dutyNow = buffer_get_float16(message, 1000.0, &ind);
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values.rpm = buffer_get_float32(message, 1.0, &ind);
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values.inpVoltage = buffer_get_float16(message, 10.0, &ind);
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values.ampHours = buffer_get_float32(message, 10000.0, &ind);
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values.ampHoursCharged = buffer_get_float32(message, 10000.0, &ind);
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values.wattHours = buffer_get_float32(message, 1e4, &ind);
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values.watthoursCharged = buffer_get_float32(message, 1e4, &ind);
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values.tachometer = buffer_get_int32(message, &ind);
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values.tachometerAbs = buffer_get_int32(message, &ind);
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values.faultCode = message[ind];
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return true;
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break;
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default:
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return false;
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break;
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}
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}
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/*
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bool ProcessReadPacketMC(uint8_t* message, struct mc_configuration& values, int len) {
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COMM_PACKET_ID packetId;
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int32_t ind = 0;
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packetId = (COMM_PACKET_ID)message[0];
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message++;//Eliminates the message id
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len--;
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switch (packetId)
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{
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case COMM_GET_MCCONF:
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mc_pwm_mode pwm_mode;
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mc_comm_mode comm_mode;
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mc_motor_type motor_type;
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mc_sensor_mode sensor_mode;
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float l_current_max;
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float l_current_min;
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float l_in_current_max;
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float l_in_current_min;
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float l_abs_current_max;
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float l_min_erpm;
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float l_max_erpm;
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float l_max_erpm_fbrake;
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float l_max_erpm_fbrake_cc;
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float l_min_vin;
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float l_max_vin;
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float l_battery_cut_start;
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float l_battery_cut_end;
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bool l_slow_abs_current;
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bool l_rpm_lim_neg_torque;
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float l_temp_fet_start;
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float l_temp_fet_end;
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float l_temp_motor_start;
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float l_temp_motor_end;
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float l_min_duty;
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float l_max_duty;
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float lo_current_max;
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float lo_current_min;
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float lo_in_current_max;
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float lo_in_current_min;
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float sl_min_erpm;
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float sl_min_erpm_cycle_int_limit;
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float sl_max_fullbreak_current_dir_change;
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float sl_cycle_int_limit;
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float sl_phase_advance_at_br;
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float sl_cycle_int_rpm_br;
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float sl_bemf_coupling_k;
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int8_t hall_table[8];
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float hall_sl_erpm;
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float foc_current_kp;
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float foc_current_ki;
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float foc_f_sw;
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float foc_dt_us;
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float foc_encoder_offset;
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bool foc_encoder_inverted;
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float foc_encoder_ratio;
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float foc_motor_l;
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float foc_motor_r;
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float foc_motor_flux_linkage;
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float foc_observer_gain;
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float foc_pll_kp;
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float foc_pll_ki;
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float foc_duty_dowmramp_kp;
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float foc_duty_dowmramp_ki;
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float foc_openloop_rpm;
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float foc_sl_openloop_hyst;
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float foc_sl_openloop_time;
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float foc_sl_d_current_duty;
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float foc_sl_d_current_factor;
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mc_foc_sensor_mode foc_sensor_mode;
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uint8_t foc_hall_table[8];
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float foc_sl_erpm;
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float s_pid_kp;
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float s_pid_ki;
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float s_pid_kd;
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float s_pid_min_erpm;
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float p_pid_kp;
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float p_pid_ki;
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float p_pid_kd;
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float p_pid_ang_div;
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float cc_startup_boost_duty;
|
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float cc_min_current;
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float cc_gain;
|
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float cc_ramp_step_max;
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int32_t m_fault_stop_time_ms;
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float m_duty_ramp_step;
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float m_duty_ramp_step_rpm_lim;
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float m_current_backoff_gain;
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uint32_t m_encoder_counts;
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sensor_port_mode m_sensor_port_mode;
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values.tempFetFiltered = buffer_get_float16(message, 1e1, &ind);
|
||||
values.tempMotorFiltered = buffer_get_float16(message, 1e1, &ind);
|
||||
values.avgMotorCurrent = buffer_get_float32(message, 100.0, &ind);
|
||||
values.avgInputCurrent = buffer_get_float32(message, 100.0, &ind);
|
||||
values.avgId = buffer_get_float32(message, 1e2, &ind);
|
||||
values.avgIq = buffer_get_float32(message, 1e2, &ind);
|
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values.dutyNow = buffer_get_float16(message, 1000.0, &ind);
|
||||
values.rpm = buffer_get_float32(message, 1.0, &ind);
|
||||
values.inpVoltage = buffer_get_float16(message, 10.0, &ind);
|
||||
values.ampHours = buffer_get_float32(message, 10000.0, &ind);
|
||||
values.ampHoursCharged = buffer_get_float32(message, 10000.0, &ind);
|
||||
values.wattHours = buffer_get_float32(message, 1e4, &ind);
|
||||
values.watthoursCharged = buffer_get_float32(message, 1e4, &ind);
|
||||
