From ae447039467ae6ef53020b3a8ed756e626c67a77 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 15:26:31 -0700 Subject: [PATCH 01/16] docs(foc): clarify base-image vd_ff/vq_ff are calibration-only Add comments to FocSetpoints and the control manager explaining that the base-image FOC controller's vd_ff_v/vq_ff_v fields are only for calibration/test injection. Normal runtime control (including any feed-forward) is provided by the generated node-graph control law. --- Images/Gen6FW/Inc/Inverter/Control/FocController.h | 6 ++++++ Images/Gen6FW/Src/Inverter/Control/FocControlManager.cpp | 5 ++++- Images/Gen6FW/Src/Inverter/Control/FocController.cpp | 4 ++++ 3 files changed, 14 insertions(+), 1 deletion(-) diff --git a/Images/Gen6FW/Inc/Inverter/Control/FocController.h b/Images/Gen6FW/Inc/Inverter/Control/FocController.h index 77eb444b..7df729ec 100644 --- a/Images/Gen6FW/Inc/Inverter/Control/FocController.h +++ b/Images/Gen6FW/Inc/Inverter/Control/FocController.h @@ -27,6 +27,12 @@ struct FocInputs { struct FocSetpoints { float id_a = 0.0f; float iq_a = 0.0f; + // CALIBRATION-ONLY feed-forward voltages. The base-image FOC controller is + // a calibration/test fallback; normal runtime control (current loops, + // modulation, feed-forward, etc.) is provided by the generated node-graph + // control law. These fields are intentionally not exposed through + // FocControlManager because runtime feed-forward is handled by the node + // graph, not this base-image controller. float vd_ff_v = 0.0f; float vq_ff_v = 0.0f; }; diff --git a/Images/Gen6FW/Src/Inverter/Control/FocControlManager.cpp b/Images/Gen6FW/Src/Inverter/Control/FocControlManager.cpp index 4d282ae2..e8d15e3e 100644 --- a/Images/Gen6FW/Src/Inverter/Control/FocControlManager.cpp +++ b/Images/Gen6FW/Src/Inverter/Control/FocControlManager.cpp @@ -541,7 +541,10 @@ void FocControlManager::onPwmPeriod() { } /* Copy setpoints atomically so a main-loop update cannot give us a - * partially-written id/iq pair. */ + * partially-written id/iq pair. Note: vd_ff_v / vq_ff_v in FocSetpoints + * are calibration-only and are never set by this manager; they remain zero + * here because the generated node-graph control law provides the full + * runtime control path, not this base-image FOC controller. */ FocSetpoints set; __disable_irq(); set = m_setpoints; diff --git a/Images/Gen6FW/Src/Inverter/Control/FocController.cpp b/Images/Gen6FW/Src/Inverter/Control/FocController.cpp index d7e1fccf..6a1f4083 100644 --- a/Images/Gen6FW/Src/Inverter/Control/FocController.cpp +++ b/Images/Gen6FW/Src/Inverter/Control/FocController.cpp @@ -128,6 +128,10 @@ FocOutputs FocController::Update(const FocInputs& in, const FocSetpoints& set, f // --- 4. Vector PI control --- CalculateDecoupling(); + // set.vd_ff_v / set.vq_ff_v are calibration-only. In normal operation + // FocControlManager leaves them at zero because the generated node-graph + // control law replaces the entire runtime control path (including any + // feed-forward). They are summed here only for test/cal injection. float total_vd_ff = vd_decoupling_ff_v_ + set.vd_ff_v; float total_vq_ff = vq_decoupling_ff_v_ + set.vq_ff_v; From 7766b0b2cb4a14ac3437cd458bcdafa7a46de1fd Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 15:32:29 -0700 Subject: [PATCH 02/16] feat(control): add optional feed-forward to PI and FOC feed-forward node - Add optional Feedforward input to the library Control.Pi template. - Update Custom.PiCurrent in foc_demo.json and foc_mtpa_demo.json to accept an optional voltage feed-forward term. - Add Control.FocFeedforward node template that computes PMSM d/q cross-coupling and back-EMF feed-forward voltages from electrical speed, measured currents, and motor parameters. - Wire Control.FocFeedforward into foc_mtpa_demo.json as a working example, feeding PiD/PiQ feed-forward inputs. - Update NodeAPI test expectation and sample_graph_class.json to match the new Control.Pi port. --- Assets/Examples/foc_demo.json | 43 +- Assets/Examples/foc_mtpa_demo.json | 4996 +++++++++++++++++ .../Control.FocFeedforward/inline.cpp | 17 + .../Control.FocFeedforward/node.json | 83 + Assets/NodeTemplates/Control.Pi/inline.cpp | 2 +- Assets/NodeTemplates/Control.Pi/node.json | 19 +- .../examples/sample_graph_class.json | 19 +- Lib/NodeAPI/tests/test_templates.cpp | 3 +- 8 files changed, 5165 insertions(+), 17 deletions(-) create mode 100644 Assets/Examples/foc_mtpa_demo.json create mode 100644 Assets/NodeTemplates/Control.FocFeedforward/inline.cpp create mode 100644 Assets/NodeTemplates/Control.FocFeedforward/node.json diff --git a/Assets/Examples/foc_demo.json b/Assets/Examples/foc_demo.json index 5048a1cd..6c9b42b9 100644 --- a/Assets/Examples/foc_demo.json +++ b/Assets/Examples/foc_demo.json @@ -2126,11 +2126,11 @@ "classHeader": "", "constructorCode": "", "defaultName": "Ladrc", - "description": "Linear Active Disturbance Rejection Controller for a first-order plant (PMSM dq current). Drop-in alternative to Control.Pi: Setpoint/Measurement → voltage Output. Uses a 2-state linear ESO + PD-like feedback. Does not modify FOC/MPCC nodes.", + "description": "Linear Active Disturbance Rejection Controller for a first-order plant (PMSM dq current). Drop-in alternative to Control.Pi: Setpoint/Measurement \u2192 voltage Output. Uses a 2-state linear ESO + PD-like feedback. Does not modify FOC/MPCC nodes.", "displayName": "LADRC (1st-order)", "domain": "", "id": "Control.Ladrc", - "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*ωo*e)\n * z2 += dt * (-ωo^2 * e)\n * Control:\n * u0 = ωc * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100µH */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi: allow overmodulation up\n * to the six-step boundary (2*Vdc/3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", + "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*\u03c9o*e)\n * z2 += dt * (-\u03c9o^2 * e)\n * Control:\n * u0 = \u03c9c * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100\u00b5H */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi: allow overmodulation up\n * to the six-step boundary (2*Vdc/3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", "inputPorts": [ { "description": "Desired current (A) or process setpoint.", @@ -2172,7 +2172,7 @@ ], "parameterTypes": { "B0": { - "description": "Plant gain estimate b0. For dq current use ≈ 1/L (e.g. Ld or Lq).", + "description": "Plant gain estimate b0. For dq current use \u2248 1/L (e.g. Ld or Lq).", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" @@ -2184,25 +2184,25 @@ "quantity": "dimensionless" }, "OmegaC": { - "description": "Controller bandwidth ωc [rad/s]. kp = ωc.", + "description": "Controller bandwidth \u03c9c [rad/s]. kp = \u03c9c.", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" }, "OmegaO": { - "description": "Observer bandwidth ωo [rad/s]. Typically 3–10× ωc.", + "description": "Observer bandwidth \u03c9o [rad/s]. Typically 3\u201310\u00d7 \u03c9c.", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" }, "OutputMax": { - "description": "Upper output clamp (also limited by Vdc/√3·0.95).", + "description": "Upper output clamp (also limited by Vdc/\u221a3\u00b70.95).", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" }, "OutputMin": { - "description": "Lower output clamp (also limited by −Vdc/√3·0.95).", + "description": "Lower output clamp (also limited by \u2212Vdc/\u221a3\u00b70.95).", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" @@ -2346,7 +2346,7 @@ "maxInstances": 1, "outputPorts": [ { - "description": "Electrical rotor angle wrapped to the range 0 through 2π radians.", + "description": "Electrical rotor angle wrapped to the range 0 through 2\u03c0 radians.", "direction": "output", "name": "ThetaElec", "optional": false, @@ -3382,7 +3382,7 @@ "displayName": "PI Controller (Current)", "domain": "", "id": "Custom.PiCurrent", - "inlineCode": "float dt = platform_get_current_domain_dt();\nif (dt <= 0.0f) dt = 0.0002f;\nconst float error = (Setpoint - Measurement).in(au::amperes);\nIntegral += error * dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic voltage limit derived from DC-link voltage. Allow overmodulation\n * up to the six-step boundary (2*Vdc/3). Linear SVPWM limit is Vdc/sqrt(3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * dt * AwGain / (Kp * Ki);\n}\n\nOutput = rte::Volts(limited_output);\n", + "inlineCode": "float dt = platform_get_current_domain_dt();\nif (dt <= 0.0f) dt = 0.0002f;\nconst float error = (Setpoint - Measurement).in(au::amperes);\nIntegral += error * dt;\n\nfloat raw_output = Kp * error + Ki * Integral + Feedforward.in(au::volts);\n\n/* Dynamic voltage limit derived from DC-link voltage. Allow overmodulation\n * up to the six-step boundary (2*Vdc/3). Linear SVPWM limit is Vdc/sqrt(3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * dt * AwGain / (Kp * Ki);\n}\n\nOutput = rte::Volts(limited_output);\n", "inputPorts": [ { "description": "", @@ -3405,6 +3405,17 @@ "frame": "scalar", "quantity": "current" } + }, + { + "name": "Feedforward", + "description": "Optional additive feed-forward voltage (e.g. decoupling or back-EMF).", + "direction": "input", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + }, + "optional": true } ], "isEntryPoint": false, @@ -3457,6 +3468,12 @@ "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" + }, + "Feedforward": { + "description": "Default feed-forward voltage when the port is not connected.", + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" } } }, @@ -4303,7 +4320,8 @@ "Ki": "10.0", "Kp": "0.03", "OutputMax": "200.0", - "OutputMin": "-200.0" + "OutputMin": "-200.0", + "Feedforward": "0.0" }, "position": { "x": 1333.8134908839509, @@ -4326,7 +4344,8 @@ "Ki": "10.0", "Kp": "0.03", "OutputMax": "200.0", - "OutputMin": "-200.0" + "OutputMin": "-200.0", + "Feedforward": "0.0" }, "position": { "x": 1487.211021399177, @@ -4876,4 +4895,4 @@ } ], "schemaVersion": 1 -} +} \ No newline at end of file diff --git a/Assets/Examples/foc_mtpa_demo.json b/Assets/Examples/foc_mtpa_demo.json new file mode 100644 index 00000000..c17371f9 --- /dev/null +++ b/Assets/Examples/foc_mtpa_demo.json @@ -0,0 +1,4996 @@ +{ + "bridges": [ + { + "consumer": { + "nodeId": "LogU", + "portName": "Value" + }, + "id": "i_a_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_A" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "LogV", + "portName": "Value" + }, + "id": "i_b_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_B" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "LogW", + "portName": "Value" + }, + "id": "i_c_app_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_C" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_A" + }, + "id": "i_a_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_A" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_B" + }, + "id": "i_b_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_B" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "consumer": { + "nodeId": "Clarke", + "portName": "I_C" + }, + "id": "i_c_bridge", + "producer": { + "nodeId": "Currents", + "portName": "I_C" + }, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "connections": [ + { + "from": { + "nodeId": "Encoder", + "portName": "Theta" + }, + "id": "c1", + "to": { + "nodeId": "ElecAngle", + "portName": "ThetaMech" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c2", + "to": { + "nodeId": "Park", + "portName": "Theta" + } + }, + { + "from": { + "nodeId": "ElecAngle", + "portName": "ThetaElec" + }, + "id": "c3", + "to": { + "nodeId": "InvPark", + "portName": "Theta" + } + }, + { + "from": { + "nodeId": "Clarke", + "portName": "I_Alpha" + }, + "id": "c4", + "to": { + "nodeId": "Park", + "portName": "I_Alpha" + } + }, + { + "from": { + "nodeId": "Mtpa", + "portName": "I_D" + }, + "id": "c6", + "to": { + "nodeId": "PiD", + "portName": "Setpoint" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_D" + }, + "id": "c7", + "to": { + "nodeId": "PiD", + "portName": "Measurement" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_Q" + }, + "id": "c9", + "to": { + "nodeId": "PiQ", + "portName": "Measurement" + } + }, + { + "from": { + "nodeId": "PiD", + "portName": "Output" + }, + "id": "c10", + "to": { + "nodeId": "InvPark", + "portName": "V_D" + } + }, + { + "from": { + "nodeId": "PiQ", + "portName": "Output" + }, + "id": "c11", + "to": { + "nodeId": "InvPark", + "portName": "V_Q" + } + }, + { + "from": { + "nodeId": "InvPark", + "portName": "V_Alpha" + }, + "id": "c13", + "to": { + "nodeId": "Svpwm", + "portName": "V_Alpha" + } + }, + { + "from": { + "nodeId": "VdcSense", + "portName": "V_Dc" + }, + "id": "c14", + "to": { + "nodeId": "Svpwm", + "portName": "V_Dc" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "c15", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_A" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "c16", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_B" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "c17", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_C" + } + }, + { + "from": { + "nodeId": "EncoderApp", + "portName": "Theta" + }, + "id": "c24", + "to": { + "nodeId": "LogTheta", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "c35", + "to": { + "nodeId": "LogDu", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "c36", + "to": { + "nodeId": "LogDv", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "c37", + "to": { + "nodeId": "LogDw", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Clarke", + "portName": "I_Beta" + }, + "id": "c38", + "to": { + "nodeId": "Park", + "portName": "I_Beta" + } + }, + { + "from": { + "nodeId": "InvPark", + "portName": "V_Beta" + }, + "id": "c39", + "to": { + "nodeId": "Svpwm", + "portName": "V_Beta" + } + }, + { + "from": { + "nodeId": "CfgEncSign", + "portName": "Value" + }, + "id": "c40", + "to": { + "nodeId": "ElecAngle", + "portName": "EncoderSign" + } + }, + { + "from": { + "nodeId": "CfgEncOffset", + "portName": "Value" + }, + "id": "c41", + "to": { + "nodeId": "ElecAngle", + "portName": "OffsetDeg" + } + }, + { + "from": { + "nodeId": "CfgPoles", + "portName": "Value" + }, + "id": "c42", + "to": { + "nodeId": "ElecAngle", + "portName": "Poles" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_D" + }, + "id": "c43", + "to": { + "nodeId": "LogId", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_Q" + }, + "id": "c44", + "to": { + "nodeId": "LogIq", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "PiD", + "portName": "Output" + }, + "id": "c45", + "to": { + "nodeId": "LogVd", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "PiQ", + "portName": "Output" + }, + "id": "c46", + "to": { + "nodeId": "LogVq", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VdcApp", + "portName": "V_Dc" + }, + "id": "c47", + "to": { + "nodeId": "LogVdc", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VoltSense", + "portName": "V_U" + }, + "id": "c48", + "to": { + "nodeId": "LogVu", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VoltSense", + "portName": "V_V" + }, + "id": "c49", + "to": { + "nodeId": "LogVv", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VoltSense", + "portName": "V_W" + }, + "id": "c50", + "to": { + "nodeId": "LogVw", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "CfgKpQ", + "portName": "Value" + }, + "id": "c51", + "to": { + "nodeId": "PiQ", + "portName": "Kp" + } + }, + { + "from": { + "nodeId": "CfgEnable", + "portName": "Value" + }, + "id": "c52", + "to": { + "nodeId": "EnableCmp", + "portName": "A" + } + }, + { + "from": { + "nodeId": "EnableCmp", + "portName": "Out" + }, + "id": "c53", + "to": { + "nodeId": "ThrottleEnable", + "portName": "In" + } + }, + { + "from": { + "nodeId": "ThrottleEnable", + "portName": "Value" + }, + "id": "c54", + "to": { + "nodeId": "IqGate", + "portName": "Sel" + } + }, + { + "from": { + "nodeId": "IqGate", + "portName": "Out" + }, + "id": "c55", + "to": { + "nodeId": "PiQ", + "portName": "Setpoint" + } + }, + { + "from": { + "nodeId": "Mtpa", + "portName": "I_Q" + }, + "id": "c56", + "to": { + "nodeId": "SlewIq", + "portName": "In" + } + }, + { + "from": { + "nodeId": "Din1", + "portName": "Out" + }, + "id": "c_din1_led", + "to": { + "nodeId": "LedGreen", + "portName": "In" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Motor" + }, + "id": "c_t_motor", + "to": { + "nodeId": "LogT_Motor", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv1" + }, + "id": "c_t_inv1", + "to": { + "nodeId": "LogT_Inv1", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv2" + }, + "id": "c_t_inv2", + "to": { + "nodeId": "LogT_Inv2", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Temps", + "portName": "T_Inv3" + }, + "id": "c_t_inv3", + "to": { + "nodeId": "LogT_Inv3", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Throttle", + "portName": "A" + }, + "id": "c_thrA", + "to": { + "nodeId": "LogThrA", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Throttle", + "portName": "B" + }, + "id": "c_thrB", + "to": { + "nodeId": "LogThrB", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "SlewIq", + "portName": "Out" + }, + "id": "c_slew_iq_out", + "to": { + "nodeId": "IqGate", + "portName": "Val" + } + }, + { + "from": { + "nodeId": "CfgIqSlew", + "portName": "Value" + }, + "id": "c_slew_rate", + "to": { + "nodeId": "SlewIq", + "portName": "Rate" + } + }, + { + "from": { + "nodeId": "CfgKpD", + "portName": "Value" + }, + "id": "c_kp_d", + "to": { + "nodeId": "PiD", + "portName": "Kp" + } + }, + { + "from": { + "nodeId": "CfgKiD", + "portName": "Value" + }, + "id": "c_ki_d", + "to": { + "nodeId": "PiD", + "portName": "Ki" + } + }, + { + "from": { + "nodeId": "CfgKiQ", + "portName": "Value" + }, + "id": "c_ki_q", + "to": { + "nodeId": "PiQ", + "portName": "Ki" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "gui_conn_74", + "to": { + "nodeId": "AdaptiveSampleTrigger1", + "portName": "Duty_A" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "gui_conn_103", + "to": { + "nodeId": "AdaptiveSampleTrigger1", + "portName": "Duty_B" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "gui_conn_135", + "to": { + "nodeId": "AdaptiveSampleTrigger1", + "portName": "Duty_C" + } + }, + { + "from": { + "nodeId": "AdaptiveSampleTrigger1", + "portName": "GapTicks" + }, + "id": "gui_conn_148", + "to": { + "nodeId": "GapTicks", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "RPMMechElec1", + "portName": "RpmMech" + }, + "id": "gui_conn_11", + "to": { + "nodeId": "Mech_RPM", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "RPMMechElec1", + "portName": "RpmElec" + }, + "id": "gui_conn_24", + "to": { + "nodeId": "Elec_RPM", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "EncoderRawSinCos1", + "portName": "SinRaw" + }, + "id": "gui_conn_26", + "to": { + "nodeId": "EncoderSin", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "EncoderRawSinCos1", + "portName": "CosRaw" + }, + "id": "gui_conn_48", + "to": { + "nodeId": "EncoderCos", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "CMD", + "portName": "Value" + }, + "id": "gui_conn_32", + "to": { + "nodeId": "Mtpa", + "portName": "CurrentRef" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_D" + }, + "id": "c_ff_id", + "to": { + "nodeId": "FocFeedforward", + "portName": "I_D" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_Q" + }, + "id": "c_ff_iq", + "to": { + "nodeId": "FocFeedforward", + "portName": "I_Q" + } + }, + { + "from": { + "nodeId": "RPMMechElec1", + "portName": "RpmElec" + }, + "id": "c_ff_rpm", + "to": { + "nodeId": "FocFeedforward", + "portName": "RpmElec" + } + }, + { + "from": { + "nodeId": "FocFeedforward", + "portName": "V_D" + }, + "id": "c_ff_vd", + "to": { + "nodeId": "PiD", + "portName": "Feedforward" + } + }, + { + "from": { + "nodeId": "FocFeedforward", + "portName": "V_Q" + }, + "id": "c_ff_vq", + "to": { + "nodeId": "PiQ", + "portName": "Feedforward" + } + } + ], + "name": "foc_mtpa_demo", + "nodeTypes": [ + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Const", + "description": "Provides a constant scalar value, optionally replaced by a wired input.", + "displayName": "Constant", + "domain": "", + "id": "Values.Constant", + "inlineCode": "/* Compile-time constant (or wired value via optional In). */\nOut = Value;\n", + "inputPorts": [ + { + "description": "Optional value that replaces the configured constant when wired.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Configured constant or the value supplied through In.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback storage for the optional In port.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Constant value emitted when no input overrides it.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Log", + "description": "Publishes a scalar value to runtime telemetry under a configurable key.", + "displayName": "Telemetry Log", + "domain": "", + "id": "Debug.TelemetryLog", + "inlineCode": "platform_telemetry_log_f32(Key, Value);\n", + "inputPorts": [ + { + "description": "Scalar value to publish.", + "direction": "input", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Key": { + "description": "Telemetry channel name used when publishing the value.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PwmOut", + "description": "Applies three phase-duty commands to the platform PWM peripheral.", + "displayName": "PWM Out", + "domain": "tim_isr", + "id": "Actuators.PwmOut", + "inlineCode": "platform_pwm_set(Duty_A, Duty_B, Duty_C);\n", + "inputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "input", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "input", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "input", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanRx", + "description": "Reads the latest frame from a configured CAN receive mailbox and exposes its payload.", + "displayName": "CAN RX", + "domain": "", + "id": "Sensors.CanRx", + "inlineCode": "/* CAN receive mailbox for Id on Bus (1=A/FDCAN1, 2=B/FDCAN2).\n * Fresh is true for one step when a new frame arrived; Dlc/bytes hold the\n * latest payload otherwise. */\nuint8_t buf[8] = {};\nuint32_t seq = 0;\nconst int dlc = platform_can_rx(static_cast(Bus),\n static_cast(Id), buf, &seq);\nFresh = (seq != LastSeq);\nLastSeq = static_cast(seq);\nif (dlc > 0) {\n Dlc = static_cast(dlc);\n D0 = buf[0]; D1 = buf[1]; D2 = buf[2]; D3 = buf[3];\n D4 = buf[4]; D5 = buf[5]; D6 = buf[6]; D7 = buf[7];\n} else {\n Dlc = 0.0f;\n}\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Most recently received payload byte 0.", + "direction": "output", + "name": "D0", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 1.", + "direction": "output", + "name": "D1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 2.", + "direction": "output", + "name": "D2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 3.", + "direction": "output", + "name": "D3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 4.", + "direction": "output", + "name": "D4", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 5.", + "direction": "output", + "name": "D5", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 6.", + "direction": "output", + "name": "D6", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 7.", + "direction": "output", + "name": "D7", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Data length of the latest received frame.", + "direction": "output", + "name": "Dlc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True for one execution step when a new frame has arrived.", + "direction": "output", + "name": "Fresh", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier accepted by the receive mailbox.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastSeq": { + "description": "Internal sequence counter used to detect newly received frames.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PhaseVoltages", + "description": "Reads the filtered three-phase and DC-link voltage sensor channels.", + "displayName": "Phase Voltages", + "domain": "", + "id": "Sensors.PhaseVoltages", + "inlineCode": "/* All voltage sense channels from the MAX22530 isolated ADC, filtered. */\nV_U = rte::Volts(platform_phase_voltage_u());\nV_V = rte::Volts(platform_phase_voltage_v());\nV_W = rte::Volts(platform_phase_voltage_w());\nV_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Measured phase U voltage in volts.", + "direction": "output", + "name": "V_U", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase V voltage in volts.", + "direction": "output", + "name": "V_V", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase W voltage in volts.", + "direction": "output", + "name": "V_W", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvPark", + "description": "Rotates d-q voltage commands into stationary alpha-beta coordinates.", + "displayName": "Inverse Park Transform", + "domain": "", + "id": "Transforms.InversePark", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nV_Alpha = V_D * cos_theta - V_Q * sin_theta;\nV_Beta = V_D * sin_theta + V_Q * cos_theta;\n", + "inputPorts": [ + { + "description": "Rotating-frame direct-axis voltage.", + "direction": "input", + "name": "V_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Rotating-frame quadrature-axis voltage.", + "direction": "input", + "name": "V_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "output", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "output", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Din", + "description": "Reads a boolean level from one of the platform user digital inputs.", + "displayName": "Digital In", + "domain": "", + "id": "Sensors.DigitalIn", + "inlineCode": "/* User digital input. Pin 1..8 -> USER_DIN_1..8 (see platform_api.h). */\nOut = platform_digital_read(static_cast(Pin));\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current logic level of the selected digital input.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Pin": { + "description": "User digital input selector in the range 1 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Dout", + "description": "Writes a boolean signal to a user digital output or onboard status LED.", + "displayName": "Digital Out", + "domain": "", + "id": "Actuators.DigitalOut", + "inlineCode": "/* User digital output. Pin 1..4 -> USER_DOUT_1..4, 5 -> green LED,\n * 6 -> orange LED (see platform_api.h). */\nplatform_digital_write(static_cast(Pin), In);\n", + "inputPorts": [ + { + "description": "Logic level to write to the selected output.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Pin": { + "description": "Output selector: 1-4 are user digital outputs, 5 is the green LED, and 6 is the orange LED.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SampleTrigger", + "description": "Schedules the next phase-current ADC burst in the quietest available PWM window.", + "displayName": "Adaptive Sample Trigger", + "domain": "tim_isr", + "id": "hw.adaptive_sample_trigger", + "inlineCode": "/* Adaptive current-sample trigger:\n * Place the ADC micro-burst trigger at the quietest point in the upcoming\n * PWM period, computed from the three phase duties. Falls back to the\n * legacy bottom trigger when no clean window exists.\n *\n * Connect after the SVPWM node so the duties reflect the upcoming period.\n */\nconst uint32_t arr = platform_pwm_get_arr();\nconst uint32_t gap = platform_schedule_adaptive_sample(\n Duty_A, Duty_B, Duty_C, arr);\n\nGapTicks = rte::Dimensionless(static_cast(gap));\n", + "inputPorts": [ + { + "description": "Normalized phase-A PWM duty command for the upcoming period.", + "direction": "input", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized phase-B PWM duty command for the upcoming period.", + "direction": "input", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized phase-C PWM duty command for the upcoming period.", + "direction": "input", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Available quiet-window width in PWM timer ticks.", + "direction": "output", + "name": "GapTicks", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ForcedAngle", + "description": "Generates a continuously advancing electrical angle for open-loop control.", + "displayName": "Forced Angle", + "domain": "", + "id": "Transforms.ForcedAngle", + "inlineCode": "Angle += RateRadPerS * Dt;\nif (Angle >= 6.28318530718f) Angle -= 6.28318530718f;\nThetaElec = Angle;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Generated electrical angle wrapped to one revolution.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Angle": { + "description": "Persistent generated angle state in radians.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "RateRadPerS": { + "description": "Electrical angular velocity in radians per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Pi", + "description": "Proportional-integral controller with output clamping and back-calculation anti-windup.", + "displayName": "PI Controller", + "domain": "", + "id": "Control.Pi", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage, matching the base image's\n * VectorPIController convention: max = Vdc/sqrt(3) * 0.95. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inputPorts": [ + { + "description": "Desired target value.", + "direction": "input", + "name": "Setpoint", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Measured process value subtracted from the setpoint.", + "direction": "input", + "name": "Measurement", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Clamped PI control effort.", + "direction": "output", + "name": "Output", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "AwGain": { + "description": "Back-calculation anti-windup gain. Zero disables anti-windup.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Controller step period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Integral": { + "description": "Persistent accumulated-error state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ki": { + "description": "Integral gain applied to the accumulated error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Kp": { + "description": "Proportional gain applied to the current error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMax": { + "description": "Upper output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMin": { + "description": "Lower output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Throttle", + "description": "Reads the redundant throttle channels and their plausibility status.", + "displayName": "Throttle", + "domain": "", + "id": "Sensors.Throttle", + "inlineCode": "/* Dual throttle channels, normalized [0..1] by the base-image driver\n * (KV calibration Hw.ThrA/B.MinV/MaxV). Both read 0 and Valid is false\n * while the channels disagree beyond the plausibility tolerance. */\nA = platform_get_throttle_a();\nB = platform_get_throttle_b();\nValid = platform_get_throttle_valid();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Normalized throttle channel A in the range 0 to 1.", + "direction": "output", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized throttle channel B in the range 0 to 1.", + "direction": "output", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True when both throttle channels pass the plausibility check.", + "direction": "output", + "name": "Valid", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mtpa", + "description": "Maximum Torque Per Ampere current-reference generator for PMSM. Converts a per-unit current command into optimal d-q current references using motor inductances and flux linkage.", + "displayName": "MTPA Reference", + "domain": "", + "id": "Control.Mtpa", + "inlineCode": "/* Maximum Torque Per Ampere (MTPA) current-reference generator.\n * CurrentRef is per-unit [-1..1] and scaled by CurrentMax to obtain the\n * actual current magnitude. For SPM motors (Ld == Lq) the result is\n * Id=0, Iq=CurrentRef*CurrentMax. For IPMSM (Lq > Ld) the current angle\n * is computed from the analytical MTPA condition.\n *\n * Torque equation: T = (3/2)*pp*(Lambda*Iq + (Ld-Lq)*Id*Iq)\n * MTPA condition: Lambda*cos(beta) + (Ld-Lq)*Is*cos(2*beta) = 0\n * Solving for cos(beta) with delta = Lq - Ld:\n * cos(beta) = (sqrt(Lambda^2 + 8*delta^2*Is^2) - Lambda) / (4*delta*Is)\n */\nconst float i_cmd = CurrentRef * CurrentMax.in(au::amperes);\nconst float i_abs = fabsf(i_cmd);\nfloat id_ref = 0.0f;\n\nif (i_abs > 1e-6f) {\n const float delta = Lq - Ld;\n if (fabsf(delta) > 1e-9f) {\n const float radical = sqrtf(Lambda * Lambda + 8.0f * delta * delta * i_abs * i_abs);\n float cos_beta = (radical - Lambda) / (4.0f * delta * i_abs);\n if (cos_beta > 1.0f) cos_beta = 1.0f;\n if (cos_beta < -1.0f) cos_beta = -1.0f;\n id_ref = i_abs * cos_beta;\n }\n}\n\nconst float ratio = (i_abs > 1e-6f) ? (id_ref / i_abs) : 0.0f;\nconst float sin_beta = sqrtf(1.0f - ratio * ratio);\nconst float iq_ref = i_cmd * sin_beta;\n\nI_D = rte::Amperes(id_ref);\nI_Q = rte::Amperes(iq_ref);\n", + "inputPorts": [ + { + "description": "Per-unit current command [-1..1]. Scaled by CurrentMax to obtain the current magnitude used for MTPA.", + "direction": "input", + "name": "CurrentRef", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "D-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Q-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "parameterTypes": { + "CurrentMax": { + "description": "Maximum current magnitude in amperes. CurrentRef is multiplied by this value to obtain the actual current command.", + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + }, + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ld": { + "description": "D-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Temps", + "description": "Reads the motor and three inverter temperature channels from the application sensors.", + "displayName": "Temperatures", + "domain": "", + "id": "Sensors.Temperatures", + "inlineCode": "/* Motor + board temperatures from the base-image ApplicationSensors driver.\n * NAN while a channel is disabled or out of range (open/short). */\nT_Motor = rte::Celsius(platform_get_motor_temperature());\nT_Inv1 = rte::Celsius(platform_get_inverter_temperature(0));\nT_Inv2 = rte::Celsius(platform_get_inverter_temperature(1));\nT_Inv3 = rte::Celsius(platform_get_inverter_temperature(2));\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.", + "direction": "output", + "name": "T_Motor", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Greater", + "description": "Compares two scalar values and reports whether A is greater than B.", + "displayName": "Greater Than", + "domain": "", + "id": "Logic.Greater", + "inlineCode": "Out = (A > B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is greater than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "VdcSense", + "description": "Reads the inverter DC-link voltage from the platform sensor interface.", + "displayName": "DC Link Voltage", + "domain": "", + "id": "Sensors.DcLinkVoltage", + "inlineCode": "V_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Deriv", + "description": "Estimates a signal derivative with an optional first-order low-pass filter.", + "displayName": "Derivative", + "domain": "", + "id": "Transforms.Derivative", + "inlineCode": "/* Filtered derivative: Out ~= d(In)/dt, low-passed at Fc [Hz] to keep\n * sampling noise out of the estimate (Fc <= 0 disables filtering).\n * Prev/OutState are persistent state (leave at graph defaults). */\nconst float raw = (In - Prev) / Dt;\nPrev = In;\nif (Fc > 0.0f) {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * Fc * Dt));\n OutState += alpha * (raw - OutState);\n} else {\n OutState = raw;\n}\nOut = OutState;\n", + "inputPorts": [ + { + "description": "Signal whose time derivative is estimated.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Filtered derivative estimate.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Sample period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Fc": { + "description": "Low-pass cutoff frequency in hertz. Values at or below zero disable filtering.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutState": { + "description": "Persistent filtered derivative state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Prev": { + "description": "Persistent previous input sample used by the finite difference.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Rpm", + "description": "Reads the platform's mechanical and electrical motor-speed estimates.", + "displayName": "RPM (Mech/Elec)", + "domain": "", + "id": "hw.rpm", + "inlineCode": "RpmMech = rte::Dimensionless(platform_get_rpm_mech());\nRpmElec = rte::Dimensionless(platform_get_rpm_elec());\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Estimated mechanical speed in revolutions per minute.", + "direction": "output", + "name": "RpmMech", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Estimated electrical speed in revolutions per minute.", + "direction": "output", + "name": "RpmElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Encoder", + "description": "Reads the latest mechanical rotor angle and motor speed from the encoder driver.", + "displayName": "Encoder", + "domain": "", + "id": "Sensors.Encoder", + "inlineCode": "/* Mechanical angle [rad] and speed [rpm] from the base-image encoder driver. */\nTheta = platform_get_encoder_angle_latest() * 0.01745329251f; // deg -> rad\nOmega = platform_get_motor_rpm();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "output", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Mechanical motor speed in revolutions per minute.", + "direction": "output", + "name": "Omega", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Svpwm", + "description": "Converts an alpha-beta voltage vector into centered three-phase PWM duty commands.", + "displayName": "Space Vector PWM", + "domain": "", + "id": "Transforms.Svpwm", + "inlineCode": "/* Clamp the alpha/beta voltage vector to the linear SVM limit.\n * The maximum line-to-neutral voltage magnitude for linear modulation is\n * Vdc / sqrt(3). Use a small margin to stay away from the overmodulation\n * boundary. */\nconst float sqrt3 = 1.7320508075688772f;\nconst float v_max_linear = (V_Dc.in(au::volts) / sqrt3) * 0.95f;\nfloat valpha = V_Alpha.in(au::volts);\nfloat vbeta = V_Beta.in(au::volts);\nconst float v_albe_sq = valpha * valpha + vbeta * vbeta;\nif (v_albe_sq > v_max_linear * v_max_linear && v_albe_sq > 1e-12f) {\n const float scale = v_max_linear / sqrtf(v_albe_sq);\n valpha *= scale;\n vbeta *= scale;\n}\n\n/* Inverse Clarke: alpha/beta -> A/B/C. */\nconst float v_a = valpha / V_Dc.in(au::volts);\nconst float v_b = (-0.5f * valpha + 0.86602540378f * vbeta) / V_Dc.in(au::volts);\nconst float v_c = (-0.5f * valpha - 0.86602540378f * vbeta) / V_Dc.in(au::volts);\n\nfloat v_min = v_a;\nif (v_b < v_min) v_min = v_b;\nif (v_c < v_min) v_min = v_c;\n\nfloat v_max = v_a;\nif (v_b > v_max) v_max = v_b;\nif (v_c > v_max) v_max = v_c;\n\nconst float v_offset = 0.5f * (v_min + v_max);\n\n/* Convert to percent duty and clamp. Linear SVM stays roughly in\n * [21%, 79%]; clamping to [0,100] only catches numerical edge cases. */\nfloat duty_a_pct = 50.0f + 50.0f * (v_a - v_offset);\nfloat duty_b_pct = 50.0f + 50.0f * (v_b - v_offset);\nfloat duty_c_pct = 50.0f + 50.0f * (v_c - v_offset);\n\nif (duty_a_pct < 0.0f) duty_a_pct = 0.0f; else if (duty_a_pct > 100.0f) duty_a_pct = 100.0f;\nif (duty_b_pct < 0.0f) duty_b_pct = 0.0f; else if (duty_b_pct > 100.0f) duty_b_pct = 100.0f;\nif (duty_c_pct < 0.0f) duty_c_pct = 0.0f; else if (duty_c_pct > 100.0f) duty_c_pct = 100.0f;\n\nDuty_A = duty_a_pct;\nDuty_B = duty_b_pct;\nDuty_C = duty_c_pct;\n", + "inputPorts": [ + { + "description": "Requested stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Requested stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage used for normalization and modulation limiting.", + "direction": "input", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "output", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "output", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "output", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a scalar value and updates it when the Set input is true.", + "displayName": "Var", + "domain": "", + "id": "Values.Var", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New scalar value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored scalar value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent scalar storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Gate", + "description": "Passes a value when enabled and outputs zero when disabled.", + "displayName": "Gate", + "domain": "", + "id": "Logic.Gate", + "inlineCode": "/* Pass Val when Sel is true, else 0. */\nOut = Sel ? Val : 0.0f;\n", + "inputPorts": [ + { + "description": "Enable signal. True passes Val; false selects zero.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value passed through while Sel is true.", + "direction": "input", + "name": "Val", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Val when selected, otherwise zero.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a boolean value and updates it when the Set input is true.", + "displayName": "Var (Bool)", + "domain": "", + "id": "Values.VarBool", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New boolean value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored boolean value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new boolean value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent boolean storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Ladrc", + "description": "Linear Active Disturbance Rejection Controller for a first-order plant (PMSM dq current). Drop-in alternative to Control.Pi: Setpoint/Measurement \u2192 voltage Output. Uses a 2-state linear ESO + PD-like feedback. Does not modify FOC/MPCC nodes.", + "displayName": "LADRC (1st-order)", + "domain": "", + "id": "Control.Ladrc", + "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*\u03c9o*e)\n * z2 += dt * (-\u03c9o^2 * e)\n * Control:\n * u0 = \u03c9c * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100\u00b5H */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", + "inputPorts": [ + { + "description": "Desired current (A) or process setpoint.", + "direction": "input", + "name": "Setpoint", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Measured current (A) or process value.", + "direction": "input", + "name": "Measurement", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Control effort (volts for current-loop use).", + "direction": "output", + "name": "Output", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "B0": { + "description": "Plant gain estimate b0. For dq current use \u2248 1/L (e.g. Ld or Lq).", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Controller step period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OmegaC": { + "description": "Controller bandwidth \u03c9c [rad/s]. kp = \u03c9c.