values.tachometer = buffer_get_int32(message, &ind);
|
||||
values.tachometerAbs = buffer_get_int32(message, &ind);
|
||||
values.faultCode = message[ind];
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||||
return true;
|
||||
break;
|
||||
default:
|
||||
return false;
|
||||
break;
|
||||
}
|
||||
|
||||
}*/
|
||||
int VescUartGetMC(uint8_t* values) {
|
||||
uint8_t command[1] = { COMM_GET_MCCONF_DEFAULT };
|
||||
uint8_t payload[512];
|
||||
PackSendPayload(command, 1, 0);
|
||||
//delay(0); //needed, otherwise data is not read
|
||||
int lenPayload = ReceiveUartMessage(payload, 0);
|
||||
if (lenPayload > 1) {
|
||||
//bool read = ProcessReadPacketMC(payload, values, lenPayload); //returns true if sucessful
|
||||
memcpy(values,payload+1,lenPayload-1);
|
||||
return lenPayload;
|
||||
}
|
||||
else
|
||||
{
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
bool VescUartGetValue(bldcMeasure& values, int num) {
|
||||
uint8_t command[1] = { COMM_GET_VALUES };
|
||||
uint8_t payload[256];
|
||||
PackSendPayload(command, 1, num);
|
||||
delay(10); //needed, otherwise data is not read
|
||||
int lenPayload = ReceiveUartMessage(payload, num);
|
||||
if (lenPayload > 1) {
|
||||
bool read = ProcessReadPacket(payload, values, lenPayload); //returns true if sucessful
|
||||
return read;
|
||||
}
|
||||
else
|
||||
{
|
||||
return false;
|
||||
}
|
||||
}
|
||||
|
||||
|
||||
bool VescUartGetValue(bldcMeasure& values) {
|
||||
return VescUartGetValue(values, 0);
|
||||
}
|
||||
|
||||
void VescUartSetCurrent(float current, int num) {
|
||||
int32_t index = 0;
|
||||
uint8_t payload[5];
|
||||
|
||||
payload[index++] = COMM_SET_CURRENT ;
|
||||
buffer_append_int32(payload, (int32_t)(current * 1000), &index);
|
||||
PackSendPayload(payload, 5, num);
|
||||
}
|
||||
void VescUartSetCurrent(float current){
|
||||
VescUartSetCurrent(current, 0);
|
||||
}
|
||||
|
||||
void VescUartSetPosition(float position, int num) {
|
||||
int32_t index = 0;
|
||||
uint8_t payload[5];
|
||||
|
||||
payload[index++] = COMM_SET_POS ;
|
||||
buffer_append_int32(payload, (int32_t)(position * 1000000.0), &index);
|
||||
PackSendPayload(payload, 5, num);
|
||||
}
|
||||
void VescUartSetPosition(float position) {
|
||||
VescUartSetPosition(position, 0);
|
||||
}
|
||||
|
||||
void VescUartSetDuty(float duty, int num) {
|
||||
int32_t index = 0;
|
||||
uint8_t payload[5];
|
||||
|
||||
payload[index++] = COMM_SET_DUTY ;
|
||||
buffer_append_int32(payload, (int32_t)(duty * 100000), &index);
|
||||
PackSendPayload(payload, 5, num);
|
||||
}
|
||||
void VescUartSetDuty(float duty) {
|
||||
VescUartSetDuty(duty, 0);
|
||||
}
|
||||
|
||||
|
||||
void VescUartSetRPM(float rpm, int num) {
|
||||
int32_t index = 0;
|
||||
uint8_t payload[5];
|
||||
|
||||
payload[index++] = COMM_SET_RPM ;
|
||||
buffer_append_int32(payload, (int32_t)(rpm), &index);
|
||||
PackSendPayload(payload, 5, num);
|
||||
}
|
||||
void VescUartSetRPM(float rpm) {
|
||||
VescUartSetRPM(rpm, 0);
|
||||
}
|
||||
|
||||
void VescUartSetCurrentBrake(float brakeCurrent, int num) {
|
||||
int32_t index = 0;
|
||||
uint8_t payload[5];
|
||||
|
||||
payload[index++] = COMM_SET_CURRENT_BRAKE;
|
||||
buffer_append_int32(payload, (int32_t)(brakeCurrent * 1000), &index);
|
||||
PackSendPayload(payload, 5, num);
|
||||
}
|
||||
void VescUartSetCurrentBrake(float brakeCurrent) {
|
||||
VescUartSetCurrentBrake(brakeCurrent, 0);
|
||||
}
|
||||
|
||||
|
||||
void VescUartSetNunchukValues(remotePackage& data, int num) {
|
||||
int32_t ind = 0;
|
||||
uint8_t payload[11];
|
||||
payload[ind++] = COMM_SET_CHUCK_DATA;
|
||||
payload[ind++] = data.valXJoy;
|
||||
payload[ind++] = data.valYJoy;
|
||||
buffer_append_bool(payload, data.valLowerButton, &ind);
|
||||
buffer_append_bool(payload, data.valUpperButton, &ind);
|
||||
//Acceleration Data. Not used, Int16 (2 byte)
|
||||
payload[ind++] = 0;
|
||||
payload[ind++] = 0;
|
||||
payload[ind++] = 0;
|
||||
payload[ind++] = 0;
|
||||
payload[ind++] = 0;
|
||||
payload[ind++] = 0;
|
||||
|
||||
if(debugSerialPort!=NULL){
|
||||
debugSerialPort->println("Data reached at VescUartSetNunchuckValues:");
|
||||
debugSerialPort->print("valXJoy = "); debugSerialPort->print(data.valXJoy); debugSerialPort->print(" valYJoy = "); debugSerialPort->println(data.valYJoy);
|
||||
debugSerialPort->print("LowerButton = "); debugSerialPort->print(data.valLowerButton); debugSerialPort->print(" UpperButton = "); debugSerialPort->println(data.valUpperButton);
|
||||
}
|
||||
|
||||
PackSendPayload(payload, 11, num);
|
||||
}
|
||||
void VescUartSetNunchukValues(remotePackage& data) {
|
||||
VescUartSetNunchukValues(data, 0);
|
||||
}
|
||||
|
||||
|
||||
void SerialPrint(uint8_t* data, int len) {
|
||||
|
||||
// debugSerialPort->print("Data to display: "); debugSerialPort->println(sizeof(data));
|
||||
|
||||
for (int i = 0; i <= len; i++)
|
||||
{
|
||||
debugSerialPort->print(data[i]);
|
||||
debugSerialPort->print(" ");
|
||||
}
|
||||
debugSerialPort->println("");
|
||||
}
|
||||
|
||||
|
||||
void SerialPrint(const struct bldcMeasure& values) {
|
||||
debugSerialPort->print("tempFetFiltered: "); debugSerialPort->println(values.tempFetFiltered);
|
||||
debugSerialPort->print("tempMotorFiltered:"); debugSerialPort->println(values.tempMotorFiltered);
|
||||
debugSerialPort->print("avgMotorCurrent: "); debugSerialPort->println(values.avgMotorCurrent);
|
||||
debugSerialPort->print("avgInputCurrent: "); debugSerialPort->println(values.avgInputCurrent);
|
||||
debugSerialPort->print("avgId: "); debugSerialPort->println(values.avgId);
|
||||
debugSerialPort->print("avgIq: "); debugSerialPort->println(values.avgIq);
|
||||
debugSerialPort->print("dutyNow: "); debugSerialPort->println(values.dutyNow);
|
||||
debugSerialPort->print("rpm: "); debugSerialPort->println(values.rpm);
|
||||
debugSerialPort->print("inpVoltage: "); debugSerialPort->println(values.inpVoltage);
|
||||
debugSerialPort->print("ampHours: "); debugSerialPort->println(values.ampHours);
|
||||
debugSerialPort->print("ampHoursCharged: "); debugSerialPort->println(values.ampHoursCharged);
|
||||
debugSerialPort->print("wattHours: "); debugSerialPort->println(values.wattHours);
|
||||
debugSerialPort->print("wattHoursCharged: "); debugSerialPort->println(values.watthoursCharged);
|
||||
debugSerialPort->print("tachometer: "); debugSerialPort->println(values.tachometer);
|
||||
debugSerialPort->print("tachometerAbs: "); debugSerialPort->println(values.tachometerAbs);
|
||||
debugSerialPort->print("faultCode: "); debugSerialPort->println(values.faultCode);
|
||||
|
||||
|
||||
}
|
||||
167
src/VescUartControl-VESC6/VescUart.h
Normal file
167
src/VescUartControl-VESC6/VescUart.h
Normal file
@ -0,0 +1,167 @@
|
||||
/*
|
||||
Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
|
||||
|
||||
This program is free software : you can redistribute it and / or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program.If not, see <http://www.gnu.org/licenses/>.
|
||||
|
||||
*/
|
||||
|
||||
#ifndef _VESCUART_h
|
||||
#define _VESCUART_h
|
||||
|
||||
|
||||
#define SerialType HardwareSerial
|
||||
|
||||
//#include <Config.h>
|
||||
#include <HardwareSerial.h>
|
||||
//#include <SoftwareSerial.h>
|
||||
|
||||
void SetSerialPort(SerialType* _serialPort1, SerialType* _serialPort2, SerialType* _serialPort3, SerialType* _serialPort4);
|
||||
void SetSerialPort(SerialType* _serialPort);
|
||||
void SetDebugSerialPort(SerialType* _debugSerialPort);
|
||||
|
||||
|
||||
|
||||
/*TThis library was created on an Adruinio 2560 with different serial ports to have a better possibility
|
||||
to debug. The serial ports are define with #define:
|
||||
#define SERIALIO Serial1 for the UART port to VESC
|
||||
#define DEBUGSERIAL Serial for debugging over USB
|
||||
So you need here to define the right serial port for your arduino.
|
||||
If you want to use debug, uncomment DEBUGSERIAL and define a port.*/
|
||||
|
||||
|
||||
//#ifndef _CONFIG_h
|
||||
//
|
||||
//#ifdef __AVR_ATmega2560__
|
||||
//#define SERIALIO0 Serial
|
||||
//#define SERIALIO1 Serial1
|
||||
//#define SERIALIO2 Serial2
|
||||
//#define SERIALIO3 Serial3
|
||||
//#define DEBUGSERIAL Serial1
|
||||
//#endif
|
||||
//
|
||||
//#ifdef ARDUINO_AVR_NANO
|
||||
//#define SERIALIO0 Serial
|
||||
//#define SERIALIO1 Serial
|
||||
//#define SERIALIO2 Serial
|
||||
//#define SERIALIO3 Serial
|
||||
//#ifdef DEBUG
|
||||
////#define DEBUGSERIAL Serial
|
||||
//#endif
|
||||
////TODO: ifndef DEBUG trow build exception
|
||||
//#endif
|
||||
//#endif
|
||||
|
||||
#if defined(ARDUINO) && ARDUINO >= 100
|
||||
#include "Arduino.h"
|
||||
#else
|
||||
#include "WProgram.h"
|
||||
#endif
|
||||
|
||||
#include "datatypes.h"
|
||||
#include "local_datatypes.h"
|
||||
|
||||
|
||||
int VescUartGetMC(uint8_t* values);
|
||||
|
||||
///SetSerialPort sets the serial to communicate with the VESC
|
||||
///Multiple ports possible
|
||||
void SetSerialPort(SerialType* _serialPort1, SerialType* _serialPort2, SerialType* _serialPort3, SerialType* _serialPort4);
|
||||
void SetSerialPort(SerialType* _serialPort);
|
||||
|
||||
///SetDebugSerialPort sets the serial for debug information
|
||||
|
||||
void SetDebugSerialPort(SerialType* _debugSerialPort);
|
||||
|
||||
///PackSendPayload Packs the payload and sends it over Serial.
|
||||
///Define in a Config.h a SERIAL with the Serial in Arduino Style you want to you
|
||||
///@param: payload as the payload [unit8_t Array] with length of int lenPayload
|
||||
///@return the number of bytes send
|
||||
|
||||
int PackSendPayload(uint8_t* payload, int lenPay, int num);
|
||||
|
||||
///ReceiveUartMessage receives the a message over Serial
|
||||
///Define in a Config.h a SERIAL with the Serial in Arduino Style you want to you
|
||||
///@parm the payload as the payload [unit8_t Array]
|
||||
///@return the number of bytes receeived within the payload
|
||||
|
||||
int ReceiveUartMessage(uint8_t* payloadReceived, int num);
|
||||
|
||||
///Help Function to print struct bldcMeasure over Serial for Debug
|
||||
///#define DEBUG necessary
|
||||
///Define in a Config.h the DEBUGSERIAL you want to use
|
||||
|
||||
void SerialPrint(const struct bldcMeasure& values);
|
||||
|
||||
///Help Function to print uint8_t array over Serial for Debug
|
||||
///Define in a Config.h the DEBUGSERIAL you want to use
|
||||
|
||||
void SerialPrint(uint8_t* data, int len);
|
||||
|
||||
///Sends a command to VESC and stores the returned data
|
||||
///@param bldcMeasure struct with received data
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
//@return true if success
|
||||
bool VescUartGetValue(struct bldcMeasure& values, int num);
|
||||
bool VescUartGetValue(bldcMeasure& values);
|
||||
|
||||
///Sends a command to VESC to control the motor current
|
||||
///@param current as float with the current for the motor
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
|
||||
void VescUartSetCurrent(float current, int num);
|
||||
void VescUartSetCurrent(float current);
|
||||
|
||||
///Sends a command to VESC to control the motor brake
|
||||
///@param breakCurrent as float with the current for the brake
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
|
||||
void VescUartSetCurrentBrake(float brakeCurrent, int num);
|
||||
void VescUartSetCurrentBrake(float brakeCurrent);
|
||||
|
||||
///Sends values of a joystick and 2 buttons to VESC to control the nunchuk app
|
||||
///@param struct remotePackage with all values
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
|
||||
void VescUartSetNunchukValues(remotePackage& data, int num);
|
||||
void VescUartSetNunchukValues(remotePackage& data);
|
||||
|
||||
///Sends a command to VESC to control the motor position
|
||||
///@param position as float with the position in degrees for the motor
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
|
||||
void VescUartSetPosition(float position, int num) ;
|
||||
void VescUartSetPosition(float position) ;
|
||||
|
||||
///Sends a command to VESC to control the motor duty cycle
|
||||
///@param duty as float with the duty cycle for the motor
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
|
||||
void VescUartSetDuty(float duty, int num) ;
|
||||
void VescUartSetDuty(float duty) ;
|
||||
|
||||
///Sends a command to VESC to control the motor rotational speed
|
||||
///@param rpm as float with the revolutions per second for the motor
|
||||
///@param num as integer with the serial port in use (0=Serial; 1=Serial1; 2=Serial2; 3=Serial3;)
|
||||
///num must not be set, when only one Serial
|
||||
|
||||
void VescUartSetRPM(float rpm, int num);
|
||||
void VescUartSetRPM(float rpm);
|
||||
|
||||
#endif
|
||||
127
src/VescUartControl-VESC6/buffer.cpp
Normal file
127
src/VescUartControl-VESC6/buffer.cpp
Normal file
@ -0,0 +1,127 @@
|
||||
/*
|
||||
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* buffer.c
|
||||
*
|
||||
* Created on: 13 maj 2013
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#include "buffer.h"
|
||||
|
||||
void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index) {
|
||||
buffer[(*index)++] = number >> 8;
|
||||
buffer[(*index)++] = number;
|
||||
}
|
||||
|
||||
void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index) {
|
||||
buffer[(*index)++] = number >> 8;
|
||||
buffer[(*index)++] = number;
|
||||
}
|
||||
|
||||
void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index) {
|
||||
buffer[(*index)++] = number >> 24;
|
||||
buffer[(*index)++] = number >> 16;
|
||||
buffer[(*index)++] = number >> 8;
|
||||
buffer[(*index)++] = number;
|
||||
}
|
||||
|
||||
void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index) {
|
||||
buffer[(*index)++] = number >> 24;
|
||||
buffer[(*index)++] = number >> 16;
|
||||
buffer[(*index)++] = number >> 8;
|
||||
buffer[(*index)++] = number;
|
||||
}
|
||||
|
||||
void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index) {
|
||||
buffer_append_int16(buffer, (int16_t)(number * scale), index);
|
||||
}
|
||||
|
||||
void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index) {
|
||||
buffer_append_int32(buffer, (int32_t)(number * scale), index);
|
||||
}
|
||||
|
||||
int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index) {
|
||||
int16_t res = ((uint16_t) buffer[*index]) << 8 |
|
||||
((uint16_t) buffer[*index + 1]);
|
||||
*index += 2;
|
||||
return res;
|
||||
}
|
||||
|
||||
uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index) {
|
||||
uint16_t res = ((uint16_t) buffer[*index]) << 8 |
|
||||
((uint16_t) buffer[*index + 1]);
|
||||
*index += 2;
|
||||
return res;
|
||||
}
|
||||
|
||||
int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index) {
|
||||
int32_t res = ((uint32_t) buffer[*index]) << 24 |
|
||||
((uint32_t) buffer[*index + 1]) << 16 |
|
||||
((uint32_t) buffer[*index + 2]) << 8 |
|
||||
((uint32_t) buffer[*index + 3]);
|
||||
*index += 4;
|
||||
return res;
|
||||
}
|
||||
|
||||
uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index) {
|
||||
uint32_t res = ((uint32_t) buffer[*index]) << 24 |
|
||||
((uint32_t) buffer[*index + 1]) << 16 |
|
||||
((uint32_t) buffer[*index + 2]) << 8 |
|
||||
((uint32_t) buffer[*index + 3]);
|
||||
*index += 4;
|
||||
return res;
|
||||
}
|
||||
|
||||
float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index) {
|
||||
return (float)buffer_get_int16(buffer, index) / scale;
|
||||
}
|
||||
|
||||
float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index) {
|
||||
return (float)buffer_get_int32(buffer, index) / scale;
|
||||
}
|
||||
|
||||
bool buffer_get_bool(const uint8_t *buffer, int32_t *index) {
|
||||
|
||||
if (buffer[*index] == 1)
|
||||
{
|
||||
index++;
|
||||
return true;
|
||||
}
|
||||
else
|
||||
{
|
||||
index++;
|
||||
return false;
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
void buffer_append_bool(uint8_t *buffer,bool value, int32_t *index) {
|
||||
|
||||
if (value == true)
|
||||
{
|
||||
buffer[*index] = 1;
|
||||
(*index)++;
|
||||
}
|
||||
else
|
||||
{
|
||||
buffer[*index] = 0;
|
||||
(*index)++;
|
||||
}
|
||||
|
||||
}
|
||||
44
src/VescUartControl-VESC6/buffer.h
Normal file
44
src/VescUartControl-VESC6/buffer.h
Normal file
@ -0,0 +1,44 @@
|
||||
/*
|
||||
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* buffer.h
|
||||
*
|
||||
* Created on: 13 maj 2013
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#ifndef BUFFER_H_
|
||||
#define BUFFER_H_
|
||||
|
||||
#include <stdint.h>
|
||||
|
||||
void buffer_append_int16(uint8_t* buffer, int16_t number, int32_t *index);
|
||||
void buffer_append_uint16(uint8_t* buffer, uint16_t number, int32_t *index);
|
||||
void buffer_append_int32(uint8_t* buffer, int32_t number, int32_t *index);
|
||||
void buffer_append_uint32(uint8_t* buffer, uint32_t number, int32_t *index);
|
||||
void buffer_append_float16(uint8_t* buffer, float number, float scale, int32_t *index);
|
||||
void buffer_append_float32(uint8_t* buffer, float number, float scale, int32_t *index);
|
||||
int16_t buffer_get_int16(const uint8_t *buffer, int32_t *index);
|
||||
uint16_t buffer_get_uint16(const uint8_t *buffer, int32_t *index);
|
||||
int32_t buffer_get_int32(const uint8_t *buffer, int32_t *index);
|
||||
uint32_t buffer_get_uint32(const uint8_t *buffer, int32_t *index);