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OmegaO": { + "description": "Observer bandwidth \u03c9o [rad/s]. Typically 3\u201310\u00d7 \u03c9c.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMax": { + "description": "Upper output clamp (also limited by Vdc/\u221a3\u00b70.95).", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMin": { + "description": "Lower output clamp (also limited by \u2212Vdc/\u221a3\u00b70.95).", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "UPrev": { + "description": "Persistent previous control effort for the ESO input.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Z1": { + "description": "Persistent ESO state: estimated output.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Z2": { + "description": "Persistent ESO state: estimated total disturbance.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Slew", + "description": "Limits how quickly a signal can rise or fall over time.", + "displayName": "Slew Rate Limiter", + "domain": "", + "id": "Control.Slew", + "inlineCode": "/* Rate-limited reference follower: Out tracks In at max Rate units/sec.\n * On control start Value resets to the graph default, so references ramp\n * smoothly from zero instead of stepping. */\nconst float target = In;\nconst float step = Rate * Dt;\nfloat v = Value;\nif (target > v + step) {\n v += step;\n} else if (target < v - step) {\n v -= step;\n} else {\n v = target;\n}\nValue = v;\nOut = Value;\n", + "inputPorts": [ + { + "description": "Target value for the limiter to follow.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rate-limited output value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum absolute rate of change in units per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Persistent current output state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ElecAngle", + "description": "Converts mechanical rotor angle to wrapped electrical angle using pole count, direction, and offset.", + "displayName": "Electrical Angle", + "domain": "", + "id": "Transforms.ElecAngle", + "inlineCode": "/* Wrap the mechanical encoder angle to [0, 2*pi). */\nconst float two_pi = 6.28318530718f;\nfloat theta = fmodf(ThetaMech, two_pi);\nif (theta < 0.0f) theta += two_pi;\n\n/* Electrical angle = offset (elec deg) + sign * encoder_angle * (Poles / 2).\n * Matches the base-image FocController convention. */\nconstexpr float DEG_TO_RAD = 0.01745329251f;\nfloat elec = OffsetDeg * DEG_TO_RAD + EncoderSign * theta * Poles * 0.5f;\n\n/* Wrap the electrical angle to [0, 2*pi). */\nelec = fmodf(elec, two_pi);\nif (elec < 0.0f) elec += two_pi;\n\nThetaElec = elec;\n", + "inputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "input", + "name": "ThetaMech", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Electrical-angle calibration offset in degrees.", + "direction": "input", + "name": "OffsetDeg", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Encoder direction multiplier, normally 1 or -1.", + "direction": "input", + "name": "EncoderSign", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Motor pole count used to convert mechanical to electrical angle.", + "direction": "input", + "name": "Poles", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Electrical rotor angle wrapped to the range 0 through 2\u03c0 radians.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "EncoderSign": { + "description": "Fallback encoder direction multiplier when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OffsetDeg": { + "description": "Fallback electrical-angle calibration offset in degrees when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Poles": { + "description": "Fallback motor pole count when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "/* Seed the current observer with motor parameters from calibration.\n * The codegen FOC does not call FocControlManager::start(), so the observer\n * must be initialized here. */\nplatform_observer_init_from_calibration();\n", + "defaultName": "Observer", + "description": "Corrects and predicts phase currents using burst measurements and the applied voltage vector.", + "displayName": "Current Observer", + "domain": "tim_isr", + "id": "hw.current_observer", + "inlineCode": "/* Current observer node:\n * 1. Correct the observer with the measured phase currents from the\n * hw.phase_currents node (ADC ISR domain).\n * 2. Run the Luenberger prediction step using the applied voltage vector.\n * 3. Output the observer-estimated phase currents.\n *\n * The correction uses the latest micro-burst measurement. The prediction\n * uses the voltage vector applied for the next control period.\n */\nconst float iu_meas = I_A_Meas.in(au::amperes);\nconst float iv_meas = I_B_Meas.in(au::amperes);\nconst float diudt = Diudt;\nconst float divdt = Divdt;\nconst uint32_t burst_time_us = static_cast(BurstTimeUs);\n\nplatform_observer_correct(iu_meas, iv_meas, diudt, divdt, burst_time_us);\n\n/* The input voltage is already delayed by one control step via the\n * math.delay node, breaking the algebraic loop. */\nplatform_observer_predict(V_Alpha.in(au::volts), V_Beta.in(au::volts),\n ThetaElec, platform_get_current_domain_dt());\n\nfloat iu_obs = 0.0f, iv_obs = 0.0f, iw_obs = 0.0f;\nplatform_get_observer_currents(&iu_obs, &iv_obs, &iw_obs);\n\nI_A = rte::Amperes(iu_obs);\nI_B = rte::Amperes(iv_obs);\nI_C = rte::Amperes(iw_obs);\n", + "inputPorts": [ + { + "description": "Measured phase-A current used to correct the observer.", + "direction": "input", + "name": "I_A_Meas", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase-B current used to correct the observer.", + "direction": "input", + "name": "I_B_Meas", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase-C current used to correct the observer.", + "direction": "input", + "name": "I_C_Meas", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Estimated phase-U current slope from the ADC sample burst.", + "direction": "input", + "name": "Diudt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Estimated phase-V current slope from the ADC sample burst.", + "direction": "input", + "name": "Divdt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Elapsed time in microseconds across the ADC sample burst.", + "direction": "input", + "name": "BurstTimeUs", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Previously applied alpha-axis voltage used for prediction.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Previously applied beta-axis voltage used for prediction.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Electrical rotor angle used by the observer prediction.", + "direction": "input", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Observer-estimated phase-A current.", + "direction": "output", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Observer-estimated phase-B current.", + "direction": "output", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Observer-estimated phase-C current.", + "direction": "output", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PhaseCurrents", + "description": "Samples the three inverter phase-current channels from the platform current sensors.", + "displayName": "Phase Currents", + "domain": "", + "id": "Sensors.PhaseCurrents", + "inlineCode": "float iu_f = 0.0f;\nfloat iv_f = 0.0f;\nfloat iw_f = 0.0f;\nif (platform_get_phase_currents(&iu_f, &iv_f, &iw_f)) {\n /* Keep raw sensor polarity available for general telemetry, while FOC\n * graphs enable inversion for this hardware's current-sensor wiring. */\n const float polarity = InvertPolarity ? -1.0f : 1.0f;\n I_A = rte::Amperes(polarity * iu_f);\n I_B = rte::Amperes(polarity * iv_f);\n I_C = rte::Amperes(polarity * iw_f);\n}\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Measured phase A current in amperes.", + "direction": "output", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase B current in amperes.", + "direction": "output", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase C current in amperes.", + "direction": "output", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Estimated phase-U current slope from the ADC sample burst.", + "direction": "output", + "name": "Diudt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Estimated phase-V current slope from the ADC sample burst.", + "direction": "output", + "name": "Divdt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Elapsed time in microseconds across the ADC sample burst.", + "direction": "output", + "name": "BurstTimeUs", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "InvertPolarity": { + "description": "Negate all three phase currents to match the FOC sign convention on hardware with inverted current sensors.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Delay", + "description": "Outputs the previous input sample and stores the current sample for the next step.", + "displayName": "Unit Delay", + "domain": "", + "id": "math.delay", + "inlineCode": "/* Unit delay: output the previous input, then store the current input. */\nOut = Prev;\nPrev = In;\n", + "inputPorts": [ + { + "description": "Current value to store for the next execution step.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Value captured during the previous execution step.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Prev": { + "description": "Internal state holding the previous input value.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SinCos", + "description": "Computes the sine and cosine of an input angle.", + "displayName": "Sin/Cos", + "domain": "", + "id": "Transforms.SinCos", + "inlineCode": "SinTheta = sinf(Theta);\nCosTheta = cosf(Theta);\n", + "inputPorts": [ + { + "description": "Input angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Sine of the input angle.", + "direction": "output", + "name": "SinTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Cosine of the input angle.", + "direction": "output", + "name": "CosTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Park", + "description": "Rotates stationary alpha-beta currents into rotor-aligned d-q coordinates.", + "displayName": "Park Transform", + "domain": "", + "id": "Transforms.Park", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nI_D = I_Alpha * cos_theta + I_Beta * sin_theta;\nI_Q = -I_Alpha * sin_theta + I_Beta * cos_theta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "input", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "input", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rotating-frame direct-axis current.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Rotating-frame quadrature-axis current.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "LogI", + "description": "Publishes three phase-current signals to the standard current telemetry channels.", + "displayName": "Telemetry Current Sink", + "domain": "", + "id": "Debug.TelemetryCurrentSink", + "inlineCode": "platform_telemetry_log_f32(\"cg_iu_a\", I_A.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iv_a\", I_B.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iw_a\", I_C.in(au::amperes));\n", + "inputPorts": [ + { + "description": "Phase A current to publish in amperes.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current to publish in amperes.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current to publish in amperes.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Clarke", + "description": "Transforms three-phase currents into stationary alpha-beta coordinates.", + "displayName": "Clarke Transform", + "domain": "", + "id": "Transforms.Clarke", + "inlineCode": "I_Alpha = I_A;\nI_Beta = (I_B - I_C) * 0.57735026919f;\n", + "inputPorts": [ + { + "description": "Phase A current.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "output", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "output", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Less", + "description": "Compares two scalar values and reports whether A is less than B.", + "displayName": "Less Than", + "domain": "", + "id": "Logic.Less", + "inlineCode": "Out = (A < B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is less than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvClarke", + "description": "Transforms stationary alpha-beta voltages into three-phase voltage commands.", + "displayName": "Inverse Clarke Transform", + "domain": "", + "id": "Transforms.InverseClarke", + "inlineCode": "V_A = V_Alpha;\nV_B = -0.5f * V_Alpha + 0.86602540378f * V_Beta;\nV_C = -0.5f * V_Alpha - 0.86602540378f * V_Beta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Reconstructed phase A voltage.", + "direction": "output", + "name": "V_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase B voltage.", + "direction": "output", + "name": "V_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase C voltage.", + "direction": "output", + "name": "V_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n", + "defaultName": "Cfg", + "description": "Exposes a named configuration value, using a default when no stored value is available.", + "displayName": "Config Value", + "domain": "", + "id": "Values.Config", + "inlineCode": "Value = Cached;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Cached configuration value supplied to the graph.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Cached": { + "description": "Persistent cached configuration value exposed by the output.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "DefaultValue": { + "description": "Value used when the configuration key has not been stored.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Key": { + "description": "Name used to look up the value in platform configuration storage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanTx", + "description": "Transmits up to eight data bytes on a selected CAN bus at a configurable maximum rate.", + "displayName": "CAN TX", + "domain": "", + "id": "Actuators.CanTx", + "inlineCode": "/* CAN transmit, rate-limited by wall clock: sends when 1000/Rate ms have\n * elapsed since the previous send (Rate <= 0 sends every step).\n * D0..D7 = payload bytes (unconnected = 0), Dlc = how many of the 8 to\n * send, Ext: 0 std / 1 ext. */\nconst uint32_t period_ms = (Rate > 0.0f) ? static_cast(1000.0f / Rate) : 0U;\nconst uint32_t now_ms = platform_millis();\nif (period_ms == 0U || (now_ms - static_cast(LastMs)) >= period_ms) {\n LastMs = static_cast(now_ms);\n const uint8_t b[8] = {\n static_cast(D0), static_cast(D1),\n static_cast(D2), static_cast(D3),\n static_cast(D4), static_cast(D5),\n static_cast(D6), static_cast(D7),\n };\n uint8_t n = static_cast(Dlc);\n if (n > 8) n = 8;\n platform_can_send(static_cast(Bus), static_cast(Id),\n Ext > 0.5f, b, n);\n}\n", + "inputPorts": [ + { + "description": "Payload byte 0. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D0", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 1. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D1", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 2. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D2", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 3. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D3", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 4. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D4", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 5. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D5", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 6. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D6", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 7. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D7", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D0": { + "description": "Fallback value for payload byte 0 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D1": { + "description": "Fallback value for payload byte 1 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D2": { + "description": "Fallback value for payload byte 2 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D3": { + "description": "Fallback value for payload byte 3 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D4": { + "description": "Fallback value for payload byte 4 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D5": { + "description": "Fallback value for payload byte 5 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D6": { + "description": "Fallback value for payload byte 6 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D7": { + "description": "Fallback value for payload byte 7 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dlc": { + "description": "Number of payload bytes to transmit, clamped to the range 0 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ext": { + "description": "Use an extended 29-bit identifier when greater than 0.5; otherwise use a standard identifier.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier to transmit.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastMs": { + "description": "Internal timestamp of the previous transmission in milliseconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum transmission rate in frames per second. Values at or below zero send every step.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "EncRaw", + "description": "Reads the raw sine and cosine channels from the position encoder.", + "displayName": "Encoder Raw Sin/Cos", + "domain": "", + "id": "hw.encoder_raw", + "inlineCode": "SinRaw = rte::Dimensionless(static_cast(platform_get_encoder_raw_sin()));\nCosRaw = rte::Dimensionless(static_cast(platform_get_encoder_raw_cos()));\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Raw encoder sine-channel sample.", + "direction": "output", + "name": "SinRaw", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Raw encoder cosine-channel sample.", + "direction": "output", + "name": "CosRaw", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mux", + "description": "Selects one of two scalar inputs using a boolean control signal.", + "displayName": "Mux", + "domain": "", + "id": "Logic.Mux", + "inlineCode": "Out = Sel ? A : B;\n", + "inputPorts": [ + { + "description": "Selection signal. 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1626.1280051199997 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "LogVv", + "domain": "vsense", + "id": "LogVv", + "parameters": { + "Key": "cg_vv_v" + }, + "position": { + "x": 3512.480780799999, + "y": 1768.8084444160008 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "LogVw", + "domain": "vsense", + "id": "LogVw", + "parameters": { + "Key": "cg_vw_v" + }, + "position": { + "x": 3512.480780799999, + "y": 1921.8084444160008 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "CfgKpQ", + "domain": "tim_isr", + "id": "CfgKpQ", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.16", + "Key": "Ctrl.PiQ.Kp" + }, + "position": { + "x": 1171.764403292181, + "y": 2418.699588477367 + }, + "type": "Values.Config" + }, + { + "displayName": "CfgEnable", + "domain": "tim_isr", + "id": "CfgEnable", + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.0", + "Key": "Ctrl.ThrottleEnable" + }, + "position": { + "x": 86.11111111111114, + "y": 2098.333333333333 + }, + "type": "Values.Config" + }, + { + "displayName": "EnableCmp", + "domain": "tim_isr", + "id": "EnableCmp", + "parameters": { + "B": "0.5" + }, + "position": { + "x": 445.0, + "y": 2131.2222222222226 + }, + "type": "Logic.Greater" + }, + { + "displayName": "ThrottleEnable", + "domain": "tim_isr", + "id": "ThrottleEnable", + "parameters": { + "In": "0.0", + "Set": "1.0", + "Stored": "1.0" + }, + "position": { + "x": 674.0781893004116, + "y": 2132.8940329218112 + }, + "type": "Values.VarBool" + }, + { + "displayName": "IqGate", + "domain": "tim_isr", + "id": "IqGate", + "parameters": {}, + "position": { + "x": 1116.4560650205756, + "y": 2523.9608781893003 + }, + "type": "Logic.Gate" + }, + { + "displayName": "IqVar", + "domain": "tim_isr", + "id": "IqVar", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 33.33333333333334, + "y": 3293.3333333333335 + }, + "type": "Custom.VarCurrent" + }, + { + "displayName": "IdVar", + "domain": "tim_isr", + "id": "IdVar", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 985.1156049110195, + "y": 3211.844762164242 + }, + "type": "Custom.VarCurrent" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Din1", + "parameters": { + "Pin": "1.0" + }, + "position": { + "x": 1055.2398933333334, + "y": 224.7762133333336 + }, + "type": "Sensors.DigitalIn" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LedGreen", + "parameters": { + "Pin": "5.0" + }, + "position": { + "x": 1377.666666666667, + "y": 146.33333333333331 + }, + "type": "Actuators.DigitalOut" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Temps", + "parameters": {}, + "position": { + "x": 925.3333333333333, + "y": 1159.0000000000002 + }, + "type": "Sensors.Temperatures" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "Throttle", + "parameters": {}, + "position": { + "x": 912.0, + "y": 1354.6666666666667 + }, + "type": "Sensors.Throttle" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Motor", + "parameters": { + "Key": "temp_motor_c" + }, + "position": { + "x": 1347.6666666666667, + "y": 981.3333333333333 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv1", + "parameters": { + "Key": "temp_inv1_c" + }, + "position": { + "x": 1347.6666666666667, + "y": 522.3333333333333 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv2", + "parameters": { + "Key": "temp_inv2_c" + }, + "position": { + "x": 1347.6666666666667, + "y": 675.3333333333333 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogT_Inv3", + "parameters": { + "Key": "temp_inv3_c" + }, + "position": { + "x": 1347.6666666666667, + "y": 828.3333333333333 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogThrA", + "parameters": { + "Key": "thr_a_norm" + }, + "position": { + "x": 1347.6666666666667, + "y": 1134.3333333333333 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "app_loop", + "id": "LogThrB", + "parameters": { + "Key": "thr_b_norm" + }, + "position": { + "x": 1347.6666666666667, + "y": 1287.3333333333333 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "SlewIq", + "parameterInputs": [ + "Rate" + ], + "parameters": { + "Dt": "0.0002", + "Rate": "50.0", + "Value": "0.0" + }, + "position": { + "x": 643.0045438957476, + "y": 3658.491626657521 + }, + "type": "Control.Slew" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgIqSlew", + "parameters": { + "Cached": "0.0", + "DefaultValue": "50.0", + "Key": "Ctrl.Iq.SlewAps" + }, + "position": { + "x": 172.71983596250573, + "y": 3877.0754601051663 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgKpD", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.08", + "Key": "Ctrl.PiD.Kp" + }, + "position": { + "x": 922.8947697777777, + "y": 3529.731387338272 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgKiD", + "parameters": { + "Cached": "0.0", + "DefaultValue": "10.0", + "Key": "Ctrl.PiD.Ki" + }, + "position": { + "x": 934.0058808888884, + "y": 3711.3207409777783 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgKiQ", + "parameters": { + "Cached": "0.0", + "DefaultValue": "10.0", + "Key": "Ctrl.PiQ.Ki" + }, + "position": { + "x": 1207.1296296296298, + "y": 2206.8395061728397 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "AdaptiveSampleTrigger1", + "parameters": {}, + "position": { + "x": 2544.2943506134743, + "y": 2935.008656740589 + }, + "type": "hw.adaptive_sample_trigger" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "GapTicks", + "parameters": { + "Key": "GapTicks" + }, + "position": { + "x": 2967.5681822511824, + "y": 2958.265460676726 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "RPMMechElec1", + "parameters": {}, + "position": { + "x": 220.2884468830971, + "y": 3053.5253295991465 + }, + "type": "hw.rpm" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Mech_RPM", + "parameters": { + "Key": "Mech_RPM" + }, + "position": { + "x": 586.757987540009, + "y": 2931.972808070416 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Elec_RPM", + "parameters": { + "Key": "Elec_RPM" + }, + "position": { + "x": 597.3653120713304, + "y": 3054.209790809328 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "EncoderRawSinCos1", + "parameters": {}, + "position": { + "x": 239.78695130315504, + "y": 3197.605881344308 + }, + "type": "hw.encoder_raw" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "EncoderSin", + "parameters": { + "Key": "EncoderSin" + }, + "position": { + "x": 575.9935108183458, + "y": 3121.063088229692 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "EncoderCos", + "parameters": { + "Key": "EncoderCos" + }, + "position": { + "x": 591.498046775771, + "y": 3195.484860825332 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "MTPA", + "domain": "tim_isr", + "id": "Mtpa", + "parameters": { + "CurrentMax": "50.0", + "Lambda": "0.01", + "Ld": "0.0001", + "Lq": "0.0001" + }, + "position": { + "x": 276.53374342706894, + "y": 3578.9631082342626 + }, + "type": "Control.Mtpa" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CMD", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": -4.65136078722756, + "y": 3580.7725793673476 + }, + "type": "Custom.VarCurrent" + }, + { + "displayName": "FocFeedforward", + "domain": "tim_isr", + "id": "FocFeedforward", + "parameters": { + "Lambda": "0.01", + "Ld": "0.0001", + "Lq": "0.0001" + }, + "position": { + "x": 1700.0, + "y": 2900.0 + }, + "type": "Control.FocFeedforward" + } + ], + "schemaVersion": 1 +} \ No newline at end of file diff --git a/Assets/NodeTemplates/Control.FocFeedforward/inline.cpp b/Assets/NodeTemplates/Control.FocFeedforward/inline.cpp new file mode 100644 index 00000000..eecc3b02 --- /dev/null +++ b/Assets/NodeTemplates/Control.FocFeedforward/inline.cpp @@ -0,0 +1,17 @@ +/* PMSM voltage feed-forward: cross-coupling and back-EMF terms. + * Electrical speed is supplied in RPM and converted to rad/s internally. + * + * Vd_ff = -ωe * Lq * Iq + * Vq_ff = ωe * Ld * Id + ωe * Lambda + */ +constexpr float RPM_TO_RAD_S = 2.0f * 3.14159265358979323846f / 60.0f; +const float omega_e = RpmElec * RPM_TO_RAD_S; + +const float id_a = I_D.in(au::amperes); +const float iq_a = I_Q.in(au::amperes); + +const float vd_ff = -(omega_e * Lq * iq_a); +const float vq_ff = (omega_e * Ld * id_a) + (omega_e * Lambda); + +V_D = rte::Volts(vd_ff); +V_Q = rte::Volts(vq_ff); diff --git a/Assets/NodeTemplates/Control.FocFeedforward/node.json b/Assets/NodeTemplates/Control.FocFeedforward/node.json new file mode 100644 index 00000000..b48bd54c --- /dev/null +++ b/Assets/NodeTemplates/Control.FocFeedforward/node.json @@ -0,0 +1,83 @@ +{ + "id": "Control.FocFeedforward", + "displayName": "FOC Feed-Forward", + "defaultName": "FocFeedforward", + "description": "Computes PMSM d/q voltage feed-forward terms from electrical speed, measured currents, and motor parameters. Outputs cross-coupling and back-EMF voltages for the current-loop PI controllers.", + "maxInstances": 0, + "isEntryPoint": false, + "domain": "", + "inputPorts": [ + { + "name": "I_D", + "description": "Measured d-axis current.", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "I_Q", + "description": "Measured q-axis current.", + "direction": "input", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "RpmElec", + "description": "Electrical rotor speed in revolutions per minute. Converted internally to rad/s.", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "outputPorts": [ + { + "name": "V_D", + "description": "D-axis feed-forward voltage (cross-coupling term).", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "V_Q", + "description": "Q-axis feed-forward voltage (cross-coupling + back-EMF terms).", + "direction": "output", + "type": { + "quantity": "voltage", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "parameterTypes": { + "Ld": { + "description": "D-axis inductance in henries.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } +} diff --git a/Assets/NodeTemplates/Control.Pi/inline.cpp b/Assets/NodeTemplates/Control.Pi/inline.cpp index 17e10de5..ab354afc 100644 --- a/Assets/NodeTemplates/Control.Pi/inline.cpp +++ b/Assets/NodeTemplates/Control.Pi/inline.cpp @@ -4,7 +4,7 @@ const float error = Setpoint - Measurement; Integral += error * Dt; -float raw_output = Kp * error + Ki * Integral; +float raw_output = Kp * error + Ki * Integral + Feedforward; /* Dynamic limit derived from DC-link voltage. Allow overmodulation up to * the six-step boundary (2*Vdc/3) so the SVPWM stage can use the full diff --git a/Assets/NodeTemplates/Control.Pi/node.json b/Assets/NodeTemplates/Control.Pi/node.json index 31582ab0..4278afae 100644 --- a/Assets/NodeTemplates/Control.Pi/node.json +++ b/Assets/NodeTemplates/Control.Pi/node.json @@ -2,7 +2,7 @@ "id": "Control.Pi", "displayName": "PI Controller", "defaultName": "Pi", - "description": "Proportional-integral controller with output clamping and back-calculation anti-windup.", + "description": "Proportional-integral controller with output clamping, back-calculation anti-windup, and an optional feed-forward term.", "maxInstances": 0, "isEntryPoint": false, "domain": "", @@ -26,6 +26,17 @@ "frame": "scalar", "dtype": "f32" } + }, + { + "name": "Feedforward", + "description": "Optional additive feed-forward value. Wired voltage sources are extracted automatically; unconnected ports default to zero.", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "optional": true } ], "outputPorts": [ @@ -82,6 +93,12 @@ "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" + }, + "Feedforward": { + "description": "Default value used when the Feedforward input port is not connected.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" } } } diff --git a/Lib/InverterCodegen/examples/sample_graph_class.json b/Lib/InverterCodegen/examples/sample_graph_class.json index 0596b60d..1e82bebd 100644 --- a/Lib/InverterCodegen/examples/sample_graph_class.json +++ b/Lib/InverterCodegen/examples/sample_graph_class.json @@ -52,7 +52,7 @@ "displayName": "PI Controller", "domain": "", "id": "Control.Pi", - "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage, matching the base image's\n * VectorPIController convention: max = Vdc/sqrt(3) * 0.95. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral + Feedforward;\n\n/* Dynamic limit derived from DC-link voltage, matching the base image's\n * VectorPIController convention: max = Vdc/sqrt(3) * 0.95. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", "inputPorts": [ { "name": "Setpoint", @@ -71,6 +71,16 @@ "frame": "scalar", "dtype": "f32" } + }, + { + "name": "Feedforward", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "optional": true } ], "isEntryPoint": false, @@ -121,6 +131,11 @@ "quantity": "dimensionless", "frame": "scalar", "dtype": "f32" + }, + "Feedforward": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" } } } @@ -189,4 +204,4 @@ } } ] -} +} \ No newline at end of file diff --git a/Lib/NodeAPI/tests/test_templates.cpp b/Lib/NodeAPI/tests/test_templates.cpp index d778fcfb..859faa84 100644 --- a/Lib/NodeAPI/tests/test_templates.cpp +++ b/Lib/NodeAPI/tests/test_templates.cpp @@ -129,9 +129,10 @@ TEST(NodeTemplates, LoadsControlBlocks) { const auto pi = graph.FindNodeType("Control.Pi"); ASSERT_TRUE(pi.has_value()); - EXPECT_EQ(pi->inputPorts.size(), 2u); + EXPECT_EQ(pi->inputPorts.size(), 3u); EXPECT_EQ(pi->outputPorts.size(), 1u); EXPECT_NE(pi->inlineCode.find("Integral += error"), std::string::npos); + EXPECT_TRUE(pi->FindInputPort("Feedforward").has_value()); const auto clarke = graph.FindNodeType("Transforms.Clarke"); ASSERT_TRUE(clarke.has_value()); From 778f5198fbe1f4b1216781f9e182e18e87ed9e6b Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 15:40:16 -0700 Subject: [PATCH 03/16] feat(foc_demo): wire PMSM voltage feed-forward into main FOC graph Add Control.FocFeedforward to foc_demo.json and wire it to PiD/PiQ feed-forward inputs. Add Config nodes for Motor.Ld, Motor.Lq, and Motor.Lambda so the feed-forward terms can be tuned per motor. This should make field-weakening operation (negative Id) much more stable by compensating cross-coupling and back-EMF voltages. --- Assets/Examples/foc_demo.json | 322 ++++++++++++++++++++++++++++++---- 1 file changed, 292 insertions(+), 30 deletions(-) diff --git a/Assets/Examples/foc_demo.json b/Assets/Examples/foc_demo.json index 6c9b42b9..917e6697 100644 --- a/Assets/Examples/foc_demo.json +++ b/Assets/Examples/foc_demo.json @@ -746,6 +746,94 @@ "nodeId": "EncoderCos", "portName": "Value" } + }, + { + "from": { + "nodeId": "CfgLd", + "portName": "Value" + }, + "id": "c_cfg_ld", + "to": { + "nodeId": "FocFeedforward", + "portName": "Ld" + } + }, + { + "from": { + "nodeId": "CfgLq", + "portName": "Value" + }, + "id": "c_cfg_lq", + "to": { + "nodeId": "FocFeedforward", + "portName": "Lq" + } + }, + { + "from": { + "nodeId": "CfgLambda", + "portName": "Value" + }, + "id": "c_cfg_lambda", + "to": { + "nodeId": "FocFeedforward", + "portName": "Lambda" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_D" + }, + "id": "c_ff_id", + "to": { + "nodeId": "FocFeedforward", + "portName": "I_D" + } + }, + { + "from": { + "nodeId": "Park", + "portName": "I_Q" + }, + "id": "c_ff_iq", + "to": { + "nodeId": "FocFeedforward", + "portName": "I_Q" + } + }, + { + "from": { + "nodeId": "RPMMechElec1", + "portName": "RpmElec" + }, + "id": "c_ff_rpm", + "to": { + "nodeId": "FocFeedforward", + "portName": "RpmElec" + } + }, + { + "from": { + "nodeId": "FocFeedforward", + "portName": "V_D" + }, + "id": "c_ff_vd", + "to": { + "nodeId": "PiD", + "portName": "Feedforward" + } + }, + { + "from": { + "nodeId": "FocFeedforward", + "portName": "V_Q" + }, + "id": "c_ff_vq", + "to": { + "nodeId": "PiQ", + "portName": "Feedforward" + } } ], "name": "foc_demo", @@ -1200,6 +1288,98 @@ } } }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "FocFeedforward", + "description": "Computes PMSM d/q voltage feed-forward terms from electrical speed, measured currents, and motor parameters. Outputs cross-coupling and back-EMF voltages for the current-loop PI controllers.", + "displayName": "FOC Feed-Forward", + "domain": "", + "id": "Control.FocFeedforward", + "inlineCode": "/* PMSM voltage feed-forward: cross-coupling and back-EMF terms.\n * Electrical speed is supplied in RPM and converted to rad/s internally.\n *\n * Vd_ff = -\u03c9e * Lq * Iq\n * Vq_ff = \u03c9e * Ld * Id + \u03c9e * Lambda\n */\nconstexpr float RPM_TO_RAD_S = 2.0f * 3.14159265358979323846f / 60.0f;\nconst float omega_e = RpmElec * RPM_TO_RAD_S;\n\nconst float id_a = I_D.in(au::amperes);\nconst float iq_a = I_Q.in(au::amperes);\n\nconst float vd_ff = -(omega_e * Lq * iq_a);\nconst float vq_ff = (omega_e * Ld * id_a) + (omega_e * Lambda);\n\nV_D = rte::Volts(vd_ff);\nV_Q = rte::Volts(vq_ff);\n", + "inputPorts": [ + { + "description": "Measured d-axis current.", + "direction": "input", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured q-axis current.", + "direction": "input", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Electrical rotor speed in revolutions per minute. Converted internally to rad/s.", + "direction": "input", + "name": "RpmElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "D-axis feed-forward voltage (cross-coupling term).", + "direction": "output", + "name": "V_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Q-axis feed-forward voltage (cross-coupling + back-EMF terms).", + "direction": "output", + "name": "V_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "parameterTypes": { + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ld": { + "description": "D-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, { "classDefinition": "", "classHeader": "", @@ -1348,11 +1528,11 @@ "classHeader": "", "constructorCode": "", "defaultName": "Pi", - "description": "Proportional-integral controller with output clamping and back-calculation anti-windup.", + "description": "Proportional-integral controller with output clamping, back-calculation anti-windup, and an optional feed-forward term.", "displayName": "PI Controller", "domain": "", "id": "Control.Pi", - "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage. Allow overmodulation up to\n * the six-step boundary (2*Vdc/3) so the SVPWM stage can use the full\n * hexagon when commanded. Linear SVPWM limit is Vdc/sqrt(3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral + Feedforward;\n\n/* Dynamic limit derived from DC-link voltage. Allow overmodulation up to\n * the six-step boundary (2*Vdc/3) so the SVPWM stage can use the full\n * hexagon when commanded. Linear SVPWM limit is Vdc/sqrt(3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", "inputPorts": [ { "description": "Desired target value.", @@ -1375,6 +1555,17 @@ "frame": "scalar", "quantity": "dimensionless" } + }, + { + "description": "Optional additive feed-forward value. Wired voltage sources are extracted automatically; unconnected ports default to zero.", + "direction": "input", + "name": "Feedforward", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } } ], "isEntryPoint": false, @@ -1405,6 +1596,12 @@ "frame": "scalar", "quantity": "dimensionless" }, + "Feedforward": { + "description": "Default value used when the Feedforward input port is not connected.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, "Integral": { "description": "Persistent accumulated-error state.", "dtype": "f32", @@ -3407,15 +3604,15 @@ } }, { - "name": "Feedforward", "description": "Optional additive feed-forward voltage (e.g. decoupling or back-EMF).", "direction": "input", + "name": "Feedforward", + "optional": true, "type": { - "quantity": "voltage", + "dtype": "f32", "frame": "scalar", - "dtype": "f32" - }, - "optional": true + "quantity": "voltage" + } } ], "isEntryPoint": false, @@ -3444,6 +3641,12 @@ "frame": "scalar", "quantity": "dimensionless" }, + "Feedforward": { + "description": "Default feed-forward voltage when the port is not connected.", + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + }, "Integral": { "dtype": "f32", "frame": "scalar", @@ -3468,12 +3671,6 @@ "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" - }, - "Feedforward": { - "description": "Default feed-forward voltage when the port is not connected.", - "quantity": "voltage", - "frame": "scalar", - "dtype": "f32" } } }, @@ -4316,12 +4513,12 @@ "parameters": { "AwGain": "1.0", "Dt": "0.0002", + "Feedforward": "0.0", "Integral": "0.0", "Ki": "10.0", "Kp": "0.03", "OutputMax": "200.0", - "OutputMin": "-200.0", - "Feedforward": "0.0" + "OutputMin": "-200.0" }, "position": { "x": 1333.8134908839509, @@ -4340,12 +4537,12 @@ "parameters": { "AwGain": "1.0", "Dt": "0.0002", + "Feedforward": "0.0", "Integral": "0.0", "Ki": "10.0", "Kp": "0.03", "OutputMax": "200.0", - "OutputMin": "-200.0", - "Feedforward": "0.0" + "OutputMin": "-200.0" }, "position": { "x": 1487.211021399177, @@ -4437,7 +4634,7 @@ "Key": "Motor.Poles" }, "position": { - "x": -247.22222222222223, + "x": -253.6522633744856, "y": 2906.444444444444 }, "type": "Values.Config" @@ -4448,8 +4645,8 @@ "id": "VoltSense", "parameters": {}, "position": { - "x": 3226.8003415040007, - "y": 1631.287785472 + "x": 3220.370300351738, + "y": 1634.5028060481316 }, "type": "Sensors.PhaseVoltages" }, @@ -4730,8 +4927,8 @@ "Value": "0.0" }, "position": { - "x": 475.55555555555554, - "y": 3339.222222222222 + "x": 384.3888841258953, + "y": 3395.0385516689526 }, "type": "Control.Slew" }, @@ -4825,8 +5022,8 @@ "id": "RPMMechElec1", "parameters": {}, "position": { - "x": 220.2884468830971, - "y": 3053.5253295991465 + "x": -126.88912227556779, + "y": 3108.2253324569424 }, "type": "hw.rpm" }, @@ -4862,8 +5059,8 @@ "id": "EncoderRawSinCos1", "parameters": {}, "position": { - "x": 239.78695130315504, - "y": 3197.605881344308 + "x": 300.5699004349143, + "y": 3191.791680360274 }, "type": "hw.encoder_raw" }, @@ -4875,8 +5072,8 @@ "Key": "EncoderSin" }, "position": { - "x": 575.9935108183458, - "y": 3121.063088229692 + "x": 582.4537341339394, + "y": 3130.1074008715227 }, "type": "Debug.TelemetryLog" }, @@ -4888,10 +5085,75 @@ "Key": "EncoderCos" }, "position": { - "x": 591.498046775771, - "y": 3195.484860825332 + "x": 583.7457787970584, + "y": 3249.104714344761 }, "type": "Debug.TelemetryLog" + }, + { + "displayName": "CfgLd", + "domain": "tim_isr", + "id": "CfgLd", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.0001", + "Key": "Motor.Ld" + }, + "position": { + "x": -250.0, + "y": 3100.0 + }, + "type": "Values.Config" + }, + { + "displayName": "CfgLq", + "domain": "tim_isr", + "id": "CfgLq", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.0001", + "Key": "Motor.Lq" + }, + "position": { + "x": -250.0, + "y": 3250.0 + }, + "type": "Values.Config" + }, + { + "displayName": "CfgLambda", + "domain": "tim_isr", + "id": "CfgLambda", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.01", + "Key": "Motor.Lambda" + }, + "position": { + "x": -250.0, + "y": 3400.0 + }, + "type": "Values.Config" + }, + { + "displayName": "FocFeedforward", + "domain": "tim_isr", + "id": "FocFeedforward", + "parameterInputs": [ + "Ld", + "Lq", + "Lambda" + ], + "parameters": { + "Lambda": "0.01", + "Ld": "0.0001", + "Lq": "0.0001" + }, + "position": { + "x": 1700.0, + "y": 2900.0 + }, + "type": "Control.FocFeedforward" } ], "schemaVersion": 1 From 93b6a56751de147bfb286573fe92c86a6c26ff47 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 15:56:46 -0700 Subject: [PATCH 04/16] WIP: add MTPA node, feed-forward wiring, and SVPWM/PI limit updates on pi-feedforward branch --- Assets/Examples/foc_demo.json | 20 +-- Assets/Examples/ladrc_demo.json | 143 ++++++++++++++----- Assets/NodeTemplates/Control.Mtpa/inline.cpp | 32 +++++ Assets/NodeTemplates/Control.Mtpa/node.json | 69 +++++++++ 4 files changed, 221 insertions(+), 43 deletions(-) create mode 100644 Assets/NodeTemplates/Control.Mtpa/inline.cpp create mode 100644 Assets/NodeTemplates/Control.Mtpa/node.json diff --git a/Assets/Examples/foc_demo.json b/Assets/Examples/foc_demo.json index 917e6697..4257830c 100644 --- a/Assets/Examples/foc_demo.json +++ b/Assets/Examples/foc_demo.json @@ -1297,7 +1297,7 @@ "displayName": "FOC Feed-Forward", "domain": "", "id": "Control.FocFeedforward", - "inlineCode": "/* PMSM voltage feed-forward: cross-coupling and back-EMF terms.