|
||||
float buffer_get_float16(const uint8_t *buffer, float scale, int32_t *index);
|
||||
float buffer_get_float32(const uint8_t *buffer, float scale, int32_t *index);
|
||||
bool buffer_get_bool(const uint8_t *buffer, int32_t *index);
|
||||
void buffer_append_bool(uint8_t *buffer,bool value, int32_t *index);
|
||||
#endif /* BUFFER_H_ */
|
||||
64
src/VescUartControl-VESC6/crc.cpp
Normal file
64
src/VescUartControl-VESC6/crc.cpp
Normal file
@ -0,0 +1,64 @@
|
||||
/*
|
||||
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* crc.c
|
||||
*
|
||||
* Created on: 26 feb 2012
|
||||
* Author: benjamin
|
||||
*/
|
||||
#include "crc.h"
|
||||
|
||||
// CRC Table
|
||||
const unsigned short crc16_tab[] = { 0x0000, 0x1021, 0x2042, 0x3063, 0x4084,
|
||||
0x50a5, 0x60c6, 0x70e7, 0x8108, 0x9129, 0xa14a, 0xb16b, 0xc18c, 0xd1ad,
|
||||
0xe1ce, 0xf1ef, 0x1231, 0x0210, 0x3273, 0x2252, 0x52b5, 0x4294, 0x72f7,
|
||||
0x62d6, 0x9339, 0x8318, 0xb37b, 0xa35a, 0xd3bd, 0xc39c, 0xf3ff, 0xe3de,
|
||||
0x2462, 0x3443, 0x0420, 0x1401, 0x64e6, 0x74c7, 0x44a4, 0x5485, 0xa56a,
|
||||
0xb54b, 0x8528, 0x9509, 0xe5ee, 0xf5cf, 0xc5ac, 0xd58d, 0x3653, 0x2672,
|
||||
0x1611, 0x0630, 0x76d7, 0x66f6, 0x5695, 0x46b4, 0xb75b, 0xa77a, 0x9719,
|
||||
0x8738, 0xf7df, 0xe7fe, 0xd79d, 0xc7bc, 0x48c4, 0x58e5, 0x6886, 0x78a7,
|
||||
0x0840, 0x1861, 0x2802, 0x3823, 0xc9cc, 0xd9ed, 0xe98e, 0xf9af, 0x8948,
|
||||
0x9969, 0xa90a, 0xb92b, 0x5af5, 0x4ad4, 0x7ab7, 0x6a96, 0x1a71, 0x0a50,
|
||||
0x3a33, 0x2a12, 0xdbfd, 0xcbdc, 0xfbbf, 0xeb9e, 0x9b79, 0x8b58, 0xbb3b,
|
||||
0xab1a, 0x6ca6, 0x7c87, 0x4ce4, 0x5cc5, 0x2c22, 0x3c03, 0x0c60, 0x1c41,
|
||||
0xedae, 0xfd8f, 0xcdec, 0xddcd, 0xad2a, 0xbd0b, 0x8d68, 0x9d49, 0x7e97,
|
||||
0x6eb6, 0x5ed5, 0x4ef4, 0x3e13, 0x2e32, 0x1e51, 0x0e70, 0xff9f, 0xefbe,
|
||||
0xdfdd, 0xcffc, 0xbf1b, 0xaf3a, 0x9f59, 0x8f78, 0x9188, 0x81a9, 0xb1ca,
|
||||
0xa1eb, 0xd10c, 0xc12d, 0xf14e, 0xe16f, 0x1080, 0x00a1, 0x30c2, 0x20e3,
|
||||
0x5004, 0x4025, 0x7046, 0x6067, 0x83b9, 0x9398, 0xa3fb, 0xb3da, 0xc33d,
|
||||
0xd31c, 0xe37f, 0xf35e, 0x02b1, 0x1290, 0x22f3, 0x32d2, 0x4235, 0x5214,
|
||||
0x6277, 0x7256, 0xb5ea, 0xa5cb, 0x95a8, 0x8589, 0xf56e, 0xe54f, 0xd52c,
|
||||
0xc50d, 0x34e2, 0x24c3, 0x14a0, 0x0481, 0x7466, 0x6447, 0x5424, 0x4405,
|
||||
0xa7db, 0xb7fa, 0x8799, 0x97b8, 0xe75f, 0xf77e, 0xc71d, 0xd73c, 0x26d3,
|
||||
0x36f2, 0x0691, 0x16b0, 0x6657, 0x7676, 0x4615, 0x5634, 0xd94c, 0xc96d,
|
||||
0xf90e, 0xe92f, 0x99c8, 0x89e9, 0xb98a, 0xa9ab, 0x5844, 0x4865, 0x7806,
|
||||
0x6827, 0x18c0, 0x08e1, 0x3882, 0x28a3, 0xcb7d, 0xdb5c, 0xeb3f, 0xfb1e,
|
||||
0x8bf9, 0x9bd8, 0xabbb, 0xbb9a, 0x4a75, 0x5a54, 0x6a37, 0x7a16, 0x0af1,
|
||||
0x1ad0, 0x2ab3, 0x3a92, 0xfd2e, 0xed0f, 0xdd6c, 0xcd4d, 0xbdaa, 0xad8b,
|
||||
0x9de8, 0x8dc9, 0x7c26, 0x6c07, 0x5c64, 0x4c45, 0x3ca2, 0x2c83, 0x1ce0,
|
||||
0x0cc1, 0xef1f, 0xff3e, 0xcf5d, 0xdf7c, 0xaf9b, 0xbfba, 0x8fd9, 0x9ff8,
|
||||
0x6e17, 0x7e36, 0x4e55, 0x5e74, 0x2e93, 0x3eb2, 0x0ed1, 0x1ef0 };
|
||||
|
||||
unsigned short crc16(unsigned char *buf, unsigned int len) {
|
||||
unsigned int i;
|
||||
unsigned short cksum = 0;
|
||||
for (i = 0; i < len; i++) {
|
||||
cksum = crc16_tab[(((cksum >> 8) ^ *buf++) & 0xFF)] ^ (cksum << 8);
|
||||
}
|
||||
return cksum;
|
||||
}
|
||||
33
src/VescUartControl-VESC6/crc.h
Normal file
33
src/VescUartControl-VESC6/crc.h
Normal file
@ -0,0 +1,33 @@
|
||||
/*
|
||||
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* crc.h
|
||||
*
|
||||
* Created on: 26 feb 2012
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#ifndef CRC_H_
|
||||
#define CRC_H_
|
||||
|
||||
/*
|
||||
* Functions
|
||||
*/
|
||||
unsigned short crc16(unsigned char *buf, unsigned int len);
|
||||
|
||||
#endif /* CRC_H_ */
|
||||
523
src/VescUartControl-VESC6/datatypes.h
Normal file
523
src/VescUartControl-VESC6/datatypes.h
Normal file
@ -0,0 +1,523 @@
|
||||
/*
|
||||
Copyright 2012-2014 Benjamin Vedder benjamin@vedder.se
|
||||
|
||||
This program is free software: you can redistribute it and/or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
|
||||
GNU General Public License for more details.
|
||||
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program. If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
/*
|
||||
* datatypes.h
|
||||
*
|
||||
* Created on: 14 sep 2014
|
||||
* Author: benjamin
|
||||
*/
|
||||
|
||||
#ifndef DATATYPES_H_
|
||||
#define DATATYPES_H_
|
||||
|
||||
#include <stdint.h>
|
||||
#include <stdbool.h>
|
||||
//#include "ch.h"
|
||||
|
||||
// Data types
|
||||
typedef enum {
|
||||
MC_STATE_OFF = 0,
|
||||
MC_STATE_DETECTING,
|
||||
MC_STATE_RUNNING,
|
||||
MC_STATE_FULL_BRAKE,
|
||||
} mc_state;
|
||||
|
||||
typedef enum {
|
||||
PWM_MODE_NONSYNCHRONOUS_HISW = 0, // This mode is not recommended
|
||||
PWM_MODE_SYNCHRONOUS, // The recommended and most tested mode
|
||||
PWM_MODE_BIPOLAR // Some glitches occasionally, can kill MOSFETs
|
||||
} mc_pwm_mode;
|
||||
|
||||
typedef enum {
|
||||
COMM_MODE_INTEGRATE = 0,
|
||||
COMM_MODE_DELAY
|
||||
} mc_comm_mode;
|
||||
|
||||
typedef enum {
|
||||
SENSOR_MODE_SENSORLESS = 0,
|
||||
SENSOR_MODE_SENSORED,
|
||||
SENSOR_MODE_HYBRID
|
||||
} mc_sensor_mode;
|
||||
|
||||
typedef enum {
|
||||
FOC_SENSOR_MODE_SENSORLESS = 0,
|
||||
FOC_SENSOR_MODE_ENCODER,
|
||||
FOC_SENSOR_MODE_HALL
|
||||
} mc_foc_sensor_mode;
|
||||
|
||||
typedef enum {
|
||||
MOTOR_TYPE_BLDC = 0,
|
||||
MOTOR_TYPE_DC,
|
||||
MOTOR_TYPE_FOC
|
||||
} mc_motor_type;
|
||||
|
||||
typedef enum {
|
||||
FAULT_CODE_NONE = 0,
|
||||
FAULT_CODE_OVER_VOLTAGE,
|
||||
FAULT_CODE_UNDER_VOLTAGE,
|
||||
FAULT_CODE_DRV8302,
|
||||
FAULT_CODE_ABS_OVER_CURRENT,
|
||||
FAULT_CODE_OVER_TEMP_FET,
|
||||
FAULT_CODE_OVER_TEMP_MOTOR
|
||||
} mc_fault_code;
|
||||
|
||||
typedef enum {
|
||||
CONTROL_MODE_DUTY = 0,
|
||||
CONTROL_MODE_SPEED,
|
||||
CONTROL_MODE_CURRENT,
|
||||
CONTROL_MODE_CURRENT_BRAKE,
|
||||
CONTROL_MODE_POS,
|
||||
CONTROL_MODE_NONE
|
||||
} mc_control_mode;
|
||||
|
||||
typedef enum {
|
||||
DISP_POS_MODE_NONE = 0,
|
||||
DISP_POS_MODE_INDUCTANCE,
|
||||
DISP_POS_MODE_OBSERVER,
|
||||
DISP_POS_MODE_ENCODER,
|
||||
DISP_POS_MODE_PID_POS,
|
||||
DISP_POS_MODE_PID_POS_ERROR,
|
||||
DISP_POS_MODE_ENCODER_OBSERVER_ERROR
|
||||
} disp_pos_mode;
|
||||
|
||||
typedef enum {
|
||||
SENSOR_PORT_MODE_HALL = 0,
|
||||
SENSOR_PORT_MODE_ABI,
|
||||
SENSOR_PORT_MODE_AS5047_SPI
|
||||
} sensor_port_mode;
|
||||
|
||||
typedef struct {
|
||||
float cycle_int_limit;
|
||||
float cycle_int_limit_running;
|
||||
float cycle_int_limit_max;
|
||||
float comm_time_sum;
|
||||
float comm_time_sum_min_rpm;
|
||||
int32_t comms;
|
||||
uint32_t time_at_comm;
|
||||
} mc_rpm_dep_struct;
|
||||
|
||||
typedef struct {
|
||||
// Switching and drive
|
||||
mc_pwm_mode pwm_mode;
|
||||
mc_comm_mode comm_mode;
|
||||
mc_motor_type motor_type;
|
||||
mc_sensor_mode sensor_mode;
|
||||
// Limits
|
||||
float l_current_max;
|
||||
float l_current_min;
|
||||
float l_in_current_max;
|
||||
float l_in_current_min;
|
||||
float l_abs_current_max;
|
||||
float l_min_erpm;
|
||||
float l_max_erpm;
|
||||
float l_max_erpm_fbrake;
|
||||
float l_max_erpm_fbrake_cc;
|
||||
float l_min_vin;
|
||||
float l_max_vin;
|
||||
float l_battery_cut_start;
|
||||
float l_battery_cut_end;
|
||||
bool l_slow_abs_current;
|
||||
bool l_rpm_lim_neg_torque;
|
||||
float l_temp_fet_start;
|
||||
float l_temp_fet_end;
|
||||
float l_temp_motor_start;
|
||||
float l_temp_motor_end;
|
||||
float l_min_duty;
|
||||
float l_max_duty;
|
||||
// Overridden limits (Computed during runtime)
|
||||
float lo_current_max;
|
||||
float lo_current_min;
|
||||
float lo_in_current_max;
|
||||
float lo_in_current_min;
|
||||
// Sensorless
|
||||
float sl_min_erpm;
|
||||
float sl_min_erpm_cycle_int_limit;
|
||||
float sl_max_fullbreak_current_dir_change;
|
||||
float sl_cycle_int_limit;
|
||||
float sl_phase_advance_at_br;
|
||||
float sl_cycle_int_rpm_br;
|
||||
float sl_bemf_coupling_k;
|
||||
// Hall sensor
|
||||
int8_t hall_table[8];
|
||||
float hall_sl_erpm;
|
||||
// FOC
|
||||
float foc_current_kp;
|
||||
float foc_current_ki;
|
||||
float foc_f_sw;
|
||||
float foc_dt_us;
|
||||
float foc_encoder_offset;
|
||||
bool foc_encoder_inverted;
|
||||
float foc_encoder_ratio;
|
||||
float foc_motor_l;
|
||||
float foc_motor_r;
|
||||
float foc_motor_flux_linkage;
|
||||
float foc_observer_gain;
|
||||
float foc_pll_kp;
|
||||
float foc_pll_ki;
|
||||
float foc_duty_dowmramp_kp;
|
||||
float foc_duty_dowmramp_ki;
|
||||
float foc_openloop_rpm;
|
||||
float foc_sl_openloop_hyst;
|
||||
float foc_sl_openloop_time;
|
||||
float foc_sl_d_current_duty;
|
||||
float foc_sl_d_current_factor;
|
||||
mc_foc_sensor_mode foc_sensor_mode;
|
||||
uint8_t foc_hall_table[8];
|
||||
float foc_sl_erpm;
|
||||
// Speed PID
|
||||
float s_pid_kp;
|
||||
float s_pid_ki;
|
||||
float s_pid_kd;
|
||||
float s_pid_min_erpm;
|
||||
// Pos PID
|
||||
float p_pid_kp;
|
||||
float p_pid_ki;
|
||||
float p_pid_kd;
|
||||
float p_pid_ang_div;
|
||||
// Current controller
|
||||
float cc_startup_boost_duty;
|
||||
float cc_min_current;
|
||||
float cc_gain;
|
||||
float cc_ramp_step_max;
|
||||
// Misc
|
||||
int32_t m_fault_stop_time_ms;
|
||||
float m_duty_ramp_step;
|
||||
float m_duty_ramp_step_rpm_lim;
|
||||
float m_current_backoff_gain;
|
||||
uint32_t m_encoder_counts;
|
||||
sensor_port_mode m_sensor_port_mode;
|
||||
} mc_configuration;
|
||||
|
||||
// Applications to use
|
||||
typedef enum {
|
||||
APP_NONE = 0,
|
||||
APP_PPM,
|
||||
APP_ADC,
|
||||
APP_UART,
|
||||
APP_PPM_UART,
|
||||
APP_ADC_UART,
|
||||
APP_NUNCHUK,
|
||||
APP_NRF,
|
||||
APP_CUSTOM
|
||||
} app_use;
|
||||
|
||||
// PPM control types
|
||||
typedef enum {
|
||||
PPM_CTRL_TYPE_NONE = 0,
|
||||
PPM_CTRL_TYPE_CURRENT,
|
||||
PPM_CTRL_TYPE_CURRENT_NOREV,
|
||||
PPM_CTRL_TYPE_CURRENT_NOREV_BRAKE,
|
||||
PPM_CTRL_TYPE_DUTY,
|
||||
PPM_CTRL_TYPE_DUTY_NOREV,
|
||||
PPM_CTRL_TYPE_PID,
|
||||
PPM_CTRL_TYPE_PID_NOREV
|
||||
} ppm_control_type;
|
||||
|
||||
typedef struct {
|
||||
ppm_control_type ctrl_type;
|
||||
float pid_max_erpm;
|
||||
float hyst;
|
||||
float pulse_start;
|
||||
float pulse_end;
|
||||
bool median_filter;
|
||||
bool safe_start;
|
||||
float rpm_lim_start;
|
||||
float rpm_lim_end;
|
||||
bool multi_esc;
|
||||
bool tc;
|
||||
float tc_max_diff;
|
||||
} ppm_config;
|
||||
|
||||
// ADC control types
|
||||
typedef enum {
|
||||
ADC_CTRL_TYPE_NONE = 0,
|
||||
ADC_CTRL_TYPE_CURRENT,
|
||||
ADC_CTRL_TYPE_CURRENT_REV_CENTER,
|
||||
ADC_CTRL_TYPE_CURRENT_REV_BUTTON,
|
||||
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_CENTER,
|
||||
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_BUTTON,
|
||||
ADC_CTRL_TYPE_CURRENT_NOREV_BRAKE_ADC,
|
||||
ADC_CTRL_TYPE_DUTY,
|
||||
ADC_CTRL_TYPE_DUTY_REV_CENTER,
|
||||
ADC_CTRL_TYPE_DUTY_REV_BUTTON
|
||||
} adc_control_type;
|
||||
|
||||
typedef struct {
|
||||
adc_control_type ctrl_type;
|
||||
float hyst;
|
||||
float voltage_start;
|
||||
float voltage_end;
|
||||
bool use_filter;
|
||||
bool safe_start;
|
||||
bool cc_button_inverted;
|
||||
bool rev_button_inverted;
|
||||
bool voltage_inverted;
|
||||
float rpm_lim_start;
|
||||
float rpm_lim_end;
|
||||
bool multi_esc;
|
||||
bool tc;
|
||||
float tc_max_diff;
|
||||
uint32_t update_rate_hz;
|
||||
} adc_config;
|
||||
|
||||
// Nunchuk control types
|
||||
typedef enum {
|
||||
CHUK_CTRL_TYPE_NONE = 0,
|
||||
CHUK_CTRL_TYPE_CURRENT,
|
||||
CHUK_CTRL_TYPE_CURRENT_NOREV
|
||||
} chuk_control_type;
|
||||
|
||||
typedef struct {
|
||||
chuk_control_type ctrl_type;
|
||||
float hyst;
|
||||
float rpm_lim_start;
|
||||
float rpm_lim_end;
|
||||
float ramp_time_pos;
|
||||
float ramp_time_neg;
|
||||
float stick_erpm_per_s_in_cc;
|
||||
bool multi_esc;
|
||||
bool tc;
|
||||
float tc_max_diff;
|
||||
} chuk_config;
|
||||
|
||||
// NRF Datatypes
|
||||
typedef enum {
|
||||
NRF_SPEED_250K = 0,
|
||||
NRF_SPEED_1M,
|
||||
NRF_SPEED_2M
|
||||
} NRF_SPEED;
|
||||
|
||||
typedef enum {
|
||||
NRF_POWER_M18DBM = 0,
|
||||
NRF_POWER_M12DBM,
|
||||
NRF_POWER_M6DBM,
|
||||
NRF_POWER_0DBM
|
||||
} NRF_POWER;
|
||||
|
||||
typedef enum {
|
||||
NRF_AW_3 = 0,
|
||||
NRF_AW_4,
|
||||
NRF_AW_5
|
||||
} NRF_AW;
|
||||
|
||||
typedef enum {
|
||||
NRF_CRC_DISABLED = 0,
|
||||
NRF_CRC_1B,
|
||||
NRF_CRC_2B
|
||||
} NRF_CRC;
|
||||
|
||||
typedef enum {
|
||||
NRF_RETR_DELAY_250US = 0,
|
||||
NRF_RETR_DELAY_500US,
|
||||
NRF_RETR_DELAY_750US,
|
||||
NRF_RETR_DELAY_1000US,
|
||||
NRF_RETR_DELAY_1250US,
|
||||
NRF_RETR_DELAY_1500US,
|
||||
NRF_RETR_DELAY_1750US,
|
||||
NRF_RETR_DELAY_2000US,
|
||||
NRF_RETR_DELAY_2250US,
|
||||
NRF_RETR_DELAY_2500US,
|
||||
NRF_RETR_DELAY_2750US,
|
||||
NRF_RETR_DELAY_3000US,
|
||||
NRF_RETR_DELAY_3250US,
|
||||
NRF_RETR_DELAY_3500US,
|
||||
NRF_RETR_DELAY_3750US,
|
||||
NRF_RETR_DELAY_4000US
|
||||
} NRF_RETR_DELAY;
|
||||
|
||||
typedef struct {
|
||||
NRF_SPEED speed;
|
||||
NRF_POWER power;
|
||||
NRF_CRC crc_type;
|
||||
NRF_RETR_DELAY retry_delay;
|
||||
unsigned char retries;
|
||||
unsigned char channel;
|
||||
unsigned char address[3];
|
||||
bool send_crc_ack;
|
||||
} nrf_config;
|
||||
|
||||
typedef struct {
|
||||
// Settings
|
||||
uint8_t controller_id;
|
||||
uint32_t timeout_msec;
|
||||
float timeout_brake_current;
|
||||
bool send_can_status;
|
||||
uint32_t send_can_status_rate_hz;
|
||||
|
||||
// Application to use
|
||||
app_use app_to_use;
|
||||
|
||||
// PPM application settings
|
||||
ppm_config app_ppm_conf;
|
||||
|
||||
// ADC application settings
|
||||
adc_config app_adc_conf;
|
||||
|
||||
// UART application settings
|
||||
uint32_t app_uart_baudrate;
|
||||
|
||||
// Nunchuk application settings
|
||||
chuk_config app_chuk_conf;
|
||||
|
||||
// NRF application settings
|
||||
nrf_config app_nrf_conf;
|
||||
} app_configuration;
|
||||
|
||||
// Communication commands
|
||||
typedef enum {
|
||||
COMM_FW_VERSION = 0,
|
||||
COMM_JUMP_TO_BOOTLOADER,
|
||||
COMM_ERASE_NEW_APP,
|
||||
COMM_WRITE_NEW_APP_DATA,
|
||||
COMM_GET_VALUES,
|
||||
COMM_SET_DUTY,
|
||||
COMM_SET_CURRENT,
|
||||
COMM_SET_CURRENT_BRAKE,
|
||||
COMM_SET_RPM,
|
||||
COMM_SET_POS,
|
||||
COMM_SET_DETECT,
|
||||
COMM_SET_SERVO_POS,
|
||||
COMM_SET_MCCONF,
|
||||
COMM_GET_MCCONF,
|
||||
COMM_GET_MCCONF_DEFAULT,
|
||||
COMM_SET_APPCONF,
|
||||
COMM_GET_APPCONF,
|
||||
COMM_GET_APPCONF_DEFAULT,
|
||||
COMM_SAMPLE_PRINT,
|
||||
COMM_TERMINAL_CMD,
|
||||
COMM_PRINT,
|
||||
COMM_ROTOR_POSITION,
|
||||
COMM_EXPERIMENT_SAMPLE,
|
||||
COMM_DETECT_MOTOR_PARAM,
|
||||
COMM_DETECT_MOTOR_R_L,
|
||||
COMM_DETECT_MOTOR_FLUX_LINKAGE,
|
||||
COMM_DETECT_ENCODER,
|
||||
COMM_DETECT_HALL_FOC,
|
||||
COMM_REBOOT,
|
||||
COMM_ALIVE,
|
||||
COMM_GET_DECODED_PPM,
|
||||
COMM_GET_DECODED_ADC,
|
||||
COMM_GET_DECODED_CHUK,
|
||||
COMM_FORWARD_CAN,
|
||||
COMM_SET_CHUCK_DATA,
|
||||
COMM_CUSTOM_APP_DATA,
|
||||
COMM_NON
|
||||
} COMM_PACKET_ID;
|
||||
|
||||
// CAN commands
|
||||
typedef enum {
|
||||
CAN_PACKET_SET_DUTY = 0,
|
||||
CAN_PACKET_SET_CURRENT,
|
||||
CAN_PACKET_SET_CURRENT_BRAKE,
|
||||
CAN_PACKET_SET_RPM,
|
||||
CAN_PACKET_SET_POS,
|
||||
CAN_PACKET_FILL_RX_BUFFER,
|
||||
CAN_PACKET_FILL_RX_BUFFER_LONG,
|
||||
CAN_PACKET_PROCESS_RX_BUFFER,
|
||||
CAN_PACKET_PROCESS_SHORT_BUFFER,
|
||||
CAN_PACKET_STATUS
|
||||
} CAN_PACKET_ID;
|
||||
|
||||
// Logged fault data
|
||||
typedef struct {
|
||||
mc_fault_code fault;
|
||||
float current;
|
||||
float current_filtered;
|
||||
float voltage;
|
||||
float duty;
|
||||
float rpm;
|
||||
int tacho;
|
||||
int cycles_running;
|
||||
int tim_val_samp;
|
||||
int tim_current_samp;
|
||||
int tim_top;
|
||||
int comm_step;
|
||||
float temperature;
|
||||
} fault_data;
|
||||
|
||||
// External LED state
|
||||
typedef enum {
|
||||
LED_EXT_OFF = 0,
|
||||
LED_EXT_NORMAL,
|
||||
LED_EXT_BRAKE,
|
||||
LED_EXT_TURN_LEFT,
|
||||
LED_EXT_TURN_RIGHT,