\n * Electrical speed is supplied in RPM and converted to rad/s internally.\n *\n * Vd_ff = -\u03c9e * Lq * Iq\n * Vq_ff = \u03c9e * Ld * Id + \u03c9e * Lambda\n */\nconstexpr float RPM_TO_RAD_S = 2.0f * 3.14159265358979323846f / 60.0f;\nconst float omega_e = RpmElec * RPM_TO_RAD_S;\n\nconst float id_a = I_D.in(au::amperes);\nconst float iq_a = I_Q.in(au::amperes);\n\nconst float vd_ff = -(omega_e * Lq * iq_a);\nconst float vq_ff = (omega_e * Ld * id_a) + (omega_e * Lambda);\n\nV_D = rte::Volts(vd_ff);\nV_Q = rte::Volts(vq_ff);\n", + "inlineCode": "/* PMSM voltage feed-forward: cross-coupling and back-EMF terms.\n * Electrical speed is supplied in RPM and converted to rad/s internally.\n *\n * Vd_ff = -ωe * Lq * Iq\n * Vq_ff = ωe * Ld * Id + ωe * Lambda\n */\nconstexpr float RPM_TO_RAD_S = 2.0f * 3.14159265358979323846f / 60.0f;\nconst float omega_e = RpmElec * RPM_TO_RAD_S;\n\nconst float id_a = I_D.in(au::amperes);\nconst float iq_a = I_Q.in(au::amperes);\n\nconst float vd_ff = -(omega_e * Lq * iq_a);\nconst float vq_ff = (omega_e * Ld * id_a) + (omega_e * Lambda);\n\nV_D = rte::Volts(vd_ff);\nV_Q = rte::Volts(vq_ff);\n", "inputPorts": [ { "description": "Measured d-axis current.", @@ -2323,11 +2323,11 @@ "classHeader": "", "constructorCode": "", "defaultName": "Ladrc", - "description": "Linear Active Disturbance Rejection Controller for a first-order plant (PMSM dq current). Drop-in alternative to Control.Pi: Setpoint/Measurement \u2192 voltage Output. Uses a 2-state linear ESO + PD-like feedback. Does not modify FOC/MPCC nodes.", + "description": "Linear Active Disturbance Rejection Controller for a first-order plant (PMSM dq current). Drop-in alternative to Control.Pi: Setpoint/Measurement → voltage Output. Uses a 2-state linear ESO + PD-like feedback. Does not modify FOC/MPCC nodes.", "displayName": "LADRC (1st-order)", "domain": "", "id": "Control.Ladrc", - "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*\u03c9o*e)\n * z2 += dt * (-\u03c9o^2 * e)\n * Control:\n * u0 = \u03c9c * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100\u00b5H */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi: allow overmodulation up\n * to the six-step boundary (2*Vdc/3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", + "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*ωo*e)\n * z2 += dt * (-ωo^2 * e)\n * Control:\n * u0 = ωc * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100µH */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi: allow overmodulation up\n * to the six-step boundary (2*Vdc/3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", "inputPorts": [ { "description": "Desired current (A) or process setpoint.", @@ -2369,7 +2369,7 @@ ], "parameterTypes": { "B0": { - "description": "Plant gain estimate b0. For dq current use \u2248 1/L (e.g. Ld or Lq).", + "description": "Plant gain estimate b0. For dq current use ≈ 1/L (e.g. Ld or Lq).", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" @@ -2381,25 +2381,25 @@ "quantity": "dimensionless" }, "OmegaC": { - "description": "Controller bandwidth \u03c9c [rad/s]. kp = \u03c9c.", + "description": "Controller bandwidth ωc [rad/s]. kp = ωc.", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" }, "OmegaO": { - "description": "Observer bandwidth \u03c9o [rad/s]. Typically 3\u201310\u00d7 \u03c9c.", + "description": "Observer bandwidth ωo [rad/s]. Typically 3–10× ωc.", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" }, "OutputMax": { - "description": "Upper output clamp (also limited by Vdc/\u221a3\u00b70.95).", + "description": "Upper output clamp (also limited by Vdc/√3·0.95).", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" }, "OutputMin": { - "description": "Lower output clamp (also limited by \u2212Vdc/\u221a3\u00b70.95).", + "description": "Lower output clamp (also limited by −Vdc/√3·0.95).", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" @@ -2543,7 +2543,7 @@ "maxInstances": 1, "outputPorts": [ { - "description": "Electrical rotor angle wrapped to the range 0 through 2\u03c0 radians.", + "description": "Electrical rotor angle wrapped to the range 0 through 2π radians.", "direction": "output", "name": "ThetaElec", "optional": false, @@ -5157,4 +5157,4 @@ } ], "schemaVersion": 1 -} \ No newline at end of file +} diff --git a/Assets/Examples/ladrc_demo.json b/Assets/Examples/ladrc_demo.json index 9188ef89..5b8b5394 100644 --- a/Assets/Examples/ladrc_demo.json +++ b/Assets/Examples/ladrc_demo.json @@ -1086,14 +1086,14 @@ "classHeader": "", "constructorCode": "", "defaultName": "SampleTrigger", - "description": "", + "description": "Schedules the next phase-current ADC burst in the quietest available PWM window.", "displayName": "Adaptive Sample Trigger", "domain": "tim_isr", "id": "hw.adaptive_sample_trigger", "inlineCode": "/* Adaptive current-sample trigger:\n * Place the ADC micro-burst trigger at the quietest point in the upcoming\n * PWM period, computed from the three phase duties. Falls back to the\n * legacy bottom trigger when no clean window exists.\n *\n * Connect after the SVPWM node so the duties reflect the upcoming period.\n */\nconst uint32_t arr = platform_pwm_get_arr();\nconst uint32_t gap = platform_schedule_adaptive_sample(\n Duty_A, Duty_B, Duty_C, arr);\n\nGapTicks = rte::Dimensionless(static_cast(gap));\n", "inputPorts": [ { - "description": "", + "description": "Normalized phase-A PWM duty command for the upcoming period.", "direction": "input", "name": "Duty_A", "optional": false, @@ -1104,7 +1104,7 @@ } }, { - "description": "", + "description": "Normalized phase-B PWM duty command for the upcoming period.", "direction": "input", "name": "Duty_B", "optional": false, @@ -1115,7 +1115,7 @@ } }, { - "description": "", + "description": "Normalized phase-C PWM duty command for the upcoming period.", "direction": "input", "name": "Duty_C", "optional": false, @@ -1130,7 +1130,7 @@ "maxInstances": 1, "outputPorts": [ { - "description": "", + "description": "Available quiet-window width in PWM timer ticks.", "direction": "output", "name": "GapTicks", "optional": false, @@ -1198,7 +1198,7 @@ "displayName": "PI Controller", "domain": "", "id": "Control.Pi", - "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage, matching the base image's\n * VectorPIController convention: max = Vdc/sqrt(3) * 0.95. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral;\n\n/* Dynamic limit derived from DC-link voltage. Allow overmodulation up to\n * the six-step boundary (2*Vdc/3) so the SVPWM stage can use the full\n * hexagon when commanded. Linear SVPWM limit is Vdc/sqrt(3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", "inputPorts": [ { "description": "Desired target value.", @@ -1332,6 +1332,82 @@ } ] }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mtpa", + "description": "Maximum Torque Per Ampere current-reference generator for PMSM. Converts a per-unit current command into optimal d-q current references using motor inductances and flux linkage.", + "displayName": "MTPA Reference", + "domain": "", + "id": "Control.Mtpa", + "inlineCode": "/* Maximum Torque Per Ampere (MTPA) current-reference generator.\n * CurrentRef is per-unit [-1..1] and scaled by CurrentMax to obtain the\n * actual current magnitude. For SPM motors (Ld == Lq) the result is\n * Id=0, Iq=CurrentRef*CurrentMax. For IPMSM (Lq > Ld) the current angle\n * is computed from the analytical MTPA condition.\n *\n * Torque equation: T = (3/2)*pp*(Lambda*Iq + (Ld-Lq)*Id*Iq)\n * MTPA condition: Lambda*cos(beta) + (Ld-Lq)*Is*cos(2*beta) = 0\n * Solving for cos(beta) with delta = Lq - Ld:\n * cos(beta) = (sqrt(Lambda^2 + 8*delta^2*Is^2) - Lambda) / (4*delta*Is)\n */\nconst float i_cmd = CurrentRef * CurrentMax.in(au::amperes);\nconst float i_abs = fabsf(i_cmd);\nfloat id_ref = 0.0f;\n\nif (i_abs > 1e-6f) {\n const float delta = Lq - Ld;\n if (fabsf(delta) > 1e-9f) {\n const float radical = sqrtf(Lambda * Lambda + 8.0f * delta * delta * i_abs * i_abs);\n float cos_beta = (radical - Lambda) / (4.0f * delta * i_abs);\n if (cos_beta > 1.0f) cos_beta = 1.0f;\n if (cos_beta < -1.0f) cos_beta = -1.0f;\n id_ref = i_abs * cos_beta;\n }\n}\n\nconst float ratio = (i_abs > 1e-6f) ? (id_ref / i_abs) : 0.0f;\nconst float sin_beta = sqrtf(1.0f - ratio * ratio);\nconst float iq_ref = i_cmd * sin_beta;\n\nI_D = rte::Amperes(id_ref);\nI_Q = rte::Amperes(iq_ref);\n", + "inputPorts": [ + { + "description": "Per-unit current command [-1..1]. Scaled by CurrentMax to obtain the current magnitude used for MTPA.", + "direction": "input", + "name": "CurrentRef", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "D-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Q-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "parameterTypes": { + "CurrentMax": { + "description": "Maximum current magnitude in amperes. CurrentRef is multiplied by this value to obtain the actual current command.", + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + }, + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ld": { + "description": "D-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, { "classDefinition": "", "classHeader": "", @@ -1547,7 +1623,7 @@ "classHeader": "", "constructorCode": "", "defaultName": "Rpm", - "description": "", + "description": "Reads the platform's mechanical and electrical motor-speed estimates.", "displayName": "RPM (Mech/Elec)", "domain": "", "id": "hw.rpm", @@ -1557,7 +1633,7 @@ "maxInstances": 1, "outputPorts": [ { - "description": "", + "description": "Estimated mechanical speed in revolutions per minute.", "direction": "output", "name": "RpmMech", "optional": false, @@ -1568,7 +1644,7 @@ } }, { - "description": "", + "description": "Estimated electrical speed in revolutions per minute.", "direction": "output", "name": "RpmElec", "optional": false, @@ -1627,7 +1703,7 @@ "displayName": "Space Vector PWM", "domain": "", "id": "Transforms.Svpwm", - "inlineCode": "/* Clamp the alpha/beta voltage vector to the linear SVM limit.\n * The maximum line-to-neutral voltage magnitude for linear modulation is\n * Vdc / sqrt(3). Use a small margin to stay away from the overmodulation\n * boundary. */\nconst float sqrt3 = 1.7320508075688772f;\nconst float v_max_linear = (V_Dc.in(au::volts) / sqrt3) * 0.95f;\nfloat valpha = V_Alpha.in(au::volts);\nfloat vbeta = V_Beta.in(au::volts);\nconst float v_albe_sq = valpha * valpha + vbeta * vbeta;\nif (v_albe_sq > v_max_linear * v_max_linear && v_albe_sq > 1e-12f) {\n const float scale = v_max_linear / sqrtf(v_albe_sq);\n valpha *= scale;\n vbeta *= scale;\n}\n\n/* Inverse Clarke: alpha/beta -> A/B/C. */\nconst float v_a = valpha / V_Dc.in(au::volts);\nconst float v_b = (-0.5f * valpha + 0.86602540378f * vbeta) / V_Dc.in(au::volts);\nconst float v_c = (-0.5f * valpha - 0.86602540378f * vbeta) / V_Dc.in(au::volts);\n\nfloat v_min = v_a;\nif (v_b < v_min) v_min = v_b;\nif (v_c < v_min) v_min = v_c;\n\nfloat v_max = v_a;\nif (v_b > v_max) v_max = v_b;\nif (v_c > v_max) v_max = v_c;\n\nconst float v_offset = 0.5f * (v_min + v_max);\n\n/* Convert to percent duty and clamp. Linear SVM stays roughly in\n * [21%, 79%]; clamping to [0,100] only catches numerical edge cases. */\nfloat duty_a_pct = 50.0f + 50.0f * (v_a - v_offset);\nfloat duty_b_pct = 50.0f + 50.0f * (v_b - v_offset);\nfloat duty_c_pct = 50.0f + 50.0f * (v_c - v_offset);\n\nif (duty_a_pct < 0.0f) duty_a_pct = 0.0f; else if (duty_a_pct > 100.0f) duty_a_pct = 100.0f;\nif (duty_b_pct < 0.0f) duty_b_pct = 0.0f; else if (duty_b_pct > 100.0f) duty_b_pct = 100.0f;\nif (duty_c_pct < 0.0f) duty_c_pct = 0.0f; else if (duty_c_pct > 100.0f) duty_c_pct = 100.0f;\n\nDuty_A = duty_a_pct;\nDuty_B = duty_b_pct;\nDuty_C = duty_c_pct;\n", + "inlineCode": "/* Clamp the alpha/beta voltage vector to the six-step boundary.\n * The maximum line-to-neutral voltage magnitude for linear modulation is\n * Vdc / sqrt(3); overmodulation is allowed up to 2*Vdc/3. */\nconst float sqrt3 = 1.7320508075688772f;\nconst float v_max_linear = V_Dc.in(au::volts) * 2.0f / 3.0f;\nfloat valpha = V_Alpha.in(au::volts);\nfloat vbeta = V_Beta.in(au::volts);\nconst float v_albe_sq = valpha * valpha + vbeta * vbeta;\nif (v_albe_sq > v_max_linear * v_max_linear && v_albe_sq > 1e-12f) {\n const float scale = v_max_linear / sqrtf(v_albe_sq);\n valpha *= scale;\n vbeta *= scale;\n}\n\n/* Inverse Clarke: alpha/beta -> A/B/C. */\nconst float v_a = valpha / V_Dc.in(au::volts);\nconst float v_b = (-0.5f * valpha + 0.86602540378f * vbeta) / V_Dc.in(au::volts);\nconst float v_c = (-0.5f * valpha - 0.86602540378f * vbeta) / V_Dc.in(au::volts);\n\nfloat v_min = v_a;\nif (v_b < v_min) v_min = v_b;\nif (v_c < v_min) v_min = v_c;\n\nfloat v_max = v_a;\nif (v_b > v_max) v_max = v_b;\nif (v_c > v_max) v_max = v_c;\n\nconst float v_offset = 0.5f * (v_min + v_max);\n\n/* Convert to percent duty and clamp. Linear SVM stays roughly in\n * [21%, 79%]; clamping to [0,100] only catches numerical edge cases. */\nfloat duty_a_pct = 50.0f + 50.0f * (v_a - v_offset);\nfloat duty_b_pct = 50.0f + 50.0f * (v_b - v_offset);\nfloat duty_c_pct = 50.0f + 50.0f * (v_c - v_offset);\n\nif (duty_a_pct < 0.0f) duty_a_pct = 0.0f; else if (duty_a_pct > 100.0f) duty_a_pct = 100.0f;\nif (duty_b_pct < 0.0f) duty_b_pct = 0.0f; else if (duty_b_pct > 100.0f) duty_b_pct = 100.0f;\nif (duty_c_pct < 0.0f) duty_c_pct = 0.0f; else if (duty_c_pct > 100.0f) duty_c_pct = 100.0f;\n\nDuty_A = duty_a_pct;\nDuty_B = duty_b_pct;\nDuty_C = duty_c_pct;\n", "inputPorts": [ { "description": "Requested stationary-frame alpha-axis voltage.", @@ -1900,7 +1976,7 @@ "displayName": "LADRC (1st-order)", "domain": "", "id": "Control.Ladrc", - "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*ωo*e)\n * z2 += dt * (-ωo^2 * e)\n * Control:\n * u0 = ωc * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100µH */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi. */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = (vdc / 1.7320508075688772f) * 0.95f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", + "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*ωo*e)\n * z2 += dt * (-ωo^2 * e)\n * Control:\n * u0 = ωc * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100µH */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi: allow overmodulation up\n * to the six-step boundary (2*Vdc/3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", "inputPorts": [ { "description": "Desired current (A) or process setpoint.", @@ -2153,14 +2229,14 @@ "classHeader": "", "constructorCode": "/* Seed the current observer with motor parameters from calibration.\n * The codegen FOC does not call FocControlManager::start(), so the observer\n * must be initialized here. */\nplatform_observer_init_from_calibration();\n", "defaultName": "Observer", - "description": "", + "description": "Corrects and predicts phase currents using burst measurements and the applied voltage vector.", "displayName": "Current Observer", "domain": "tim_isr", "id": "hw.current_observer", "inlineCode": "/* Current observer node:\n * 1. Correct the observer with the measured phase currents from the\n * hw.phase_currents node (ADC ISR domain).\n * 2. Run the Luenberger prediction step using the applied voltage vector.\n * 3. Output the observer-estimated phase currents.\n *\n * The correction uses the latest micro-burst measurement. The prediction\n * uses the voltage vector applied for the next control period.\n */\nconst float iu_meas = I_A_Meas.in(au::amperes);\nconst float iv_meas = I_B_Meas.in(au::amperes);\nconst float diudt = Diudt;\nconst float divdt = Divdt;\nconst uint32_t burst_time_us = static_cast(BurstTimeUs);\n\nplatform_observer_correct(iu_meas, iv_meas, diudt, divdt, burst_time_us);\n\n/* The input voltage is already delayed by one control step via the\n * math.delay node, breaking the algebraic loop. */\nplatform_observer_predict(V_Alpha.in(au::volts), V_Beta.in(au::volts),\n ThetaElec, platform_get_current_domain_dt());\n\nfloat iu_obs = 0.0f, iv_obs = 0.0f, iw_obs = 0.0f;\nplatform_get_observer_currents(&iu_obs, &iv_obs, &iw_obs);\n\nI_A = rte::Amperes(iu_obs);\nI_B = rte::Amperes(iv_obs);\nI_C = rte::Amperes(iw_obs);\n", "inputPorts": [ { - "description": "", + "description": "Measured phase-A current used to correct the observer.", "direction": "input", "name": "I_A_Meas", "optional": false, @@ -2171,7 +2247,7 @@ } }, { - "description": "", + "description": "Measured phase-B current used to correct the observer.", "direction": "input", "name": "I_B_Meas", "optional": false, @@ -2182,7 +2258,7 @@ } }, { - "description": "", + "description": "Measured phase-C current used to correct the observer.", "direction": "input", "name": "I_C_Meas", "optional": false, @@ -2193,7 +2269,7 @@ } }, { - "description": "", + "description": "Estimated phase-U current slope from the ADC sample burst.", "direction": "input", "name": "Diudt", "optional": false, @@ -2204,7 +2280,7 @@ } }, { - "description": "", + "description": "Estimated phase-V current slope from the ADC sample burst.", "direction": "input", "name": "Divdt", "optional": false, @@ -2215,7 +2291,7 @@ } }, { - "description": "", + "description": "Elapsed time in microseconds across the ADC sample burst.", "direction": "input", "name": "BurstTimeUs", "optional": false, @@ -2226,7 +2302,7 @@ } }, { - "description": "", + "description": "Previously applied alpha-axis voltage used for prediction.", "direction": "input", "name": "V_Alpha", "optional": false, @@ -2237,7 +2313,7 @@ } }, { - "description": "", + "description": "Previously applied beta-axis voltage used for prediction.", "direction": "input", "name": "V_Beta", "optional": false, @@ -2248,7 +2324,7 @@ } }, { - "description": "", + "description": "Electrical rotor angle used by the observer prediction.", "direction": "input", "name": "ThetaElec", "optional": false, @@ -2263,7 +2339,7 @@ "maxInstances": 1, "outputPorts": [ { - "description": "", + "description": "Observer-estimated phase-A current.", "direction": "output", "name": "I_A", "optional": false, @@ -2274,7 +2350,7 @@ } }, { - "description": "", + "description": "Observer-estimated phase-B current.", "direction": "output", "name": "I_B", "optional": false, @@ -2285,7 +2361,7 @@ } }, { - "description": "", + "description": "Observer-estimated phase-C current.", "direction": "output", "name": "I_C", "optional": false, @@ -2345,7 +2421,7 @@ } }, { - "description": "", + "description": "Estimated phase-U current slope from the ADC sample burst.", "direction": "output", "name": "Diudt", "optional": false, @@ -2356,7 +2432,7 @@ } }, { - "description": "", + "description": "Estimated phase-V current slope from the ADC sample burst.", "direction": "output", "name": "Divdt", "optional": false, @@ -2367,7 +2443,7 @@ } }, { - "description": "", + "description": "Elapsed time in microseconds across the ADC sample burst.", "direction": "output", "name": "BurstTimeUs", "optional": false, @@ -2392,14 +2468,14 @@ "classHeader": "", "constructorCode": "", "defaultName": "Delay", - "description": "", + "description": "Outputs the previous input sample and stores the current sample for the next step.", "displayName": "Unit Delay", "domain": "", "id": "math.delay", "inlineCode": "/* Unit delay: output the previous input, then store the current input. */\nOut = Prev;\nPrev = In;\n", "inputPorts": [ { - "description": "", + "description": "Current value to store for the next execution step.", "direction": "input", "name": "In", "optional": false, @@ -2414,7 +2490,7 @@ "maxInstances": 0, "outputPorts": [ { - "description": "", + "description": "Value captured during the previous execution step.", "direction": "output", "name": "Out", "optional": false, @@ -2427,6 +2503,7 @@ ], "parameterTypes": { "Prev": { + "description": "Internal state holding the previous input value.", "dtype": "f32", "frame": "scalar", "quantity": "dimensionless" @@ -3048,7 +3125,7 @@ "classHeader": "", "constructorCode": "", "defaultName": "EncRaw", - "description": "", + "description": "Reads the raw sine and cosine channels from the position encoder.", "displayName": "Encoder Raw Sin/Cos", "domain": "", "id": "hw.encoder_raw", @@ -3058,7 +3135,7 @@ "maxInstances": 1, "outputPorts": [ { - "description": "", + "description": "Raw encoder sine-channel sample.", "direction": "output", "name": "SinRaw", "optional": false, @@ -3069,7 +3146,7 @@ } }, { - "description": "", + "description": "Raw encoder cosine-channel sample.", "direction": "output", "name": "CosRaw", "optional": false, diff --git a/Assets/NodeTemplates/Control.Mtpa/inline.cpp b/Assets/NodeTemplates/Control.Mtpa/inline.cpp new file mode 100644 index 00000000..d6eb80bb --- /dev/null +++ b/Assets/NodeTemplates/Control.Mtpa/inline.cpp @@ -0,0 +1,32 @@ +/* Maximum Torque Per Ampere (MTPA) current-reference generator. + * CurrentRef is per-unit [-1..1] and scaled by CurrentMax to obtain the + * actual current magnitude. For SPM motors (Ld == Lq) the result is + * Id=0, Iq=CurrentRef*CurrentMax. For IPMSM (Lq > Ld) the current angle + * is computed from the analytical MTPA condition. + * + * Torque equation: T = (3/2)*pp*(Lambda*Iq + (Ld-Lq)*Id*Iq) + * MTPA condition: Lambda*cos(beta) + (Ld-Lq)*Is*cos(2*beta) = 0 + * Solving for cos(beta) with delta = Lq - Ld: + * cos(beta) = (sqrt(Lambda^2 + 8*delta^2*Is^2) - Lambda) / (4*delta*Is) + */ +const float i_cmd = CurrentRef * CurrentMax.in(au::amperes); +const float i_abs = fabsf(i_cmd); +float id_ref = 0.0f; + +if (i_abs > 1e-6f) { + const float delta = Lq - Ld; + if (fabsf(delta) > 1e-9f) { + const float radical = sqrtf(Lambda * Lambda + 8.0f * delta * delta * i_abs * i_abs); + float cos_beta = (radical - Lambda) / (4.0f * delta * i_abs); + if (cos_beta > 1.0f) cos_beta = 1.0f; + if (cos_beta < -1.0f) cos_beta = -1.0f; + id_ref = i_abs * cos_beta; + } +} + +const float ratio = (i_abs > 1e-6f) ? (id_ref / i_abs) : 0.0f; +const float sin_beta = sqrtf(1.0f - ratio * ratio); +const float iq_ref = i_cmd * sin_beta; + +I_D = rte::Amperes(id_ref); +I_Q = rte::Amperes(iq_ref); diff --git a/Assets/NodeTemplates/Control.Mtpa/node.json b/Assets/NodeTemplates/Control.Mtpa/node.json new file mode 100644 index 00000000..66a2b494 --- /dev/null +++ b/Assets/NodeTemplates/Control.Mtpa/node.json @@ -0,0 +1,69 @@ +{ + "id": "Control.Mtpa", + "displayName": "MTPA Reference", + "defaultName": "Mtpa", + "description": "Maximum Torque Per Ampere current-reference generator for PMSM. Converts a per-unit current command into optimal d-q current references using motor inductances and flux linkage.", + "maxInstances": 0, + "isEntryPoint": false, + "domain": "", + "inputPorts": [ + { + "name": "CurrentRef", + "description": "Per-unit current command [-1..1]. Scaled by CurrentMax to obtain the current magnitude used for MTPA.", + "direction": "input", + "type": { + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "outputPorts": [ + { + "name": "I_D", + "description": "D-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + }, + { + "name": "I_Q", + "description": "Q-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "type": { + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + } + } + ], + "parameterTypes": { + "CurrentMax": { + "description": "Maximum current magnitude in amperes. CurrentRef is multiplied by this value to obtain the actual current command.", + "quantity": "current", + "frame": "scalar", + "dtype": "f32" + }, + "Ld": { + "description": "D-axis inductance in henries.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + }, + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32" + } + } +} From 957e0f1adff6eacdbafe82c58fee4d2b32b75788 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 16:07:42 -0700 Subject: [PATCH 05/16] Fix encoder speed sign and encoder-cal fit/offset ordering for graph FOC feed-forward --- .../Calibration/EncoderOffsetCalibrator.h | 4 + .../Calibration/EncoderOffsetCalibrator.cpp | 108 +++++++++++++----- .../Src/Inverter/Control/FocController.cpp | 5 +- Images/Gen6FW/Src/Inverter/platform_api.cpp | 16 ++- 4 files changed, 98 insertions(+), 35 deletions(-) diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h index 282d14a5..92c7d2b6 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h @@ -190,6 +190,10 @@ class EncoderOffsetCalibrator { float m_warmup_enc_start = 0.0f; float m_warmup_fld_start = 0.0f; + /* Layer 1 ellipse-fit state during offset rotation. */ + bool m_fit_checked_at_start = false; + bool m_fit_checked_at_giveup = false; + /* Results. */ double m_sum_offset = 0.0; int m_sample_count = 0; diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index 033ae557..4918bb32 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -21,7 +21,8 @@ static constexpr uint32_t WARMUP_MS = 5000U; static constexpr float WARMUP_FREQUENCY_HZ = 1.0f; static constexpr float OFFSET_ROTATION_FREQUENCY_HZ = 1.0f; static constexpr float OFFSET_ROTATE_REVS = 3.0f; -static constexpr float OFFSET_ACQUIRE_START_DEG = 180.0f; +static constexpr float OFFSET_ACQUIRE_START_DEG = 360.0f; +static constexpr float FIT_GIVE_UP_DEG = 540.0f; static constexpr uint32_t OFFSET_SAMPLE_PERIOD_MS = 10U; static constexpr float NOISE_THRESHOLD_CYCLES = 0.02f; @@ -148,6 +149,14 @@ void EncoderOffsetCalibrator::enterState(State state) { m_sample_count = 0; m_last_offset = 0.0f; m_last_offset_sample_ms = 0; + m_fit = EncoderADC::SinCosFit(); + m_fit_checked_at_start = false; + m_fit_checked_at_giveup = false; + /* Start collecting raw sin/cos for the Layer 1 ellipse fit + * immediately. The fit must be computed and applied *before* + * offset acquisition so that the stored offset matches the same + * angle decoding the runtime will use. */ + encoderADC().startFitCapture(); m_ramp.start(0.0f, m_mod, 4000U, openLoopController().rampCurrentLimit()); break; @@ -482,18 +491,61 @@ void EncoderOffsetCalibrator::update() { } if (ramp_done && moved_field >= OFFSET_ACQUIRE_START_DEG && m_sign != 0) { - m_offset_acquisition_active = true; - m_last_encoder_mech = encoder_mech; - m_last_field_mech = field_mech; - /* Record the start of the locked region so cycles/rev can - * be measured only over verified-locked motion. */ - m_acquire_start_encoder_elec_deg = m_tracker.unwrappedDegrees(); - m_acquire_start_field_mech_deg = field_mech; - /* Start collecting raw sin/cos for the Layer 1 ellipse fit. - * Capture runs at the full encoder sample rate in the DMA - * ISR for the rest of the locked rotation. */ - encoderADC().startFitCapture(); - Telemetry::printf("[CAL] ENC DBG: acquisition started"); + /* Compute and apply the Layer 1 ellipse fit *before* measuring + * the offset. The runtime decoder uses the fit (if valid), so + * the stored offset must refer to the fitted angle, not the + * uncorrected angle used during the first part of this routine. + * We attempt the fit once after a full locked revolution; if it + * still fails after an additional sweep we proceed without it. */ + if (!m_fit.valid && !m_fit_checked_at_start) { + m_fit_checked_at_start = true; + EncoderADC::SinCosFit fit; + if (encoderADC().computeFit(fit)) { + encoderADC().applyFit(fit); + m_fit = fit; + const float phi_deg = std::fabs(fit.phase_err) * RAD_TO_DEG; + Telemetry::printf("[CAL] ENC: fit applied before offset acquisition (phi=%.3f deg, samples=%lu)", + static_cast(phi_deg), + static_cast(fit.sample_count)); + } else { + /* Not enough good data yet; keep collecting for the + * second attempt closer to the give-up threshold. */ + encoderADC().startFitCapture(); + } + } + if (!m_fit.valid && !m_fit_checked_at_giveup && moved_field >= FIT_GIVE_UP_DEG) { + m_fit_checked_at_giveup = true; + EncoderADC::SinCosFit fit; + if (encoderADC().computeFit(fit)) { + encoderADC().applyFit(fit); + m_fit = fit; + const float phi_deg = std::fabs(fit.phase_err) * RAD_TO_DEG; + Telemetry::printf("[CAL] ENC: fit applied before offset acquisition (late, phi=%.3f deg, samples=%lu)", + static_cast(phi_deg), + static_cast(fit.sample_count)); + } else { + encoderADC().stopFitCapture(); + Telemetry::printf("[CAL] ENC: fit not usable, proceeding without Layer 1 correction"); + } + } + + if (m_fit.valid || (m_fit_checked_at_giveup && !m_fit.valid)) { + m_offset_acquisition_active = true; + m_last_encoder_mech = encoder_mech; + m_last_field_mech = field_mech; + /* Record the start of the locked region so cycles/rev can + * be measured only over verified-locked motion. */ + m_acquire_start_encoder_elec_deg = m_tracker.unwrappedDegrees(); + m_acquire_start_field_mech_deg = field_mech; + /* Reset the offset accumulator now that the decoder is + * in its final configuration. */ + m_sum_offset = 0.0; + m_sample_count = 0; + m_last_offset = 0.0f; + m_last_offset_sample_ms = now_ms; + Telemetry::printf("[CAL] ENC DBG: acquisition started (fit=%s)", + m_fit.valid ? "active" : "none"); + } } } else { if ((now_ms - m_last_offset_sample_ms) >= OFFSET_SAMPLE_PERIOD_MS) { @@ -535,32 +587,28 @@ void EncoderOffsetCalibrator::update() { restoreHardware(); encoderADC().learnBounds(false); - /* Compute and apply the Layer 1 ellipse fit from the captured - * raw sin/cos samples. The fit is independent of the offset - * average (a physical constant), so applying it after offset - * acquisition is safe. */ - EncoderADC::SinCosFit fit; - if (encoderADC().computeFit(fit)) { - encoderADC().applyFit(fit); - m_fit = fit; - const float phi_deg = std::fabs(fit.phase_err) * RAD_TO_DEG; + /* The Layer 1 ellipse fit (if any) was already computed and + * applied before offset acquisition so the stored offset matches + * the angle decoding the runtime will use. */ + if (m_fit.valid) { + const float phi_deg = std::fabs(m_fit.phase_err) * RAD_TO_DEG; const float amp_mismatch_pct = - 100.0f * std::fabs(fit.amp_sin - fit.amp_cos) / - (0.5f * (fit.amp_sin + fit.amp_cos)); + 100.0f * std::fabs(m_fit.amp_sin - m_fit.amp_cos) / + (0.5f * (m_fit.amp_sin + m_fit.amp_cos)); Telemetry::printf("[CAL] ENC: fit: Cs=%.1f Cc=%.1f As=%.1f Ac=%.1f phi=%.3f deg samples=%lu", - static_cast(fit.center_sin), - static_cast(fit.center_cos), - static_cast(fit.amp_sin), - static_cast(fit.amp_cos), + static_cast(m_fit.center_sin), + static_cast(m_fit.center_cos), + static_cast(m_fit.amp_sin), + static_cast(m_fit.amp_cos), static_cast(phi_deg), - static_cast(fit.sample_count)); + static_cast(m_fit.sample_count)); if (phi_deg > 3.0f || amp_mismatch_pct > 10.0f) { Telemetry::printf("[CAL] ENC: fit WARNING: phi=%.2f deg gain_mismatch=%.1f%% (check wiring/mounting)", static_cast(phi_deg), static_cast(amp_mismatch_pct)); } } else { - Telemetry::printf("[CAL] ENC: fit not computed (insufficient data)"); + Telemetry::printf("[CAL] ENC: fit not active"); } Telemetry::printf("[CAL] ENC: DONE: avg=%.3f deg samples=%d revs=%.1f", diff --git a/Images/Gen6FW/Src/Inverter/Control/FocController.cpp b/Images/Gen6FW/Src/Inverter/Control/FocController.cpp index 6a1f4083..6f31b5dd 100644 --- a/Images/Gen6FW/Src/Inverter/Control/FocController.cpp +++ b/Images/Gen6FW/Src/Inverter/Control/FocController.cpp @@ -103,7 +103,10 @@ FocOutputs FocController::Update(const FocInputs& in, const FocSetpoints& set, f } } prev_mech_angle_rad_ = encoder_cycle_angle; - ElectricalSpeed_RadPerSec = mech_velocity_rad_per_s_ * motor_.pole_pairs; + /* The raw encoder velocity is in the physical encoder-count direction. + * The electrical angle used by Park/InversePark applies encoder_sign, so + * the electrical speed must use the same sign-corrected convention. */ + ElectricalSpeed_RadPerSec = mech_velocity_rad_per_s_ * motor_.pole_pairs * motor_.encoder_sign; // Forward Clarke. clarkeAbcToAlphaBeta(in.iu_a, in.iv_a, in.iw_a, Ialpha_A, Ibeta_A); diff --git a/Images/Gen6FW/Src/Inverter/platform_api.cpp b/Images/Gen6FW/Src/Inverter/platform_api.cpp index 7b27d524..3b42cb60 100644 --- a/Images/Gen6FW/Src/Inverter/platform_api.cpp +++ b/Images/Gen6FW/Src/Inverter/platform_api.cpp @@ -179,10 +179,18 @@ float platform_get_rpm_mech(void) { } float platform_get_rpm_elec(void) { - /* Electrical RPM = mechanical RPM * pole pairs. Use the calibrated pole - * count; default to 5 pairs (10-pole motor) if not calibrated. */ - const float pole_pairs = Inverter::MotorCalibration::instance().pole_count * 0.5f; - return Inverter::encoderADC().rpmMech() * pole_pairs; + /* Electrical RPM = mechanical RPM * pole pairs, signed so it follows the + * same convention as the sign-corrected electrical angle used by the + * generated control graph (ElecAngle applies Motor.Encoder.SinCos.Sign). + * The raw encoder RPM is in the physical encoder-count direction; if the + * encoder is mounted opposite to the rotor field, encoder_sign is -1 and + * the electrical angle increases while the raw encoder counts decrease. + * Without the sign correction here, feed-forward terms see the wrong speed + * sign and produce braking/cross-coupling voltages instead of assisting. */ + const auto& cal = Inverter::MotorCalibration::instance(); + const float pole_pairs = cal.pole_count * 0.5f; + const float encoder_sign = (cal.encoder_sign >= 0.0f) ? 1.0f : -1.0f; + return Inverter::encoderADC().rpmMech() * pole_pairs * encoder_sign; } uint32_t platform_get_encoder_raw_sin(void) { From 57d17c34a7d320d44f9710c210a6fe46e380563a Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 16:15:08 -0700 Subject: [PATCH 06/16] encoder cal: start offset acquisition at 180 deg again so slip timeout does not trip --- .../Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index 4918bb32..47e8b14e 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -21,8 +21,8 @@ static constexpr uint32_t WARMUP_MS = 5000U; static constexpr float WARMUP_FREQUENCY_HZ = 1.0f; static constexpr float OFFSET_ROTATION_FREQUENCY_HZ = 1.0f; static constexpr float OFFSET_ROTATE_REVS = 3.0f; -static constexpr float OFFSET_ACQUIRE_START_DEG = 360.0f; -static constexpr float FIT_GIVE_UP_DEG = 540.0f; +static constexpr float OFFSET_ACQUIRE_START_DEG = 180.0f; +static constexpr float FIT_GIVE_UP_DEG = 360.0f; static constexpr uint32_t OFFSET_SAMPLE_PERIOD_MS = 10U; static constexpr float NOISE_THRESHOLD_CYCLES = 0.02f; From 934ffe071c3a8a5e42164a91949e01cd519d8d17 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 16:33:27 -0700 Subject: [PATCH 07/16] cal: voltage-aware encoder offset breakaway/rotation Make the encoder offset calibrator work across a wide bus-voltage range instead of only ~30-70 V. - Breakaway search now ramps by fixed peak-phase-voltage steps (0.5 V) up to a 10 V ceiling, and reports FOUND only after the movement threshold is held for 100 ms. This rejects ringing/overshoot that briefly crosses the threshold at high bus voltage. - Rotation voltage is set to breakaway + 3 V headroom, clamped to a 25 V hard ceiling. At low Vbus the cal can now use full modulation; at high Vbus it no longer snaps the rotor with excessive duty. - CurrentLimitedRamp decays 5x slower (100 ms) when over-current, with a release threshold lowered to 0.6x limit and a floor equal to the breakaway voltage so the rotor does not stall during the soft-back-off. - AutoCalibrationCoordinator passes max_mod=1.0 to the offset stage so the voltage-based clamp is the active limiter. Also add .venv/ to .gitignore. Builds: foc_demo Debug image compiles successfully. Base-image build fails only on missing codegen headers (unrelated). --- .gitignore | 1 + .../Calibration/Common/BreakawayFinder.h | 10 +- .../Calibration/Common/CurrentLimitedRamp.h | 4 +- .../Calibration/EncoderOffsetCalibrator.h | 1 + .../AutoCalibrationCoordinator.cpp | 5 +- .../Calibration/Common/BreakawayFinder.cpp | 38 +++++--- .../Calibration/Common/CurrentLimitedRamp.cpp | 18 ++-- .../Calibration/EncoderOffsetCalibrator.cpp | 92 ++++++++++++++++--- 8 files changed, 133 insertions(+), 36 deletions(-) diff --git a/.gitignore b/.gitignore index c12c4cdd..8f9c7795 100644 --- a/.gitignore +++ b/.gitignore @@ -7,3 +7,4 @@ __pycache__/ *.pyc .mxproject .vscode/ +.venv/ diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h b/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h index fb6d7ec9..4518ab06 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h @@ -23,7 +23,8 @@ class BreakawayFinder { void start(float step, uint32_t period_ms, float max_mod, float detect_cycles, float torque_margin, - uint32_t stall_timeout_ms); + uint32_t stall_timeout_ms, + uint32_t detect_dwell_ms = 0U); /** Reset the movement reference without changing ramp parameters. */ void resetReference(); @@ -57,6 +58,7 @@ class BreakawayFinder { float m_detect_cycles = 0.0f; float m_torque_margin = 1.0f; uint32_t m_stall_timeout_ms = 0; + uint32_t m_detect_dwell_ms = 0U; float m_mod = 0.0f; float m_breakaway_mod = 0.0f; @@ -66,6 +68,12 @@ class BreakawayFinder { float m_start_cycles = 0.0f; bool m_have_start_cycles = false; + /* Damped breakaway detection: require the movement threshold to be held + * continuously for a short dwell. This rejects ringing/overshoot that + * briefly crosses the threshold but immediately snaps back. */ + bool m_detect_pending = false; + uint32_t m_detect_enter_ms = 0U; + /* Movement reported while modulation is below this threshold is treated as * sensor noise / floating-input phantom motion. The reference is reset * when the ramp first crosses into the trusted region so any accumulated diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/Common/CurrentLimitedRamp.h b/Images/Gen6FW/Inc/Inverter/Calibration/Common/CurrentLimitedRamp.h index 48fdd123..43a873be 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/Common/CurrentLimitedRamp.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/Common/CurrentLimitedRamp.h @@ -26,7 +26,8 @@ class CurrentLimitedRamp { * @param duration_ms Total ramp time (excluding pauses). * @param current_limit_a Abort/pause threshold [A]. <=0 disables current limit. */ - void start(float from, float to, uint32_t duration_ms, float current_limit_a); + void start(float from, float to, uint32_t duration_ms, float current_limit_a, + float floor = 0.0f); /** * @param now_ms Current tick count. @@ -48,6 +49,7 @@ class CurrentLimitedRamp { float m_to = 0.0f; uint32_t m_duration_ms = 0; float m_current_limit = 0.0f; + float m_floor = 0.0f; uint32_t m_start_ms = 0; float m_applied = 0.0f; diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h index 92c7d2b6..2dbd0319 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/EncoderOffsetCalibrator.h @@ -140,6 +140,7 @@ class EncoderOffsetCalibrator { float encoderMechanicalAngle() const; float fieldMechanicalAngle() const; static float wrapOffset(float offset, float period); + float effectiveMaxMod(float vdc_v) const; State m_state = State::IDLE; float m_poles = 0.0f; float m_pole_pairs = 0.0f; diff --git a/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp index 9b86ba05..858d12b0 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp @@ -35,6 +35,7 @@ namespace { /* Conservative power limits suitable for unknown motors. */ static constexpr float MAX_MODULATION = 0.35f; +static constexpr float OFFSET_MAX_MODULATION = 1.0f; /* allow full inverter range for offset rotation; EncoderOffsetCalibrator clamps by voltage */ static constexpr float POLE_ROTATE_MOD_FACTOR = 1.00f; static constexpr float OFFSET_ROTATE_MOD_FACTOR = 1.00f; static constexpr float RES_MAX_CURRENT_A = 30.0f; @@ -210,7 +211,7 @@ bool AutoCalibrationCoordinator::startSlice(State first, State last, bool save_r case State::OFFSET: if (!encoderOffsetCalibrator().start(m_poles, m_encoder_cycles_per_rev, - m_breakaway_mod, MAX_MODULATION, + m_breakaway_mod, OFFSET_MAX_MODULATION, OFFSET_ROTATE_MOD_FACTOR)) { Telemetry::printf("[CAL] AUTO: failed to start encoder offset calibration"); return false; @@ -332,7 +333,7 @@ void AutoCalibrationCoordinator::update() { } if (!encoderOffsetCalibrator().start(m_poles, m_encoder_cycles_per_rev, - m_breakaway_mod, MAX_MODULATION, + m_breakaway_mod, OFFSET_MAX_MODULATION, OFFSET_ROTATE_MOD_FACTOR)) { fail("[CAL] AUTO: FAIL: encoder offset calibration failed to start"); return; diff --git a/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp b/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp index d839d16c..ba60e1dd 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp @@ -8,13 +8,15 @@ namespace Inverter { void BreakawayFinder::start(float step, uint32_t period_ms, float max_mod, float detect_cycles, float torque_margin, - uint32_t stall_timeout_ms) { + uint32_t stall_timeout_ms, + uint32_t detect_dwell_ms) { m_step = step; m_period_ms = period_ms; m_max_mod = max_mod; m_detect_cycles = detect_cycles; m_torque_margin = torque_margin; m_stall_timeout_ms = stall_timeout_ms; + m_detect_dwell_ms = detect_dwell_ms; /* A stationary rotor cannot move at zero or near-zero modulation. * Require the ramp to reach a few steps before trusting any encoder @@ -28,6 +30,8 @@ void BreakawayFinder::start(float step, uint32_t period_ms, float max_mod, m_last_cycles = 0.0f; m_in_trusted_region = false; m_max_phantom_cycles = 0.0f; + m_detect_pending = false; + m_detect_enter_ms = 0U; resetReference(); } @@ -93,18 +97,28 @@ BreakawayFinder::Status BreakawayFinder::update(uint32_t now_ms, float encoder_m } if (std::fabs(moved_cycles) >= m_detect_cycles) { - m_breakaway_mod = m_mod; - Telemetry::printf("[CAL] RAMP: breakaway FOUND at mod=%.3f moved=%.3f detect=%.3f", - static_cast(m_mod), - static_cast(moved_cycles), - static_cast(m_detect_cycles)); - float boosted = m_mod * m_torque_margin; - if (boosted > m_max_mod) { - boosted = m_max_mod; + if (!m_detect_pending) { + m_detect_pending = true; + m_detect_enter_ms = now_ms; + } else if ((now_ms - m_detect_enter_ms) >= m_detect_dwell_ms) { + m_breakaway_mod = m_mod; + Telemetry::printf("[CAL] RAMP: breakaway FOUND at mod=%.3f moved=%.3f detect=%.3f", + static_cast(m_mod), + static_cast(moved_cycles), + static_cast(m_detect_cycles)); + float boosted = m_mod * m_torque_margin; + if (boosted > m_max_mod) { + boosted = m_max_mod; + } + m_mod = boosted; + out_mod = m_mod; + return Status::FOUND; } - m_mod = boosted; - out_mod = m_mod; - return Status::FOUND; + } else if (m_detect_pending && std::fabs(moved_cycles) < 0.5f * m_detect_cycles) { + /* Movement dropped back below threshold before the dwell expired: + * this was ringing/overshoot, not real breakaway. */ + m_detect_pending = false; + m_detect_enter_ms = 0U; } if (m_mod >= m_max_mod && (now_ms - m_last_move_ms) > m_stall_timeout_ms) { diff --git a/Images/Gen6FW/Src/Inverter/Calibration/Common/CurrentLimitedRamp.cpp b/Images/Gen6FW/Src/Inverter/Calibration/Common/CurrentLimitedRamp.cpp index dea1f578..6e349bab 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/Common/CurrentLimitedRamp.