|
||||
LED_EXT_BRAKE_TURN_LEFT,
|
||||
LED_EXT_BRAKE_TURN_RIGHT,
|
||||
LED_EXT_BATT
|
||||
} LED_EXT_STATE;
|
||||
|
||||
typedef struct {
|
||||
int js_x;
|
||||
int js_y;
|
||||
int acc_x;
|
||||
int acc_y;
|
||||
int acc_z;
|
||||
bool bt_c;
|
||||
bool bt_z;
|
||||
} chuck_data;
|
||||
|
||||
//typedef struct {
|
||||
// int id;
|
||||
// systime_t rx_time;
|
||||
// float rpm;
|
||||
// float current;
|
||||
// float duty;
|
||||
//} can_status_msg;
|
||||
|
||||
typedef struct {
|
||||
uint8_t js_x;
|
||||
uint8_t js_y;
|
||||
bool bt_c;
|
||||
bool bt_z;
|
||||
bool bt_push;
|
||||
float vbat;
|
||||
} mote_state;
|
||||
|
||||
typedef enum {
|
||||
MOTE_PACKET_BATT_LEVEL = 0,
|
||||
MOTE_PACKET_BUTTONS,
|
||||
MOTE_PACKET_ALIVE,
|
||||
MOTE_PACKET_FILL_RX_BUFFER,
|
||||
MOTE_PACKET_FILL_RX_BUFFER_LONG,
|
||||
MOTE_PACKET_PROCESS_RX_BUFFER,
|
||||
MOTE_PACKET_PROCESS_SHORT_BUFFER,
|
||||
} MOTE_PACKET;
|
||||
|
||||
struct mc_values{
|
||||
|
||||
float temp_fet_filtered;
|
||||
float temp_motor_filtered;
|
||||
float avg_Motor_Current;
|
||||
float avg_input_current;
|
||||
float avg_id;
|
||||
float avg_iq;
|
||||
float duty_now;
|
||||
float rpm;
|
||||
float input_voltage;
|
||||
float amp_hours;
|
||||
float amp_hours_charged;
|
||||
float watt_hours;
|
||||
float watt_hours_charged;
|
||||
int tachometer;
|
||||
int tachometer_abs;
|
||||
int fault_code;
|
||||
//mc_fault_code fault_code;
|
||||
} ;
|
||||
|
||||
#endif /* DATATYPES_H_ */
|
||||
5
src/VescUartControl-VESC6/desktop.ini
Normal file
5
src/VescUartControl-VESC6/desktop.ini
Normal file
@ -0,0 +1,5 @@
|
||||
[.ShellClassInfo]
|
||||
InfoTip=Dieser Ordner wird online freigegeben.
|
||||
IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
|
||||
IconIndex=16
|
||||
|
||||
@ -0,0 +1,22 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio 14
|
||||
VisualStudioVersion = 14.0.25123.0
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "VescTestGetTelemetry", "VescTestGetTelemetry.vcxproj", "{C5F80730-F44F-4478-BDAE-6634EFC2CA88}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|x86 = Debug|x86
|
||||
Release|x86 = Release|x86
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.Build.0 = Debug|Win32
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.ActiveCfg = Release|Win32
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@ -0,0 +1,134 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|Win32">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|Win32">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<ProjectGuid>{C5F80730-F44F-4478-BDAE-6634EFC2CA88}</ProjectGuid>
|
||||
<RootNamespace>
|
||||
</RootNamespace>
|
||||
<ProjectName>VescTestGetTelemetry</ProjectName>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>
|
||||
</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>
|
||||
</PlatformToolset>
|
||||
<WholeProgramOptimization>true</WholeProgramOptimization>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.props" />
|
||||
<ImportGroup Label="ExtensionSettings">
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<ImportGroup Label="PropertySheets" Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||
<Import Project="$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props" Condition="exists('$(UserRootDir)\Microsoft.Cpp.$(Platform).user.props')" Label="LocalAppDataPlatform" />
|
||||
</ImportGroup>
|
||||
<PropertyGroup Label="UserMacros" />
|
||||
<PropertyGroup />
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>Disabled</Optimization>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
<AdditionalIncludeDirectories>%(AdditionalIncludeDirectories)</AdditionalIncludeDirectories>
|
||||
<ForcedIncludeFiles>%(ForcedIncludeFiles)</ForcedIncludeFiles>
|
||||
<IgnoreStandardIncludePath>true</IgnoreStandardIncludePath>
|
||||
<PreprocessorDefinitions>%(PreprocessorDefinitions)</PreprocessorDefinitions>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemDefinitionGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'">
|
||||
<ClCompile>
|
||||
<WarningLevel>Level3</WarningLevel>
|
||||
<Optimization>MaxSpeed</Optimization>
|
||||
<FunctionLevelLinking>true</FunctionLevelLinking>
|
||||
<IntrinsicFunctions>true</IntrinsicFunctions>
|
||||
<SDLCheck>true</SDLCheck>
|
||||
</ClCompile>
|
||||
<Link>
|
||||
<GenerateDebugInformation>true</GenerateDebugInformation>
|
||||
<EnableCOMDATFolding>true</EnableCOMDATFolding>
|
||||
<OptimizeReferences>true</OptimizeReferences>
|
||||
</Link>
|
||||
</ItemDefinitionGroup>
|
||||
<ItemGroup>
|
||||
<ProjectCapability Include="VisualMicro" />
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\abi.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Arduino.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\binary.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\CDC.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Client.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial0.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial1.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial2.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial3.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial_private.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HID.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\main.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Printable.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Server.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Tone.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Udp.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBAPI.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.cpp" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBDesc.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WCharacter.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\wiring_private.h" />
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WMath.cpp" />
|
||||
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|
||||
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|
||||
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|
||||
<None Include="..\..\buffer.cpp" />
|
||||
<None Include="..\..\buffer.h" />
|
||||
<None Include="..\..\Config.txt" />
|
||||
<None Include="..\..\crc.cpp" />
|
||||
<None Include="..\..\crc.h" />
|
||||
<None Include="..\..\datatypes.h" />
|
||||
<None Include="..\..\printf.h" />
|
||||
<None Include="..\..\VESC.cpp" />
|
||||
<None Include="..\..\VESC.h" />
|
||||
<None Include="..\..\VescIo.cpp" />
|
||||
<None Include="..\..\VescIo.h" />
|
||||
<None Include="VescTestGetTelemetry.ino" />
|
||||
<None Include="__vm\.VescTestGetTelemetry.vsarduino.h" />
|
||||
</ItemGroup>
|
||||
<PropertyGroup>
|
||||
<DebuggerFlavor>VisualMicroDebugger</DebuggerFlavor>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.targets" />
|
||||
<ImportGroup Label="ExtensionTargets">
|
||||
</ImportGroup>
|
||||
</Project>
|
||||
@ -0,0 +1,185 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</Filter>
|
||||
<Filter Include="Header Files">
|
||||
<UniqueIdentifier>{93995380-89BD-4b04-88EB-625FBE52EBFB}</UniqueIdentifier>
|
||||
<Extensions>h;hh;hpp;hxx;hm;inl;inc;xsd</Extensions>
|
||||
</Filter>
|
||||
<Filter Include="Resource Files">
|
||||
<UniqueIdentifier>{67DA6AB6-F800-4c08-8B7A-83BB121AAD01}</UniqueIdentifier>
|
||||
<Extensions>rc;ico;cur;bmp;dlg;rc2;rct;bin;rgs;gif;jpg;jpeg;jpe;resx;tiff;tif;png;wav;mfcribbon-ms</Extensions>
|
||||
</Filter>
|
||||
<Filter Include="src">
|
||||
<UniqueIdentifier>{eb09453a-0890-47db-9607-1e4884b7c090}</UniqueIdentifier>
|
||||
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|
||||
<Filter Include="src\_micro-api-readonly">
|
||||
<UniqueIdentifier>{d7e8b738-ea63-46d2-b9d8-b83073c3dde5}</UniqueIdentifier>
|
||||
</Filter>
|
||||
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|
||||
<UniqueIdentifier>{56e8439e-cc41-4ace-b6bf-26e08bb7fa2d}</UniqueIdentifier>
|
||||
</Filter>
|
||||
<Filter Include="src\_micro-api-readonly\variants">
|
||||
<UniqueIdentifier>{69425d39-c499-4210-8dfc-a76031c12081}</UniqueIdentifier>
|
||||
</Filter>
|
||||
<Filter Include="src\_micro-api-readonly\variants\mega">
|
||||
<UniqueIdentifier>{cd6fd157-4af7-46f6-aa4f-fe35836ba5eb}</UniqueIdentifier>
|
||||
</Filter>
|
||||
<Filter Include="src\_micro-api-readonly\libraries">
|
||||
<UniqueIdentifier>{09857de3-0376-49eb-9fc3-714c3904c6df}</UniqueIdentifier>
|
||||
</Filter>
|
||||
<Filter Include="src\_micro-api-readonly\libraries\VescUartControl">
|
||||
<UniqueIdentifier>{d0589eb9-9000-4842-8ffd-e6f68df841ad}</UniqueIdentifier>
|
||||
</Filter>
|
||||
</ItemGroup>
|
||||
<ItemGroup>
|
||||
<None Include="VescTestGetTelemetry.ino" />
|
||||
<None Include="__vm\.VescTestGetTelemetry.vsarduino.h">
|
||||
<Filter>Header Files</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\abi.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Arduino.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\binary.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\CDC.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Client.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial0.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial1.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial2.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial3.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HardwareSerial_private.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\HID.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\IPAddress.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\main.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\new.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Print.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Printable.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Server.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Stream.h">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Tone.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\Udp.h">
|
||||
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|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBAPI.h">
|
||||
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|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.cpp">
|
||||
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|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBCore.h">
|
||||
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|
||||
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|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\USBDesc.h">
|
||||
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|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WCharacter.h">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
</None>
|
||||
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|
||||
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|
||||
</None>
|
||||
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|
||||
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|
||||
</None>
|
||||
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|
||||
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|
||||
</None>
|
||||
<None Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\variants\mega\pins_arduino.h">
|
||||
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|
||||
</None>
|
||||
<None Include="..\..\buffer.cpp">
|
||||
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|
||||
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|
||||
<None Include="..\..\buffer.h">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
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|
||||
<None Include="..\..\Config.txt">
|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
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|
||||
<None Include="..\..\printf.h">
|
||||
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|
||||
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|
||||
<None Include="..\..\VESC.cpp">
|
||||
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|
||||
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|
||||
<None Include="..\..\VESC.h">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
</None>
|
||||
<None Include="..\..\VescIo.cpp">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
</None>
|
||||
<None Include="..\..\VescIo.h">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
</None>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -0,0 +1,5 @@
|
||||
[.ShellClassInfo]
|
||||
InfoTip=Dieser Ordner wird online freigegeben.
|
||||
IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
|
||||
IconIndex=16
|
||||
|
||||
25
src/VescUartControl-VESC6/examples/VescUartSample/Config.h
Normal file
25
src/VescUartControl-VESC6/examples/VescUartSample/Config.h
Normal file
@ -0,0 +1,25 @@
|
||||
/*
|
||||
Copyright 2015 - 2017 Andreas Chaitidis Andreas.Chaitidis@gmail.com
|
||||
This program is free software : you can redistribute it and / or modify
|
||||
it under the terms of the GNU General Public License as published by
|
||||
the Free Software Foundation, either version 3 of the License, or
|
||||
(at your option) any later version.
|
||||
This program is distributed in the hope that it will be useful,
|
||||
but WITHOUT ANY WARRANTY; without even the implied warranty of
|
||||
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.See the
|
||||
GNU General Public License for more details.
|
||||
You should have received a copy of the GNU General Public License
|
||||
along with this program.If not, see <http://www.gnu.org/licenses/>.
|
||||
*/
|
||||
|
||||
//The Config.h is a file, that I use in other programs usualy. So I define also the serial ports there. If you don't want to
|
||||
//use it, just comment the include statement in the VescUart.h out.
|
||||
|
||||
#ifndef _CONFIG_h
|
||||
#define _CONFIG_h
|
||||
|
||||
#define SERIALIO Serial1
|
||||
#define DEBUGSERIAL Serial
|
||||
|
||||
|
||||
#endif
|
||||
@ -0,0 +1,60 @@
|
||||
/*
|
||||
Name: VescUartSample.ino
|
||||
Created: 9/26/2015 10:12:38 PM
|
||||
Author: AC
|
||||
*/
|
||||
|
||||
// the setup function runs once when you press reset or power the board
|
||||
// To use VescUartControl stand alone you need to define a config.h file, that should contain the Serial or you have to comment the line
|
||||
// #include Config.h out in VescUart.h
|
||||
|
||||
//Include libraries copied from VESC
|
||||
|
||||
#define DEBUG
|
||||
#include "Config.h"
|
||||
#include <VescUart.h>
|
||||
#include <datatypes.h>
|
||||
|
||||
|
||||
unsigned long count;
|
||||
|
||||
void setup() {
|
||||
|
||||
//Setup UART port
|
||||
SetSerialPort(&SERIALIO);
|
||||
SERIALIO.begin(115200);
|
||||
#ifdef DEBUG
|
||||
//SEtup debug port
|
||||
SetDebugSerialPort(&DEBUGSERIAL);
|
||||
DEBUGSERIAL.begin(115200);
|
||||
#endif
|
||||
|
||||
}
|
||||
|
||||
struct bldcMeasure measuredVal;
|
||||
|
||||
// the loop function runs over and over again until power down or reset
|
||||
void loop() {
|
||||
//int len=0;
|
||||
//len = ReceiveUartMessage(message);
|
||||
//if (len > 0)
|
||||
//{
|
||||
// len = PackSendPayload(message, len);
|
||||
// len = 0;
|
||||
//}
|
||||
|
||||
if (VescUartGetValue(measuredVal)) {
|
||||
DEBUGSERIAL.print("Loop: "); DEBUGSERIAL.println(count++);
|
||||
SerialPrint(measuredVal);
|
||||
}
|
||||
else
|
||||
{
|
||||
Serial.println("Failed to get data!");
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
||||
|
||||
@ -0,0 +1,22 @@
|
||||
|
||||
Microsoft Visual Studio Solution File, Format Version 12.00
|
||||
# Visual Studio 15
|
||||
VisualStudioVersion = 15.0.26430.14
|
||||
MinimumVisualStudioVersion = 10.0.40219.1
|
||||
Project("{8BC9CEB8-8B4A-11D0-8D11-00A0C91BC942}") = "VescUartSample", "VescUartSample.vcxproj", "{C5F80730-F44F-4478-BDAE-6634EFC2CA88}"
|
||||
EndProject
|
||||
Global
|
||||
GlobalSection(SolutionConfigurationPlatforms) = preSolution