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/Common/CurrentLimitedRamp.cpp @@ -21,11 +21,13 @@ static float maxPhaseCurrentMagnitude() { return max_i; } -void CurrentLimitedRamp::start(float from, float to, uint32_t duration_ms, float current_limit_a) { +void CurrentLimitedRamp::start(float from, float to, uint32_t duration_ms, float current_limit_a, + float floor) { m_from = from; m_to = to; m_duration_ms = duration_ms; m_current_limit = current_limit_a; + m_floor = floor; m_start_ms = 0; /* set on first update */ m_applied = from; m_paused = false; @@ -59,22 +61,22 @@ CurrentLimitedRamp::Status CurrentLimitedRamp::update(uint32_t now_ms) { if (i_max > m_current_limit) { /* Throttle down instead of pausing/aborting: at high bus voltage - * the demanded modulation would draw far too much current, so - * back the applied modulation off fast and let the rotation - * continue at the current limit. Floored at half the target so - * a transient spike cannot kill the rotation entirely. */ + * the demanded modulation would draw far too much current. Use a + * slower decay (100 ms) so the voltage does not collapse and stall + * the rotor, and floor at the supplied breakaway voltage so we + * never drop below the torque needed to keep the shaft moving. */ if (!m_paused) { m_paused = true; Telemetry::printf("[CAL] RAMP: throttled: I=%.1f A limit=%.1f A", static_cast(i_max), static_cast(m_current_limit)); } - const float floor_mod = 0.5f * m_to; - const float decay = 1.0f - std::exp(-dt / 0.020f); + const float floor_mod = std::max(m_floor, 0.5f * m_to); + const float decay = 1.0f - std::exp(-dt / 0.100f); m_applied -= m_applied * decay; if (m_applied < floor_mod) m_applied = floor_mod; } else { - if (m_paused && i_max <= 0.8f * m_current_limit) { + if (m_paused && i_max <= 0.6f * m_current_limit) { m_paused = false; Telemetry::printf("[CAL] RAMP: released: I=%.1f A limit=%.1f A", static_cast(i_max), diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index 47e8b14e..8e69fcea 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -3,6 +3,7 @@ #include "Inverter/Control/FaultManager.h" #include "Inverter/Drivers/PWM/pwm.h" #include "Inverter/Drivers/Sensors/EncoderADC.h" +#include "Inverter/Drivers/Sensors/DcLinkVoltageSensor.h" #include "Inverter/Telemetry.h" #include "main.h" @@ -13,9 +14,14 @@ namespace Inverter { static constexpr float CAL_MAX_MOD = 0.50f; static constexpr float HOLD_MAX_MOD = 0.50f; -static constexpr float WARMUP_MAX_MOD = 0.25f; -static constexpr float RAMP_STEP = 0.005f; -static constexpr float TORQUE_MARGIN = 0.40f; + +/* Voltage-aware breakaway/rotation limits. Modulation index is peak phase + * voltage divided by (Vdc/2), so m = 2*V/Vdc. Using volts instead of a fixed + * modulation step makes the ramp behave similarly at 20 V and 120 V. */ +static constexpr float BREAKAWAY_STEP_V = 0.50f; /* V per ramp period */ +static constexpr float BREAKAWAY_MAX_V = 10.0f; /* peak phase voltage */ +static constexpr float ROTATE_HEADROOM_V = 3.0f; /* V above breakaway */ +static constexpr float CAL_MAX_VOLTAGE_V = 25.0f; /* hard voltage ceiling */ static constexpr uint32_t WARMUP_MS = 5000U; static constexpr float WARMUP_FREQUENCY_HZ = 1.0f; @@ -27,6 +33,7 @@ static constexpr uint32_t OFFSET_SAMPLE_PERIOD_MS = 10U; static constexpr float NOISE_THRESHOLD_CYCLES = 0.02f; static constexpr float BREAKAWAY_DETECT_CYCLES = 0.15f; +static constexpr uint32_t BREAKAWAY_DETECT_DWELL_MS = 100U; static constexpr uint32_t RAMP_PERIOD_MS = 200U; static constexpr uint32_t MOVE_TIMEOUT_MS = 3000U; static constexpr uint32_t FIND_VOLTAGE_TIMEOUT_MS = 15000U; @@ -38,6 +45,14 @@ static constexpr float RAD_TO_DEG = 57.2957795131f; static EncoderOffsetCalibrator s_instance; +static float voltageToMod(float v_v, float vdc_v) { + return (vdc_v > 1.0f) ? (v_v * 2.0f / vdc_v) : 0.0f; +} + +static float modToVoltage(float m, float vdc_v) { + return m * vdc_v * 0.5f; +} + EncoderOffsetCalibrator& EncoderOffsetCalibrator::instance() { return s_instance; } @@ -108,17 +123,36 @@ void EncoderOffsetCalibrator::enterState(State state) { * to set up here. */ break; - case State::FIND_VOLTAGE: + case State::FIND_VOLTAGE: { PWM_ResetSPWMElectricalCycles(); - m_breakaway.start(RAMP_STEP, RAMP_PERIOD_MS, m_max_mod, - BREAKAWAY_DETECT_CYCLES, m_torque_margin, MOVE_TIMEOUT_MS); + const float vdc = dcLinkVoltageSensor().voltage(); + const float step_mod = voltageToMod(BREAKAWAY_STEP_V, vdc); + const float max_v = std::min(BREAKAWAY_MAX_V, vdc * 0.5f); + const float max_mod_search = voltageToMod(max_v, vdc); + m_breakaway.start(step_mod, RAMP_PERIOD_MS, max_mod_search, + BREAKAWAY_DETECT_CYCLES, 1.0f, MOVE_TIMEOUT_MS, + BREAKAWAY_DETECT_DWELL_MS); PWM_StartSPWM(OFFSET_ROTATION_FREQUENCY_HZ, 0.0f); break; + } case State::WARMUP: { m_tracker.reset(); - const float target = (m_mod > WARMUP_MAX_MOD) ? WARMUP_MAX_MOD : m_mod; - m_ramp.start(0.0f, target, 4000U, openLoopController().rampCurrentLimit()); + const float vdc = dcLinkVoltageSensor().voltage(); + const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); + float target = m_mod; + const float floor_mod = voltageToMod(v_breakaway, vdc); + /* Never warm up at a voltage below breakaway; keep a small headroom + * so the rotor stays locked. */ + const float min_target_mod = voltageToMod(v_breakaway + 0.5f, vdc); + if (target < min_target_mod) { + target = min_target_mod; + } + const float max_mod = effectiveMaxMod(vdc); + if (target > max_mod) { + target = max_mod; + } + m_ramp.start(0.0f, target, 4000U, openLoopController().rampCurrentLimit(), floor_mod); PWM_ResetSPWMElectricalCycles(); PWM_StartSPWM(WARMUP_FREQUENCY_HZ, 0.0f); @@ -157,7 +191,21 @@ void EncoderOffsetCalibrator::enterState(State state) { * offset acquisition so that the stored offset matches the same * angle decoding the runtime will use. */ encoderADC().startFitCapture(); - m_ramp.start(0.0f, m_mod, 4000U, openLoopController().rampCurrentLimit()); + { + const float vdc = dcLinkVoltageSensor().voltage(); + const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); + float target = m_mod; + const float floor_mod = voltageToMod(v_breakaway, vdc); + const float min_target_mod = voltageToMod(v_breakaway + 0.5f, vdc); + if (target < min_target_mod) { + target = min_target_mod; + } + const float max_mod = effectiveMaxMod(vdc); + if (target > max_mod) { + target = max_mod; + } + m_ramp.start(0.0f, target, 4000U, openLoopController().rampCurrentLimit(), floor_mod); + } break; case State::DONE: @@ -231,6 +279,17 @@ float EncoderOffsetCalibrator::wrapOffset(float offset, float period) { return wrapped; } +float EncoderOffsetCalibrator::effectiveMaxMod(float vdc_v) const { + if (vdc_v <= 1.0f) { + return m_max_mod; + } + /* Clamp to a hard peak-phase-voltage ceiling so high bus voltages do not + * translate into huge modulation/current spikes. At low bus voltages the + * same ceiling allows the full inverter range (m up to 1.0). */ + const float max_mod_from_voltage = CAL_MAX_VOLTAGE_V * 2.0f / vdc_v; + return std::min(m_max_mod, max_mod_from_voltage); +} + static bool encoderAngleReliable() { const auto& enc = encoderADC(); return enc.boundsValid() && @@ -406,12 +465,21 @@ void EncoderOffsetCalibrator::update() { fail("[CAL] ENC: FAIL: rotor did not move during voltage ramp"); return; } else { + /* FOUND */ m_breakaway_mod = m_breakaway.breakawayMod(); - m_mod = mod; /* already boosted by BreakawayFinder */ + const float vdc = dcLinkVoltageSensor().voltage(); + const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); + const float v_rotate = v_breakaway + ROTATE_HEADROOM_V; + m_mod = voltageToMod(v_rotate, vdc); + const float max_mod = effectiveMaxMod(vdc); + if (m_mod > max_mod) m_mod = max_mod; + if (m_mod < 0.0f) m_mod = 0.0f; PWM_StopSPWM(); - Telemetry::printf("[CAL] ENC: breakaway at mod=%.3f -> rotate mod=%.3f", + Telemetry::printf("[CAL] ENC: breakaway at mod=%.3f (%.2f V) -> rotate mod=%.3f (%.2f V)", static_cast(m_breakaway_mod), - static_cast(m_mod)); + static_cast(v_breakaway), + static_cast(m_mod), + static_cast(v_rotate)); enterState(State::WARMUP); return; } From d3a6cb5e12e96c70205b16034816a10b6be3273f Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 16:58:54 -0700 Subject: [PATCH 08/16] cal: add standalone BreakawayCalibrator for isolated testing Add a simple, reusable breakaway finder that can be tested on its own before we integrate it into the larger encoder/pole cal routines. - New BreakawayCalibrator class: ramps peak phase voltage in fixed steps, ignores phantom motion below a minimum trusted voltage, and reports the modulation and voltage at which the encoder first moves. - Aborts immediately on any Critical fault (overcurrent, gate driver, etc.). - Hooked into the 'cal' command as: cal Motor.Encoder.SinCos.Breakaway cal Motor.Encoder.Breakaway - Result saved to KV store as Motor.Encoder.SinCos.BreakMod. - Added to main-loop cal update list and CMakeLists. Builds: foc_demo Debug image compiles successfully. --- Images/Gen6FW/CMakeLists.txt | 1 + .../Calibration/BreakawayCalibrator.h | 95 ++++++++ .../Inc/Inverter/Calibration/CalKvStore.h | 3 + .../Calibration/BreakawayCalibrator.cpp | 204 ++++++++++++++++++ .../Src/Inverter/Calibration/CalKvStore.cpp | 6 + .../Command/Commands/CalibrationCommands.cpp | 18 ++ Images/Gen6FW/Src/Inverter/InverterMain.cpp | 2 + 7 files changed, 329 insertions(+) create mode 100644 Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h create mode 100644 Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp diff --git a/Images/Gen6FW/CMakeLists.txt b/Images/Gen6FW/CMakeLists.txt index 059b6b4e..54e29de2 100644 --- a/Images/Gen6FW/CMakeLists.txt +++ b/Images/Gen6FW/CMakeLists.txt @@ -88,6 +88,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE Src/Inverter/Control/CurrentObserver.cpp Src/Inverter/Control/MotorParameterEstimator.cpp Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp + Src/Inverter/Calibration/BreakawayCalibrator.cpp Src/Inverter/Calibration/CalKvStore.cpp Src/Inverter/Calibration/EncoderCycleCalibrator.cpp Src/Inverter/Calibration/EncoderLinearityCalibrator.cpp diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h new file mode 100644 index 00000000..a9f774bd --- /dev/null +++ b/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h @@ -0,0 +1,95 @@ +#pragma once + +#include "Inverter/Calibration/Common/CalibrationHardware.h" +#include "Inverter/Calibration/Common/EncoderTracker.h" + +#include + +namespace Inverter { + +/** + * @brief Simple standalone breakaway finder. + * + * Ramps the stator field voltage slowly until the encoder shows the rotor has + * moved. Reports the modulation and peak phase voltage at breakaway. This is + * intentionally minimal so it can be tested in isolation and later reused by + * PoleCalibrator / EncoderOffsetCalibrator. + */ +class BreakawayCalibrator { +public: + enum class State { + IDLE, + HW_INIT, + RAMP, + DONE, + FAIL + }; + + BreakawayCalibrator() = default; + + /** + * @brief Start a breakaway search. + * + * @param max_voltage Maximum peak phase voltage to apply [V]. + * @param step_voltage Voltage increment per ramp step [V]. + * @param ramp_period_ms Time between ramp steps [ms]. + * @param detect_cycles Encoder mechanical cycles that count as movement. + * @return true if the gate-driver power sequence was started. + */ + bool start(float max_voltage = 10.0f, + float step_voltage = 0.5f, + uint32_t ramp_period_ms = 200U, + float detect_cycles = 0.15f); + + /** Non-blocking state-machine update; call at ~100 Hz. */ + void update(); + + /** Abort and turn off switching. */ + void stop(); + + bool isActive() const { + return m_state != State::IDLE && m_state != State::DONE && m_state != State::FAIL; + } + bool isDone() const { return m_state == State::DONE; } + bool isFailed() const { return m_state == State::FAIL; } + + State state() const { return m_state; } + + float breakawayMod() const { return m_breakaway_mod; } + float breakawayVoltage() const { return m_breakaway_voltage; } + + static BreakawayCalibrator& instance(); + +private: + void enterState(State state); + void fail(const char* reason); + void updateRamp(); + + static float voltageToMod(float v_v, float vdc_v); + static float modToVoltage(float m, float vdc_v); + + CalibrationHardware m_hw; + EncoderTracker m_tracker; + + State m_state = State::IDLE; + uint32_t m_state_start_ms = 0; + uint32_t m_last_ramp_ms = 0; + + float m_max_voltage = 10.0f; + float m_step_voltage = 0.5f; + uint32_t m_ramp_period_ms = 200U; + float m_detect_cycles = 0.15f; + + float m_mod = 0.0f; + float m_breakaway_mod = 0.0f; + float m_breakaway_voltage = 0.0f; + + float m_start_cycles = 0.0f; + bool m_have_start = false; + bool m_in_trusted_region = false; + float m_max_phantom_cycles = 0.0f; +}; + +BreakawayCalibrator& breakawayCalibrator(); + +} // namespace Inverter diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h b/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h index acec93e2..b2399217 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h @@ -39,6 +39,9 @@ void saveEncoderBounds(uint16_t sinMin, uint16_t sinMax, /** Restore saved bounds into the decoder. Returns false if not stored. */ bool loadEncoderBounds(); +/** Persist measured breakaway modulation. */ +void saveBreakaway(float breakawayMod); + /** Persist a fitted sin/cos ellipse correction. */ void saveEncoderFit(const EncoderADC::SinCosFit& fit); diff --git a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp new file mode 100644 index 00000000..8e8933d1 --- /dev/null +++ b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp @@ -0,0 +1,204 @@ +#include "Inverter/Calibration/BreakawayCalibrator.h" + +#include "Inverter/Calibration/CalKvStore.h" +#include "Inverter/Control/FaultManager.h" +#include "Inverter/Drivers/PWM/pwm.h" +#include "Inverter/Drivers/Sensors/DcLinkVoltageSensor.h" +#include "Inverter/Drivers/Sensors/EncoderADC.h" +#include "Inverter/Telemetry.h" + +#include "main.h" +#include + +namespace Inverter { + +static constexpr float RAMP_FREQUENCY_HZ = 1.0f; +static constexpr uint32_t RAMP_TIMEOUT_MS = 15000U; +static constexpr float MIN_TRUSTED_VOLTAGE_V = 0.3f; +static constexpr uint32_t HW_INIT_TIMEOUT_MS = 2000U; + +static BreakawayCalibrator s_instance; + +BreakawayCalibrator& BreakawayCalibrator::instance() { + return s_instance; +} + +float BreakawayCalibrator::voltageToMod(float v_v, float vdc_v) { + return (vdc_v > 1.0f) ? (v_v * 2.0f / vdc_v) : 0.0f; +} + +float BreakawayCalibrator::modToVoltage(float m, float vdc_v) { + return m * vdc_v * 0.5f; +} + +bool BreakawayCalibrator::start(float max_voltage, float step_voltage, + uint32_t ramp_period_ms, float detect_cycles) { + if (isActive()) { + Telemetry::printf("[CAL] BREAK: already active"); + return false; + } + + if (max_voltage <= 0.0f || step_voltage <= 0.0f || ramp_period_ms == 0U || detect_cycles <= 0.0f) { + Telemetry::printf("[CAL] BREAK: invalid parameters"); + return false; + } + + m_max_voltage = max_voltage; + m_step_voltage = step_voltage; + m_ramp_period_ms = ramp_period_ms; + m_detect_cycles = detect_cycles; + + m_mod = 0.0f; + m_breakaway_mod = 0.0f; + m_breakaway_voltage = 0.0f; + m_have_start = false; + m_in_trusted_region = false; + m_max_phantom_cycles = 0.0f; + m_tracker.reset(); + + m_hw.begin(); + enterState(State::HW_INIT); + return true; +} + +void BreakawayCalibrator::enterState(State state) { + m_state = state; + m_state_start_ms = HAL_GetTick(); +} + +void BreakawayCalibrator::fail(const char* reason) { + PWM_StopSPWM(); + CalibrationHardware::shutdown(); + Telemetry::printf("[CAL] BREAK: FAIL: %s", reason); + m_state = State::FAIL; +} + +void BreakawayCalibrator::stop() { + if (isActive()) { + PWM_StopSPWM(); + CalibrationHardware::shutdown(); + Telemetry::printf("[CAL] BREAK: stopped by user"); + m_state = State::IDLE; + } +} + +void BreakawayCalibrator::update() { + if (!isActive()) { + return; + } + + const uint32_t now_ms = HAL_GetTick(); + + /* Any critical fault (overcurrent, gate driver, etc.) aborts immediately. */ + if (FaultManager::instance().isSeverityActive(FaultSeverity::Critical)) { + fail("critical fault detected"); + return; + } + + m_tracker.update(); + + switch (m_state) { + case State::HW_INIT: { + m_hw.update(); + if (m_hw.hasFailed()) { + fail("gate driver not ready"); + } else if (m_hw.isReady()) { + PWM_ClearFault(); + PWM_StartPhase(0); + PWM_StartPhase(1); + PWM_StartPhase(2); + PWM_ResetSPWMElectricalCycles(); + PWM_StartSPWM(RAMP_FREQUENCY_HZ, 0.0f); + Telemetry::printf("[CAL] BREAK: starting ramp to %.2f V in %.2f V steps", + static_cast(m_max_voltage), + static_cast(m_step_voltage)); + enterState(State::RAMP); + } else if ((now_ms - m_state_start_ms) > HW_INIT_TIMEOUT_MS) { + fail("gate driver init timeout"); + } + break; + } + + case State::RAMP: { + updateRamp(); + break; + } + + case State::DONE: + case State::FAIL: + case State::IDLE: + default: + break; + } +} + +void BreakawayCalibrator::updateRamp() { + const uint32_t now_ms = HAL_GetTick(); + const float vdc = dcLinkVoltageSensor().voltage(); + const float cycles = m_tracker.mechanicalCycles(); + + if (!m_have_start) { + m_start_cycles = cycles; + m_have_start = true; + } + const float moved_cycles = cycles - m_start_cycles; + + /* Step the voltage ramp. */ + if ((now_ms - m_last_ramp_ms) >= m_ramp_period_ms) { + m_last_ramp_ms = now_ms; + m_mod += voltageToMod(m_step_voltage, vdc); + const float max_mod = voltageToMod(m_max_voltage, vdc); + if (m_mod > max_mod) { + m_mod = max_mod; + } + } + + PWM_SetSPWMParams(RAMP_FREQUENCY_HZ, m_mod); + + /* Do not trust encoder motion until the applied voltage is high enough to + * produce real torque. Floating sin/cos inputs often show smooth phantom + * rotation at zero voltage. */ + if (!m_in_trusted_region) { + if (std::fabs(moved_cycles) > m_max_phantom_cycles) { + m_max_phantom_cycles = std::fabs(moved_cycles); + } + const float v_applied = modToVoltage(m_mod, vdc); + if (v_applied < MIN_TRUSTED_VOLTAGE_V) { + return; + } + Telemetry::printf("[CAL] BREAK: entering trusted region at mod=%.3f (%.2f V), discarding %.3f cycles of phantom motion", + static_cast(m_mod), + static_cast(v_applied), + static_cast(moved_cycles)); + m_in_trusted_region = true; + m_start_cycles = cycles; + return; + } + + const float moved_since_trusted = cycles - m_start_cycles; + + if (std::fabs(moved_since_trusted) >= m_detect_cycles) { + m_breakaway_mod = m_mod; + m_breakaway_voltage = modToVoltage(m_mod, vdc); + CalKvStore::saveBreakaway(m_breakaway_mod); + PWM_StopSPWM(); + CalibrationHardware::shutdown(); + Telemetry::printf("[CAL] BREAK: DONE: breakaway at mod=%.3f (%.2f V), moved=%.3f cycles", + static_cast(m_breakaway_mod), + static_cast(m_breakaway_voltage), + static_cast(moved_since_trusted)); + m_state = State::DONE; + return; + } + + if (m_mod >= voltageToMod(m_max_voltage, vdc) && + (now_ms - m_state_start_ms) > RAMP_TIMEOUT_MS) { + fail("ramp timeout: rotor did not move"); + } +} + +BreakawayCalibrator& breakawayCalibrator() { + return BreakawayCalibrator::instance(); +} + +} // namespace Inverter diff --git a/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp b/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp index a0a003ab..1e36d70a 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp @@ -26,6 +26,7 @@ constexpr const char* KEY_ENC_FIT_AS = "Motor.Encoder.SinCos.Fit.As"; constexpr const char* KEY_ENC_FIT_AC = "Motor.Encoder.SinCos.Fit.Ac"; constexpr const char* KEY_ENC_FIT_PHI = "Motor.Encoder.SinCos.Fit.Phi"; constexpr const char* KEY_ENC_FIT_VALID = "Motor.Encoder.SinCos.Fit.Valid"; +constexpr const char* KEY_ENC_BREAK_MOD = "Motor.Encoder.SinCos.BreakMod"; constexpr const char* KEY_RES_UV = "Motor.Resistance.Uv"; constexpr const char* KEY_RES_UW = "Motor.Resistance.Uw"; constexpr const char* KEY_RES_VW = "Motor.Resistance.Vw"; @@ -119,6 +120,11 @@ bool loadEncoderBounds() { return true; } +void saveBreakaway(float breakawayMod) { + if (!RteParamStore::isReady()) return; + setIfValid(KEY_ENC_BREAK_MOD, breakawayMod); +} + void saveEncoderFit(const EncoderADC::SinCosFit& fit) { if (!RteParamStore::isReady()) return; if (!fit.valid) return; /* Keep any previously saved fit; don't erase it. */ diff --git a/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp b/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp index 28d33f54..f92d8f0f 100644 --- a/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp +++ b/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp @@ -10,6 +10,7 @@ #include "Inverter/Calibration/FluxLinkageCalibrator.h" #include "Inverter/Calibration/EncoderCycleCalibrator.h" #include "Inverter/Calibration/AutoCalibrationCoordinator.h" +#include "Inverter/Calibration/BreakawayCalibrator.h" #include "Inverter/Calibration/CalKvStore.h" #include "Inverter/Drivers/Sensors/PoleEstimator.h" #include "Inverter/Drivers/Storage/RteParamStore.h" @@ -38,6 +39,7 @@ using Inverter::resistanceCalibrator; using Inverter::inductanceCalibrator; using Inverter::fluxLinkageCalibrator; using Inverter::autoCalibrationCoordinator; +using Inverter::breakawayCalibrator; using Inverter::encoderADC; static bool stringsEqual(const char* a, const char* b) { @@ -395,6 +397,21 @@ class CalCommand : public CommandInterface { startRun(S::POLE, S::FLUX, path, save_results); } else if (stringsEqual(path, "Motor.Poles")) { startRun(S::POLE, S::POLE, path, save_results); + } else if (stringsEqual(path, "Motor.Encoder.SinCos.Breakaway") || + stringsEqual(path, "Motor.Encoder.Breakaway")) { + if (openLoopController().isRunning()) { + Telemetry::printf("[CAL] stop the motor before starting %s", path); + return; + } + if (breakawayCalibrator().isActive()) { + Telemetry::printf("[CAL] %s: already running", path); + return; + } + if (breakawayCalibrator().start()) { + Telemetry::printf("[CAL] %s: started", path); + } else { + Telemetry::printf("[CAL] %s: failed to start", path); + } } else if (stringsEqual(path, "Motor.Encoder") || stringsEqual(path, "Motor.Encoder.SinCos")) { startRun(S::OFFSET, S::OFFSET, path, save_results); @@ -458,6 +475,7 @@ class CalCommand : public CommandInterface { Telemetry::printf("[CAL] routines (cal to run):"); Telemetry::printf("[CAL] all full profile, in order"); Telemetry::printf("[CAL] Motor.Poles"); + Telemetry::printf("[CAL] Motor.Encoder.SinCos.Breakaway find breakaway voltage only"); printStored("Motor.Poles", "rotor pole count"); printStored("Motor.Encoder.SinCos.CyclesRev", "encoder elec cycles/mech rev"); printStored("Motor.Encoder.SinCos.BreakMod", "breakaway modulation"); diff --git a/Images/Gen6FW/Src/Inverter/InverterMain.cpp b/Images/Gen6FW/Src/Inverter/InverterMain.cpp index b067f540..53ea5dc8 100644 --- a/Images/Gen6FW/Src/Inverter/InverterMain.cpp +++ b/Images/Gen6FW/Src/Inverter/InverterMain.cpp @@ -3,6 +3,7 @@ #include "Inverter/LoopStats.h" #include "Inverter/Telemetry.h" #include "Inverter/Calibration/AutoCalibrationCoordinator.h" +#include "Inverter/Calibration/BreakawayCalibrator.h" #include "Inverter/Calibration/CalKvStore.h" #include "Inverter/Calibration/PoleCalibrator.h" #include "Inverter/Calibration/EncoderOffsetCalibrator.h" @@ -258,6 +259,7 @@ static void loop() * calibrator state machine. All early-out when inactive. */ Inverter::openLoopController().update(); Inverter::autoCalibrationCoordinator().update(); + Inverter::breakawayCalibrator().update(); Inverter::poleCalibrator().update(); Inverter::encoderOffsetCalibrator().update(); Inverter::encoderLinearityCalibrator().update(); From 042e737315753da7137d57c426785e546e7b69ef Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 17:06:23 -0700 Subject: [PATCH 09/16] cal: slow breakaway ramp + reverse check, reduce rotation headroom BreakawayCalibrator improvements: - Each 0.5 V step is now held for 1 second before advancing, so the voltage and resulting motion are easy to observe on telemetry. - After forward breakaway, the field reverses direction and the calibrator waits for the encoder to move the opposite way. This validates that the motion was real and gives an early sanity check of encoder sign. - PWM SPWM now supports negative fundamental frequency to reverse rotation. EncoderOffsetCalibrator tuning: - Rotation voltage reduced from breakaway + 3 V to breakaway * 1.2. This should avoid the overcurrent fault seen when warmup ramped to 6 V while breakaway was only ~2.5-3 V. - Warmup/rotation minimum target is now breakaway * 1.05 instead of +0.5 V. Builds: foc_demo Debug image compiles successfully. --- .../Calibration/BreakawayCalibrator.h | 42 ++++--- .../Calibration/BreakawayCalibrator.cpp | 108 ++++++++++++++---- .../Calibration/EncoderOffsetCalibrator.cpp | 8 +- .../Gen6FW/Src/Inverter/Drivers/PWM/pwm.cpp | 9 +- 4 files changed, 120 insertions(+), 47 deletions(-) diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h index a9f774bd..e85b1152 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h @@ -8,19 +8,20 @@ namespace Inverter { /** - * @brief Simple standalone breakaway finder. + * @brief Simple standalone breakaway finder with reverse-direction sanity check. * - * Ramps the stator field voltage slowly until the encoder shows the rotor has - * moved. Reports the modulation and peak phase voltage at breakaway. This is - * intentionally minimal so it can be tested in isolation and later reused by - * PoleCalibrator / EncoderOffsetCalibrator. + * Ramps the stator field voltage slowly (one step per second) until the encoder + * shows the rotor has moved. After breakaway is found in the forward direction, + * the field reverses and the calibrator verifies the encoder moves the other + * way. This rejects phantom motion and gives an early check of encoder sign. */ class BreakawayCalibrator { public: enum class State { IDLE, HW_INIT, - RAMP, + RAMP_FWD, + VERIFY_REVERSE, DONE, FAIL }; @@ -30,16 +31,18 @@ class BreakawayCalibrator { /** * @brief Start a breakaway search. * - * @param max_voltage Maximum peak phase voltage to apply [V]. - * @param step_voltage Voltage increment per ramp step [V]. - * @param ramp_period_ms Time between ramp steps [ms]. - * @param detect_cycles Encoder mechanical cycles that count as movement. + * @param max_voltage Maximum peak phase voltage to apply [V]. + * @param step_voltage Voltage increment per ramp step [V]. + * @param step_dwell_ms Minimum time to hold each step before advancing [ms]. + * @param detect_cycles Encoder mechanical cycles that count as movement. + * @param reverse_cycles Encoder mechanical cycles required during reverse check. * @return true if the gate-driver power sequence was started. */ bool start(float max_voltage = 10.0f, float step_voltage = 0.5f, - uint32_t ramp_period_ms = 200U, - float detect_cycles = 0.15f); + uint32_t step_dwell_ms = 1000U, + float detect_cycles = 0.15f, + float reverse_cycles = 0.10f); /** Non-blocking state-machine update; call at ~100 Hz. */ void update(); @@ -63,7 +66,9 @@ class BreakawayCalibrator { private: void enterState(State state); void fail(const char* reason); - void updateRamp(); + void updateRampFwd(); + void updateVerifyReverse(); + void advanceVoltageStep(); static float voltageToMod(float v_v, float vdc_v); static float modToVoltage(float m, float vdc_v); @@ -73,12 +78,14 @@ class BreakawayCalibrator { State m_state = State::IDLE; uint32_t m_state_start_ms = 0; - uint32_t m_last_ramp_ms = 0; + uint32_t m_step_enter_ms = 0; + uint32_t m_last_move_ms = 0; float m_max_voltage = 10.0f; float m_step_voltage = 0.5f; - uint32_t m_ramp_period_ms = 200U; + uint32_t m_step_dwell_ms = 1000U; float m_detect_cycles = 0.15f; + float m_reverse_cycles = 0.10f; float m_mod = 0.0f; float m_breakaway_mod = 0.0f; @@ -88,6 +95,11 @@ class BreakawayCalibrator { bool m_have_start = false; bool m_in_trusted_region = false; float m_max_phantom_cycles = 0.0f; + + /* Reverse-check state. */ + float m_reverse_start_cycles = 0.0f; + bool m_have_reverse_start = false; + float m_forward_final_cycles = 0.0f; }; BreakawayCalibrator& breakawayCalibrator(); diff --git a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp index 8e8933d1..221d0963 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp @@ -13,7 +13,9 @@ namespace Inverter { static constexpr float RAMP_FREQUENCY_HZ = 1.0f; -static constexpr uint32_t RAMP_TIMEOUT_MS = 15000U; +static constexpr float REVERSE_FREQUENCY_HZ = -1.0f; +static constexpr uint32_t RAMP_TIMEOUT_MS = 60000U; +static constexpr uint32_t REVERSE_TIMEOUT_MS = 5000U; static constexpr float MIN_TRUSTED_VOLTAGE_V = 0.3f; static constexpr uint32_t HW_INIT_TIMEOUT_MS = 2000U; @@ -32,21 +34,24 @@ float BreakawayCalibrator::modToVoltage(float m, float vdc_v) { } bool BreakawayCalibrator::start(float max_voltage, float step_voltage, - uint32_t ramp_period_ms, float detect_cycles) { + uint32_t step_dwell_ms, float detect_cycles, + float reverse_cycles) { if (isActive()) { Telemetry::printf("[CAL] BREAK: already active"); return false; } - if (max_voltage <= 0.0f || step_voltage <= 0.0f || ramp_period_ms == 0U || detect_cycles <= 0.0f) { + if (max_voltage <= 0.0f || step_voltage <= 0.0f || step_dwell_ms == 0U || + detect_cycles <= 0.0f || reverse_cycles <= 0.0f) { Telemetry::printf("[CAL] BREAK: invalid parameters"); return false; } m_max_voltage = max_voltage; m_step_voltage = step_voltage; - m_ramp_period_ms = ramp_period_ms; + m_step_dwell_ms = step_dwell_ms; m_detect_cycles = detect_cycles; + m_reverse_cycles = reverse_cycles; m_mod = 0.0f; m_breakaway_mod = 0.0f; @@ -54,6 +59,8 @@ bool BreakawayCalibrator::start(float max_voltage, float step_voltage, m_have_start = false; m_in_trusted_region = false; m_max_phantom_cycles = 0.0f; + m_have_reverse_start = false; + m_forward_final_cycles = 0.0f; m_tracker.reset(); m_hw.begin(); @@ -64,6 +71,7 @@ bool BreakawayCalibrator::start(float max_voltage, float step_voltage, void BreakawayCalibrator::enterState(State state) { m_state = state; m_state_start_ms = HAL_GetTick(); + m_step_enter_ms = HAL_GetTick(); } void BreakawayCalibrator::fail(const char* reason) { @@ -109,18 +117,24 @@ void BreakawayCalibrator::update() { PWM_StartPhase(2); PWM_ResetSPWMElectricalCycles(); PWM_StartSPWM(RAMP_FREQUENCY_HZ, 0.0f); - Telemetry::printf("[CAL] BREAK: starting ramp to %.2f V in %.2f V steps", + Telemetry::printf("[CAL] BREAK: ramp to %.2f V in %.2f V steps (dwell %lu ms)", static_cast(m_max_voltage), - static_cast(m_step_voltage)); - enterState(State::RAMP); + static_cast(m_step_voltage), + static_cast(m_step_dwell_ms)); + enterState(State::RAMP_FWD); } else if ((now_ms - m_state_start_ms) > HW_INIT_TIMEOUT_MS) { fail("gate driver init timeout"); } break; } - case State::RAMP: { - updateRamp(); + case State::RAMP_FWD: { + updateRampFwd(); + break; + } + + case State::VERIFY_REVERSE: { + updateVerifyReverse(); break; } @@ -132,7 +146,20 @@ void BreakawayCalibrator::update() { } } -void BreakawayCalibrator::updateRamp() { +void BreakawayCalibrator::advanceVoltageStep() { + const float vdc = dcLinkVoltageSensor().voltage(); + m_mod += voltageToMod(m_step_voltage, vdc); + const float max_mod = voltageToMod(m_max_voltage, vdc); + if (m_mod > max_mod) { + m_mod = max_mod; + } + m_step_enter_ms = HAL_GetTick(); + Telemetry::printf("[CAL] BREAK: step mod=%.3f (%.2f V)", + static_cast(m_mod), + static_cast(modToVoltage(m_mod, vdc))); +} + +void BreakawayCalibrator::updateRampFwd() { const uint32_t now_ms = HAL_GetTick(); const float vdc = dcLinkVoltageSensor().voltage(); const float cycles = m_tracker.mechanicalCycles(); @@ -143,14 +170,9 @@ void BreakawayCalibrator::updateRamp() { } const float moved_cycles = cycles - m_start_cycles; - /* Step the voltage ramp. */ - if ((now_ms - m_last_ramp_ms) >= m_ramp_period_ms) { - m_last_ramp_ms = now_ms; - m_mod += voltageToMod(m_step_voltage, vdc); - const float max_mod = voltageToMod(m_max_voltage, vdc); - if (m_mod > max_mod) { - m_mod = max_mod; - } + /* Advance the voltage only after the dwell has expired. */ + if ((now_ms - m_step_enter_ms) >= m_step_dwell_ms) { + advanceVoltageStep(); } PWM_SetSPWMParams(RAMP_FREQUENCY_HZ, m_mod); @@ -166,7 +188,7 @@ void BreakawayCalibrator::updateRamp() { if (v_applied < MIN_TRUSTED_VOLTAGE_V) { return; } - Telemetry::printf("[CAL] BREAK: entering trusted region at mod=%.3f (%.2f V), discarding %.3f cycles of phantom motion", + Telemetry::printf("[CAL] BREAK: trusted at mod=%.3f (%.2f V), phantom=%.3f cycles", static_cast(m_mod), static_cast(v_applied), static_cast(moved_cycles)); @@ -176,27 +198,63 @@ void BreakawayCalibrator::updateRamp() { } const float moved_since_trusted = cycles - m_start_cycles; + if (std::fabs(moved_since_trusted) > 0.01f) { + m_last_move_ms = now_ms; + } if (std::fabs(moved_since_trusted) >= m_detect_cycles) { m_breakaway_mod = m_mod; m_breakaway_voltage = modToVoltage(m_mod, vdc); + m_forward_final_cycles = cycles; CalKvStore::saveBreakaway(m_breakaway_mod); - PWM_StopSPWM(); - CalibrationHardware::shutdown(); - Telemetry::printf("[CAL] BREAK: DONE: breakaway at mod=%.3f (%.2f V), moved=%.3f cycles", + Telemetry::printf("[CAL] BREAK: forward breakaway at mod=%.3f (%.2f V), moved=%.3f cycles", static_cast(m_breakaway_mod), static_cast(m_breakaway_voltage), static_cast(moved_since_trusted)); - m_state = State::DONE; + + /* Reverse the field at the same voltage and watch the encoder go back. */ + PWM_SetSPWMParams(REVERSE_FREQUENCY_HZ, m_mod); + Telemetry::printf("[CAL] BREAK: reversing field to verify encoder sign"); + m_have_reverse_start = false; + enterState(State::VERIFY_REVERSE); return; } - if (m_mod >= voltageToMod(m_max_voltage, vdc) && - (now_ms - m_state_start_ms) > RAMP_TIMEOUT_MS) { + const float max_mod = voltageToMod(m_max_voltage, vdc); + if (m_mod >= max_mod && (now_ms - m_state_start_ms) > RAMP_TIMEOUT_MS) { fail("ramp timeout: rotor did not move"); } } +void BreakawayCalibrator::updateVerifyReverse() { + const uint32_t now_ms = HAL_GetTick(); + const float cycles = m_tracker.mechanicalCycles(); + + if (!m_have_reverse_start) { + m_reverse_start_cycles = cycles; + m_have_reverse_start = true; + } + + /* The encoder should move in the opposite direction of the forward motion. */ + const float d_reverse = cycles - m_reverse_start_cycles; + const float d_forward = m_forward_final_cycles - m_start_cycles; + + if ((d_forward > 0.0f && d_reverse <= -m_reverse_cycles) || + (d_forward < 0.0f && d_reverse >= m_reverse_cycles)) { + PWM_StopSPWM(); + CalibrationHardware::shutdown(); + Telemetry::printf("[CAL] BREAK: DONE: reverse check passed (d_fwd=%.3f d_rev=%.3f)", + static_cast(d_forward), + static_cast(d_reverse)); + m_state = State::DONE; + return; + } + + if ((now_ms - m_state_start_ms) > REVERSE_TIMEOUT_MS) { + fail("reverse check timeout: encoder did not follow reversed field"); + } +} + BreakawayCalibrator& breakawayCalibrator() { return BreakawayCalibrator::instance(); } diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index 8e69fcea..ed40e1f2 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -20,7 +20,7 @@ static constexpr float HOLD_MAX_MOD = 0.50f; * modulation step makes the ramp behave similarly at 20 V and 120 V. */ static constexpr float BREAKAWAY_STEP_V = 0.50f; /* V per ramp period */ static constexpr float BREAKAWAY_MAX_V = 10.0f; /* peak phase voltage */ -static constexpr float ROTATE_HEADROOM_V = 3.0f; /* V above breakaway */ +static constexpr float ROTATE_HEADROOM_FACTOR = 1.20f; /* rotation = breakaway * this */ static constexpr float CAL_MAX_VOLTAGE_V = 25.0f; /* hard voltage ceiling */ static constexpr uint32_t WARMUP_MS = 5000U; @@ -144,7 +144,7 @@ void EncoderOffsetCalibrator::enterState(State state) { const float floor_mod = voltageToMod(v_breakaway, vdc); /* Never warm up at a voltage below breakaway; keep a small headroom * so the rotor stays locked. */ - const float min_target_mod = voltageToMod(v_breakaway + 0.5f, vdc); + const float min_target_mod = voltageToMod(v_breakaway * 1.05f, vdc); if (target < min_target_mod) { target = min_target_mod; } @@ -196,7 +196,7 @@ void EncoderOffsetCalibrator::enterState(State state) { const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); float target = m_mod; const float floor_mod = voltageToMod(v_breakaway, vdc); - const float min_target_mod = voltageToMod(v_breakaway + 0.5f, vdc); + const float min_target_mod = voltageToMod(v_breakaway * 1.05f, vdc); if (target < min_target_mod) { target = min_target_mod; } @@ -469,7 +469,7 @@ void EncoderOffsetCalibrator::update() { m_breakaway_mod = m_breakaway.breakawayMod(); const float vdc = dcLinkVoltageSensor().voltage(); const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); - const float v_rotate = v_breakaway + ROTATE_HEADROOM_V; + const float v_rotate = v_breakaway * ROTATE_HEADROOM_FACTOR; m_mod = voltageToMod(v_rotate, vdc); const float max_mod = effectiveMaxMod(vdc); if (m_mod > max_mod) m_mod = max_mod; diff --git a/Images/Gen6FW/Src/Inverter/Drivers/PWM/pwm.cpp b/Images/Gen6FW/Src/Inverter/Drivers/PWM/pwm.cpp index c2c1f1ec..9963509a 100644 --- a/Images/Gen6FW/Src/Inverter/Drivers/PWM/pwm.cpp +++ b/Images/Gen6FW/Src/Inverter/Drivers/PWM/pwm.cpp @@ -345,7 +345,7 @@ bool PWM_FindSafeSamplePoint(float duty_u, float duty_v, float duty_w, */ void PWM_StartSPWM(float fundamental_freq_hz, float modulation_index) { - if (fundamental_freq_hz < 0.0f) fundamental_freq_hz = 0.0f; + /* Negative frequency reverses the rotation direction. */ if (modulation_index < 0.0f) modulation_index = 0.0f; if (modulation_index > SVPWM_M_MAX) modulation_index = SVPWM_M_MAX; @@ -373,7 +373,7 @@ void PWM_StopSPWM(void) void PWM_SetSPWMParams(float fundamental_freq_hz, float modulation_index) { - if (fundamental_freq_hz < 0.0f) fundamental_freq_hz = 0.0f; + /* Negative frequency reverses the rotation direction. */ if (modulation_index < 0.0f) modulation_index = 0.0f; if (modulation_index > SVPWM_M_MAX) modulation_index = SVPWM_M_MAX; @@ -442,11 +442,14 @@ void HAL_TIM_PeriodElapsedCallback(TIM_HandleTypeDef *htim) PWM_SetThreePhaseDuty(du, dv, dw); - /* Advance angle by one PWM period. */ + /* Advance angle by one PWM period. Negative frequency reverses direction; + * keep the angle in [0, 2pi) and count net forward cycles only. */ angle += TWO_PI * spwm_fundamental_freq_hz / pwm_switching_freq_hz; if (angle >= TWO_PI) { angle -= TWO_PI; ++spwm_elec_cycles; + } else if (angle < 0.0f) { + angle += TWO_PI; } spwm_angle = angle; } From c0f58262448a4ba1d6e6969c938133a1be2037e2 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 17:19:53 -0700 Subject: [PATCH 10/16] cal: add pause before reverse and settle time in breakaway finder The reverse check in BreakawayCalibrator was happening immediately after forward breakaway, which made it hard to observe and could fight rotor inertia. - After forward breakaway, hold the forward field for 1 second before reversing. This gives a visible pause and lets the rotor settle. - After reversing, wait 500 ms before measuring reverse motion so the field change has time to pull the rotor back. - Increase reverse-check threshold to 0.15 cycles (same as forward). Builds: foc_demo Debug image compiles successfully. --- .../Calibration/BreakawayCalibrator.h | 4 +- .../Calibration/BreakawayCalibrator.cpp | 37 ++++++++++++++++--- 2 files changed, 34 insertions(+), 7 deletions(-) diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h index e85b1152..b12aa237 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/BreakawayCalibrator.h @@ -21,6 +21,7 @@ class BreakawayCalibrator { IDLE, HW_INIT, RAMP_FWD, + PAUSE_AFTER_FWD, VERIFY_REVERSE, DONE, FAIL @@ -42,7 +43,7 @@ class BreakawayCalibrator { float step_voltage = 0.5f, uint32_t step_dwell_ms = 1000U, float detect_cycles = 0.15f, - float reverse_cycles = 0.10f); + float reverse_cycles = 0.15f); /** Non-blocking state-machine update; call at ~100 Hz. */ void update(); @@ -67,6 +68,7 @@ class BreakawayCalibrator { void enterState(State state); void fail(const char* reason); void updateRampFwd(); + void updatePauseAfterFwd(); void updateVerifyReverse(); void advanceVoltageStep(); diff --git a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp index 221d0963..4a6aa13e 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp @@ -15,6 +15,8 @@ namespace Inverter { static constexpr float RAMP_FREQUENCY_HZ = 1.0f; static constexpr float REVERSE_FREQUENCY_HZ = -1.0f; static constexpr uint32_t RAMP_TIMEOUT_MS = 60000U; +static constexpr uint32_t PAUSE_AFTER_FWD_MS = 1000U; +static constexpr uint32_t REVERSE_SETTLE_MS = 500U; static constexpr uint32_t REVERSE_TIMEOUT_MS = 5000U; static constexpr float MIN_TRUSTED_VOLTAGE_V = 0.3f; static constexpr uint32_t HW_INIT_TIMEOUT_MS = 2000U; @@ -133,6 +135,11 @@ void BreakawayCalibrator::update() { break; } + case State::PAUSE_AFTER_FWD: { + updatePauseAfterFwd(); + break; + } + case State::VERIFY_REVERSE: { updateVerifyReverse(); break; @@ -211,12 +218,9 @@ void BreakawayCalibrator::updateRampFwd() { static_cast(m_breakaway_mod), static_cast(m_breakaway_voltage), static_cast(moved_since_trusted)); - - /* Reverse the field at the same voltage and watch the encoder go back. */ - PWM_SetSPWMParams(REVERSE_FREQUENCY_HZ, m_mod); - Telemetry::printf("[CAL] BREAK: reversing field to verify encoder sign"); - m_have_reverse_start = false; - enterState(State::VERIFY_REVERSE); + Telemetry::printf("[CAL] BREAK: pausing %.1f s before reverse check", + static_cast(PAUSE_AFTER_FWD_MS) * 0.001); + enterState(State::PAUSE_AFTER_FWD); return; } @@ -226,10 +230,31 @@ void BreakawayCalibrator::updateRampFwd() { } } +void BreakawayCalibrator::updatePauseAfterFwd() { + const uint32_t now_ms = HAL_GetTick(); + + /* Keep the forward field running so the rotor stays pulled in the same + * direction during the pause. */ + PWM_SetSPWMParams(RAMP_FREQUENCY_HZ, m_mod); + + if ((now_ms - m_state_start_ms) >= PAUSE_AFTER_FWD_MS) { + PWM_SetSPWMParams(REVERSE_FREQUENCY_HZ, m_mod); + Telemetry::printf("[CAL] BREAK: reversing field to verify encoder sign"); + m_have_reverse_start = false; + enterState(State::VERIFY_REVERSE); + } +} + void BreakawayCalibrator::updateVerifyReverse() { const uint32_t now_ms = HAL_GetTick(); const float cycles = m_tracker.mechanicalCycles(); + /* Give the rotor a moment to react to the reversed field before we start + * measuring the reverse motion. */ + if ((now_ms - m_state_start_ms) < REVERSE_SETTLE_MS) { + return; + } + if (!m_have_reverse_start) { m_reverse_start_cycles = cycles; m_have_reverse_start = true; From 5ef28d8c9ef74ba7de851eb37e36ee845f060de4 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 17:36:13 -0700 Subject: [PATCH 11/16] cal: slow breakaway search and start rotation at breakaway voltage The encoder offset cal was still slipping during OFFSET_ROTATE because: - Breakaway was found with 200 ms steps, giving ~3 V instead of the true static ~1.5 V seen by the standalone finder. - WARMUP/OFFSET_ROTATE ramps started at 0 V, letting the rotor cog/slip before voltage reached the useful range. - Rotation headroom was only 1.2x, not enough torque margin once current limiting throttled the voltage back toward breakaway. Changes: - Breakaway search step period increased from 200 ms to 1000 ms so the rotor has time to settle at each voltage. - Rotation headroom increased from 1.2x to 1.5x breakaway voltage. - WARMUP and OFFSET_ROTATE now start SPWM and the ramp at breakaway voltage instead of 0 V, keeping the rotor locked from the start. Builds: foc_demo Debug image compiles successfully. --- .../Calibration/EncoderOffsetCalibrator.cpp | 46 ++++++++++--------- 1 file changed, 25 insertions(+), 21 deletions(-) diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index ed40e1f2..3adb70ca 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -20,7 +20,7 @@ static constexpr float HOLD_MAX_MOD = 0.50f; * modulation step makes the ramp behave similarly at 20 V and 120 V. */ static constexpr float BREAKAWAY_STEP_V = 0.50f; /* V per ramp period */ static constexpr float BREAKAWAY_MAX_V = 10.0f; /* peak phase voltage */ -static constexpr float ROTATE_HEADROOM_FACTOR = 1.20f; /* rotation = breakaway * this */ +static constexpr float ROTATE_HEADROOM_FACTOR = 1.50f; /* rotation = breakaway * this */ static constexpr float CAL_MAX_VOLTAGE_V = 25.0f; /* hard voltage ceiling */ static constexpr uint32_t WARMUP_MS = 5000U; @@ -34,7 +34,7 @@ static constexpr uint32_t OFFSET_SAMPLE_PERIOD_MS = 10U; static constexpr float NOISE_THRESHOLD_CYCLES = 0.02f; static constexpr float BREAKAWAY_DETECT_CYCLES = 0.15f; static constexpr uint32_t BREAKAWAY_DETECT_DWELL_MS = 100U; -static constexpr uint32_t RAMP_PERIOD_MS = 200U; +static constexpr uint32_t RAMP_PERIOD_MS = 1000U; static constexpr uint32_t MOVE_TIMEOUT_MS = 3000U; static constexpr uint32_t FIND_VOLTAGE_TIMEOUT_MS = 15000U; static constexpr uint32_t OFFSET_ROTATE_TIMEOUT_MS = 60000U; @@ -152,9 +152,11 @@ void EncoderOffsetCalibrator::enterState(State state) { if (target > max_mod) { target = max_mod; } - m_ramp.start(0.0f, target, 4000U, openLoopController().rampCurrentLimit(), floor_mod); + /* Start at breakaway voltage so the rotor is pulled from the first + * PWM period instead of coasting/cogging through a low-voltage ramp. */ + m_ramp.start(floor_mod, target, 4000U, openLoopController().rampCurrentLimit(), floor_mod); PWM_ResetSPWMElectricalCycles(); - PWM_StartSPWM(WARMUP_FREQUENCY_HZ, 0.0f); + PWM_StartSPWM(WARMUP_FREQUENCY_HZ, floor_mod); m_warmup_sign = 0; m_warmup_enc_start = m_tracker.unwrappedDegrees() / m_encoder_cycles_per_rev; @@ -162,9 +164,24 @@ void EncoderOffsetCalibrator::enterState(State state) { break; } - case State::OFFSET_ROTATE: + case State::OFFSET_ROTATE: { + /* Compute voltage targets first so SPWM can start at breakaway + * voltage and keep the rotor locked from the first period. */ + const float vdc = dcLinkVoltageSensor().voltage(); + const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); + const float floor_mod = voltageToMod(v_breakaway, vdc); + float target = m_mod; + const float min_target_mod = voltageToMod(v_breakaway * 1.05f, vdc); + if (target < min_target_mod) { + target = min_target_mod; + } + const float max_mod = effectiveMaxMod(vdc); + if (target > max_mod) { + target = max_mod; + } + PWM_ResetSPWMElectricalCycles(); - PWM_StartSPWM(OFFSET_ROTATION_FREQUENCY_HZ, 0.0f); + PWM_StartSPWM(OFFSET_ROTATION_FREQUENCY_HZ, floor_mod); /* Reset the tracker here so the offset measurement starts from the * same instant as the field angle. This removes any scale/offset * error accumulated during the warmup phase. */ @@ -191,22 +208,9 @@ void EncoderOffsetCalibrator::enterState(State state) { * offset acquisition so that the stored offset matches the same * angle decoding the runtime will use. */ encoderADC().startFitCapture(); - { - const float vdc = dcLinkVoltageSensor().voltage(); - const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); - float target = m_mod; - const float floor_mod = voltageToMod(v_breakaway, vdc); - const float min_target_mod = voltageToMod(v_breakaway * 1.05f, vdc); - if (target < min_target_mod) { - target = min_target_mod; - } - const float max_mod = effectiveMaxMod(vdc); - if (target > max_mod) { - target = max_mod; - } - m_ramp.start(0.0f, target, 4000U, openLoopController().rampCurrentLimit(), floor_mod); - } + m_ramp.start(floor_mod, target, 4000U, openLoopController().rampCurrentLimit(), floor_mod); break; + } case State::DONE: case State::FAIL: From 354858dca8a6cff4bb9d2df1f965209201d15e88 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Fri, 7 Aug 2026 17:48:20 -0700 Subject: [PATCH 12/16] cal: fix breakaway threshold and allow offset acquisition during current limit Encoder offset calibration was still failing because: - BreakawayFinder required modulation to reach 3x the step size before trusting encoder motion, so the encoder cal found breakaway at ~2 V while the standalone finder found it at ~1.5 V. - Offset acquisition required CurrentLimitedRamp to report DONE, but when rotation current hit the 250 A limit the ramp never finished and the cal timed out at 450 deg even though the rotor was tracking the field. Fixes: - BreakawayFinder accepts an explicit min_trusted_mod. EncoderOffsetCalibrator passes voltageToMod(0.3f, vdc), matching the standalone breakaway finder. - EncoderOffsetCalibrator starts offset acquisition as soon as the field has rotated 180 deg and the sign is known, regardless of ramp_done. Result: encoder offset cal completes at ~1.5 V breakaway / 2.25 V rotation, collects 999 samples over 3 revs, and saves the offset/sign/cycles. Builds: foc_demo Debug image compiles successfully. Tested on hardware. --- .../Inverter/Calibration/Common/BreakawayFinder.h | 3 ++- .../Inverter/Calibration/Common/BreakawayFinder.cpp | 12 +++++++++--- .../Inverter/Calibration/EncoderOffsetCalibrator.cpp | 6 +++--- 3 files changed, 14 insertions(+), 7 deletions(-) diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h b/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h index 4518ab06..446fa917 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/Common/BreakawayFinder.h @@ -24,7 +24,8 @@ class BreakawayFinder { void start(float step, uint32_t period_ms, float max_mod, float detect_cycles, float torque_margin, uint32_t stall_timeout_ms, - uint32_t detect_dwell_ms = 0U); + uint32_t detect_dwell_ms = 0U, + float min_trusted_mod = 0.0f); /** Reset the movement reference without changing ramp parameters. */ void resetReference(); diff --git a/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp b/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp index ba60e1dd..1269b480 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/Common/BreakawayFinder.cpp @@ -9,7 +9,8 @@ namespace Inverter { void BreakawayFinder::start(float step, uint32_t period_ms, float max_mod, float detect_cycles, float torque_margin, uint32_t stall_timeout_ms, - uint32_t detect_dwell_ms) { + uint32_t detect_dwell_ms, + float min_trusted_mod) { m_step = step; m_period_ms = period_ms; m_max_mod = max_mod; @@ -20,8 +21,13 @@ void BreakawayFinder::start(float step, uint32_t period_ms, float max_mod, /* A stationary rotor cannot move at zero or near-zero modulation. * Require the ramp to reach a few steps before trusting any encoder - * movement as real breakaway. */ - m_min_trusted_mod = std::max(0.01f, 3.0f * step); + * movement as real breakaway. Callers that pass an explicit threshold + * (e.g. a fixed voltage converted to modulation) override this default. */ + if (min_trusted_mod > 0.0f) { + m_min_trusted_mod = min_trusted_mod; + } else { + m_min_trusted_mod = std::max(0.01f, 3.0f * step); + } m_mod = 0.0f; m_breakaway_mod = 0.0f; diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index 3adb70ca..7d4fb205 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -129,9 +129,10 @@ void EncoderOffsetCalibrator::enterState(State state) { const float step_mod = voltageToMod(BREAKAWAY_STEP_V, vdc); const float max_v = std::min(BREAKAWAY_MAX_V, vdc * 0.5f); const float max_mod_search = voltageToMod(max_v, vdc); + const float min_trusted_mod = voltageToMod(0.3f, vdc); m_breakaway.start(step_mod, RAMP_PERIOD_MS, max_mod_search, BREAKAWAY_DETECT_CYCLES, 1.0f, MOVE_TIMEOUT_MS, - BREAKAWAY_DETECT_DWELL_MS); + BREAKAWAY_DETECT_DWELL_MS, min_trusted_mod); PWM_StartSPWM(OFFSET_ROTATION_FREQUENCY_HZ, 0.0f); break; } @@ -508,7 +509,6 @@ void EncoderOffsetCalibrator::update() { const float field_mech = fieldMechanicalAngle(); const float moved_field = std::fabs(field_mech - m_rotate_start_field); const float encoder_mech = m_tracker.unwrappedDegrees() / m_encoder_cycles_per_rev; - const bool ramp_done = (ramp_status == CurrentLimitedRamp::Status::DONE); if ((now_ms - m_last_dbg_ms) >= 500U) { m_last_dbg_ms = now_ms; @@ -562,7 +562,7 @@ void EncoderOffsetCalibrator::update() { return; } - if (ramp_done && moved_field >= OFFSET_ACQUIRE_START_DEG && m_sign != 0) { + if (moved_field >= OFFSET_ACQUIRE_START_DEG && m_sign != 0) { /* Compute and apply the Layer 1 ellipse fit *before* measuring * the offset. The runtime decoder uses the fit (if valid), so * the stored offset must refer to the fitted angle, not the From fb9cf3ecb97d4ef049f41b3681ab03ddbf781c15 Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Sat, 8 Aug 2026 17:55:33 -0700 Subject: [PATCH 13/16] Add encoderless induction motor V/Hz inductance calibrator and induction cal path - Add InductionVHzCalibrator: lock-in detection of phase current at the SPWM voltage angle, rejects out-of-sync/slipping points by power-factor angle. - Add InductionMotorCalibrator for sigma_Ls/tau_r identification. - Wire induction routines into auto-cal coordinator, CLI, and main loop. - CalKvStore saves induction results; motor type updates immediately on config. - Fix RTECLI and RTE Studio base-source path resolution. - Add induction_vhz example graph and generator script. --- Assets/Examples/induction_vhz.json | 3325 +++++++++++++++++ Images/Gen6FW/CMakeLists.txt | 3 + .../Calibration/AutoCalibrationCoordinator.h | 46 +- .../Inc/Inverter/Calibration/CalKvStore.h | 8 + .../Calibration/EncoderLinearityCalibrator.h | 2 +- .../Calibration/InductanceCalibrator.h | 26 +- .../Calibration/InductionMotorCalibrator.h | 167 + .../Calibration/InductionVHzCalibrator.h | 142 + .../Inverter/Calibration/MotorCalibration.h | 12 + .../Inc/Inverter/Calibration/PoleCalibrator.h | 2 +- .../Calibration/ResistanceCalibrator.h | 12 +- .../Drivers/Storage/MotorConfigStore.h | 10 +- .../AutoCalibrationCoordinator.cpp | 156 +- .../Calibration/BreakawayCalibrator.cpp | 21 +- .../Src/Inverter/Calibration/CalKvStore.cpp | 78 +- .../Calibration/EncoderOffsetCalibrator.cpp | 29 +- .../Calibration/FluxLinkageCalibrator.cpp | 2 +- .../Calibration/InductanceCalibrator.cpp | 156 +- .../Calibration/InductionMotorCalibrator.cpp | 535 +++ .../Calibration/InductionVHzCalibrator.cpp | 425 +++ .../Calibration/ResistanceCalibrator.cpp | 23 +- .../Inverter/Command/CommandInitializer.cpp | 2 + .../Command/Commands/CalibrationCommands.cpp | 151 +- .../Command/Commands/ControlCommands.cpp | 11 + .../Command/Commands/OpenLoopCommands.cpp | 86 + .../Drivers/Storage/MotorConfigStore.cpp | 53 + Images/Gen6FW/Src/Inverter/InverterMain.cpp | 8 + Source/NodeGUI/README.md | 11 +- Source/NodeGUI/src/MainWindow.cpp | 28 +- .../NodeGUI/src/runtime/RuntimeController.cpp | 1 + .../src/runtime/RuntimeSessionExporter.cpp | 4 +- Source/NodeGUI/src/runtime/TelemetryStore.cpp | 18 +- Source/NodeGUI/src/runtime/TelemetryStore.h | 7 + Source/RTECLI/src/Main.cpp | 21 + Source/RTECodeEmitter/src/Emitter.cpp | 20 +- Tools/generate_induction_vhz_graph.py | 388 ++ Tools/rteplot/README.md | 27 + 37 files changed, 5856 insertions(+), 160 deletions(-) create mode 100644 Assets/Examples/induction_vhz.json create mode 100644 Images/Gen6FW/Inc/Inverter/Calibration/InductionMotorCalibrator.h create mode 100644 Images/Gen6FW/Inc/Inverter/Calibration/InductionVHzCalibrator.h create mode 100644 Images/Gen6FW/Src/Inverter/Calibration/InductionMotorCalibrator.cpp create mode 100644 Images/Gen6FW/Src/Inverter/Calibration/InductionVHzCalibrator.cpp create mode 100644 Tools/generate_induction_vhz_graph.py diff --git a/Assets/Examples/induction_vhz.json b/Assets/Examples/induction_vhz.json new file mode 100644 index 00000000..6a0bed85 --- /dev/null +++ b/Assets/Examples/induction_vhz.json @@ -0,0 +1,3325 @@ +{ + "bridges": [], + "connections": [ + { + "from": { + "nodeId": "TargetHz", + "portName": "Value" + }, + "id": "c_target_to_slew", + "to": { + "nodeId": "FreqSlew", + "portName": "In" + } + }, + { + "from": { + "nodeId": "CfgSlewRate", + "portName": "Value" + }, + "id": "c_cfg_slew", + "to": { + "nodeId": "FreqSlew", + "portName": "Rate" + } + }, + { + "from": { + "nodeId": "FreqSlew", + "portName": "Out" + }, + "id": "c_slew_to_angle", + "to": { + "nodeId": "AngleGen", + "portName": "Hz" + } + }, + { + "from": { + "nodeId": "FreqSlew", + "portName": "Out" + }, + "id": "c_slew_to_vhz", + "to": { + "nodeId": "VHzGen", + "portName": "Hz" + } + }, + { + "from": { + "nodeId": "AngleGen", + "portName": "Theta" + }, + "id": "c_angle_to_vhz", + "to": { + "nodeId": "VHzGen", + "portName": "Theta" + } + }, + { + "from": { + "nodeId": "VHzGen", + "portName": "V_Alpha" + }, + "id": "c_valpha", + "to": { + "nodeId": "Svpwm", + "portName": "V_Alpha" + } + }, + { + "from": { + "nodeId": "VHzGen", + "portName": "V_Beta" + }, + "id": "c_vbeta", + "to": { + "nodeId": "Svpwm", + "portName": "V_Beta" + } + }, + { + "from": { + "nodeId": "VdcSense", + "portName": "V_Dc" + }, + "id": "c_vdc", + "to": { + "nodeId": "Svpwm", + "portName": "V_Dc" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "c_duty_a", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_A" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "c_duty_b", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_B" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "c_duty_c", + "to": { + "nodeId": "PwmOut", + "portName": "Duty_C" + } + }, + { + "from": { + "nodeId": "CfgVoltsPerHz", + "portName": "Value" + }, + "id": "c_cfg_vhz_ratio", + "to": { + "nodeId": "VHzGen", + "portName": "VoltsPerHz" + } + }, + { + "from": { + "nodeId": "CfgBoostVolts", + "portName": "Value" + }, + "id": "c_cfg_vhz_boost", + "to": { + "nodeId": "VHzGen", + "portName": "BoostVolts" + } + }, + { + "from": { + "nodeId": "FreqSlew", + "portName": "Out" + }, + "id": "c_log_freq", + "to": { + "nodeId": "LogFreq", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VHzGen", + "portName": "V_Alpha" + }, + "id": "c_log_vmag", + "to": { + "nodeId": "LogVmag", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "AngleGen", + "portName": "Theta" + }, + "id": "c_log_angle", + "to": { + "nodeId": "LogAngle", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "VdcSense", + "portName": "V_Dc" + }, + "id": "c_log_vdc", + "to": { + "nodeId": "LogVdc", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_A" + }, + "id": "gui_conn_13", + "to": { + "nodeId": "du", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_B" + }, + "id": "gui_conn_34", + "to": { + "nodeId": "dv", + "portName": "Value" + } + }, + { + "from": { + "nodeId": "Svpwm", + "portName": "Duty_C" + }, + "id": "gui_conn_73", + "to": { + "nodeId": "dw", + "portName": "Value" + } + } + ], + "name": "induction_vhz", + "nodeTypes": [ + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Const", + "description": "Provides a constant scalar value, optionally replaced by a wired input.", + "displayName": "Constant", + "domain": "", + "id": "Values.Constant", + "inlineCode": "/* Compile-time constant (or wired value via optional In). */\nOut = Value;\n", + "inputPorts": [ + { + "description": "Optional value that replaces the configured constant when wired.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Configured constant or the value supplied through In.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback storage for the optional In port.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Constant value emitted when no input overrides it.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Log", + "description": "Publishes a scalar value to runtime telemetry under a configurable key.", + "displayName": "Telemetry Log", + "domain": "", + "id": "Debug.TelemetryLog", + "inlineCode": "platform_telemetry_log_f32(Key, Value);\n", + "inputPorts": [ + { + "description": "Scalar value to publish.", + "direction": "input", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Key": { + "description": "Telemetry channel name used when publishing the value.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PwmOut", + "description": "Applies three phase-duty commands to the platform PWM peripheral.", + "displayName": "PWM Out", + "domain": "tim_isr", + "id": "Actuators.PwmOut", + "inlineCode": "platform_pwm_set(Duty_A, Duty_B, Duty_C);\n", + "inputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "input", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "input", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "input", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanRx", + "description": "Reads the latest frame from a configured CAN receive mailbox and exposes its payload.", + "displayName": "CAN RX", + "domain": "", + "id": "Sensors.CanRx", + "inlineCode": "/* CAN receive mailbox for Id on Bus (1=A/FDCAN1, 2=B/FDCAN2).\n * Fresh is true for one step when a new frame arrived; Dlc/bytes hold the\n * latest payload otherwise. */\nuint8_t buf[8] = {};\nuint32_t seq = 0;\nconst int dlc = platform_can_rx(static_cast(Bus),\n static_cast(Id), buf, &seq);\nFresh = (seq != LastSeq);\nLastSeq = static_cast(seq);\nif (dlc > 0) {\n Dlc = static_cast(dlc);\n D0 = buf[0]; D1 = buf[1]; D2 = buf[2]; D3 = buf[3];\n D4 = buf[4]; D5 = buf[5]; D6 = buf[6]; D7 = buf[7];\n} else {\n Dlc = 0.0f;\n}\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Most recently received payload byte 0.", + "direction": "output", + "name": "D0", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 1.", + "direction": "output", + "name": "D1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 2.", + "direction": "output", + "name": "D2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 3.", + "direction": "output", + "name": "D3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 4.", + "direction": "output", + "name": "D4", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 5.", + "direction": "output", + "name": "D5", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 6.", + "direction": "output", + "name": "D6", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Most recently received payload byte 7.", + "direction": "output", + "name": "D7", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Data length of the latest received frame.", + "direction": "output", + "name": "Dlc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True for one execution step when a new frame has arrived.", + "direction": "output", + "name": "Fresh", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier accepted by the receive mailbox.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastSeq": { + "description": "Internal sequence counter used to detect newly received frames.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PhaseVoltages", + "description": "Reads the filtered three-phase and DC-link voltage sensor channels.", + "displayName": "Phase Voltages", + "domain": "", + "id": "Sensors.PhaseVoltages", + "inlineCode": "/* All voltage sense channels from the MAX22530 isolated ADC, filtered. */\nV_U = rte::Volts(platform_phase_voltage_u());\nV_V = rte::Volts(platform_phase_voltage_v());\nV_W = rte::Volts(platform_phase_voltage_w());\nV_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Measured phase U voltage in volts.", + "direction": "output", + "name": "V_U", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase V voltage in volts.", + "direction": "output", + "name": "V_V", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured phase W voltage in volts.", + "direction": "output", + "name": "V_W", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvPark", + "description": "Rotates d-q voltage commands into stationary alpha-beta coordinates.", + "displayName": "Inverse Park Transform", + "domain": "", + "id": "Transforms.InversePark", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nV_Alpha = V_D * cos_theta - V_Q * sin_theta;\nV_Beta = V_D * sin_theta + V_Q * cos_theta;\n", + "inputPorts": [ + { + "description": "Rotating-frame direct-axis voltage.", + "direction": "input", + "name": "V_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Rotating-frame quadrature-axis voltage.", + "direction": "input", + "name": "V_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "output", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "output", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Din", + "description": "Reads a boolean level from one of the platform user digital inputs.", + "displayName": "Digital In", + "domain": "", + "id": "Sensors.DigitalIn", + "inlineCode": "/* User digital input. Pin 1..8 -> USER_DIN_1..8 (see platform_api.h). */\nOut = platform_digital_read(static_cast(Pin));\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current logic level of the selected digital input.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "Pin": { + "description": "User digital input selector in the range 1 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "FocFeedforward", + "description": "Computes PMSM d/q voltage feed-forward terms from electrical speed, measured currents, and motor parameters. Outputs cross-coupling and back-EMF voltages for the current-loop PI controllers.", + "displayName": "FOC Feed-Forward", + "domain": "", + "id": "Control.FocFeedforward", + "inlineCode": "/* PMSM voltage feed-forward: cross-coupling and back-EMF terms.\n * Electrical speed is supplied in RPM and converted to rad/s internally.\n *\n * Vd_ff = -ωe * Lq * Iq\n * Vq_ff = ωe * Ld * Id + ωe * Lambda\n */\nconstexpr float RPM_TO_RAD_S = 2.0f * 3.14159265358979323846f / 60.0f;\nconst float omega_e = RpmElec * RPM_TO_RAD_S;\n\nconst float id_a = I_D.in(au::amperes);\nconst float iq_a = I_Q.in(au::amperes);\n\nconst float vd_ff = -(omega_e * Lq * iq_a);\nconst float vq_ff = (omega_e * Ld * id_a) + (omega_e * Lambda);\n\nV_D = rte::Volts(vd_ff);\nV_Q = rte::Volts(vq_ff);\n", + "inputPorts": [ + { + "description": "Measured d-axis current.", + "direction": "input", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured q-axis current.", + "direction": "input", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Electrical rotor speed in revolutions per minute. Converted internally to rad/s.", + "direction": "input", + "name": "RpmElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "D-axis feed-forward voltage (cross-coupling term).", + "direction": "output", + "name": "V_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Q-axis feed-forward voltage (cross-coupling + back-EMF terms).", + "direction": "output", + "name": "V_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "parameterTypes": { + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ld": { + "description": "D-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Dout", + "description": "Writes a boolean signal to a user digital output or onboard status LED.", + "displayName": "Digital Out", + "domain": "", + "id": "Actuators.DigitalOut", + "inlineCode": "/* User digital output. Pin 1..4 -> USER_DOUT_1..4, 5 -> green LED,\n * 6 -> orange LED (see platform_api.h). */\nplatform_digital_write(static_cast(Pin), In);\n", + "inputPorts": [ + { + "description": "Logic level to write to the selected output.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Pin": { + "description": "Output selector: 1-4 are user digital outputs, 5 is the green LED, and 6 is the orange LED.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SampleTrigger", + "description": "Schedules the next phase-current ADC burst in the quietest available PWM window.", + "displayName": "Adaptive Sample Trigger", + "domain": "tim_isr", + "id": "hw.adaptive_sample_trigger", + "inlineCode": "/* Adaptive current-sample trigger:\n * Place the ADC micro-burst trigger at the quietest point in the upcoming\n * PWM period, computed from the three phase duties. Falls back to the\n * legacy bottom trigger when no clean window exists.\n *\n * Connect after the SVPWM node so the duties reflect the upcoming period.\n */\nconst uint32_t arr = platform_pwm_get_arr();\nconst uint32_t gap = platform_schedule_adaptive_sample(\n Duty_A, Duty_B, Duty_C, arr);\n\nGapTicks = rte::Dimensionless(static_cast(gap));\n", + "inputPorts": [ + { + "description": "Normalized phase-A PWM duty command for the upcoming period.", + "direction": "input", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized phase-B PWM duty command for the upcoming period.", + "direction": "input", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized phase-C PWM duty command for the upcoming period.", + "direction": "input", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Available quiet-window width in PWM timer ticks.", + "direction": "output", + "name": "GapTicks", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ForcedAngle", + "description": "Generates a continuously advancing electrical angle for open-loop control.", + "displayName": "Forced Angle", + "domain": "", + "id": "Transforms.ForcedAngle", + "inlineCode": "Angle += RateRadPerS * Dt;\nif (Angle >= 6.28318530718f) Angle -= 6.28318530718f;\nThetaElec = Angle;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Generated electrical angle wrapped to one revolution.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Angle": { + "description": "Persistent generated angle state in radians.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "RateRadPerS": { + "description": "Electrical angular velocity in radians per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Pi", + "description": "Proportional-integral controller with output clamping, back-calculation anti-windup, and an optional feed-forward term.", + "displayName": "PI Controller", + "domain": "", + "id": "Control.Pi", + "inlineCode": "/* PI with clamping + back-calculation anti-windup.\n * Dimensionless throughout: implicit unit extraction/injection handles any\n * physical-quantity wiring at the binding sites. */\nconst float error = Setpoint - Measurement;\nIntegral += error * Dt;\n\nfloat raw_output = Kp * error + Ki * Integral + Feedforward;\n\n/* Dynamic limit derived from DC-link voltage. Allow overmodulation up to\n * the six-step boundary (2*Vdc/3) so the SVPWM stage can use the full\n * hexagon when commanded. Linear SVPWM limit is Vdc/sqrt(3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nconst float max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nconst float min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\n\nfloat limited_output = raw_output;\nif (limited_output > max_limit) limited_output = max_limit;\nif (limited_output < min_limit) limited_output = min_limit;\n\n/* Back-calculation anti-windup, scaled by AwGain (0 disables; 1.0 matches\n * the base-image VectorPIController). */\nif (Ki > 0.0001f && Kp > 0.0001f && AwGain > 0.0f) {\n const float excess = raw_output - limited_output;\n Integral -= excess * Dt * AwGain / (Kp * Ki);\n}\n\nOutput = limited_output;\n", + "inputPorts": [ + { + "description": "Desired target value.", + "direction": "input", + "name": "Setpoint", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Measured process value subtracted from the setpoint.", + "direction": "input", + "name": "Measurement", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Optional additive feed-forward value. Wired voltage sources are extracted automatically; unconnected ports default to zero.", + "direction": "input", + "name": "Feedforward", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Clamped PI control effort.", + "direction": "output", + "name": "Output", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "AwGain": { + "description": "Back-calculation anti-windup gain. Zero disables anti-windup.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Controller step period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Feedforward": { + "description": "Default value used when the Feedforward input port is not connected.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Integral": { + "description": "Persistent accumulated-error state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ki": { + "description": "Integral gain applied to the accumulated error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Kp": { + "description": "Proportional gain applied to the current error.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMax": { + "description": "Upper output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMin": { + "description": "Lower output clamp, additionally limited by the measured DC-link voltage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Throttle", + "description": "Reads the redundant throttle channels and their plausibility status.", + "displayName": "Throttle", + "domain": "", + "id": "Sensors.Throttle", + "inlineCode": "/* Dual throttle channels, normalized [0..1] by the base-image driver\n * (KV calibration Hw.ThrA/B.MinV/MaxV). Both read 0 and Valid is false\n * while the channels disagree beyond the plausibility tolerance. */\nA = platform_get_throttle_a();\nB = platform_get_throttle_b();\nValid = platform_get_throttle_valid();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Normalized throttle channel A in the range 0 to 1.", + "direction": "output", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Normalized throttle channel B in the range 0 to 1.", + "direction": "output", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "True when both throttle channels pass the plausibility check.", + "direction": "output", + "name": "Valid", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mtpa", + "description": "Maximum Torque Per Ampere current-reference generator for PMSM. Converts a per-unit current command into optimal d-q current references using motor inductances and flux linkage.", + "displayName": "MTPA Reference", + "domain": "", + "id": "Control.Mtpa", + "inlineCode": "/* Maximum Torque Per Ampere (MTPA) current-reference generator.\n * CurrentRef is per-unit [-1..1] and scaled by CurrentMax to obtain the\n * actual current magnitude. For SPM motors (Ld == Lq) the result is\n * Id=0, Iq=CurrentRef*CurrentMax. For IPMSM (Lq > Ld) the current angle\n * is computed from the analytical MTPA condition.\n *\n * Torque equation: T = (3/2)*pp*(Lambda*Iq + (Ld-Lq)*Id*Iq)\n * MTPA condition: Lambda*cos(beta) + (Ld-Lq)*Is*cos(2*beta) = 0\n * Solving for cos(beta) with delta = Lq - Ld:\n * cos(beta) = (sqrt(Lambda^2 + 8*delta^2*Is^2) - Lambda) / (4*delta*Is)\n */\nconst float i_cmd = CurrentRef * CurrentMax.in(au::amperes);\nconst float i_abs = fabsf(i_cmd);\nfloat id_ref = 0.0f;\n\nif (i_abs > 1e-6f) {\n const float delta = Lq - Ld;\n if (fabsf(delta) > 1e-9f) {\n const float radical = sqrtf(Lambda * Lambda + 8.0f * delta * delta * i_abs * i_abs);\n float cos_beta = (radical - Lambda) / (4.0f * delta * i_abs);\n if (cos_beta > 1.0f) cos_beta = 1.0f;\n if (cos_beta < -1.0f) cos_beta = -1.0f;\n id_ref = i_abs * cos_beta;\n }\n}\n\nconst float ratio = (i_abs > 1e-6f) ? (id_ref / i_abs) : 0.0f;\nconst float sin_beta = sqrtf(1.0f - ratio * ratio);\nconst float iq_ref = i_cmd * sin_beta;\n\nI_D = rte::Amperes(id_ref);\nI_Q = rte::Amperes(iq_ref);\n", + "inputPorts": [ + { + "description": "Per-unit current command [-1..1]. Scaled by CurrentMax to obtain the current magnitude used for MTPA.", + "direction": "input", + "name": "CurrentRef", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "D-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Q-axis current reference that realizes MTPA for the requested current magnitude.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "parameterTypes": { + "CurrentMax": { + "description": "Maximum current magnitude in amperes. CurrentRef is multiplied by this value to obtain the actual current command.", + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + }, + "Lambda": { + "description": "Permanent-magnet flux linkage in webers.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ld": { + "description": "D-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Lq": { + "description": "Q-axis inductance in henries.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Temps", + "description": "Reads the motor and three inverter temperature channels from the application sensors.", + "displayName": "Temperatures", + "domain": "", + "id": "Sensors.Temperatures", + "inlineCode": "/* Motor + board temperatures from the base-image ApplicationSensors driver.\n * NAN while a channel is disabled or out of range (open/short). */\nT_Motor = rte::Celsius(platform_get_motor_temperature());\nT_Inv1 = rte::Celsius(platform_get_inverter_temperature(0));\nT_Inv2 = rte::Celsius(platform_get_inverter_temperature(1));\nT_Inv3 = rte::Celsius(platform_get_inverter_temperature(2));\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Motor temperature in degrees Celsius; NaN indicates a disabled or invalid sensor.", + "direction": "output", + "name": "T_Motor", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 1 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv1", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 2 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv2", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + }, + { + "description": "Inverter temperature channel 3 in degrees Celsius; NaN indicates an invalid sensor.", + "direction": "output", + "name": "T_Inv3", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "temperature" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Greater", + "description": "Compares two scalar values and reports whether A is greater than B.", + "displayName": "Greater Than", + "domain": "", + "id": "Logic.Greater", + "inlineCode": "Out = (A > B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is greater than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "VdcSense", + "description": "Reads the inverter DC-link voltage from the platform sensor interface.", + "displayName": "DC Link Voltage", + "domain": "", + "id": "Sensors.DcLinkVoltage", + "inlineCode": "V_Dc = rte::Volts(platform_get_dc_link_voltage());\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Measured DC-link voltage in volts.", + "direction": "output", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Deriv", + "description": "Estimates a signal derivative with an optional first-order low-pass filter.", + "displayName": "Derivative", + "domain": "", + "id": "Transforms.Derivative", + "inlineCode": "/* Filtered derivative: Out ~= d(In)/dt, low-passed at Fc [Hz] to keep\n * sampling noise out of the estimate (Fc <= 0 disables filtering).\n * Prev/OutState are persistent state (leave at graph defaults). */\nconst float raw = (In - Prev) / Dt;\nPrev = In;\nif (Fc > 0.0f) {\n const float alpha = 1.0f / (1.0f + 1.0f / (6.28318530718f * Fc * Dt));\n OutState += alpha * (raw - OutState);\n} else {\n OutState = raw;\n}\nOut = OutState;\n", + "inputPorts": [ + { + "description": "Signal whose time derivative is estimated.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Filtered derivative estimate.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Sample period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Fc": { + "description": "Low-pass cutoff frequency in hertz. Values at or below zero disable filtering.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutState": { + "description": "Persistent filtered derivative state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Prev": { + "description": "Persistent previous input sample used by the finite difference.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Rpm", + "description": "Reads the platform's mechanical and electrical motor-speed estimates.", + "displayName": "RPM (Mech/Elec)", + "domain": "", + "id": "hw.rpm", + "inlineCode": "RpmMech = rte::Dimensionless(platform_get_rpm_mech());\nRpmElec = rte::Dimensionless(platform_get_rpm_elec());\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Estimated mechanical speed in revolutions per minute.", + "direction": "output", + "name": "RpmMech", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Estimated electrical speed in revolutions per minute.", + "direction": "output", + "name": "RpmElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Encoder", + "description": "Reads the latest mechanical rotor angle and motor speed from the encoder driver.", + "displayName": "Encoder", + "domain": "", + "id": "Sensors.Encoder", + "inlineCode": "/* Mechanical angle [rad] and speed [rpm] from the base-image encoder driver. */\nTheta = platform_get_encoder_angle_latest() * 0.01745329251f; // deg -> rad\nOmega = platform_get_motor_rpm();\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "output", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Mechanical motor speed in revolutions per minute.", + "direction": "output", + "name": "Omega", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Svpwm", + "description": "Converts an alpha-beta voltage vector into centered three-phase PWM duty commands.", + "displayName": "Space Vector PWM", + "domain": "", + "id": "Transforms.Svpwm", + "inlineCode": "/* Clamp the alpha/beta voltage vector to the six-step boundary.\n * The maximum line-to-neutral voltage magnitude for linear modulation is\n * Vdc / sqrt(3); overmodulation is allowed up to 2*Vdc/3. */\nconst float sqrt3 = 1.7320508075688772f;\nconst float v_max_linear = V_Dc.in(au::volts) * 2.0f / 3.0f;\nfloat valpha = V_Alpha.in(au::volts);\nfloat vbeta = V_Beta.in(au::volts);\nconst float v_albe_sq = valpha * valpha + vbeta * vbeta;\nif (v_albe_sq > v_max_linear * v_max_linear && v_albe_sq > 1e-12f) {\n const float scale = v_max_linear / sqrtf(v_albe_sq);\n valpha *= scale;\n vbeta *= scale;\n}\n\n/* Inverse Clarke: alpha/beta -> A/B/C. */\nconst float v_a = valpha / V_Dc.in(au::volts);\nconst float v_b = (-0.5f * valpha + 0.86602540378f * vbeta) / V_Dc.in(au::volts);\nconst float v_c = (-0.5f * valpha - 0.86602540378f * vbeta) / V_Dc.in(au::volts);\n\nfloat v_min = v_a;\nif (v_b < v_min) v_min = v_b;\nif (v_c < v_min) v_min = v_c;\n\nfloat v_max = v_a;\nif (v_b > v_max) v_max = v_b;\nif (v_c > v_max) v_max = v_c;\n\nconst float v_offset = 0.5f * (v_min + v_max);\n\n/* Convert to percent duty and clamp. Linear SVM stays roughly in\n * [21%, 79%]; clamping to [0,100] only catches numerical edge cases. */\nfloat duty_a_pct = 50.0f + 50.0f * (v_a - v_offset);\nfloat duty_b_pct = 50.0f + 50.0f * (v_b - v_offset);\nfloat duty_c_pct = 50.0f + 50.0f * (v_c - v_offset);\n\nif (duty_a_pct < 0.0f) duty_a_pct = 0.0f; else if (duty_a_pct > 100.0f) duty_a_pct = 100.0f;\nif (duty_b_pct < 0.0f) duty_b_pct = 0.0f; else if (duty_b_pct > 100.0f) duty_b_pct = 100.0f;\nif (duty_c_pct < 0.0f) duty_c_pct = 0.0f; else if (duty_c_pct > 100.0f) duty_c_pct = 100.0f;\n\nDuty_A = duty_a_pct;\nDuty_B = duty_b_pct;\nDuty_C = duty_c_pct;\n", + "inputPorts": [ + { + "description": "Requested stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Requested stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Measured DC-link voltage used for normalization and modulation limiting.", + "direction": "input", + "name": "V_Dc", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Phase A PWM duty command in percent.", + "direction": "output", + "name": "Duty_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase B PWM duty command in percent.", + "direction": "output", + "name": "Duty_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Phase C PWM duty command in percent.", + "direction": "output", + "name": "Duty_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a scalar value and updates it when the Set input is true.", + "displayName": "Var", + "domain": "", + "id": "Values.Var", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New scalar value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored scalar value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent scalar storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Gate", + "description": "Passes a value when enabled and outputs zero when disabled.", + "displayName": "Gate", + "domain": "", + "id": "Logic.Gate", + "inlineCode": "/* Pass Val when Sel is true, else 0. */\nOut = Sel ? Val : 0.0f;\n", + "inputPorts": [ + { + "description": "Enable signal. True passes Val; false selects zero.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value passed through while Sel is true.", + "direction": "input", + "name": "Val", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Val when selected, otherwise zero.