|
||||
Debug|x86 = Debug|x86
|
||||
Release|x86 = Release|x86
|
||||
EndGlobalSection
|
||||
GlobalSection(ProjectConfigurationPlatforms) = postSolution
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.ActiveCfg = Debug|Win32
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Debug|x86.Build.0 = Debug|Win32
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.ActiveCfg = Release|Win32
|
||||
{C5F80730-F44F-4478-BDAE-6634EFC2CA88}.Release|x86.Build.0 = Release|Win32
|
||||
EndGlobalSection
|
||||
GlobalSection(SolutionProperties) = preSolution
|
||||
HideSolutionNode = FALSE
|
||||
EndGlobalSection
|
||||
EndGlobal
|
||||
@ -0,0 +1,141 @@
|
||||
<?xml version="1.0" encoding="utf-8"?>
|
||||
<Project DefaultTargets="Build" ToolsVersion="4.0" xmlns="http://schemas.microsoft.com/developer/msbuild/2003">
|
||||
<ItemGroup Label="ProjectConfigurations">
|
||||
<ProjectConfiguration Include="Debug|Win32">
|
||||
<Configuration>Debug</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
<ProjectConfiguration Include="Release|Win32">
|
||||
<Configuration>Release</Configuration>
|
||||
<Platform>Win32</Platform>
|
||||
</ProjectConfiguration>
|
||||
</ItemGroup>
|
||||
<PropertyGroup Label="Globals">
|
||||
<ProjectGuid>{C5F80730-F44F-4478-BDAE-6634EFC2CA88}</ProjectGuid>
|
||||
<RootNamespace>
|
||||
</RootNamespace>
|
||||
<ProjectName>VescUartSample</ProjectName>
|
||||
</PropertyGroup>
|
||||
<Import Project="$(VCTargetsPath)\Microsoft.Cpp.Default.props" />
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Debug|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>true</UseDebugLibraries>
|
||||
<PlatformToolset>
|
||||
</PlatformToolset>
|
||||
<CharacterSet>MultiByte</CharacterSet>
|
||||
</PropertyGroup>
|
||||
<PropertyGroup Condition="'$(Configuration)|$(Platform)'=='Release|Win32'" Label="Configuration">
|
||||
<ConfigurationType>Application</ConfigurationType>
|
||||
<UseDebugLibraries>false</UseDebugLibraries>
|
||||
<PlatformToolset>
|
||||
</PlatformToolset>
|
||||
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<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="..\..\..\..\..\..\..\..\..\..\DEV\arduino-1.5.8\hardware\arduino\avr\cores\arduino\WString.cpp">
|
||||
<Filter>src\_micro-api-readonly\core</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="..\..\buffer.cpp">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="..\..\crc.cpp">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
</ClCompile>
|
||||
<ClCompile Include="..\..\VescUart.cpp">
|
||||
<Filter>src\_micro-api-readonly\libraries\VescUartControl</Filter>
|
||||
</ClCompile>
|
||||
</ItemGroup>
|
||||
</Project>
|
||||
@ -0,0 +1,72 @@
|
||||
/*
|
||||
Editor: http://www.visualmicro.com
|
||||
visual micro and the arduino ide ignore this code during compilation. this code is automatically maintained by visualmicro, manual changes to this file will be overwritten
|
||||
the contents of the Visual Micro sketch sub folder can be deleted prior to publishing a project
|
||||
all non-arduino files created by visual micro and all visual studio project or solution files can be freely deleted and are not required to compile a sketch (do not delete your own code!).
|
||||
note: debugger breakpoints are stored in '.sln' or '.asln' files, knowledge of last uploaded breakpoints is stored in the upload.vmps.xml file. Both files are required to continue a previous debug session without needing to compile and upload again
|
||||
|
||||
Hardware: Arduino Mega w/ ATmega2560 (Mega 2560), Platform=avr, Package=arduino
|
||||
*/
|
||||
|
||||
#if defined(_VMICRO_INTELLISENSE)
|
||||
|
||||
#ifndef _VSARDUINO_H_
|
||||
#define _VSARDUINO_H_
|
||||
#define __AVR_ATmega2560__
|
||||
#define F_CPU 16000000L
|
||||
#define ARDUINO 158
|
||||
#define ARDUINO_AVR_MEGA2560
|
||||
#define ARDUINO_ARCH_AVR
|
||||
#define __cplusplus 201103L
|
||||
#define GCC_VERSION 40801
|
||||
#define __inline__
|
||||
#define __asm__(x)
|
||||
#define __extension__
|
||||
//#define __ATTR_PURE__
|
||||
//#define __ATTR_CONST__
|
||||
#define __inline__
|
||||
//#define __asm__
|
||||
#define __volatile__
|
||||
#define GCC_VERSION 40301
|
||||
#define volatile(va_arg)
|
||||
#define __AVR__
|
||||
typedef void *__builtin_va_list;
|
||||
#define __builtin_va_start
|
||||
#define __builtin_va_end
|
||||
//#define __DOXYGEN__
|
||||
#define __attribute__(x)
|
||||
#define NOINLINE __attribute__((noinline))
|
||||
#define prog_void
|
||||
#define PGM_VOID_P int
|
||||
#define NEW_H
|
||||
/*
|
||||
#ifndef __ATTR_CONST__
|
||||
#define __ATTR_CONST__ __attribute__((__const__))
|
||||
#endif
|
||||
|
||||
#ifndef __ATTR_MALLOC__
|
||||
#define __ATTR_MALLOC__ __attribute__((__malloc__))
|
||||
#endif
|
||||
|
||||
#ifndef __ATTR_NORETURN__
|
||||
#define __ATTR_NORETURN__ __attribute__((__noreturn__))
|
||||
#endif
|
||||
|
||||
#ifndef __ATTR_PURE__
|
||||
#define __ATTR_PURE__ __attribute__((__pure__))
|
||||
#endif
|
||||
*/
|
||||
typedef unsigned char byte;
|
||||
extern "C" void __cxa_pure_virtual() {;}
|
||||
|
||||
|
||||
|
||||
#include <arduino.h>
|
||||
#include <pins_arduino.h>
|
||||
#undef F
|
||||
#define F(string_literal) ((const PROGMEM char *)(string_literal))
|
||||
#undef PSTR
|
||||
#define PSTR(string_literal) ((const PROGMEM char *)(string_literal))
|
||||
#include "VescUartSample.ino"
|
||||
#endif
|
||||
#endif
|
||||
@ -0,0 +1,5 @@
|
||||
[.ShellClassInfo]
|
||||
InfoTip=Dieser Ordner wird online freigegeben.
|
||||
IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
|
||||
IconIndex=16
|
||||
|
||||
@ -0,0 +1,5 @@
|
||||
[.ShellClassInfo]
|
||||
InfoTip=Dieser Ordner wird online freigegeben.
|
||||
IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
|
||||
IconIndex=16
|
||||
|
||||
5
src/VescUartControl-VESC6/examples/desktop.ini
Normal file
5
src/VescUartControl-VESC6/examples/desktop.ini
Normal file
@ -0,0 +1,5 @@
|
||||
[.ShellClassInfo]
|
||||
InfoTip=Dieser Ordner wird online freigegeben.
|
||||
IconFile=C:\Program Files\Google\Drive\googledrivesync.exe
|
||||
IconIndex=16
|
||||
|
||||
34
src/VescUartControl-VESC6/local_datatypes.h
Normal file
34
src/VescUartControl-VESC6/local_datatypes.h
Normal file
@ -0,0 +1,34 @@
|
||||
#ifndef LOCAL_DATATYPES_H_
|
||||
#define LOCAL_DATATYPES_H_
|
||||
|
||||
// Added by AC to store measured values
|
||||
struct bldcMeasure {
|
||||
float tempFetFiltered;
|
||||
float tempMotorFiltered;
|
||||
float avgMotorCurrent;
|
||||
float avgInputCurrent;
|
||||
float avgId;
|
||||
float avgIq;
|
||||
float dutyNow;
|
||||
long rpm;
|
||||
float inpVoltage;
|
||||
float ampHours;
|
||||
float ampHoursCharged;
|
||||
float wattHours;
|
||||
float watthoursCharged;
|
||||
long tachometer;
|
||||
long tachometerAbs;
|
||||
int faultCode;
|
||||
};
|
||||
//Define remote Package
|
||||
|
||||
struct remotePackage {
|
||||
|
||||
int valXJoy;
|
||||
int valYJoy;
|
||||
boolean valUpperButton;
|
||||
boolean valLowerButton;
|
||||
|
||||
};
|
||||
|
||||
#endif
|
||||
31
src/VescUartControl-VESC6/printf.h
Normal file
31
src/VescUartControl-VESC6/printf.h
Normal file
@ -0,0 +1,31 @@
|
||||
/*
|
||||
Copyright (C) 2011 James Coliz, Jr. <maniacbug@ymail.com>
|
||||
|
||||
This program is free software; you can redistribute it and/or
|
||||
modify it under the terms of the GNU General Public License
|
||||
version 2 as published by the Free Software Foundation.
|
||||
*/
|
||||
|
||||
/**
|
||||
* @file printf.h
|
||||
*
|
||||
* Setup necessary to direct stdout to the Arduino Serial library, which
|
||||
* enables 'printf'
|
||||
*/
|
||||
|
||||
#ifndef __PRINTF_H__
|
||||
#define __PRINTF_H__
|
||||
|
||||
int serial_putc( char c, FILE * )
|
||||
{
|
||||
Serial.write( c );
|
||||
|
||||
return c;
|
||||
}
|
||||
|
||||
void printf_begin(void)
|
||||
{
|
||||
fdevopen( &serial_putc, 0 );
|
||||
}
|
||||
|
||||
#endif // __PRINTF_H__
|
||||
Reference in New Issue
Block a user