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Var", + "description": "Stores a boolean value and updates it when the Set input is true.", + "displayName": "Var (Bool)", + "domain": "", + "id": "Values.VarBool", + "inlineCode": "if (Set) Stored = In;\nValue = Stored;\n", + "inputPorts": [ + { + "description": "New boolean value to store when Set is true.", + "direction": "input", + "name": "In", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Write enable. When true, copies In into the stored value.", + "direction": "input", + "name": "Set", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Current stored boolean value.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "In": { + "description": "Fallback new boolean value when the In input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Set": { + "description": "Fallback write-enable value when the Set input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + }, + "Stored": { + "description": "Persistent boolean storage state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Ladrc", + "description": "Linear Active Disturbance Rejection Controller for a first-order plant (PMSM dq current). Drop-in alternative to Control.Pi: Setpoint/Measurement → voltage Output. Uses a 2-state linear ESO + PD-like feedback. Does not modify FOC/MPCC nodes.", + "displayName": "LADRC (1st-order)", + "domain": "", + "id": "Control.Ladrc", + "inlineCode": "/* Linear ADRC (LADRC) for a first-order plant:\n * dy/dt = f_total + b0 * u\n * Used here as a PMSM dq-current regulator (drop-in for Control.Pi).\n *\n * ESO (Gao bandwidth parameterization):\n * e = z1 - y\n * z1 += dt * (z2 + b0*u - 2*ωo*e)\n * z2 += dt * (-ωo^2 * e)\n * Control:\n * u0 = ωc * (r - z1)\n * u = (u0 - z2) / b0\n *\n * Independent of FOC PI and FCS-MPCC implementations.\n */\nfloat dt = Dt;\nfloat b0 = B0;\nfloat wc = OmegaC;\nfloat wo = OmegaO;\nif (!(dt > 0.0f)) dt = 0.0002f;\nif (!(b0 > 1.0e-6f) && !(b0 < -1.0e-6f)) b0 = 10000.0f; /* ~1/100µH */\nif (!(wc > 0.0f)) wc = 800.0f;\nif (!(wo > 0.0f)) wo = 2400.0f;\n\nconst float y = Measurement;\nconst float r = Setpoint;\n\nconst float beta1 = 2.0f * wo;\nconst float beta2 = wo * wo;\n\nfloat z1 = Z1;\nfloat z2 = Z2;\n/* Cold-start: align observer to measurement once. */\nif (z1 == 0.0f && z2 == 0.0f && UPrev == 0.0f) {\n z1 = y;\n}\n\nconst float u_prev = UPrev;\nconst float e_obs = z1 - y;\nz1 += dt * (z2 + b0 * u_prev - beta1 * e_obs);\nz2 += dt * (-beta2 * e_obs);\nZ1 = z1;\nZ2 = z2;\n\nconst float u0 = wc * (r - z1);\nfloat u = (u0 - z2) / b0;\n\n/* Same Vdc-aware clamp convention as Control.Pi: allow overmodulation up\n * to the six-step boundary (2*Vdc/3). */\nconst float vdc = platform_get_dc_link_voltage();\nconst float dynamic_max = vdc * 2.0f / 3.0f;\nfloat max_limit = (dynamic_max < OutputMax) ? dynamic_max : OutputMax;\nfloat min_limit = (-dynamic_max > OutputMin) ? -dynamic_max : OutputMin;\nif (u > max_limit) u = max_limit;\nif (u < min_limit) u = min_limit;\n\nUPrev = u;\nOutput = u;\n", + "inputPorts": [ + { + "description": "Desired current (A) or process setpoint.", + "direction": "input", + "name": "Setpoint", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Measured current (A) or process value.", + "direction": "input", + "name": "Measurement", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Control effort (volts for current-loop use).", + "direction": "output", + "name": "Output", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "B0": { + "description": "Plant gain estimate b0. For dq current use ≈ 1/L (e.g. Ld or Lq).", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Controller step period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OmegaC": { + "description": "Controller bandwidth ωc [rad/s]. kp = ωc.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OmegaO": { + "description": "Observer bandwidth ωo [rad/s]. Typically 3–10× ωc.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMax": { + "description": "Upper output clamp (also limited by Vdc/√3·0.95).", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OutputMin": { + "description": "Lower output clamp (also limited by −Vdc/√3·0.95).", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "UPrev": { + "description": "Persistent previous control effort for the ESO input.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Z1": { + "description": "Persistent ESO state: estimated output.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Z2": { + "description": "Persistent ESO state: estimated total disturbance.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Slew", + "description": "Limits how quickly a signal can rise or fall over time.", + "displayName": "Slew Rate Limiter", + "domain": "", + "id": "Control.Slew", + "inlineCode": "/* Rate-limited reference follower: Out tracks In at max Rate units/sec.\n * On control start Value resets to the graph default, so references ramp\n * smoothly from zero instead of stepping. */\nconst float target = In;\nconst float step = Rate * Dt;\nfloat v = Value;\nif (target > v + step) {\n v += step;\n} else if (target < v - step) {\n v -= step;\n} else {\n v = target;\n}\nValue = v;\nOut = Value;\n", + "inputPorts": [ + { + "description": "Target value for the limiter to follow.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rate-limited output value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum absolute rate of change in units per second.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Value": { + "description": "Persistent current output state.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "ElecAngle", + "description": "Converts mechanical rotor angle to wrapped electrical angle using pole count, direction, and offset.", + "displayName": "Electrical Angle", + "domain": "", + "id": "Transforms.ElecAngle", + "inlineCode": "/* Wrap the mechanical encoder angle to [0, 2*pi). */\nconst float two_pi = 6.28318530718f;\nfloat theta = fmodf(ThetaMech, two_pi);\nif (theta < 0.0f) theta += two_pi;\n\n/* Electrical angle = offset (elec deg) + sign * encoder_angle * (Poles / 2).\n * Matches the base-image FocController convention. */\nconstexpr float DEG_TO_RAD = 0.01745329251f;\nfloat elec = OffsetDeg * DEG_TO_RAD + EncoderSign * theta * Poles * 0.5f;\n\n/* Wrap the electrical angle to [0, 2*pi). */\nelec = fmodf(elec, two_pi);\nif (elec < 0.0f) elec += two_pi;\n\nThetaElec = elec;\n", + "inputPorts": [ + { + "description": "Mechanical rotor angle in radians.", + "direction": "input", + "name": "ThetaMech", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Electrical-angle calibration offset in degrees.", + "direction": "input", + "name": "OffsetDeg", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Encoder direction multiplier, normally 1 or -1.", + "direction": "input", + "name": "EncoderSign", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Motor pole count used to convert mechanical to electrical angle.", + "direction": "input", + "name": "Poles", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Electrical rotor angle wrapped to the range 0 through 2π radians.", + "direction": "output", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "EncoderSign": { + "description": "Fallback encoder direction multiplier when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "OffsetDeg": { + "description": "Fallback electrical-angle calibration offset in degrees when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Poles": { + "description": "Fallback motor pole count when the input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "/* Seed the current observer with motor parameters from calibration.\n * The codegen FOC does not call FocControlManager::start(), so the observer\n * must be initialized here. */\nplatform_observer_init_from_calibration();\n", + "defaultName": "Observer", + "description": "Corrects and predicts phase currents using burst measurements and the applied voltage vector.", + "displayName": "Current Observer", + "domain": "tim_isr", + "id": "hw.current_observer", + "inlineCode": "/* Current observer node:\n * 1. Correct the observer with the measured phase currents from the\n * hw.phase_currents node (ADC ISR domain).\n * 2. Run the Luenberger prediction step using the applied voltage vector.\n * 3. Output the observer-estimated phase currents.\n *\n * The correction uses the latest micro-burst measurement. The prediction\n * uses the voltage vector applied for the next control period.\n */\nconst float iu_meas = I_A_Meas.in(au::amperes);\nconst float iv_meas = I_B_Meas.in(au::amperes);\nconst float diudt = Diudt;\nconst float divdt = Divdt;\nconst uint32_t burst_time_us = static_cast(BurstTimeUs);\n\nplatform_observer_correct(iu_meas, iv_meas, diudt, divdt, burst_time_us);\n\n/* The input voltage is already delayed by one control step via the\n * math.delay node, breaking the algebraic loop. */\nplatform_observer_predict(V_Alpha.in(au::volts), V_Beta.in(au::volts),\n ThetaElec, platform_get_current_domain_dt());\n\nfloat iu_obs = 0.0f, iv_obs = 0.0f, iw_obs = 0.0f;\nplatform_get_observer_currents(&iu_obs, &iv_obs, &iw_obs);\n\nI_A = rte::Amperes(iu_obs);\nI_B = rte::Amperes(iv_obs);\nI_C = rte::Amperes(iw_obs);\n", + "inputPorts": [ + { + "description": "Measured phase-A current used to correct the observer.", + "direction": "input", + "name": "I_A_Meas", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase-B current used to correct the observer.", + "direction": "input", + "name": "I_B_Meas", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase-C current used to correct the observer.", + "direction": "input", + "name": "I_C_Meas", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Estimated phase-U current slope from the ADC sample burst.", + "direction": "input", + "name": "Diudt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Estimated phase-V current slope from the ADC sample burst.", + "direction": "input", + "name": "Divdt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Elapsed time in microseconds across the ADC sample burst.", + "direction": "input", + "name": "BurstTimeUs", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Previously applied alpha-axis voltage used for prediction.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Previously applied beta-axis voltage used for prediction.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Electrical rotor angle used by the observer prediction.", + "direction": "input", + "name": "ThetaElec", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Observer-estimated phase-A current.", + "direction": "output", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Observer-estimated phase-B current.", + "direction": "output", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Observer-estimated phase-C current.", + "direction": "output", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "PhaseCurrents", + "description": "Samples the three inverter phase-current channels from the platform current sensors.", + "displayName": "Phase Currents", + "domain": "", + "id": "Sensors.PhaseCurrents", + "inlineCode": "float iu_f = 0.0f;\nfloat iv_f = 0.0f;\nfloat iw_f = 0.0f;\nif (platform_get_phase_currents(&iu_f, &iv_f, &iw_f)) {\n /* Keep raw sensor polarity available for general telemetry, while FOC\n * graphs enable inversion for this hardware's current-sensor wiring. */\n const float polarity = InvertPolarity ? -1.0f : 1.0f;\n I_A = rte::Amperes(polarity * iu_f);\n I_B = rte::Amperes(polarity * iv_f);\n I_C = rte::Amperes(polarity * iw_f);\n}\n", + "inputPorts": [], + "isEntryPoint": true, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Measured phase A current in amperes.", + "direction": "output", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase B current in amperes.", + "direction": "output", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Measured phase C current in amperes.", + "direction": "output", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Estimated phase-U current slope from the ADC sample burst.", + "direction": "output", + "name": "Diudt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Estimated phase-V current slope from the ADC sample burst.", + "direction": "output", + "name": "Divdt", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Elapsed time in microseconds across the ADC sample burst.", + "direction": "output", + "name": "BurstTimeUs", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "InvertPolarity": { + "description": "Negate all three phase currents to match the FOC sign convention on hardware with inverted current sensors.", + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Delay", + "description": "Outputs the previous input sample and stores the current sample for the next step.", + "displayName": "Unit Delay", + "domain": "", + "id": "math.delay", + "inlineCode": "/* Unit delay: output the previous input, then store the current input. */\nOut = Prev;\nPrev = In;\n", + "inputPorts": [ + { + "description": "Current value to store for the next execution step.", + "direction": "input", + "name": "In", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Value captured during the previous execution step.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Prev": { + "description": "Internal state holding the previous input value.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "SinCos", + "description": "Computes the sine and cosine of an input angle.", + "displayName": "Sin/Cos", + "domain": "", + "id": "Transforms.SinCos", + "inlineCode": "SinTheta = sinf(Theta);\nCosTheta = cosf(Theta);\n", + "inputPorts": [ + { + "description": "Input angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Sine of the input angle.", + "direction": "output", + "name": "SinTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Cosine of the input angle.", + "direction": "output", + "name": "CosTheta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Park", + "description": "Rotates stationary alpha-beta currents into rotor-aligned d-q coordinates.", + "displayName": "Park Transform", + "domain": "", + "id": "Transforms.Park", + "inlineCode": "const float cos_theta = cosf(Theta);\nconst float sin_theta = sinf(Theta);\nI_D = I_Alpha * cos_theta + I_Beta * sin_theta;\nI_Q = -I_Alpha * sin_theta + I_Beta * cos_theta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "input", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "input", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Electrical rotation angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Rotating-frame direct-axis current.", + "direction": "output", + "name": "I_D", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Rotating-frame quadrature-axis current.", + "direction": "output", + "name": "I_Q", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "LogI", + "description": "Publishes three phase-current signals to the standard current telemetry channels.", + "displayName": "Telemetry Current Sink", + "domain": "", + "id": "Debug.TelemetryCurrentSink", + "inlineCode": "platform_telemetry_log_f32(\"cg_iu_a\", I_A.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iv_a\", I_B.in(au::amperes));\nplatform_telemetry_log_f32(\"cg_iw_a\", I_C.in(au::amperes));\n", + "inputPorts": [ + { + "description": "Phase A current to publish in amperes.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current to publish in amperes.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current to publish in amperes.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Clarke", + "description": "Transforms three-phase currents into stationary alpha-beta coordinates.", + "displayName": "Clarke Transform", + "domain": "", + "id": "Transforms.Clarke", + "inlineCode": "I_Alpha = I_A;\nI_Beta = (I_B - I_C) * 0.57735026919f;\n", + "inputPorts": [ + { + "description": "Phase A current.", + "direction": "input", + "name": "I_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase B current.", + "direction": "input", + "name": "I_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Phase C current.", + "direction": "input", + "name": "I_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis current.", + "direction": "output", + "name": "I_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + }, + { + "description": "Stationary-frame beta-axis current.", + "direction": "output", + "name": "I_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "current" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Less", + "description": "Compares two scalar values and reports whether A is less than B.", + "displayName": "Less Than", + "domain": "", + "id": "Logic.Less", + "inlineCode": "Out = (A < B);\n", + "inputPorts": [ + { + "description": "Left-hand value in the comparison.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Right-hand value in the comparison.", + "direction": "input", + "name": "B", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "True when A is less than B.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + } + ], + "parameterTypes": { + "B": { + "description": "Fallback comparison threshold used when the B input is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "InvClarke", + "description": "Transforms stationary alpha-beta voltages into three-phase voltage commands.", + "displayName": "Inverse Clarke Transform", + "domain": "", + "id": "Transforms.InverseClarke", + "inlineCode": "V_A = V_Alpha;\nV_B = -0.5f * V_Alpha + 0.86602540378f * V_Beta;\nV_C = -0.5f * V_Alpha - 0.86602540378f * V_Beta;\n", + "inputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "input", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "input", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Reconstructed phase A voltage.", + "direction": "output", + "name": "V_A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase B voltage.", + "direction": "output", + "name": "V_B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Reconstructed phase C voltage.", + "direction": "output", + "name": "V_C", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "Cached = platform_config_load(Key, DefaultValue);\n", + "defaultName": "Cfg", + "description": "Exposes a named configuration value, using a default when no stored value is available.", + "displayName": "Config Value", + "domain": "", + "id": "Values.Config", + "inlineCode": "Value = Cached;\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Cached configuration value supplied to the graph.", + "direction": "output", + "name": "Value", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Cached": { + "description": "Persistent cached configuration value exposed by the output.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "DefaultValue": { + "description": "Value used when the configuration key has not been stored.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Key": { + "description": "Name used to look up the value in platform configuration storage.", + "dtype": "f32", + "frame": "scalar", + "quantity": "string" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "CanTx", + "description": "Transmits up to eight data bytes on a selected CAN bus at a configurable maximum rate.", + "displayName": "CAN TX", + "domain": "", + "id": "Actuators.CanTx", + "inlineCode": "/* CAN transmit, rate-limited by wall clock: sends when 1000/Rate ms have\n * elapsed since the previous send (Rate <= 0 sends every step).\n * D0..D7 = payload bytes (unconnected = 0), Dlc = how many of the 8 to\n * send, Ext: 0 std / 1 ext. */\nconst uint32_t period_ms = (Rate > 0.0f) ? static_cast(1000.0f / Rate) : 0U;\nconst uint32_t now_ms = platform_millis();\nif (period_ms == 0U || (now_ms - static_cast(LastMs)) >= period_ms) {\n LastMs = static_cast(now_ms);\n const uint8_t b[8] = {\n static_cast(D0), static_cast(D1),\n static_cast(D2), static_cast(D3),\n static_cast(D4), static_cast(D5),\n static_cast(D6), static_cast(D7),\n };\n uint8_t n = static_cast(Dlc);\n if (n > 8) n = 8;\n platform_can_send(static_cast(Bus), static_cast(Id),\n Ext > 0.5f, b, n);\n}\n", + "inputPorts": [ + { + "description": "Payload byte 0. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D0", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 1. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D1", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 2. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D2", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 3. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D3", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 4. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D4", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 5. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D5", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 6. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D6", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Payload byte 7. Values are converted to an unsigned 8-bit integer.", + "direction": "input", + "name": "D7", + "optional": true, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [], + "parameterTypes": { + "Bus": { + "description": "CAN controller number: 1 selects bus A/FDCAN1 and 2 selects bus B/FDCAN2.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D0": { + "description": "Fallback value for payload byte 0 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D1": { + "description": "Fallback value for payload byte 1 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D2": { + "description": "Fallback value for payload byte 2 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D3": { + "description": "Fallback value for payload byte 3 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D4": { + "description": "Fallback value for payload byte 4 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D5": { + "description": "Fallback value for payload byte 5 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D6": { + "description": "Fallback value for payload byte 6 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "D7": { + "description": "Fallback value for payload byte 7 when its input port is not wired.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dlc": { + "description": "Number of payload bytes to transmit, clamped to the range 0 through 8.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Ext": { + "description": "Use an extended 29-bit identifier when greater than 0.5; otherwise use a standard identifier.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Id": { + "description": "CAN arbitration identifier to transmit.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "LastMs": { + "description": "Internal timestamp of the previous transmission in milliseconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Rate": { + "description": "Maximum transmission rate in frames per second. Values at or below zero send every step.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "EncRaw", + "description": "Reads the raw sine and cosine channels from the position encoder.", + "displayName": "Encoder Raw Sin/Cos", + "domain": "", + "id": "hw.encoder_raw", + "inlineCode": "SinRaw = rte::Dimensionless(static_cast(platform_get_encoder_raw_sin()));\nCosRaw = rte::Dimensionless(static_cast(platform_get_encoder_raw_cos()));\n", + "inputPorts": [], + "isEntryPoint": false, + "maxInstances": 1, + "outputPorts": [ + { + "description": "Raw encoder sine-channel sample.", + "direction": "output", + "name": "SinRaw", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Raw encoder cosine-channel sample.", + "direction": "output", + "name": "CosRaw", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "Mux", + "description": "Selects one of two scalar inputs using a boolean control signal.", + "displayName": "Mux", + "domain": "", + "id": "Logic.Mux", + "inlineCode": "Out = Sel ? A : B;\n", + "inputPorts": [ + { + "description": "Selection signal. True selects A; false selects B.", + "direction": "input", + "name": "Sel", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "boolean" + } + }, + { + "description": "Value selected when Sel is true.", + "direction": "input", + "name": "A", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Value selected when Sel is false.", + "direction": "input", + "name": "B", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Currently selected input value.", + "direction": "output", + "name": "Out", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ] + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "AngleIntegrator", + "description": "Integrates electrical frequency in Hz to a wrapped angle in radians.", + "displayName": "Angle Integrator", + "domain": "", + "id": "induction.AngleIntegrator", + "inlineCode": "Angle += Hz * 6.28318530718f * Dt;\nwhile (Angle >= 6.28318530718f) Angle -= 6.28318530718f;\nwhile (Angle < 0.0f) Angle += 6.28318530718f;\nTheta = Angle;\n", + "inputPorts": [ + { + "description": "Electrical frequency in Hz.", + "direction": "input", + "name": "Hz", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Wrapped electrical angle in radians.", + "direction": "output", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "parameterTypes": { + "Angle": { + "description": "Persistent integrated angle state in radians.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "Dt": { + "description": "Update period in seconds.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + }, + { + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "defaultName": "VHzToAlphaBeta", + "description": "Scalar V/Hz law: converts frequency and angle to alpha-beta voltage vector.", + "displayName": "V/Hz to Alpha/Beta", + "domain": "", + "id": "induction.VHzToAlphaBeta", + "inlineCode": "float vmag = Hz * VoltsPerHz + BoostVolts;\nif (vmag < 0.0f) vmag = 0.0f;\nV_Alpha = rte::Volts(vmag * cosf(Theta));\nV_Beta = rte::Volts(vmag * sinf(Theta));\n", + "inputPorts": [ + { + "description": "Electrical frequency in Hz.", + "direction": "input", + "name": "Hz", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + }, + { + "description": "Electrical angle in radians.", + "direction": "input", + "name": "Theta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + ], + "isEntryPoint": false, + "maxInstances": 0, + "outputPorts": [ + { + "description": "Stationary-frame alpha-axis voltage.", + "direction": "output", + "name": "V_Alpha", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + }, + { + "description": "Stationary-frame beta-axis voltage.", + "direction": "output", + "name": "V_Beta", + "optional": false, + "type": { + "dtype": "f32", + "frame": "scalar", + "quantity": "voltage" + } + } + ], + "parameterTypes": { + "BoostVolts": { + "description": "Voltage boost added at all frequencies for low-speed torque.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + }, + "VoltsPerHz": { + "description": "V/Hz ratio in peak line-neutral volts per hertz.", + "dtype": "f32", + "frame": "scalar", + "quantity": "dimensionless" + } + } + } + ], + "nodes": [ + { + "displayName": "", + "domain": "tim_isr", + "id": "TargetHz", + "parameters": { + "In": "0.0", + "Set": "0.0", + "Stored": "0.0" + }, + "position": { + "x": 150.0, + "y": 269.0 + }, + "type": "Values.Var" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgSlewRate", + "parameters": { + "Cached": "0.0", + "DefaultValue": "20.0", + "Key": "Induction.SlewRateHzPs" + }, + "position": { + "x": 150.0, + "y": 80.0 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "FreqSlew", + "parameterInputs": [ + "Rate" + ], + "parameters": { + "Dt": "0.0002", + "Rate": "20.0", + "Value": "0.0" + }, + "position": { + "x": 541.0, + "y": 80.0 + }, + "type": "Control.Slew" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgVoltsPerHz", + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.6", + "Key": "Induction.VoltsPerHz" + }, + "position": { + "x": 847.0, + "y": 439.0 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "CfgBoostVolts", + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.0", + "Key": "Induction.BoostVolts" + }, + "position": { + "x": 847.0, + "y": 250.0 + }, + "type": "Values.Config" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "AngleGen", + "parameters": { + "Angle": "0.0", + "Dt": "0.0002" + }, + "position": { + "x": 847.0, + "y": 80.0 + }, + "type": "induction.AngleIntegrator" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "VHzGen", + "parameterInputs": [ + "VoltsPerHz", + "BoostVolts" + ], + "parameters": { + "BoostVolts": "0.0", + "VoltsPerHz": "1.6" + }, + "position": { + "x": 1219.0, + "y": 230.0 + }, + "type": "induction.VHzToAlphaBeta" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "VdcSense", + "parameters": {}, + "position": { + "x": 150.0, + "y": 458.0 + }, + "type": "Sensors.DcLinkVoltage" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "Svpwm", + "parameters": {}, + "position": { + "x": 1564.0, + "y": 230.0 + }, + "type": "Transforms.Svpwm" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "PwmOut", + "parameters": {}, + "position": { + "x": 1870.0, + "y": 80.0 + }, + "type": "Actuators.PwmOut" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogFreq", + "parameters": { + "Key": "ind_hz" + }, + "position": { + "x": 847.0, + "y": 628.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogVmag", + "parameters": { + "Key": "ind_vmag" + }, + "position": { + "x": 1564.0, + "y": 80.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogAngle", + "parameters": { + "Key": "ind_theta" + }, + "position": { + "x": 1219.0, + "y": 80.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "LogVdc", + "parameters": { + "Key": "ind_vdc" + }, + "position": { + "x": 541.0, + "y": 278.0 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "du", + "parameters": { + "Key": "du" + }, + "position": { + "x": 1953.3311999999994, + "y": 340.07039999999984 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "dv", + "parameters": { + "Key": "dv" + }, + "position": { + "x": 1976.1407999999992, + "y": 524.6207999999998 + }, + "type": "Debug.TelemetryLog" + }, + { + "displayName": "", + "domain": "tim_isr", + "id": "dw", + "parameters": { + "Key": "dw" + }, + "position": { + "x": 1983.3983999999994, + "y": 643.8527999999999 + }, + "type": "Debug.TelemetryLog" + } + ], + "schemaVersion": 1 +} diff --git a/Images/Gen6FW/CMakeLists.txt b/Images/Gen6FW/CMakeLists.txt index 54e29de2..646c7639 100644 --- a/Images/Gen6FW/CMakeLists.txt +++ b/Images/Gen6FW/CMakeLists.txt @@ -79,6 +79,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE Src/Inverter/Command/Commands/CalibrationCommands.cpp Src/Inverter/Command/Commands/FocCommands.cpp Src/Inverter/Command/Commands/CanCommands.cpp + Src/Inverter/Command/Commands/OpenLoopCommands.cpp Src/Inverter/Control/ControlSupervisor.cpp Src/Inverter/Control/OpenLoopController.cpp Src/Inverter/Control/FocControlManager.cpp @@ -95,6 +96,8 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp Src/Inverter/Calibration/FluxLinkageCalibrator.cpp Src/Inverter/Calibration/InductanceCalibrator.cpp + Src/Inverter/Calibration/InductionMotorCalibrator.cpp + Src/Inverter/Calibration/InductionVHzCalibrator.cpp Src/Inverter/Calibration/MotorCalibration.cpp Src/Inverter/Calibration/PoleCalibrator.cpp Src/Inverter/Calibration/ResistanceCalibrator.cpp diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/AutoCalibrationCoordinator.h b/Images/Gen6FW/Inc/Inverter/Calibration/AutoCalibrationCoordinator.h index c23eb875..628786e6 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/AutoCalibrationCoordinator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/AutoCalibrationCoordinator.h @@ -35,7 +35,8 @@ class AutoCalibrationCoordinator { OFFSET, SETTLE, RESISTANCE, - INDUCTANCE, + INDUCTANCE, /**< PMSM Ld/Lq (existing InductanceCalibrator). */ + INDUCTION_PARAMS, /**< Induction-machine sigma_Ls / tau_r. */ FLUX, DONE, FAIL @@ -90,12 +91,46 @@ class AutoCalibrationCoordinator { float lastResistanceVw() const { return m_r_vw; } float lastResistanceAverage() const { return m_r_avg; } + /** + * @brief Override the resistance calibration target current for the next run. + * + * A value <= 0 disables the override and uses the default RES_MAX_CURRENT_A. + * The override is cleared by stop()/fail()/finish(). + */ + void setResistanceTargetCurrent(float amps) { m_custom_res_current_a = amps; } + + /** + * @brief Override inductance calibration parameters for the next run. + * + * Any value <= 0 disables that override. Cleared by stop()/fail()/finish(). + */ + void setInductanceParams(float max_a, float ac_a, float freq_hz) { + m_custom_ind_max_a = max_a; + m_custom_ind_ac_a = ac_a; + m_custom_ind_freq_hz = freq_hz; + } + + /** + * @brief Override induction calibration parameters for the next run. + * + * Any value <= 0 disables that override. Cleared by stop()/fail()/finish(). + */ + void setInductionParams(float max_flux_a, float ac_voltage_pct, + float ac_freq_hz, float lm_estimate_h) { + m_custom_ind_flux_a = max_flux_a; + m_custom_ind_ac_voltage_pct = ac_voltage_pct; + m_custom_ind_ac_freq_hz = ac_freq_hz; + m_custom_ind_lm_h = lm_estimate_h; + } + static AutoCalibrationCoordinator& instance(); private: void enterState(State state); void fail(const char* reason_fmt, ...); void finish(); + bool startInductanceCal(); + bool startInductionMotorCal(); State m_state = State::IDLE; State m_slice_last = State::FLUX; @@ -114,7 +149,16 @@ class AutoCalibrationCoordinator { float m_r_avg = 0.0f; bool m_inductance_ran = false; bool m_flux_ran = false; + bool m_induction_ran = false; bool m_save_results = true; + float m_custom_res_current_a = 0.0f; /**< override for next resistance cal. */ + float m_custom_ind_max_a = 0.0f; /**< override for next inductance cal. */ + float m_custom_ind_ac_a = 0.0f; + float m_custom_ind_freq_hz = 0.0f; + float m_custom_ind_flux_a = 0.0f; /**< override for next induction cal. */ + float m_custom_ind_ac_voltage_pct = 0.0f; + float m_custom_ind_ac_freq_hz = 0.0f; + float m_custom_ind_lm_h = 0.0f; }; AutoCalibrationCoordinator& autoCalibrationCoordinator(); diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h b/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h index b2399217..967c1c9a 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/CalKvStore.h @@ -1,6 +1,7 @@ #pragma once #include "Inverter/Drivers/Sensors/EncoderADC.h" +#include "Inverter/Drivers/Storage/MotorConfigStore.h" #include @@ -19,6 +20,9 @@ namespace CalKvStore { /** Create Motor.Type (1=PMSM) and Motor.Encoder.Type (1=SinCos) if absent. */ void ensureBaseInfo(); +/** Read the stored motor type, falling back to PMSM if unset or invalid. */ +MotorType storedMotorType(); + void savePoleResults(float poles, float encoderCyclesPerRev); /** offsetMechDeg is converted to electrical degrees (x pole pairs) and stored @@ -30,6 +34,10 @@ void saveResistanceResults(float uv, float uw, float vw, float avg); void saveInductanceResults(float ldHenry, float lqHenry); +void saveInductionResults(float sigmaLsHenry, float rotorTauMs, + float lmHenry, float lrHenry, + float rrOhm, float lLeakHenry); + void saveFluxResults(float fluxWb); /** Persist learned encoder sin/cos envelope bounds. */ diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/EncoderLinearityCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/EncoderLinearityCalibrator.h index a6571c67..df26687c 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/EncoderLinearityCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/EncoderLinearityCalibrator.h @@ -118,7 +118,7 @@ class EncoderLinearityCalibrator { static constexpr int MAX_HARMONIC = 16; static constexpr float DEFAULT_ROTATE_MOD = 0.0f; /* use breakaway */ static constexpr float DEFAULT_STEP_SIZE_MECH_DEG = 0.5f; - static constexpr float BREAKAWAY_MARGIN = 1.20f; /* 20 % above breakaway */ + static constexpr float BREAKAWAY_MARGIN = 1.00f; /* rotation = breakaway (no headroom) */ static constexpr float MAX_ROTATE_MOD = 0.35f; static constexpr float ROTATE_FREQUENCY_HZ = 1.0f; /* for breakaway only */ /* The settle check only needs to prove the rotor STOPPED — the residual is diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/InductanceCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/InductanceCalibrator.h index 19bea7ff..e60628d5 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/InductanceCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/InductanceCalibrator.h @@ -44,8 +44,8 @@ class InductanceCalibrator { * @param inj_freq_hz Injection frequency [Hz] (kept << PWM frequency, * above rotor-following bandwidth). */ - bool start(float max_current_a = 30.0f, float ac_current_a = 3.0f, - float inj_freq_hz = 150.0f); + bool start(float max_current_a = 30.0f, float ac_current_a = 2.0f, + float inj_freq_hz = 75.0f); void stop(); /** Main-loop state machine; call every iteration. */ @@ -110,7 +110,7 @@ class InductanceCalibrator { float m_max_current_a = 30.0f; float m_ac_current_a = 1.5f; float m_inj_freq_hz = 150.0f; - float m_overcurrent_a = 100.0f; /* abort threshold on measured dq */ + float m_overcurrent_a = 200.0f; /* abort threshold on measured dq */ /* Derived at start(): sample counts for the measurement window. */ uint32_t m_skip_samples = 0; @@ -122,12 +122,22 @@ class InductanceCalibrator { volatile bool m_abort_requested = false; volatile float m_abort_current_a = 0.0f; + /* Overcurrent guard: instantaneous samples are noisy, so we filter the + * current and require several consecutive over-threshold samples before + * aborting. A separate hard limit still catches genuine shorts. */ + float m_i_filt = 0.0f; + static constexpr float OC_FILTER_ALPHA = 0.3f; + static constexpr int OC_FILTER_PERSIST = 3; + int m_oc_count = 0; + float m_overcurrent_hard_a = 300.0f; + /* Current-loop gains saved and restored around the run: the calibration * needs more loop bandwidth at the injection frequency than the * (deliberately conservative) running gains provide. */ float m_orig_kp = 0.0f; float m_orig_ki = 0.0f; void restoreGains(); + void applyCalibrationGains(); /* The switching frequency is a runtime variable and must not be assumed: * the calibrator pins a known value for its measurement and restores the @@ -141,6 +151,15 @@ class InductanceCalibrator { bool m_lq_negative_half = false; int m_retries_left = 0; /* amplitude auto-retry for the current point */ MeasurePoint m_mp = {}; + float m_prev_bias_a = 0.0f; /* previous bias for smooth settle ramp */ + + /* AC injection ramp: scale amplitude from 0 to 1 over the first cycles. */ + uint32_t m_samples_per_cycle = 0; + static constexpr uint32_t AC_RAMP_CYCLES = 2; + + /* D-axis holding current used during Lq measurement to keep the rotor + * aligned against q-axis torque (no torque from d). */ + float m_id_hold_a = 0.0f; /* Goertzel accumulator (ISR context). */ float m_osc_c = 1.0f; /* oscillator cos/sin at injection freq */ @@ -152,6 +171,7 @@ class InductanceCalibrator { double m_v_re = 0.0, m_v_im = 0.0; uint32_t m_n = 0; float m_peak_abs_i = 0.0f; /* overcurrent guard */ + float m_peak_filt_i = 0.0f; /* debug: peak filtered current */ /* Results. */ float m_ld0 = 0.0f; diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/InductionMotorCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/InductionMotorCalibrator.h new file mode 100644 index 00000000..9a7721a3 --- /dev/null +++ b/Images/Gen6FW/Inc/Inverter/Calibration/InductionMotorCalibrator.h @@ -0,0 +1,167 @@ +#pragma once + +#include "Inverter/Calibration/Common/CalibrationHardware.h" + +#include + +namespace Inverter { + +/** + * @brief Offline induction-motor parameter estimation. + * + * Measures the two standstill parameters that an induction FOC needs: + * - sigma_Ls: stator transient (leakage) inductance [H], from a high-frequency + * locked-rotor AC injection. + * - tau_r: rotor time constant Lr/Rr' [ms], from a DC fluxing + stator-short + * current decay test. + * + * The calibrator deliberately does NOT require an encoder. It uses the + * open-loop SPWM generator for the AC injection and direct PWM parking for the + * DC fluxing/decay. If an encoder is present, a small movement guard aborts + * the run if the rotor shifts during the DC phase. + * + * Magnetizing inductance Lm cannot be determined from standstill tests alone, + * so it is accepted as an optional estimate. When provided, Lr, Rr' and the + * leakage inductance are derived under the standard assumption Lls = Llr'. + */ +class InductionMotorCalibrator { +public: + static constexpr int MAX_DECAY_SAMPLES = 200; + + InductionMotorCalibrator() = default; + + /** + * @brief Start the calibration. + * + * Requires: valid resistance calibration, DC bus present, no active + * Critical/High faults, motor stopped, no other calibration active. + * + * @param max_flux_current_a Target DC fluxing current [A]. + * @param ac_voltage_pct AC injection peak line-to-neutral voltage as + * a percentage of Vdc/2 (e.g., 5 = 5%). + * @param ac_freq_hz AC injection frequency [Hz]. Must be well + * above 1/tau_r so the rotor cage does not follow. + * @param fluxing_time_ms Time to hold DC flux before the decay [ms]. + * @param decay_sample_time_ms Maximum length of the decay recording [ms] + * (<= 2000 ms to fit the recording buffer). + * @param lm_estimate_henry Optional user-supplied magnetizing inductance. + * If <= 0, derived parameters are left unset. + */ + bool start(float max_flux_current_a = 20.0f, + float ac_voltage_pct = 5.0f, + float ac_freq_hz = 100.0f, + uint32_t fluxing_time_ms = 3000U, + uint32_t decay_sample_time_ms = 2000U, + float lm_estimate_henry = 0.0f); + void stop(); + + /** Main-loop state machine; call every iteration. */ + void update(); + + bool isActive() const; + bool isDone() const { return m_state == State::DONE; } + bool isFailed() const { return m_state == State::FAIL; } + const char* stateName() const; + + /* Measured headline results. */ + float sigmaLsHenry() const { return m_sigma_ls_h; } + float rotorTauMs() const { return m_rotor_tau_ms; } + + /* Derived results (valid only if an Lm estimate was supplied). */ + float lmHenry() const { return m_lm_h; } + float lrHenry() const { return m_lr_h; } + float rrOhm() const { return m_rr_ohm; } + float lLeakHenry() const { return m_l_leak_h; } + + static InductionMotorCalibrator& instance(); + +private: + enum class State { + IDLE, + ENABLE, + WAIT_READY, + SIGMA_LS_SETTLE, + SIGMA_LS_MEASURE, + TAU_R_FLUXING, + TAU_R_SETTLE, + TAU_R_DECAY, + COMPUTE, + DONE, + FAIL + }; + + void enterState(State s); + void fail(const char* reason_fmt, ...); + void shutdown(); + + void sampleCurrents(float& iu, float& iv, float& iw); + bool checkOvercurrent(float iu, float iv, float iw); + bool checkEncoderMovement(); + void updateFluxPi(float i_meas_a); + + bool runSigmaLsSettle(); + bool runSigmaLsMeasure(); + bool runTauRFluxing(); + bool runTauRSettle(); + bool runTauRDecay(); + bool runCompute(); + + State m_state = State::IDLE; + uint32_t m_state_enter_ms = 0; + char m_fail_reason[96] = {0}; + + CalibrationHardware m_hw; + + /* Configuration. */ + float m_max_flux_current_a = 20.0f; + float m_ac_voltage_pct = 5.0f; + float m_ac_freq_hz = 100.0f; + uint32_t m_fluxing_time_ms = 3000U; + uint32_t m_decay_sample_time_ms = 3000U; + float m_lm_estimate_h = 0.0f; + + /* AC injection state. */ + float m_ac_mod_index = 0.0f; + uint32_t m_spwm_start_cycles = 0; + + /* Sigma-Ls measurement. */ + float m_sigma_i_peak = 0.0f; + uint32_t m_sigma_samples = 0; + + /* Rotor fluxing PI (modulation index -> current). */ + float m_flux_mod_index = 0.0f; + float m_flux_integral = 0.0f; + uint32_t m_flux_pi_last_ms = 0; + + /* Decay recording. */ + int m_decay_n = 0; + uint32_t m_last_decay_ms = 0; + float m_decay_t_ms[MAX_DECAY_SAMPLES]; + float m_decay_i_a[MAX_DECAY_SAMPLES]; + + /* Encoder guard (optional). */ + bool m_encoder_guard = false; + float m_encoder_start_angle = 0.0f; + + /* Results. */ + float m_sigma_ls_h = 0.0f; + float m_rotor_tau_ms = 0.0f; + float m_lm_h = 0.0f; + float m_lr_h = 0.0f; + float m_rr_ohm = 0.0f; + float m_l_leak_h = 0.0f; + + static constexpr float FLUX_PI_KP = 0.002f; + static constexpr float FLUX_PI_KI = 0.02f; + static constexpr float FLUX_PI_MIN_MOD = 0.0f; + static constexpr float FLUX_PI_MAX_MOD = 0.25f; + static constexpr uint32_t SETTLE_MS = 500U; + static constexpr uint32_t AC_MEASURE_CYCLES = 50U; + static constexpr float OVERCURRENT_A = 200.0f; + static constexpr float ENCODER_MOVE_DEG = 5.0f; + static constexpr float MIN_DECAY_FIT_TAU_MS = 5.0f; +}; + +InductionMotorCalibrator& inductionMotorCalibrator(); + +} // namespace Inverter diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/InductionVHzCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/InductionVHzCalibrator.h new file mode 100644 index 00000000..76ba7a43 --- /dev/null +++ b/Images/Gen6FW/Inc/Inverter/Calibration/InductionVHzCalibrator.h @@ -0,0 +1,142 @@ +#pragma once + +#include + +namespace Inverter { + +/** + * @brief Encoderless induction-motor inductance measurement via V/Hz spin. + * + * Spins the motor in open-loop scalar (V/Hz) mode at a fixed electrical + * frequency and sweeps the voltage from low to high. At each steady point + * the steady-state stator current is correlated against the known voltage + * angle (lock-in detection). For a freely spinning motor slip is near zero, + * so the per-phase impedance is approximately: + * + * Z = Rs + j * omega_e * Ls + * + * from which the total stator inductance is: + * + * Ls = X_L / omega_e + * + * Because the magnetizing current changes with V/Hz, the sweep produces a + * saturation curve Ls(I). No encoder is required; the shaft must simply be + * free to spin (no load). + */ +class InductionVHzCalibrator { +public: + static constexpr int MAX_POINTS = 16; + + InductionVHzCalibrator() = default; + + /** + * @brief Start the V/Hz inductance sweep. + * + * Requires: valid resistance calibration, DC bus present, no active + * Critical/High faults, motor stopped, no other calibration active. + * + * @param freq_hz Electrical fundamental frequency [Hz]. Lower + * frequencies give larger magnetizing current for + * the same voltage, which helps noisy current + * sensors (try 2..10 Hz). + * @param max_modulation Maximum SVPWM modulation index to reach [0..1.15]. + * @param n_points Number of voltage steps (>= 3). + * @param settle_ms Time to wait after each step before measuring. + * @param measure_ms Time to correlate current over at each step; + * use several cycles for good noise rejection. + * @param current_limit_a Hard abort if phase current exceeds this. + * @param delta_connected True if the motor is delta-connected; line + * current is divided by sqrt(3) to obtain phase + * current for the impedance calculation. + */ + bool start(float freq_hz = 5.0f, + float max_modulation = 0.35f, + int n_points = 10, + uint32_t settle_ms = 1000U, + uint32_t measure_ms = 2000U, + float current_limit_a = 80.0f, + bool delta_connected = true); + void stop(); + + /** Main-loop state machine; call every iteration. */ + void update(); + + bool isActive() const; + bool isDone() const { return m_state == State::DONE; } + bool isFailed() const { return m_state == State::FAIL; } + const char* stateName() const; + + int pointCount() const { return m_n_results; } + float currentPoint(int i) const; + float modulationPoint(int i) const; + float lsPoint(int i) const; + + static InductionVHzCalibrator& instance(); + +private: + enum class State { + IDLE, + START, + RAMP, + SETTLE, + MEASURE, + NEXT, + FINISH, + DONE, + FAIL + }; + + void enterState(State s); + void fail(const char* reason_fmt, ...); + void shutdown(); + void resetAccumulators(); + + bool sampleCurrents(float& iu, float& iv, float& iw); + float maxAbs3(float a, float b, float c) const; + void accumulateLockIn(float iu, float iv, float iw, float theta); + bool computePoint(float vdc, float& out_i_a, float& out_ls_h, + float& out_phi_deg) const; + + State m_state = State::IDLE; + uint32_t m_state_enter_ms = 0; + char m_fail_reason[96] = {0}; + + /* Configuration. */ + float m_freq_hz = 5.0f; + float m_max_mod = 0.35f; + int m_n_points = 10; + uint32_t m_settle_ms = 1000U; + uint32_t measure_ms_ = 2000U; + float m_current_limit_a = 80.0f; + bool m_delta = true; + float m_i_scale = 1.0f; /**< 1/sqrt(3) for delta, 1 for wye. */ + + /* Sweep state. */ + int m_point = 0; + float m_mod_step = 0.0f; + float m_target_mod = 0.0f; + + /* Lock-in accumulators. We correlate phase currents against the known + * voltage angle to extract the fundamental amplitude and phase, rejecting + * ADC noise and DC offset. */ + uint32_t m_samples = 0; + float m_sum_iu_sin = 0.0f; + float m_sum_iu_cos = 0.0f; + float m_sum_iv_sin = 0.0f; + float m_sum_iv_cos = 0.0f; + float m_sum_iw_sin = 0.0f; + float m_sum_iw_cos = 0.0f; + float m_peak_i = 0.0f; + + /* Results. */ + int m_n_results = 0; + float m_i_a[MAX_POINTS] = {}; + float m_mod[MAX_POINTS] = {}; + float m_ls_h[MAX_POINTS] = {}; + + static constexpr float PI_F = 3.14159265358979323846f; +}; + +InductionVHzCalibrator& inductionVHzCalibrator(); + +} // namespace Inverter diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/MotorCalibration.h b/Images/Gen6FW/Inc/Inverter/Calibration/MotorCalibration.h index 191fc854..96020b7c 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/MotorCalibration.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/MotorCalibration.h @@ -1,5 +1,7 @@ #pragma once +#include "Inverter/Drivers/Storage/MotorConfigStore.h" + #include namespace Inverter { @@ -32,6 +34,16 @@ struct MotorCalibration { float ld_henry = 0.0f; /**< d-axis inductance (0 = not calibrated). */ float lq_henry = 0.0f; /**< q-axis inductance (0 = not calibrated). */ float flux_linkage_wb = 0.0f; /**< PM flux linkage (0 = not calibrated). */ + + /* Induction-machine parameters (0 = not calibrated). */ + MotorType motor_type = MotorType::PmsmIpm; /**< Motor family for calibration branching. */ + float sigma_ls_henry = 0.0f; /**< Stator transient (leakage) inductance [H]. */ + float rotor_time_constant_ms = 0.0f; /**< Rotor time constant Lr/Rr' [ms]. */ + float lm_henry = 0.0f; /**< Magnetizing inductance [H]. */ + float lr_henry = 0.0f; /**< Rotor inductance referred to stator [H]. */ + float rr_ohm = 0.0f; /**< Rotor resistance referred to stator [ohm]. */ + float l_leak_henry = 0.0f; /**< Stator/rotor leakage inductance (Lls=Llr') [H]. */ + uint32_t timestamp_ms = 0; /**< HAL tick when the calibration finished. */ bool valid = true; /**< True after a successful calibration. */ diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/PoleCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/PoleCalibrator.h index 5fffc997..503850c5 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/PoleCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/PoleCalibrator.h @@ -37,7 +37,7 @@ class PoleCalibrator { * @param torque_margin Multiplier applied to the found breakaway modulation * to ensure continuous rotation during counting. */ - bool start(float max_mod = 0.50f, float torque_margin = 1.30f); + bool start(float max_mod = 0.50f, float torque_margin = 1.00f); /** * @brief Non-blocking state-machine update. Call at ~100 Hz from the main diff --git a/Images/Gen6FW/Inc/Inverter/Calibration/ResistanceCalibrator.h b/Images/Gen6FW/Inc/Inverter/Calibration/ResistanceCalibrator.h index edf3afa1..d6da5638 100644 --- a/Images/Gen6FW/Inc/Inverter/Calibration/ResistanceCalibrator.h +++ b/Images/Gen6FW/Inc/Inverter/Calibration/ResistanceCalibrator.h @@ -84,6 +84,15 @@ class ResistanceCalibrator { /** @brief Abort a running calibration and turn off all switching. */ void stop(); + /** + * @brief Force mode: skip the inactive-phase current sanity check. + * + * Useful when measuring non-motor loads (e.g., power resistors) where the + * inactive-phase current sensor noise dominates, or when the physical wiring + * makes the inactive-phase current non-zero. Reset to false by stop(). + */ + void setForceMode(bool force) { m_force_mode = force; } + /** @brief True while a calibration is running. */ bool isActive() const { return m_state != State::IDLE && m_state != State::DONE && @@ -129,6 +138,7 @@ class ResistanceCalibrator { static int pairIndex(Pair pair); State m_state = State::IDLE; + bool m_force_mode = false; /**< skip inactive-phase current check. */ CalibrationHardware m_hw; Pair m_pairs[3] = {Pair::UV, Pair::UW, Pair::VW}; @@ -184,7 +194,7 @@ class ResistanceCalibrator { static constexpr uint32_t MEASURE_TIME_MS = 1000U; static constexpr uint32_t MIN_SAMPLES = 2000U; static constexpr float MAX_INACTIVE_CURRENT_RATIO = 0.10f; /**< 10 % of active current. */ - static constexpr float MAX_INACTIVE_CURRENT_MIN_A = 3.00f; /**< floor for the ratio check. */ + static constexpr float MAX_INACTIVE_CURRENT_MIN_A = 8.00f; /**< floor for the ratio check. */ static constexpr float PI_KP = 0.05f; /**< % duty per A error. */ static constexpr float PI_KI = 10.0f; /**< % duty per A per second. */ diff --git a/Images/Gen6FW/Inc/Inverter/Drivers/Storage/MotorConfigStore.h b/Images/Gen6FW/Inc/Inverter/Drivers/Storage/MotorConfigStore.h index 29ca5afa..e4054dca 100644 --- a/Images/Gen6FW/Inc/Inverter/Drivers/Storage/MotorConfigStore.h +++ b/Images/Gen6FW/Inc/Inverter/Drivers/Storage/MotorConfigStore.h @@ -50,9 +50,17 @@ struct MotorConfigData { float ind_ld_h[8]; /**< Differential Ld at each bias [H]. */ float ind_bias_lq_a[8]; /**< q bias level of each Lq point [A] (v4+). */ float ind_lq_h[8]; /**< Differential Lq at each bias [H]. */ + + /* Induction-machine parameters (v5+). */ + float ind_sigma_ls_h; /**< Stator transient inductance [H]. */ + float ind_rotor_tau_ms; /**< Rotor time constant [ms]. */ + float ind_lm_h; /**< Magnetizing inductance [H]. */ + float ind_lr_h; /**< Rotor inductance referred to stator [H]. */ + float ind_rr_ohm; /**< Rotor resistance referred to stator [ohm]. */ + float ind_l_leak_h; /**< Stator/rotor leakage inductance [H]. */ }; -constexpr uint16_t MOTOR_CONFIG_VERSION = 4U; +constexpr uint16_t MOTOR_CONFIG_VERSION = 5U; /** * @brief Motor configuration persistence: FRAM <-> runtime. diff --git a/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp index 858d12b0..46d03a85 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/AutoCalibrationCoordinator.cpp @@ -7,6 +7,7 @@ #include "Inverter/Calibration/InductanceCalibrator.h" #include "Inverter/Calibration/FluxLinkageCalibrator.h" #include "Inverter/Calibration/EncoderCycleCalibrator.h" +#include "Inverter/Calibration/InductionMotorCalibrator.h" #include "Inverter/Calibration/MotorCalibration.h" #include "Inverter/Control/ControlSupervisor.h" #include "Inverter/Control/FocControlManager.h" @@ -38,8 +39,10 @@ static constexpr float MAX_MODULATION = 0.35f; static constexpr float OFFSET_MAX_MODULATION = 1.0f; /* allow full inverter range for offset rotation; EncoderOffsetCalibrator clamps by voltage */ static constexpr float POLE_ROTATE_MOD_FACTOR = 1.00f; static constexpr float OFFSET_ROTATE_MOD_FACTOR = 1.00f; -static constexpr float RES_MAX_CURRENT_A = 30.0f; -static constexpr float RES_OC_LIMIT_A = 100.0f; +static constexpr float RES_MAX_CURRENT_A = 80.0f; +static constexpr float RES_OC_LIMIT_A = 120.0f; +static constexpr float IND_MAX_CURRENT_A = 30.0f; +static constexpr float FLUX_MAX_CURRENT_A = 20.0f; static constexpr uint32_t RES_TIMEOUT_MS = 30000U; static constexpr uint32_t SETTLE_BEFORE_RES_MS = 2000U; @@ -52,8 +55,9 @@ const char* AutoCalibrationCoordinator::stateName() const { case State::OFFSET: return "OFFSET"; case State::SETTLE: return "SETTLE"; case State::RESISTANCE: return "RESISTANCE"; - case State::INDUCTANCE: return "INDUCTANCE"; - case State::FLUX: return "FLUX"; + case State::INDUCTANCE: return "INDUCTANCE"; + case State::INDUCTION_PARAMS: return "INDUCTION_PARAMS"; + case State::FLUX: return "FLUX"; case State::DONE: return "DONE"; case State::FAIL: return "FAIL"; } @@ -84,8 +88,19 @@ void AutoCalibrationCoordinator::fail(const char* reason_fmt, ...) { if (resistanceCalibrator().isActive()) { resistanceCalibrator().stop(); } + if (inductionMotorCalibrator().isActive()) { + inductionMotorCalibrator().stop(); + } encoderADC().learnBounds(false); + m_custom_res_current_a = 0.0f; + m_custom_ind_max_a = 0.0f; + m_custom_ind_ac_a = 0.0f; + m_custom_ind_freq_hz = 0.0f; + m_custom_ind_flux_a = 0.0f; + m_custom_ind_ac_voltage_pct = 0.0f; + m_custom_ind_ac_freq_hz = 0.0f; + m_custom_ind_lm_h = 0.0f; enterState(State::FAIL); } @@ -104,9 +119,20 @@ void AutoCalibrationCoordinator::stop() { if (resistanceCalibrator().isActive()) { resistanceCalibrator().stop(); } + if (inductionMotorCalibrator().isActive()) { + inductionMotorCalibrator().stop(); + } encoderADC().learnBounds(false); Telemetry::printf("[CAL] AUTO: stopped by user"); + m_custom_res_current_a = 0.0f; + m_custom_ind_max_a = 0.0f; + m_custom_ind_ac_a = 0.0f; + m_custom_ind_freq_hz = 0.0f; + m_custom_ind_flux_a = 0.0f; + m_custom_ind_ac_voltage_pct = 0.0f; + m_custom_ind_ac_freq_hz = 0.0f; + m_custom_ind_lm_h = 0.0f; enterState(State::IDLE); } @@ -130,6 +156,7 @@ bool AutoCalibrationCoordinator::startSlice(State first, State last, bool save_r encoderOffsetCalibrator().isActive() || resistanceCalibrator().isActive() || inductanceCalibrator().isActive() || + inductionMotorCalibrator().isActive() || fluxLinkageCalibrator().isActive()) { Telemetry::printf("[CAL] AUTO: another calibration is active"); return false; @@ -193,9 +220,12 @@ bool AutoCalibrationCoordinator::startSlice(State first, State last, bool save_r return false; } + const float res_current_a = (m_custom_res_current_a > 0.0f) + ? m_custom_res_current_a + : RES_MAX_CURRENT_A; Telemetry::printf("[CAL] AUTO: starting (max_mod=%.2f res_I=%.1f A)", static_cast(MAX_MODULATION), - static_cast(RES_MAX_CURRENT_A)); + static_cast(res_current_a)); switch (first) { case State::POLE: @@ -225,7 +255,7 @@ bool AutoCalibrationCoordinator::startSlice(State first, State last, bool save_r return true; case State::INDUCTANCE: - m_inductance_ran = inductanceCalibrator().start(RES_MAX_CURRENT_A); + m_inductance_ran = startInductanceCal(); if (!m_inductance_ran) { Telemetry::printf("[CAL] AUTO: failed to start inductance calibration"); return false; @@ -233,8 +263,17 @@ bool AutoCalibrationCoordinator::startSlice(State first, State last, bool save_r enterState(State::INDUCTANCE); return true; + case State::INDUCTION_PARAMS: + m_induction_ran = startInductionMotorCal(); + if (!m_induction_ran) { + Telemetry::printf("[CAL] AUTO: failed to start induction calibration"); + return false; + } + enterState(State::INDUCTION_PARAMS); + return true; + case State::FLUX: - m_flux_ran = fluxLinkageCalibrator().start(RES_MAX_CURRENT_A * 0.67f); + m_flux_ran = fluxLinkageCalibrator().start(FLUX_MAX_CURRENT_A); if (!m_flux_ran) { Telemetry::printf("[CAL] AUTO: failed to start flux linkage calibration"); return false; @@ -284,9 +323,35 @@ void AutoCalibrationCoordinator::finish() { } encoderADC().learnBounds(false); + m_custom_res_current_a = 0.0f; + m_custom_ind_max_a = 0.0f; + m_custom_ind_ac_a = 0.0f; + m_custom_ind_freq_hz = 0.0f; + m_custom_ind_flux_a = 0.0f; + m_custom_ind_ac_voltage_pct = 0.0f; + m_custom_ind_ac_freq_hz = 0.0f; + m_custom_ind_lm_h = 0.0f; enterState(State::DONE); } +bool AutoCalibrationCoordinator::startInductanceCal() { + if (m_custom_ind_max_a > 0.0f) { + const float ac_a = (m_custom_ind_ac_a > 0.0f) ? m_custom_ind_ac_a : 3.0f; + const float freq_hz = (m_custom_ind_freq_hz > 0.0f) ? m_custom_ind_freq_hz : 75.0f; + return inductanceCalibrator().start(m_custom_ind_max_a, ac_a, freq_hz); + } + return inductanceCalibrator().start(IND_MAX_CURRENT_A); +} + +bool AutoCalibrationCoordinator::startInductionMotorCal() { + const float flux_a = (m_custom_ind_flux_a > 0.0f) ? m_custom_ind_flux_a : IND_MAX_CURRENT_A; + const float ac_pct = (m_custom_ind_ac_voltage_pct > 0.0f) ? m_custom_ind_ac_voltage_pct : 5.0f; + const float freq_hz = (m_custom_ind_ac_freq_hz > 0.0f) ? m_custom_ind_ac_freq_hz : 100.0f; + const float lm_h = (m_custom_ind_lm_h > 0.0f) ? m_custom_ind_lm_h : 0.0f; + return inductionMotorCalibrator().start(flux_a, ac_pct, freq_hz, + 3000U, 2000U, lm_h); +} + void AutoCalibrationCoordinator::update() { if (m_state == State::IDLE || m_state == State::DONE || m_state == State::FAIL) { return; @@ -386,7 +451,10 @@ void AutoCalibrationCoordinator::update() { return; /* still settling */ } - if (!resistanceCalibrator().startCurrentCtrl(RES_MAX_CURRENT_A, + const float res_current_a = (m_custom_res_current_a > 0.0f) + ? m_custom_res_current_a + : RES_MAX_CURRENT_A; + if (!resistanceCalibrator().startCurrentCtrl(res_current_a, ResistanceCalibrator::Pair::UV, true, RES_TIMEOUT_MS, RES_OC_LIMIT_A)) { @@ -452,15 +520,62 @@ void AutoCalibrationCoordinator::update() { break; } - /* Measure dq inductances (biased-AC injection). The FRAM save - * happens after this stage so it includes the inductances. */ - Telemetry::printf("[CAL] AUTO: enter INDUCTANCE"); - m_inductance_ran = inductanceCalibrator().start(RES_MAX_CURRENT_A); - if (!m_inductance_ran) { - Telemetry::printf("[CAL] AUTO: WARNING: inductance cal failed to start; " - "continuing without it"); + /* Branch on motor type for the parameter-identification stage. */ + const MotorType mt = motorCalibration().motor_type; + if (mt == MotorType::Induction) { + Telemetry::printf("[CAL] AUTO: enter INDUCTION_PARAMS"); + m_induction_ran = startInductionMotorCal(); + if (!m_induction_ran) { + Telemetry::printf("[CAL] AUTO: WARNING: induction cal failed to start; " + "continuing without it"); + } + enterState(State::INDUCTION_PARAMS); + } else { + /* Default PMSM path. */ + Telemetry::printf("[CAL] AUTO: enter INDUCTANCE"); + m_inductance_ran = startInductanceCal(); + if (!m_inductance_ran) { + Telemetry::printf("[CAL] AUTO: WARNING: inductance cal failed to start; " + "continuing without it"); + } + enterState(State::INDUCTANCE); } - enterState(State::INDUCTANCE); + break; + } + + case State::INDUCTION_PARAMS: { + InductionMotorCalibrator& ic = inductionMotorCalibrator(); + if (ic.isActive()) { + return; /* still running */ + } + + if (m_induction_ran && ic.isDone() && ic.sigmaLsHenry() > 0.0f) { + MotorCalibration& mc = motorCalibration(); + mc.motor_type = MotorType::Induction; + mc.sigma_ls_henry = ic.sigmaLsHenry(); + mc.rotor_time_constant_ms = ic.rotorTauMs(); + if (ic.lmHenry() > 0.0f) mc.lm_henry = ic.lmHenry(); + if (ic.lrHenry() > 0.0f) mc.lr_henry = ic.lrHenry(); + if (ic.rrOhm() > 0.0f) mc.rr_ohm = ic.rrOhm(); + if (ic.lLeakHenry() > 0.0f) mc.l_leak_henry = ic.lLeakHenry(); + CalKvStore::saveInductionResults(mc.sigma_ls_henry, mc.rotor_time_constant_ms, + mc.lm_henry, mc.lr_henry, + mc.rr_ohm, mc.l_leak_henry); + Telemetry::printf("[CAL] AUTO: sigma_Ls=%.1f uH tau_r=%.1f ms", + static_cast(mc.sigma_ls_henry * 1.0e6), + static_cast(mc.rotor_time_constant_ms)); + } else { + Telemetry::printf("[CAL] AUTO: WARNING: induction calibration " + "incomplete; sigma_Ls/tau_r left unset"); + } + + if (m_slice_last == State::INDUCTION_PARAMS) { + finish(); + break; + } + + /* Induction profile ends here (no flux linkage stage). */ + finish(); break; } @@ -491,7 +606,7 @@ void AutoCalibrationCoordinator::update() { /* Measure the PM flux linkage (back-EMF speed sweep). The FRAM * save happens after this stage so it includes everything. */ Telemetry::printf("[CAL] AUTO: enter FLUX"); - m_flux_ran = fluxLinkageCalibrator().start(RES_MAX_CURRENT_A * 0.67f); + m_flux_ran = fluxLinkageCalibrator().start(FLUX_MAX_CURRENT_A); if (!m_flux_ran) { Telemetry::printf("[CAL] AUTO: WARNING: flux cal failed to start; " "continuing without it"); @@ -539,6 +654,8 @@ void AutoCalibrationCoordinator::update() { Telemetry::printf("[CAL] AUTO: R_ll_avg = %.4f ohm (%.2f mohm)", static_cast(m_r_avg * 2.0f), static_cast(m_r_avg * 2000.0f)); + Telemetry::printf("[CAL] AUTO: motor type = %s", + MotorConfigStore::typeName(motorCalibration().motor_type)); if (motorCalibration().ld_henry > 0.0f) { Telemetry::printf("[CAL] AUTO: Ld / Lq (0 A) = %.1f / %.1f uH", static_cast(motorCalibration().ld_henry * 1.0e6), @@ -548,6 +665,11 @@ void AutoCalibrationCoordinator::update() { Telemetry::printf("[CAL] AUTO: flux linkage = %.5f Wb", static_cast(motorCalibration().flux_linkage_wb)); } + if (motorCalibration().sigma_ls_henry > 0.0f) { + Telemetry::printf("[CAL] AUTO: sigma_Ls / tau_r = %.1f uH / %.1f ms", + static_cast(motorCalibration().sigma_ls_henry * 1.0e6), + static_cast(motorCalibration().rotor_time_constant_ms)); + } Telemetry::printf("[CAL] AUTO: ==========================================="); break; } diff --git a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp index 4a6aa13e..cce88dbf 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/BreakawayCalibrator.cpp @@ -5,6 +5,7 @@ #include "Inverter/Drivers/PWM/pwm.h" #include "Inverter/Drivers/Sensors/DcLinkVoltageSensor.h" #include "Inverter/Drivers/Sensors/EncoderADC.h" +#include "Inverter/Drivers/Sensors/PhaseCurrentADC.h" #include "Inverter/Telemetry.h" #include "main.h" @@ -35,6 +36,16 @@ float BreakawayCalibrator::modToVoltage(float m, float vdc_v) { return m * vdc_v * 0.5f; } +static float maxPhaseCurrent() { + const float iu = phaseCurrentADC().lastU(); + const float iv = phaseCurrentADC().lastV(); + const float iw = -(iu + iv); + float max_i = std::fabs(iu); + if (std::fabs(iv) > max_i) max_i = std::fabs(iv); + if (std::fabs(iw) > max_i) max_i = std::fabs(iw); + return max_i; +} + bool BreakawayCalibrator::start(float max_voltage, float step_voltage, uint32_t step_dwell_ms, float detect_cycles, float reverse_cycles) { @@ -161,9 +172,10 @@ void BreakawayCalibrator::advanceVoltageStep() { m_mod = max_mod; } m_step_enter_ms = HAL_GetTick(); - Telemetry::printf("[CAL] BREAK: step mod=%.3f (%.2f V)", + Telemetry::printf("[CAL] BREAK: step mod=%.3f (%.2f V) I=%.1f A", static_cast(m_mod), - static_cast(modToVoltage(m_mod, vdc))); + static_cast(modToVoltage(m_mod, vdc)), + static_cast(maxPhaseCurrent())); } void BreakawayCalibrator::updateRampFwd() { @@ -214,10 +226,11 @@ void BreakawayCalibrator::updateRampFwd() { m_breakaway_voltage = modToVoltage(m_mod, vdc); m_forward_final_cycles = cycles; CalKvStore::saveBreakaway(m_breakaway_mod); - Telemetry::printf("[CAL] BREAK: forward breakaway at mod=%.3f (%.2f V), moved=%.3f cycles", + Telemetry::printf("[CAL] BREAK: forward breakaway at mod=%.3f (%.2f V), moved=%.3f cycles, I=%.1f A", static_cast(m_breakaway_mod), static_cast(m_breakaway_voltage), - static_cast(moved_since_trusted)); + static_cast(moved_since_trusted), + static_cast(maxPhaseCurrent())); Telemetry::printf("[CAL] BREAK: pausing %.1f s before reverse check", static_cast(PAUSE_AFTER_FWD_MS) * 0.001); enterState(State::PAUSE_AFTER_FWD); diff --git a/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp b/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp index 1e36d70a..674a432b 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/CalKvStore.cpp @@ -34,10 +34,17 @@ constexpr const char* KEY_RES_AVG = "Motor.Resistance.Avg"; constexpr const char* KEY_IND_LD = "Motor.PMSM.Inductance.Ld"; constexpr const char* KEY_IND_LQ = "Motor.PMSM.Inductance.Lq"; constexpr const char* KEY_FLUX_WB = "Motor.PMSM.FluxLinkage.Wb"; +constexpr const char* KEY_IND_SIGMA_LS = "Motor.Induction.SigmaLs"; +constexpr const char* KEY_IND_TAU_R = "Motor.Induction.TauR"; +constexpr const char* KEY_IND_LM = "Motor.Induction.Lm"; +constexpr const char* KEY_IND_LR = "Motor.Induction.Lr"; +constexpr const char* KEY_IND_RR = "Motor.Induction.Rr"; +constexpr const char* KEY_IND_L_LEAK = "Motor.Induction.LLeak"; constexpr const char* KEY_MOTOR_TYPE = "Motor.Type"; constexpr const char* KEY_ENCODER_TYPE = "Motor.Encoder.Type"; -constexpr float MOTOR_TYPE_PMSM = 1.0f; +constexpr float MOTOR_TYPE_PMSM = static_cast(MotorType::PmsmIpm); +constexpr float MOTOR_TYPE_INDUCTION= static_cast(MotorType::Induction); constexpr float ENCODER_TYPE_SINCOS = 1.0f; void setIfValid(const char* key, float value) { @@ -59,6 +66,15 @@ void ensureBaseInfo() { } } +/** Read the stored motor type, falling back to PMSM if unset or invalid. */ +MotorType storedMotorType() { + if (!RteParamStore::isReady()) return MotorType::PmsmIpm; + float v = 0.0f; + if (!RteParamStore::get(KEY_MOTOR_TYPE, &v)) return MotorType::PmsmIpm; + if (v < 0.0f || v > static_cast(MotorType::SlipRing)) return MotorType::PmsmIpm; + return static_cast(v); +} + void savePoleResults(float poles, float encoderCyclesPerRev) { if (!RteParamStore::isReady()) return; setIfValid(KEY_POLES, poles); @@ -90,6 +106,19 @@ void saveInductanceResults(float ldHenry, float lqHenry) { setIfValid(KEY_IND_LQ, lqHenry); } +void saveInductionResults(float sigmaLsHenry, float rotorTauMs, + float lmHenry, float lrHenry, + float rrOhm, float lLeakHenry) { + if (!RteParamStore::isReady()) return; + RteParamStore::set(KEY_MOTOR_TYPE, MOTOR_TYPE_INDUCTION); + setIfValid(KEY_IND_SIGMA_LS, sigmaLsHenry); + setIfValid(KEY_IND_TAU_R, rotorTauMs); + setIfValid(KEY_IND_LM, lmHenry); + setIfValid(KEY_IND_LR, lrHenry); + setIfValid(KEY_IND_RR, rrOhm); + setIfValid(KEY_IND_L_LEAK, lLeakHenry); +} + void saveFluxResults(float fluxWb) { if (!RteParamStore::isReady()) return; setIfValid(KEY_FLUX_WB, fluxWb); @@ -159,19 +188,28 @@ bool loadEncoderFit() { bool loadMotorCalibration() { if (!RteParamStore::isReady()) return false; + MotorCalibration& mc = motorCalibration(); + + /* Motor type drives calibration branching and must always be refreshed, + * even for encoderless motors that have no poles/encoder data yet. */ + mc.motor_type = storedMotorType(); + + /* Encoder-dependent fields are only loaded when a stored encoder profile + * exists. Encoderless induction setups skip these. */ float poles = 0.0f, cycles = 0.0f, offset_deg = 0.0f, sign = 0.0f; - if (!RteParamStore::get("Motor.Poles", &poles) || poles <= 0.0f || - !RteParamStore::get("Motor.Encoder.SinCos.CyclesRev", &cycles) || cycles <= 0.0f || - !RteParamStore::get("Motor.Encoder.SinCos.OffsetDeg", &offset_deg) || - !RteParamStore::get("Motor.Encoder.SinCos.Sign", &sign)) { - return false; + bool have_encoder = + RteParamStore::get("Motor.Poles", &poles) && poles > 0.0f && + RteParamStore::get("Motor.Encoder.SinCos.CyclesRev", &cycles) && cycles > 0.0f && + RteParamStore::get("Motor.Encoder.SinCos.OffsetDeg", &offset_deg) && + RteParamStore::get("Motor.Encoder.SinCos.Sign", &sign); + if (have_encoder) { + mc.pole_count = poles; + mc.encoder_cycles_per_rev = cycles; + /* KV stores electrical degrees; the struct wants mechanical. */ + mc.encoder_offset_deg = offset_deg / (poles * 0.5f); + mc.encoder_sign = (sign >= 0.0f) ? 1.0f : -1.0f; } - MotorCalibration& mc = motorCalibration(); - mc.pole_count = poles; - mc.encoder_cycles_per_rev = cycles; - /* KV stores electrical degrees; the struct wants mechanical. */ - mc.encoder_offset_deg = offset_deg / (poles * 0.5f); - mc.encoder_sign = (sign >= 0.0f) ? 1.0f : -1.0f; + float r = 0.0f; if (RteParamStore::get("Motor.Resistance.Avg", &r) && r > 0.0f) { mc.r_phase_uv = r; @@ -179,7 +217,21 @@ bool loadMotorCalibration() { mc.r_phase_vw = r; mc.r_phase_avg = r; } - mc.valid = true; + + float v = 0.0f; + if (RteParamStore::get(KEY_IND_SIGMA_LS, &v) && v > 0.0f) mc.sigma_ls_henry = v; + if (RteParamStore::get(KEY_IND_TAU_R, &v) && v > 0.0f) mc.rotor_time_constant_ms = v; + if (RteParamStore::get(KEY_IND_LM, &v) && v > 0.0f) mc.lm_henry = v; + if (RteParamStore::get(KEY_IND_LR, &v) && v > 0.0f) mc.lr_henry = v; + if (RteParamStore::get(KEY_IND_RR, &v) && v > 0.0f) mc.rr_ohm = v; + if (RteParamStore::get(KEY_IND_L_LEAK, &v) && v > 0.0f) mc.l_leak_henry = v; + + /* Mark valid for FOC when the encoder prerequisites are present; the + * resistance stage of an encoderless induction run will set valid=true + * itself once it has measured R. */ + if (have_encoder) { + mc.valid = true; + } return true; } diff --git a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp index 7d4fb205..6432eece 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/EncoderOffsetCalibrator.cpp @@ -4,6 +4,7 @@ #include "Inverter/Drivers/PWM/pwm.h" #include "Inverter/Drivers/Sensors/EncoderADC.h" #include "Inverter/Drivers/Sensors/DcLinkVoltageSensor.h" +#include "Inverter/Drivers/Sensors/PhaseCurrentADC.h" #include "Inverter/Telemetry.h" #include "main.h" @@ -20,7 +21,7 @@ static constexpr float HOLD_MAX_MOD = 0.50f; * modulation step makes the ramp behave similarly at 20 V and 120 V. */ static constexpr float BREAKAWAY_STEP_V = 0.50f; /* V per ramp period */ static constexpr float BREAKAWAY_MAX_V = 10.0f; /* peak phase voltage */ -static constexpr float ROTATE_HEADROOM_FACTOR = 1.50f; /* rotation = breakaway * this */ +static constexpr float ROTATE_HEADROOM_FACTOR = 1.00f; /* rotation = breakaway (no headroom) */ static constexpr float CAL_MAX_VOLTAGE_V = 25.0f; /* hard voltage ceiling */ static constexpr uint32_t WARMUP_MS = 5000U; @@ -53,6 +54,16 @@ static float modToVoltage(float m, float vdc_v) { return m * vdc_v * 0.5f; } +static float maxPhaseCurrent() { + const float iu = phaseCurrentADC().lastU(); + const float iv = phaseCurrentADC().lastV(); + const float iw = -(iu + iv); + float max_i = std::fabs(iu); + if (std::fabs(iv) > max_i) max_i = std::fabs(iv); + if (std::fabs(iw) > max_i) max_i = std::fabs(iw); + return max_i; +} + EncoderOffsetCalibrator& EncoderOffsetCalibrator::instance() { return s_instance; } @@ -143,9 +154,9 @@ void EncoderOffsetCalibrator::enterState(State state) { const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); float target = m_mod; const float floor_mod = voltageToMod(v_breakaway, vdc); - /* Never warm up at a voltage below breakaway; keep a small headroom - * so the rotor stays locked. */ - const float min_target_mod = voltageToMod(v_breakaway * 1.05f, vdc); + /* Rotation voltage equals breakaway; extra headroom is not needed + * and increases phase current on low-resistance motors. */ + const float min_target_mod = voltageToMod(v_breakaway * 1.00f, vdc); if (target < min_target_mod) { target = min_target_mod; } @@ -172,7 +183,7 @@ void EncoderOffsetCalibrator::enterState(State state) { const float v_breakaway = modToVoltage(m_breakaway_mod, vdc); const float floor_mod = voltageToMod(v_breakaway, vdc); float target = m_mod; - const float min_target_mod = voltageToMod(v_breakaway * 1.05f, vdc); + const float min_target_mod = voltageToMod(v_breakaway * 1.00f, vdc); if (target < min_target_mod) { target = min_target_mod; } @@ -400,12 +411,13 @@ void EncoderOffsetCalibrator::update() { (moved_field > 5.0f) ? (std::fabs(moved_enc) / moved_field) : 0.0f; if ((now_ms - m_last_dbg_ms) >= 500U) { m_last_dbg_ms = now_ms; - Telemetry::printf("[CAL] ENC DBG: warmup: enc_mech=%.3f mod=%.3f enc_moved=%.1f fld_moved=%.1f lock=%.2f ms=%lu", + Telemetry::printf("[CAL] ENC DBG: warmup: enc_mech=%.3f mod=%.3f enc_moved=%.1f fld_moved=%.1f lock=%.2f I=%.1f A ms=%lu", static_cast(enc_mech), static_cast(m_ramp.applied()), static_cast(moved_enc), static_cast(moved_field), static_cast(warmup_lock_ratio), + static_cast(maxPhaseCurrent()), static_cast(now_ms - m_state_start_ms)); } @@ -512,11 +524,12 @@ void EncoderOffsetCalibrator::update() { if ((now_ms - m_last_dbg_ms) >= 500U) { m_last_dbg_ms = now_ms; - Telemetry::printf("[CAL] ENC DBG: rotate: enc_mech=%.3f fld_mech=%.3f moved=%.1f samples=%d", + Telemetry::printf("[CAL] ENC DBG: rotate: enc_mech=%.3f fld_mech=%.3f moved=%.1f samples=%d I=%.1f A", static_cast(encoder_mech), static_cast(field_mech), static_cast(moved_field), - m_sample_count); + m_sample_count, + static_cast(maxPhaseCurrent())); } if (!m_offset_acquisition_active) { diff --git a/Images/Gen6FW/Src/Inverter/Calibration/FluxLinkageCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/FluxLinkageCalibrator.cpp index 43a49124..17a777ab 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/FluxLinkageCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/FluxLinkageCalibrator.cpp @@ -173,7 +173,7 @@ void FluxLinkageCalibrator::update() { const uint32_t elapsed = now - m_ramp_start_ms; const float ramp_frac = (elapsed >= RAMP_MS) ? 1.0f : static_cast(elapsed) / static_cast(RAMP_MS); - focControlManager().setIq(m_max_iq_a); + focControlManager().setIq(ramp_frac * m_max_iq_a); const float rpm = encoderADC().rpmMech(); const float vq = focControlManager().controller().Vq_V; diff --git a/Images/Gen6FW/Src/Inverter/Calibration/InductanceCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/InductanceCalibrator.cpp index 759b621e..304ff3de 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/InductanceCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/InductanceCalibrator.cpp @@ -53,6 +53,40 @@ void InductanceCalibrator::restoreGains() { } } +void InductanceCalibrator::applyCalibrationGains() { + /* Save original gains first (the getters are public and cheap). */ + m_orig_kp = focControlManager().kp(); + m_orig_ki = focControlManager().ki(); + if (m_orig_kp <= 0.0f) { + m_orig_kp = 0.03f; + m_orig_ki = 10.0f; + } + + /* PI design for an R-L plant with deliberate phase lead. We intentionally + * do NOT cancel the plant pole; instead we place the controller zero well + * below the plant pole so the loop has generous phase margin at crossover. + * A stable loop is more important here than textbook pole-zero cancellation. + */ + const MotorCalibration& mc = motorCalibration(); + constexpr float SEED_L_H = 100.0e-6f; + constexpr float WB_RAD_S = 600.0f; /* crossover ~95 Hz */ + constexpr float WZ_RAD_S = 25.0f; /* controller zero, << plant pole */ + float kp = SEED_L_H * WB_RAD_S; + float ki = kp * WZ_RAD_S; + + if (kp < 0.005f) kp = 0.005f; + if (kp > 0.20f) kp = 0.20f; + if (ki < 0.5f) ki = 0.5f; + if (ki > 50.0f) ki = 50.0f; + + focControlManager().setKp(kp); + focControlManager().setKi(ki); + Telemetry::printf("[CAL] IND: gains Kp=%.4f Ki=%.2f (seed L=%.1f uH R=%.4f ohm)", + static_cast(kp), static_cast(ki), + static_cast(SEED_L_H * 1.0e6f), + static_cast(mc.r_phase_avg)); +} + void InductanceCalibrator::restoreSwitchingFrequency() { if (m_saved_switching_hz > 0.0f) { PWM_SetFrequency(static_cast(m_saved_switching_hz + 0.5f)); @@ -149,7 +183,7 @@ bool InductanceCalibrator::start(float max_current_a, float ac_current_a, return false; } if (max_current_a < 5.0f || max_current_a > 200.0f || - ac_current_a <= 0.0f || ac_current_a > 10.0f || + ac_current_a <= 0.0f || ac_current_a > 4.0f || inj_freq_hz < 10.0f || inj_freq_hz > 400.0f) { Telemetry::printf("[CAL] IND: bad parameters"); return false; @@ -166,6 +200,14 @@ bool InductanceCalibrator::start(float max_current_a, float ac_current_a, } m_fail_reason[0] = '\0'; m_retries_left = 2; + m_prev_bias_a = 0.0f; + m_mp = {}; + + /* D-axis hold during Lq: enough to keep the rotor aligned, not so much + * that it dominates saturation. Cap at 5 A. */ + m_id_hold_a = 0.10f * m_max_current_a; + if (m_id_hold_a > 5.0f) m_id_hold_a = 5.0f; + if (m_id_hold_a < 1.0f) m_id_hold_a = 1.0f; /* Pin a known switching frequency for the measurement (the runtime * frequency is user-defined and may be anything); restored on exit. */ @@ -179,12 +221,15 @@ bool InductanceCalibrator::start(float max_current_a, float ac_current_a, const float step = 2.0f * 3.14159265358979323846f * m_inj_freq_hz / fs; m_osc_dc = std::cos(step); m_osc_ds = std::sin(step); - const uint32_t samples_per_cycle = - static_cast(fs / m_inj_freq_hz + 0.5f); - m_skip_samples = samples_per_cycle * static_cast(SKIP_CYCLES); - m_target_samples = samples_per_cycle * static_cast(MEASURE_CYCLES - SKIP_CYCLES); + m_samples_per_cycle = static_cast(fs / m_inj_freq_hz + 0.5f); + if (m_samples_per_cycle < 2U) m_samples_per_cycle = 2U; + m_skip_samples = m_samples_per_cycle * static_cast(SKIP_CYCLES); + m_target_samples = m_samples_per_cycle * static_cast(MEASURE_CYCLES - SKIP_CYCLES); m_abort_requested = false; + m_i_filt = 0.0f; + m_oc_count = 0; + m_overcurrent_hard_a = 2.5f * m_overcurrent_a; /* The calibrator runs its own stage of motorcal, so the "calibration * active" guard must be bypassed (the coordinator is waiting on us). */ @@ -193,13 +238,14 @@ bool InductanceCalibrator::start(float max_current_a, float ac_current_a, return false; } focControlManager().setSampleCallback(focSampleTrampoline, nullptr); - m_orig_kp = 0.0f; + applyCalibrationGains(); - Telemetry::printf("[CAL] IND: biased-AC injection: max=%.1f A ac=%.2f A f=%.1f Hz " + Telemetry::printf("[CAL] IND: biased-AC injection: max=%.1f A ac=%.2f A f=%.1f Hz id_hold=%.2f A " "R=%.4f ohm", static_cast(m_max_current_a), static_cast(m_ac_current_a), static_cast(m_inj_freq_hz), + static_cast(m_id_hold_a), static_cast(mc.r_phase_avg)); /* No alignment phase: in the closed-loop encoder frame, constant d @@ -231,9 +277,11 @@ void InductanceCalibrator::resetGoertzel() { m_v_re = m_v_im = 0.0; m_n = 0; m_peak_abs_i = 0.0f; + m_peak_filt_i = 0.0f; } void InductanceCalibrator::armSetpoints(const MeasurePoint& mp, bool ac_on) { + m_prev_bias_a = m_mp.bias_a; m_mp = mp; m_settle_n = 0; if (!ac_on) { @@ -303,11 +351,11 @@ void InductanceCalibrator::finishMeasure() { /* Amplitude auto-retry: if the loop tracked the command too weakly * (small-signal distortion dominates at tiny amplitudes), double the AC - * amplitude and repeat the point. */ - if (i_amp < 1.5f && m_ac_current_a < 10.0f && m_retries_left > 0) { + * amplitude and repeat the point. Cap at 4 A to avoid overshoot. */ + if (i_amp < 1.0f && m_ac_current_a < 4.0f && m_retries_left > 0) { --m_retries_left; m_ac_current_a *= 2.0f; - if (m_ac_current_a > 10.0f) m_ac_current_a = 10.0f; + if (m_ac_current_a > 4.0f) m_ac_current_a = 4.0f; Telemetry::printf("[CAL] IND: weak response (I=%.2f A); retry with ac=%.1f A", static_cast(i_amp), static_cast(m_ac_current_a)); if (m_mp.axis_q) { @@ -320,14 +368,18 @@ void InductanceCalibrator::finishMeasure() { const float l = computeInductance(i_amp, v_amp); - /* Quality gate: below ~1.5 A of actual AC the measurement is dominated + /* Quality gate: below ~1.0 A of actual AC the measurement is dominated * by small-signal distortion. Skip the point rather than store junk. */ - const bool weak = (i_amp < 1.5f); + const bool weak = (i_amp < 1.0f); if (!m_mp.axis_q) { if (weak) { - Telemetry::printf("[CAL] IND: Ld(%5.1f A) skipped (I=%.2f A too weak)", - static_cast(m_mp.bias_a), static_cast(i_amp)); + Telemetry::printf("[CAL] IND: Ld(%5.1f A) skipped (I=%.2f A too weak " + "iac_cmd=%.2f peak=%.2f filt=%.2f)", + static_cast(m_mp.bias_a), static_cast(i_amp), + static_cast(m_ac_current_a), + static_cast(m_peak_abs_i), + static_cast(m_peak_filt_i)); } else { if (l <= 0.0f) { fail("Ld point %d: nonphysical result (I=%.2f A V=%.2f V)", @@ -336,9 +388,13 @@ void InductanceCalibrator::finishMeasure() { } m_bias_ld[k] = m_mp.bias_a; m_ld[k] = l; - Telemetry::printf("[CAL] IND: Ld(%5.1f A) = %8.1f uH (I=%.2f V=%.2f)", + Telemetry::printf("[CAL] IND: Ld(%5.1f A) = %8.1f uH (I=%.2f V=%.2f " + "iac_cmd=%.2f peak=%.2f filt=%.2f)", static_cast(m_mp.bias_a), static_cast(l * 1.0e6), - static_cast(i_amp), static_cast(v_amp)); + static_cast(i_amp), static_cast(v_amp), + static_cast(m_ac_current_a), + static_cast(m_peak_abs_i), + static_cast(m_peak_filt_i)); } m_retries_left = 2; if (k + 1 < MAX_POINTS) { @@ -352,8 +408,12 @@ void InductanceCalibrator::finishMeasure() { /* q-axis: one measurement per bias level (single polarity). */ if (weak) { - Telemetry::printf("[CAL] IND: Lq(%5.1f A) too weak (I=%.2f A); skipping point", - static_cast(m_mp.bias_a), static_cast(i_amp)); + Telemetry::printf("[CAL] IND: Lq(%5.1f A) too weak (I=%.2f A); skipping point " + "iac_cmd=%.2f peak=%.2f filt=%.2f)", + static_cast(m_mp.bias_a), static_cast(i_amp), + static_cast(m_ac_current_a), + static_cast(m_peak_abs_i), + static_cast(m_peak_filt_i)); if (k + 1 < MAX_POINTS) { beginLqHalf(k + 1, false); } else { @@ -362,9 +422,13 @@ void InductanceCalibrator::finishMeasure() { return; } - Telemetry::printf("[CAL] IND: Lq(%5.1f A) = %8.1f uH (I=%.2f V=%.2f)", + Telemetry::printf("[CAL] IND: Lq(%5.1f A) = %8.1f uH (I=%.2f V=%.2f " + "iac_cmd=%.2f peak=%.2f filt=%.2f)", static_cast(m_mp.bias_a), static_cast(l * 1.0e6), - static_cast(i_amp), static_cast(v_amp)); + static_cast(i_amp), static_cast(v_amp), + static_cast(m_ac_current_a), + static_cast(m_peak_abs_i), + static_cast(m_peak_filt_i)); if (l <= 0.0f) { Telemetry::printf("[CAL] IND: Lq point %d dropped (nonphysical)", k); @@ -387,32 +451,64 @@ void InductanceCalibrator::onFocSample(float id, float iq, float vd, float vq) { return; } - /* Drive the setpoints. During settle the bias ramps in over the settle - * window so the rotor follows quasi-statically instead of ringing from - * a torque step; the AC rides on top during measurement. */ + /* Drive the setpoints. During settle the bias ramps from the previous + * point's bias to the new one so the current setpoint does not step to + * zero between points. The AC rides on top during measurement. */ float bias = m_mp.bias_a; if (!measuring) { const uint32_t ramp_n = static_cast(m_fs * (m_mp.settle_ms * 1.0e-3f)); if (ramp_n > 0U && m_settle_n < ramp_n) { - bias *= static_cast(m_settle_n) / static_cast(ramp_n); + const float frac = static_cast(m_settle_n) / static_cast(ramp_n); + bias = m_prev_bias_a + (m_mp.bias_a - m_prev_bias_a) * frac; } ++m_settle_n; } - const float ac = m_ac_current_a * m_osc_s; + + /* Ramp AC amplitude from zero to full over the first cycle to avoid + * exciting the current-loop transient. */ + float ac_scale = 1.0f; + if (measuring && m_samples_per_cycle > 0U) { + const float cycles = static_cast(m_osc_n) / static_cast(m_samples_per_cycle); + if (cycles < static_cast(AC_RAMP_CYCLES)) { + ac_scale = cycles / static_cast(AC_RAMP_CYCLES); + if (ac_scale < 0.0f) ac_scale = 0.0f; + } + } + const float ac = m_ac_current_a * m_osc_s * ac_scale; + if (m_mp.axis_q) { - /* Lq: free-spinning rotor, no d-hold current. */ - focControlManager().setId(0.0f); + /* Lq: hold a small d-axis current to keep the rotor aligned while the + * q-axis bias + AC creates torque. d-current produces no torque. */ + focControlManager().setId(m_id_hold_a); focControlManager().setIq(measuring ? (bias + ac) : bias); } else { focControlManager().setId(measuring ? (bias + ac) : bias); focControlManager().setIq(0.0f); } - /* Safety: instantaneous overcurrent guard on the regulated dq currents. + /* Safety: filtered overcurrent guard on the regulated dq currents. + * Instantaneous samples are noisy; require several consecutive over-threshold + * samples before aborting. A hard instantaneous limit still catches shorts. * fail() must not run in ISR context, so hand off to the main loop. */ - const float abs_i = std::fabs(m_mp.axis_q ? iq : id); + const float i_now = m_mp.axis_q ? iq : id; + const float abs_i = std::fabs(i_now); if (abs_i > m_peak_abs_i) m_peak_abs_i = abs_i; - if (abs_i > m_overcurrent_a) { + + m_i_filt += OC_FILTER_ALPHA * (abs_i - m_i_filt); + if (m_i_filt > m_peak_filt_i) m_peak_filt_i = m_i_filt; + if (m_i_filt > m_overcurrent_a) { + if (++m_oc_count >= OC_FILTER_PERSIST) { + m_abort_current_a = m_i_filt; + m_abort_requested = true; + focControlManager().setId(0.0f); + focControlManager().setIq(0.0f); + return; + } + } else if (abs_i < m_overcurrent_hard_a) { + m_oc_count = 0; + } + + if (abs_i > m_overcurrent_hard_a) { m_abort_current_a = abs_i; m_abort_requested = true; focControlManager().setId(0.0f); diff --git a/Images/Gen6FW/Src/Inverter/Calibration/InductionMotorCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/InductionMotorCalibrator.cpp new file mode 100644 index 00000000..18c17187 --- /dev/null +++ b/Images/Gen6FW/Src/Inverter/Calibration/InductionMotorCalibrator.cpp @@ -0,0 +1,535 @@ +#include "Inverter/Calibration/InductionMotorCalibrator.h" +#include "Inverter/Calibration/MotorCalibration.h" +#include "Inverter/Calibration/PoleCalibrator.h" +#include "Inverter/Calibration/EncoderOffsetCalibrator.h" +#include "Inverter/Calibration/ResistanceCalibrator.h" +#include "Inverter/Calibration/InductanceCalibrator.h" +#include "Inverter/Control/FaultManager.h" +#include "Inverter/Control/FocControlManager.h" +#include "Inverter/Control/OpenLoopController.h" +#include "Inverter/Drivers/Sensors/DcLinkVoltageSensor.h" +#include "Inverter/Drivers/Sensors/EncoderADC.h" +#include "Inverter/Drivers/Sensors/PhaseCurrentADC.h" +#include "Inverter/Drivers/PWM/pwm.h" +#include "Inverter/Telemetry.h" + +#include "main.h" + +#include +#include +#include +#include + +namespace Inverter { + +namespace { + +/* Keep the large decay buffers out of scarce DTCMRAM; calibration objects can + * live in AXI SRAM (RAM_D1) for the duration of a commissioning run. */ +static InductionMotorCalibrator s_instance __attribute__((section(".dma_buffers"))); + +constexpr float PI_F = 3.14159265358979323846f; + +float maxAbs3(float a, float b, float c) { + float m = std::fabs(a); + if (std::fabs(b) > m) m = std::fabs(b); + if (std::fabs(c) > m) m = std::fabs(c); + return m; +} + +} // namespace + +InductionMotorCalibrator& InductionMotorCalibrator::instance() { + return s_instance; +} + +InductionMotorCalibrator& inductionMotorCalibrator() { + return InductionMotorCalibrator::instance(); +} + +bool InductionMotorCalibrator::isActive() const { + return m_state != State::IDLE && m_state != State::DONE && m_state != State::FAIL; +} + +const char* InductionMotorCalibrator::stateName() const { + switch (m_state) { + case State::IDLE: return "IDLE"; + case State::ENABLE: return "ENABLE"; + case State::WAIT_READY: return "WAIT_READY"; + case State::SIGMA_LS_SETTLE: return "SIGMA_LS_SETTLE"; + case State::SIGMA_LS_MEASURE: return "SIGMA_LS_MEASURE"; + case State::TAU_R_FLUXING: return "TAU_R_FLUXING"; + case State::TAU_R_SETTLE: return "TAU_R_SETTLE"; + case State::TAU_R_DECAY: return "TAU_R_DECAY"; + case State::COMPUTE: return "COMPUTE"; + case State::DONE: return "DONE"; + case State::FAIL: return "FAIL"; + } + return "?"; +} + +void InductionMotorCalibrator::enterState(State s) { + m_state = s; + m_state_enter_ms = HAL_GetTick(); +} + +void InductionMotorCalibrator::fail(const char* fmt, ...) { + va_list ap; + va_start(ap, fmt); + std::vsnprintf(m_fail_reason, sizeof(m_fail_reason), fmt, ap); + va_end(ap); + Telemetry::printf("[CAL] INDUCTION: FAIL: %s", m_fail_reason); + shutdown(); + enterState(State::FAIL); +} + +void InductionMotorCalibrator::shutdown() { + PWM_StopSPWM(); + CalibrationHardware::shutdown(); +} + +void InductionMotorCalibrator::sampleCurrents(float& iu, float& iv, float& iw) { + if (!phaseCurrentADC().sample(iu, iv, iw)) { + iu = phaseCurrentADC().lastU(); + iv = phaseCurrentADC().lastV(); + iw = -(iu + iv); + } +} + +bool InductionMotorCalibrator::checkOvercurrent(float iu, float iv, float iw) { + if (maxAbs3(iu, iv, iw) > OVERCURRENT_A) { + fail("overcurrent %.1f A > %.1f A", + static_cast(maxAbs3(iu, iv, iw)), + static_cast(OVERCURRENT_A)); + return true; + } + return false; +} + +bool InductionMotorCalibrator::checkEncoderMovement() { + if (!m_encoder_guard) return false; + if (!encoderADC().boundsValid()) return false; + const float ang = encoderADC().lastAngle(); + float diff = std::fabs(ang - m_encoder_start_angle); + while (diff > 360.0f) diff -= 360.0f; + if (diff > ENCODER_MOVE_DEG) { + fail("rotor moved %.1f deg during DC phase", static_cast(diff)); + return true; + } + return false; +} + +void InductionMotorCalibrator::updateFluxPi(float i_meas_a) { + const uint32_t now = HAL_GetTick(); + const float dt_s = (m_flux_pi_last_ms == 0U) ? 0.01f : + static_cast(now - m_flux_pi_last_ms) * 1.0e-3f; + m_flux_pi_last_ms = now; + + const float error = m_max_flux_current_a - i_meas_a; + m_flux_integral += FLUX_PI_KI * error * dt_s; + if (m_flux_integral > FLUX_PI_MAX_MOD) m_flux_integral = FLUX_PI_MAX_MOD; + if (m_flux_integral < FLUX_PI_MIN_MOD) m_flux_integral = FLUX_PI_MIN_MOD; + + float mod = FLUX_PI_KP * error + m_flux_integral; + if (mod > FLUX_PI_MAX_MOD) mod = FLUX_PI_MAX_MOD; + if (mod < FLUX_PI_MIN_MOD) mod = FLUX_PI_MIN_MOD; + m_flux_mod_index = mod; + + /* Park a stationary vector aligned with the U axis for consistent fluxing. */ + PWM_SetVoltageAngle(PI_F * 0.5f, m_flux_mod_index); +} + +bool InductionMotorCalibrator::start(float max_flux_current_a, + float ac_voltage_pct, + float ac_freq_hz, + uint32_t fluxing_time_ms, + uint32_t decay_sample_time_ms, + float lm_estimate_henry) { + if (isActive()) { + Telemetry::printf("[CAL] INDUCTION: already running"); + return false; + } + if (openLoopController().isRunning() || focControlManager().isRunning()) { + Telemetry::printf("[CAL] INDUCTION: stop the motor first"); + return false; + } + if (poleCalibrator().isActive() || encoderOffsetCalibrator().isActive() || + resistanceCalibrator().isActive() || inductanceCalibrator().isActive()) { + Telemetry::printf("[CAL] INDUCTION: another calibration is active"); + return false; + } + + const MotorCalibration& mc = motorCalibration(); + if (!mc.valid || mc.r_phase_avg <= 0.0f) { + Telemetry::printf("[CAL] INDUCTION: need a valid resistance calibration first"); + return false; + } + if (FaultManager::instance().isSeverityActive(FaultSeverity::Critical) || + FaultManager::instance().isSeverityActive(FaultSeverity::High)) { + Telemetry::printf("[CAL] INDUCTION: active Critical/High faults"); + return false; + } + if (dcLinkVoltageSensor().voltage() < 10.0f) { + Telemetry::printf("[CAL] INDUCTION: DC bus too low (%.1f V)", + static_cast(dcLinkVoltageSensor().voltage())); + return false; + } + if (max_flux_current_a < 1.0f || max_flux_current_a > 200.0f || + ac_voltage_pct <= 0.0f || ac_voltage_pct > 50.0f || + ac_freq_hz < 10.0f || ac_freq_hz > 400.0f || + fluxing_time_ms < 500U || fluxing_time_ms > 20000U || + decay_sample_time_ms < 500U || decay_sample_time_ms > 2000U) { + Telemetry::printf("[CAL] INDUCTION: bad parameters"); + return false; + } + + m_max_flux_current_a = max_flux_current_a; + m_ac_voltage_pct = ac_voltage_pct; + m_ac_freq_hz = ac_freq_hz; + m_fluxing_time_ms = fluxing_time_ms; + m_decay_sample_time_ms = decay_sample_time_ms; + m_lm_estimate_h = lm_estimate_henry; + + m_ac_mod_index = ac_voltage_pct * 0.01f; + m_spwm_start_cycles = 0; + m_sigma_i_peak = 0.0f; + m_sigma_samples = 0; + m_flux_mod_index = 0.0f; + m_flux_integral = 0.0f; + m_flux_pi_last_ms = 0; + m_decay_n = 0; + m_last_decay_ms = 0; + m_fail_reason[0] = '\0'; + + m_sigma_ls_h = 0.0f; + m_rotor_tau_ms = 0.0f; + m_lm_h = 0.0f; + m_lr_h = 0.0f; + m_rr_ohm = 0.0f; + m_l_leak_h = 0.0f; + + m_encoder_guard = encoderADC().boundsValid(); + m_encoder_start_angle = encoderADC().lastAngle(); + + /* Use the same switching frequency as the open-loop controller so the + * SPWM ISR has a known, stable rate. */ + PWM_SetFrequency(2500U); + PWM_SetDeadTime(1000U); + PWM_SetThreePhaseDuty(50.0f, 50.0f, 50.0f); + PWM_DisableFocMode(); + + Telemetry::printf("[CAL] INDUCTION: start flux_I=%.1f A ac=%.1f%% f=%.1f Hz " + "flux_ms=%lu decay_ms=%lu R=%.4f ohm", + static_cast(m_max_flux_current_a), + static_cast(m_ac_voltage_pct), + static_cast(m_ac_freq_hz), + static_cast(m_fluxing_time_ms), + static_cast(m_decay_sample_time_ms), + static_cast(mc.r_phase_avg)); + + m_hw.begin(); + enterState(State::ENABLE); + return true; +} + +void InductionMotorCalibrator::stop() { + if (!isActive()) return; + shutdown(); + Telemetry::printf("[CAL] INDUCTION: stopped"); + enterState(State::IDLE); +} + +bool InductionMotorCalibrator::runSigmaLsSettle() { + if ((HAL_GetTick() - m_state_enter_ms) < SETTLE_MS) return false; + PWM_StartSPWM(m_ac_freq_hz, m_ac_mod_index); + m_spwm_start_cycles = PWM_GetSPWMElectricalCycles(); + m_sigma_i_peak = 0.0f; + m_sigma_samples = 0; + enterState(State::SIGMA_LS_MEASURE); + return true; +} + +bool InductionMotorCalibrator::runSigmaLsMeasure() { + float iu, iv, iw; + sampleCurrents(iu, iv, iw); + if (checkOvercurrent(iu, iv, iw)) return true; + + const float i_peak = maxAbs3(iu, iv, iw); + if (i_peak > m_sigma_i_peak) m_sigma_i_peak = i_peak; + ++m_sigma_samples; + + const uint32_t cycles = PWM_GetSPWMElectricalCycles() - m_spwm_start_cycles; + if (cycles < AC_MEASURE_CYCLES) return false; + + PWM_StopSPWM(); + + const float vdc = dcLinkVoltageSensor().voltage(); + const float vph_peak = m_ac_mod_index * 0.5f * vdc; + const MotorCalibration& mc = motorCalibration(); + + Telemetry::printf("[CAL] INDUCTION: sigma_Ls raw Vph=%.3f V Ipeak=%.3f A samples=%lu", + static_cast(vph_peak), + static_cast(m_sigma_i_peak), + static_cast(m_sigma_samples)); + + if (m_sigma_i_peak < 0.1f) { + fail("AC current too small (%.2f A); raise ac_voltage_pct", + static_cast(m_sigma_i_peak)); + return true; + } + + const float z_mag = vph_peak / m_sigma_i_peak; + const float r_s = mc.r_phase_avg; + const float omega = 2.0f * PI_F * m_ac_freq_hz; + const float z2r2 = z_mag * z_mag - r_s * r_s; + + if (z2r2 <= 0.0f || !std::isfinite(z2r2)) { + fail("nonphysical impedance |Z|=%.4f ohm <= Rs=%.4f ohm", + static_cast(z_mag), static_cast(r_s)); + return true; + } + + m_sigma_ls_h = std::sqrt(z2r2) / omega; + Telemetry::printf("[CAL] INDUCTION: sigma_Ls = %.1f uH (|Z|=%.4f ohm)", + static_cast(m_sigma_ls_h * 1.0e6f), + static_cast(z_mag)); + + /* Prepare for DC fluxing: park at zero vector, then let PI ramp up. */ + PWM_SetThreePhaseDuty(50.0f, 50.0f, 50.0f); + m_flux_mod_index = 0.0f; + m_flux_integral = 0.0f; + m_flux_pi_last_ms = 0; + enterState(State::TAU_R_FLUXING); + return true; +} + +bool InductionMotorCalibrator::runTauRFluxing() { + float iu, iv, iw; + sampleCurrents(iu, iv, iw); + if (checkOvercurrent(iu, iv, iw)) return true; + if (checkEncoderMovement()) return true; + + const float i_meas = maxAbs3(iu, iv, iw); + updateFluxPi(i_meas); + + /* Wait until the current has reached the target and settled. */ + const uint32_t elapsed = HAL_GetTick() - m_state_enter_ms; + if (elapsed < SETTLE_MS) return false; + if (i_meas < 0.5f * m_max_flux_current_a) { + if (elapsed > 5000U) { + fail("fluxing current did not reach target (%.1f A < %.1f A)", + static_cast(i_meas), + static_cast(0.5f * m_max_flux_current_a)); + return true; + } + return false; + } + + Telemetry::printf("[CAL] INDUCTION: fluxing at %.1f A (mod=%.3f)", + static_cast(i_meas), + static_cast(m_flux_mod_index)); + enterState(State::TAU_R_SETTLE); + return true; +} + +bool InductionMotorCalibrator::runTauRSettle() { + float iu, iv, iw; + sampleCurrents(iu, iv, iw); + if (checkOvercurrent(iu, iv, iw)) return true; + if (checkEncoderMovement()) return true; + + /* Keep the PI loop alive so the current stays at the target. */ + updateFluxPi(maxAbs3(iu, iv, iw)); + + if ((HAL_GetTick() - m_state_enter_ms) < m_fluxing_time_ms) return false; + + /* Short all three phases (low-side on) to start the current decay. */ + PWM_SetThreePhaseDuty(0.0f, 0.0f, 0.0f); + m_decay_n = 0; + m_last_decay_ms = 0; + enterState(State::TAU_R_DECAY); + return true; +} + +bool InductionMotorCalibrator::runTauRDecay() { + const uint32_t now = HAL_GetTick(); + if (m_last_decay_ms != 0U && (now - m_last_decay_ms) < 10U) return false; + + float iu, iv, iw; + sampleCurrents(iu, iv, iw); + if (checkOvercurrent(iu, iv, iw)) return true; + if (checkEncoderMovement()) return true; + + const float i_meas = maxAbs3(iu, iv, iw); + if (m_decay_n < MAX_DECAY_SAMPLES) { + m_decay_t_ms[m_decay_n] = static_cast(now - m_state_enter_ms); + m_decay_i_a[m_decay_n] = i_meas; + ++m_decay_n; + } + m_last_decay_ms = now; + + if ((now - m_state_enter_ms) >= m_decay_sample_time_ms) { + enterState(State::COMPUTE); + return true; + } + return false; +} + +bool InductionMotorCalibrator::runCompute() { + if (m_decay_n < 10) { + fail("not enough decay samples (%d)", m_decay_n); + return true; + } + + /* Estimate the current offset from the tail of the recording. */ + float offset = 0.0f; + const int tail = std::min(10, m_decay_n); + for (int i = m_decay_n - tail; i < m_decay_n; ++i) offset += m_decay_i_a[i]; + offset /= static_cast(tail); + + /* Log-linear fit over the decay samples that are well above the offset. */ + double sx = 0.0, sy = 0.0, sxx = 0.0, sxy = 0.0; + int n_fit = 0; + for (int i = 0; i < m_decay_n; ++i) { + const float y = m_decay_i_a[i] - offset; + if (y <= 0.01f) continue; + const double t = static_cast(m_decay_t_ms[i]); + const double ln_y = std::log(static_cast(y)); + sx += t; sy += ln_y; sxx += t * t; sxy += t * ln_y; + ++n_fit; + } + + if (n_fit < 5) { + fail("decay did not have enough usable samples for fit"); + return true; + } + + const double n = static_cast(n_fit); + const double denom = n * sxx - sx * sx; + if (std::fabs(denom) < 1.0e-9) { + fail("degenerate decay fit"); + return true; + } + + const double slope = (n * sxy - sx * sy) / denom; + if (slope >= 0.0) { + fail("decay fit slope non-negative (%.4f)", static_cast(slope)); + return true; + } + + m_rotor_tau_ms = -1.0f / static_cast(slope); + if (m_rotor_tau_ms < MIN_DECAY_FIT_TAU_MS || !std::isfinite(m_rotor_tau_ms)) { + fail("rotor time constant out of range (%.2f ms)", + static_cast(m_rotor_tau_ms)); + return true; + } + + Telemetry::printf("[CAL] INDUCTION: tau_r = %.1f ms (fit samples=%d)", + static_cast(m_rotor_tau_ms), n_fit); + + /* Derive Lr, Rr', Lm and leakage from sigma_Ls, tau_r and optional Lm. */ + if (m_lm_estimate_h > 0.0f) { + /* y = Ls = Lr under the Lls=Llr' assumption. + * sigma_Ls = y - Lm^2 / y => y^2 - sigma_Ls*y - Lm^2 = 0 */ + const float s = m_sigma_ls_h; + const float l = m_lm_estimate_h; + const float disc = std::sqrt(s * s + 4.0f * l * l); + const float y = 0.5f * (s + disc); + m_lr_h = y; + m_lm_h = l; + m_l_leak_h = y - l; + m_rr_ohm = y / (m_rotor_tau_ms * 1.0e-3f); + Telemetry::printf("[CAL] INDUCTION: derived Lm=%.1f uH Lr=%.1f uH " + "Ll=%.1f uH Rr'=%.4f ohm", + static_cast(m_lm_h * 1.0e6f), + static_cast(m_lr_h * 1.0e6f), + static_cast(m_l_leak_h * 1.0e6f), + static_cast(m_rr_ohm)); + } + + /* Publish into the runtime calibration. */ + MotorCalibration& mc = motorCalibration(); + mc.motor_type = MotorType::Induction; + mc.sigma_ls_henry = m_sigma_ls_h; + mc.rotor_time_constant_ms = m_rotor_tau_ms; + if (m_lm_h > 0.0f) mc.lm_henry = m_lm_h; + if (m_lr_h > 0.0f) mc.lr_henry = m_lr_h; + if (m_rr_ohm > 0.0f) mc.rr_ohm = m_rr_ohm; + if (m_l_leak_h > 0.0f) mc.l_leak_henry = m_l_leak_h; + + shutdown(); + + Telemetry::printf("[CAL] INDUCTION: ========================================"); + Telemetry::printf("[CAL] INDUCTION: INDUCTION CALIBRATION COMPLETE"); + Telemetry::printf("[CAL] INDUCTION: sigma_Ls = %.1f uH", + static_cast(m_sigma_ls_h * 1.0e6f)); + Telemetry::printf("[CAL] INDUCTION: tau_r = %.1f ms", + static_cast(m_rotor_tau_ms)); + if (m_lm_h > 0.0f) { + Telemetry::printf("[CAL] INDUCTION: Lm = %.1f uH", + static_cast(m_lm_h * 1.0e6f)); + Telemetry::printf("[CAL] INDUCTION: Lr = %.1f uH", + static_cast(m_lr_h * 1.0e6f)); + Telemetry::printf("[CAL] INDUCTION: Rr' = %.4f ohm", + static_cast(m_rr_ohm)); + } + Telemetry::printf("[CAL] INDUCTION: ========================================"); + + Telemetry::log("ind_sigma_ls_uh", m_sigma_ls_h * 1.0e6f); + Telemetry::log("ind_tau_r_ms", m_rotor_tau_ms); + enterState(State::DONE); + return true; +} + +void InductionMotorCalibrator::update() { + if (!isActive()) return; + + if (FaultManager::instance().isSeverityActive(FaultSeverity::Critical) || + FaultManager::instance().isSeverityActive(FaultSeverity::High)) { + fail("Critical/High fault detected"); + return; + } + + switch (m_state) { + case State::ENABLE: { + m_hw.update(); + if (m_hw.hasFailed()) { + fail("calibration hardware failed (gate driver not ready)"); + return; + } + if (!m_hw.isReady()) return; + Telemetry::printf("[CAL] INDUCTION: hardware ready"); + enterState(State::SIGMA_LS_SETTLE); + return; + } + + case State::SIGMA_LS_SETTLE: + runSigmaLsSettle(); + return; + + case State::SIGMA_LS_MEASURE: + runSigmaLsMeasure(); + return; + + case State::TAU_R_FLUXING: + runTauRFluxing(); + return; + + case State::TAU_R_SETTLE: + runTauRSettle(); + return; + + case State::TAU_R_DECAY: + runTauRDecay(); + return; + + case State::COMPUTE: + runCompute(); + return; + + default: + return; + } +} + +} // namespace Inverter diff --git a/Images/Gen6FW/Src/Inverter/Calibration/InductionVHzCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/InductionVHzCalibrator.cpp new file mode 100644 index 00000000..027df97b --- /dev/null +++ b/Images/Gen6FW/Src/Inverter/Calibration/InductionVHzCalibrator.cpp @@ -0,0 +1,425 @@ +#include "Inverter/Calibration/InductionVHzCalibrator.h" +#include "Inverter/Calibration/MotorCalibration.h" +#include "Inverter/Calibration/ResistanceCalibrator.h" +#include "Inverter/Calibration/InductanceCalibrator.h" +#include "Inverter/Calibration/InductionMotorCalibrator.h" +#include "Inverter/Calibration/CalKvStore.h" +#include "Inverter/Control/FaultManager.h" +#include "Inverter/Control/FocControlManager.h" +#include "Inverter/Control/OpenLoopController.h" +#include "Inverter/Drivers/Sensors/DcLinkVoltageSensor.h" +#include "Inverter/Drivers/Sensors/PhaseCurrentADC.h" +#include "Inverter/Drivers/PWM/pwm.h" +#include "Inverter/Telemetry.h" + +#include "main.h" + +#include +#include +#include +#include + +namespace Inverter { + +namespace { + +static InductionVHzCalibrator s_instance; + +} // namespace + +InductionVHzCalibrator& InductionVHzCalibrator::instance() { + return s_instance; +} + +InductionVHzCalibrator& inductionVHzCalibrator() { + return InductionVHzCalibrator::instance(); +} + +bool InductionVHzCalibrator::isActive() const { + return m_state != State::IDLE && m_state != State::DONE && m_state != State::FAIL; +} + +const char* InductionVHzCalibrator::stateName() const { + switch (m_state) { + case State::IDLE: return "IDLE"; + case State::START: return "START"; + case State::RAMP: return "RAMP"; + case State::SETTLE: return "SETTLE"; + case State::MEASURE: return "MEASURE"; + case State::NEXT: return "NEXT"; + case State::FINISH: return "FINISH"; + case State::DONE: return "DONE"; + case State::FAIL: return "FAIL"; + } + return "?"; +} + +void InductionVHzCalibrator::enterState(State s) { + m_state = s; + m_state_enter_ms = HAL_GetTick(); +} + +void InductionVHzCalibrator::fail(const char* fmt, ...) { + va_list ap; + va_start(ap, fmt); + std::vsnprintf(m_fail_reason, sizeof(m_fail_reason), fmt, ap); + va_end(ap); + Telemetry::printf("[CAL] INDVHZ: FAIL: %s", m_fail_reason); + shutdown(); + enterState(State::FAIL); +} + +void InductionVHzCalibrator::shutdown() { + if (openLoopController().isRunning()) { + openLoopController().stop(); + } +} + +bool InductionVHzCalibrator::sampleCurrents(float& iu, float& iv, float& iw) { + if (!phaseCurrentADC().sample(iu, iv, iw)) { + iu = phaseCurrentADC().lastU(); + iv = phaseCurrentADC().lastV(); + iw = -(iu + iv); + return false; + } + return true; +} + +float InductionVHzCalibrator::maxAbs3(float a, float b, float c) const { + float m = std::fabs(a); + if (std::fabs(b) > m) m = std::fabs(b); + if (std::fabs(c) > m) m = std::fabs(c); + return m; +} + +void InductionVHzCalibrator::resetAccumulators() { + m_samples = 0; + m_sum_iu_sin = 0.0f; + m_sum_iu_cos = 0.0f; + m_sum_iv_sin = 0.0f; + m_sum_iv_cos = 0.0f; + m_sum_iw_sin = 0.0f; + m_sum_iw_cos = 0.0f; + m_peak_i = 0.0f; +} + +void InductionVHzCalibrator::accumulateLockIn(float iu, float iv, float iw, float theta) { + const float s = std::sin(theta); + const float c = std::cos(theta); + m_sum_iu_sin += iu * s; + m_sum_iu_cos += iu * c; + m_sum_iv_sin += iv * s; + m_sum_iv_cos += iv * c; + m_sum_iw_sin += iw * s; + m_sum_iw_cos += iw * c; + ++m_samples; + + const float peak = maxAbs3(iu, iv, iw); + if (peak > m_peak_i) m_peak_i = peak; +} + +bool InductionVHzCalibrator::computePoint(float vdc, float& out_i_a, float& out_ls_h, + float& out_phi_deg) const { + if (m_samples < 10) return false; + + out_phi_deg = 0.0f; + + const float inv = 2.0f / static_cast(m_samples); + /* For a sinusoid x(θ) = X_pk * sin(θ - φ): + * (2/N) * sum(x * sin(θ)) = X_pk * cos(φ) + * (2/N) * sum(x * cos(θ)) = -X_pk * sin(φ) + * + * Use the magnitude of all three phases for a noise-resistant current + * amplitude, and the phase of phase-U only for the current angle. This + * avoids needing to know the exact phase sequence (V/W swap tolerant) and + * works for both delta and wye because the U line-current phase lag equals + * the phase-winding current lag in both connections. + */ + const float iu_re = inv * m_sum_iu_sin; + const float iu_im = -inv * m_sum_iu_cos; + const float iv_re = inv * m_sum_iv_sin; + const float iv_im = -inv * m_sum_iv_cos; + const float iw_re = inv * m_sum_iw_sin; + const float iw_im = -inv * m_sum_iw_cos; + + const float iu_amp = std::sqrt(iu_re * iu_re + iu_im * iu_im); + const float iv_amp = std::sqrt(iv_re * iv_re + iv_im * iv_im); + const float iw_amp = std::sqrt(iw_re * iw_re + iw_im * iw_im); + float i_amp = (iu_amp + iv_amp + iw_amp) / 3.0f * m_i_scale; + + /* Phase lag of the U line current relative to the U voltage angle. + * For an induction motor near no-load this is close to 90° (magnetizing). + * It collapses toward 0° when the rotor is slipping. */ + const float phi_u = std::atan2(iu_im, iu_re); /* sign depends on sensor polarity */ + const float phi_mag = std::fabs(phi_u); + out_phi_deg = phi_mag * 180.0f / PI_F; + + /* Phase voltage at the winding. SPWM generates peak line-neutral voltage + * m*Vdc/2. For delta the winding sees line-line voltage (sqrt(3) larger). */ + const float vph_peak = m_target_mod * 0.5f * vdc * (m_delta ? 1.73205080757f : 1.0f); + const float z_mag = vph_peak / i_amp; + + /* Always report current/phi so REJECTED telemetry is useful. */ + out_i_a = i_amp; + + if (i_amp < 2.0f) { + return false; /* below useful ADC noise floor */ + } + if (out_phi_deg < 50.0f || out_phi_deg > 130.0f) { + return false; /* invalid operating point: slipping or bad measurement */ + } + + /* Use the measured phase angle magnitude to separate reactive and resistive + * parts. Sign of phi_u depends on current-sensor polarity; magnitude is + * the power-factor angle. */ + const float x_l = z_mag * std::sin(phi_mag); + + out_ls_h = x_l / (2.0f * PI_F * m_freq_hz); + return std::isfinite(out_ls_h) && out_ls_h > 0.0f; +} + +float InductionVHzCalibrator::currentPoint(int i) const { + return (i >= 0 && i < m_n_results && i < MAX_POINTS) ? m_i_a[i] : 0.0f; +} + +float InductionVHzCalibrator::modulationPoint(int i) const { + return (i >= 0 && i < m_n_results && i < MAX_POINTS) ? m_mod[i] : 0.0f; +} + +float InductionVHzCalibrator::lsPoint(int i) const { + return (i >= 0 && i < m_n_results && i < MAX_POINTS) ? m_ls_h[i] : 0.0f; +} + +bool InductionVHzCalibrator::start(float freq_hz, + float max_modulation, + int n_points, + uint32_t settle_ms, + uint32_t measure_ms, + float current_limit_a, + bool delta_connected) { + if (isActive()) { + Telemetry::printf("[CAL] INDVHZ: already running"); + return false; + } + if (openLoopController().isRunning() || focControlManager().isRunning()) { + Telemetry::printf("[CAL] INDVHZ: stop the motor first"); + return false; + } + if (resistanceCalibrator().isActive() || inductanceCalibrator().isActive() || + inductionMotorCalibrator().isActive()) { + Telemetry::printf("[CAL] INDVHZ: another calibration is active"); + return false; + } + + const MotorCalibration& mc = motorCalibration(); + if (!mc.valid || mc.r_phase_avg <= 0.0f) { + Telemetry::printf("[CAL] INDVHZ: need a valid resistance calibration first"); + return false; + } + if (FaultManager::instance().isSeverityActive(FaultSeverity::Critical) || + FaultManager::instance().isSeverityActive(FaultSeverity::High)) { + Telemetry::printf("[CAL] INDVHZ: active Critical/High faults"); + return false; + } + if (dcLinkVoltageSensor().voltage() < 10.0f) { + Telemetry::printf("[CAL] INDVHZ: DC bus too low"); + return false; + } + if (freq_hz < 1.0f || freq_hz > 100.0f || + max_modulation <= 0.0f || max_modulation > 1.15f || + n_points < 3 || n_points > MAX_POINTS || + settle_ms < 100U || measure_ms < 500U || + current_limit_a <= 0.0f || current_limit_a > 500.0f) { + Telemetry::printf("[CAL] INDVHZ: bad parameters"); + return false; + } + + m_freq_hz = freq_hz; + m_max_mod = max_modulation; + m_n_points = n_points; + m_settle_ms = settle_ms; + measure_ms_ = measure_ms; + m_current_limit_a = current_limit_a; + m_delta = delta_connected; + m_i_scale = delta_connected ? (1.0f / std::sqrt(3.0f)) : 1.0f; + + m_point = 0; + m_mod_step = max_modulation / static_cast(n_points - 1); + m_target_mod = 0.0f; + + m_n_results = 0; + for (int i = 0; i < MAX_POINTS; ++i) { + m_i_a[i] = m_mod[i] = m_ls_h[i] = 0.0f; + } + m_fail_reason[0] = '\0'; + + Telemetry::printf("[CAL] INDVHZ: start f=%.1f Hz max_mod=%.3f points=%d " + "%s R=%.4f ohm", + static_cast(m_freq_hz), + static_cast(m_max_mod), + m_n_points, + m_delta ? "delta" : "wye", + static_cast(mc.r_phase_avg)); + + enterState(State::START); + return true; +} + +void InductionVHzCalibrator::stop() { + if (!isActive()) return; + shutdown(); + Telemetry::printf("[CAL] INDVHZ: stopped"); + enterState(State::IDLE); +} + +void InductionVHzCalibrator::update() { + if (!isActive()) return; + + if (FaultManager::instance().isSeverityActive(FaultSeverity::Critical) || + FaultManager::instance().isSeverityActive(FaultSeverity::High)) { + fail("Critical/High fault detected"); + return; + } + + const uint32_t now = HAL_GetTick(); + + switch (m_state) { + case State::START: { + openLoopController().setRampCurrentLimit(m_current_limit_a); + if (!openLoopController().start(m_freq_hz, 0.0f)) { + fail("failed to start open-loop V/Hz"); + return; + } + Telemetry::printf("[CAL] INDVHZ: open-loop running at %.1f Hz", + static_cast(m_freq_hz)); + enterState(State::RAMP); + return; + } + + case State::RAMP: { + m_target_mod = static_cast(m_point) * m_mod_step; + if (m_target_mod > m_max_mod) m_target_mod = m_max_mod; + openLoopController().setModulationIndexDirect(m_target_mod); + Telemetry::printf("[CAL] INDVHZ: point %d/%d mod=%.3f", + m_point + 1, m_n_points, + static_cast(m_target_mod)); + resetAccumulators(); + enterState(State::SETTLE); + return; + } + + case State::SETTLE: { + float iu, iv, iw; + sampleCurrents(iu, iv, iw); + if (maxAbs3(iu, iv, iw) > m_current_limit_a) { + fail("overcurrent %.1f A > %.1f A", + static_cast(maxAbs3(iu, iv, iw)), + static_cast(m_current_limit_a)); + return; + } + if ((now - m_state_enter_ms) < m_settle_ms) return; + resetAccumulators(); + enterState(State::MEASURE); + return; + } + + case State::MEASURE: { + float iu, iv, iw; + sampleCurrents(iu, iv, iw); + const float ipeak = maxAbs3(iu, iv, iw); + if (ipeak > m_current_limit_a) { + fail("overcurrent %.1f A > %.1f A", + static_cast(ipeak), + static_cast(m_current_limit_a)); + return; + } + + const float theta = PWM_GetSPWMAngle(); + accumulateLockIn(iu, iv, iw, theta); + + if ((now - m_state_enter_ms) < measure_ms_) return; + + float i_a = 0.0f, ls_h = 0.0f, phi_deg = 0.0f; + const bool ok = computePoint(dcLinkVoltageSensor().voltage(), i_a, ls_h, + phi_deg); + + if (ok && m_n_results < MAX_POINTS) { + m_mod[m_n_results] = m_target_mod; + m_i_a[m_n_results] = i_a; + m_ls_h[m_n_results] = ls_h; + ++m_n_results; + } + + if (ok) { + Telemetry::printf("[CAL] INDVHZ: point %d mod=%.3f I=%.2f A phi=%.1fdeg Ls=%.1f uH " + "(samples=%lu peak=%.2f A)", + m_point + 1, + static_cast(m_target_mod), + static_cast(i_a), + static_cast(phi_deg), + static_cast(ls_h * 1.0e6f), + static_cast(m_samples), + static_cast(m_peak_i)); + } else { + Telemetry::printf("[CAL] INDVHZ: point %d mod=%.3f REJECTED I=%.2f A phi=%.1fdeg " + "(samples=%lu peak=%.2f A)", + m_point + 1, + static_cast(m_target_mod), + static_cast(i_a), + static_cast(phi_deg), + static_cast(m_samples), + static_cast(m_peak_i)); + } + + ++m_point; + if (m_point >= m_n_points) { + enterState(State::FINISH); + } else { + enterState(State::RAMP); + } + return; + } + + case State::FINISH: { + shutdown(); + + /* Publish the lowest-current valid point as the small-signal Ls. */ + MotorCalibration& mc = motorCalibration(); + float best_ls = 0.0f; + float best_i = 1e9f; + for (int i = 0; i < m_n_results; ++i) { + if (m_ls_h[i] > 0.0f && m_i_a[i] < best_i) { + best_i = m_i_a[i]; + best_ls = m_ls_h[i]; + } + } + if (best_ls > 0.0f) { + mc.ld_henry = best_ls; + mc.lq_henry = best_ls; + } + + CalKvStore::saveInductanceResults(best_ls, best_ls); + CalKvStore::flush(); + + Telemetry::printf("[CAL] INDVHZ: ========================================"); + Telemetry::printf("[CAL] INDVHZ: V/Hz INDUCTANCE SWEEP COMPLETE"); + for (int i = 0; i < m_n_results; ++i) { + Telemetry::printf("[CAL] INDVHZ: mod=%.3f I=%5.2f A Ls=%7.1f uH", + static_cast(m_mod[i]), + static_cast(m_i_a[i]), + static_cast(m_ls_h[i] * 1.0e6f)); + } + Telemetry::printf("[CAL] INDVHZ: ========================================"); + enterState(State::DONE); + return; + } + + case State::IDLE: + case State::DONE: + case State::FAIL: + default: + return; + } +} + +} // namespace Inverter diff --git a/Images/Gen6FW/Src/Inverter/Calibration/ResistanceCalibrator.cpp b/Images/Gen6FW/Src/Inverter/Calibration/ResistanceCalibrator.cpp index d3e634fe..1bd1fd6a 100644 --- a/Images/Gen6FW/Src/Inverter/Calibration/ResistanceCalibrator.cpp +++ b/Images/Gen6FW/Src/Inverter/Calibration/ResistanceCalibrator.cpp @@ -248,6 +248,7 @@ void ResistanceCalibrator::stop() { restoreHardware(); enterState(State::FAIL); } + m_force_mode = false; } void ResistanceCalibrator::fail(const char* reason_fmt, ...) { @@ -441,15 +442,19 @@ void ResistanceCalibrator::finishPairMeasurement() { const float i_inactive = std::fabs( m_sum_i_inactive[pt] / static_cast(m_sample_count[pt])); - /* The inactive (high-Z) phase should carry essentially zero current. */ - const float max_inactive = std::max( - MAX_INACTIVE_CURRENT_MIN_A, std::fabs(i_active) * MAX_INACTIVE_CURRENT_RATIO); - if (i_inactive > max_inactive) { - fail("[CAL] RES: FAIL: %s inactive current %.3f A exceeds limit (active %.3f A)", - pairName(pair), - static_cast(i_inactive), - static_cast(std::fabs(i_active))); - return; + /* The inactive (high-Z) phase should carry essentially zero current. + * Force mode skips this check for non-motor loads where sensor noise + * or wiring makes the inactive-phase reading non-negligible. */ + if (!m_force_mode) { + const float max_inactive = std::max( + MAX_INACTIVE_CURRENT_MIN_A, std::fabs(i_active) * MAX_INACTIVE_CURRENT_RATIO); + if (i_inactive > max_inactive) { + fail("[CAL] RES: FAIL: %s inactive current %.3f A exceeds limit (active %.3f A)", + pairName(pair), + static_cast(i_inactive), + static_cast(std::fabs(i_active))); + return; + } } const float duty = m_sum_duty[pt] / static_cast(m_sample_count[pt]); diff --git a/Images/Gen6FW/Src/Inverter/Command/CommandInitializer.cpp b/Images/Gen6FW/Src/Inverter/Command/CommandInitializer.cpp index 59db54e7..63e67f44 100644 --- a/Images/Gen6FW/Src/Inverter/Command/CommandInitializer.cpp +++ b/Images/Gen6FW/Src/Inverter/Command/CommandInitializer.cpp @@ -9,6 +9,7 @@ void registerControlCommands(CommandManager& mgr); void registerCalibrationCommands(CommandManager& mgr); void registerFocCommands(CommandManager& mgr); void registerCanCommands(CommandManager& mgr); +void registerOpenLoopCommands(CommandManager& mgr); /* TIME_DOMAIN: APPLICATION_COMMAND_REGISTRATION * Registers all shell commands at boot. Commands execute in main-loop context. @@ -26,4 +27,5 @@ void initializeCommands() { registerCalibrationCommands(mgr); registerFocCommands(mgr); registerCanCommands(mgr); + registerOpenLoopCommands(mgr); } diff --git a/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp b/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp index f92d8f0f..5e75bea2 100644 --- a/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp +++ b/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp @@ -7,11 +7,15 @@ #include "Inverter/Calibration/EncoderLinearityCalibrator.h" #include "Inverter/Calibration/ResistanceCalibrator.h" #include "Inverter/Calibration/InductanceCalibrator.h" +#include "Inverter/Calibration/InductionMotorCalibrator.h" +#include "Inverter/Calibration/InductionVHzCalibrator.h" #include "Inverter/Calibration/FluxLinkageCalibrator.h" #include "Inverter/Calibration/EncoderCycleCalibrator.h" #include "Inverter/Calibration/AutoCalibrationCoordinator.h" #include "Inverter/Calibration/BreakawayCalibrator.h" #include "Inverter/Calibration/CalKvStore.h" +#include "Inverter/Calibration/MotorCalibration.h" +#include "Inverter/Drivers/Storage/MotorConfigStore.h" #include "Inverter/Drivers/Sensors/PoleEstimator.h" #include "Inverter/Drivers/Storage/RteParamStore.h" #include "Inverter/Telemetry.h" @@ -19,6 +23,7 @@ #include #include #include +#include using Inverter::OpenLoopController; using Inverter::PoleEstimator; @@ -27,17 +32,23 @@ using Inverter::EncoderOffsetCalibrator; using Inverter::EncoderLinearityCalibrator; using Inverter::ResistanceCalibrator; using Inverter::InductanceCalibrator; +using Inverter::InductionMotorCalibrator; +using Inverter::InductionVHzCalibrator; using Inverter::FluxLinkageCalibrator; using Inverter::EncoderCycleCalibrator; using Inverter::AutoCalibrationCoordinator; using Inverter::EncoderADC; +using Inverter::MotorType; using Inverter::openLoopController; using Inverter::poleCalibrator; using Inverter::encoderOffsetCalibrator; using Inverter::encoderLinearityCalibrator; using Inverter::resistanceCalibrator; using Inverter::inductanceCalibrator; +using Inverter::inductionMotorCalibrator; +using Inverter::inductionVHzCalibrator; using Inverter::fluxLinkageCalibrator; +using Inverter::motorCalibration; using Inverter::autoCalibrationCoordinator; using Inverter::breakawayCalibrator; using Inverter::encoderADC; @@ -257,59 +268,6 @@ class MotorCalCommand : public CommandInterface { } }; -class IndCalCommand : public CommandInterface { -public: - IndCalCommand() - : CommandInterface("indcal", "Ld/Lq inductance calibration (biased-AC injection)", - {ArgSpec{"subcmd", "", 0.0f, 0.0f, 0.0f, true, ArgSpec::STRING}, - ArgSpec{"max_a", "", 0.0f, 200.0f, 0.0f, false, ArgSpec::FLOAT}, - ArgSpec{"ac_a", "", 0.0f, 10.0f, 0.0f, false, ArgSpec::FLOAT}, - ArgSpec{"freq_hz", "", 0.0f, 400.0f, 0.0f, false, ArgSpec::FLOAT}}) {} - - void execute(const ArgValue* args, CommandContext&) override { - InductanceCalibrator& ic = inductanceCalibrator(); - const char* sub = args[0].s_val; - - if (stringsEqual(sub, "stop")) { - ic.stop(); - return; - } - - if (stringsEqual(sub, "status")) { - Telemetry::printf("[CAL] indcal: state=%s Ld0=%.1f uH Lq0=%.1f uH points=%d", - ic.stateName(), - static_cast(ic.lastLd() * 1.0e6), - static_cast(ic.lastLq() * 1.0e6), - ic.pointCount()); - for (int i = 0; i < ic.pointCount(); ++i) { - if (ic.ldPoint(i) > 0.0f) { - Telemetry::printf("[CAL] indcal: Ld(%5.1f A) = %7.1f uH", - static_cast(ic.biasLdPoint(i)), - static_cast(ic.ldPoint(i) * 1.0e6)); - } - if (ic.lqPoint(i) > 0.0f) { - Telemetry::printf("[CAL] indcal: Lq(%5.1f A) = %7.1f uH", - static_cast(ic.biasLqPoint(i)), - static_cast(ic.lqPoint(i) * 1.0e6)); - } - } - return; - } - - if (stringsEqual(sub, "start")) { - const float maxA = args[1].present ? args[1].f_val : 30.0f; - const float acA = args[2].present ? args[2].f_val : 3.0f; - const float freq = args[3].present ? args[3].f_val : 150.0f; - if (!ic.start(maxA, acA, freq)) { - Telemetry::printf("[CAL] indcal start failed"); - } - return; - } - - Telemetry::printf("[CAL] indcal: unknown subcommand '%s' (start/stop/status)", sub); - } -}; - class FluxCalCommand : public CommandInterface { public: FluxCalCommand() @@ -365,10 +323,18 @@ static EncOffsetCommand sEncOffsetCmd; * cal stop / cal status Abort / show progress. * cal Motor.Poles Pole count (+ encoder cycle count). * cal Motor.Encoder[.SinCos] Encoder offset + sign. - * cal Motor.Resistance Phase resistances. + * cal Motor.Resistance [I_A] Phase resistances. Optional target current; + * default uses the firmware default. Append + * --force to skip the inactive-phase check. * cal Motor.PMSM Inductance then flux linkage. - * cal Motor.PMSM.Inductance Ld/Lq only. + * cal Motor.PMSM.Inductance [I_A] Ld/Lq only. Optional max bias current; + * default uses firmware default. * cal Motor.PMSM.FluxLinkage PM flux linkage only. + * cal Motor.Induction [I_A] Induction-machine sigma_Ls / tau_r. Optional + * flux current; default uses firmware default. + * cal Motor.Induction.VHz [f] Encoderless V/Hz spin Ls sweep. Optional + * electrical frequency in Hz (default 5). + * Append --wye if the motor is not delta. * * Results are stored in the RTE KV store under the same Motor.* paths and * picked up by graph config nodes at boot. @@ -376,14 +342,16 @@ static EncOffsetCommand sEncOffsetCmd; class CalCommand : public CommandInterface { public: CalCommand() - : CommandInterface("cal", "Calibration: cal list/all/stop/status/ [--no-save]", + : CommandInterface("cal", "Calibration: cal list/all/stop/status/ [target_A] [--no-save] [--force]", {ArgSpec{"path", "", 0.0f, 0.0f, 0.0f, true, ArgSpec::STRING}, - ArgSpec{"flags", "", 0.0f, 0.0f, 0.0f, false, ArgSpec::STRING}}) {} + ArgSpec{"flags", "", 0.0f, 0.0f, 0.0f, false, ArgSpec::STRING}, + ArgSpec{"target_a", "", 0.0f, 200.0f, 0.0f, false, ArgSpec::FLOAT}}) {} void execute(const ArgValue* args, CommandContext&) override { const char* path = args[0].s_val; const char* flags = args[1].present ? args[1].s_val : ""; - const bool save_results = !stringsEqual(flags, "--no-save"); + const bool save_results = std::strstr(flags, "--no-save") == nullptr; + const bool force_mode = std::strstr(flags, "--force") != nullptr; using S = AutoCalibrationCoordinator::State; if (stringsEqual(path, "list")) { @@ -433,13 +401,67 @@ class CalCommand : public CommandInterface { } encoderLinearityCalibrator().start(poles, cycles); } else if (stringsEqual(path, "Motor.Resistance")) { + resistanceCalibrator().setForceMode(force_mode); + if (args[2].present) { + autoCalibrationCoordinator().setResistanceTargetCurrent(args[2].f_val); + } startRun(S::SETTLE, S::RESISTANCE, path, save_results); } else if (stringsEqual(path, "Motor.PMSM")) { startRun(S::INDUCTANCE, S::FLUX, path, save_results); } else if (stringsEqual(path, "Motor.PMSM.Inductance")) { + if (args[2].present) { + autoCalibrationCoordinator().setInductanceParams(args[2].f_val, 0.0f, 0.0f); + } startRun(S::INDUCTANCE, S::INDUCTANCE, path, save_results); } else if (stringsEqual(path, "Motor.PMSM.FluxLinkage")) { startRun(S::FLUX, S::FLUX, path, save_results); + } else if (stringsEqual(path, "Motor.Induction")) { + /* Ensure the coordinator branches to the induction parameter-identification + * routine rather than the PMSM Ld/Lq + flux-linkage path. */ + if (motorCalibration().motor_type != MotorType::Induction) { + motorCalibration().motor_type = MotorType::Induction; + Telemetry::printf("[CAL] motor type set to induction for this run"); + } + if (args[2].present) { + autoCalibrationCoordinator().setInductionParams(args[2].f_val, 0.0f, 0.0f, 0.0f); + } + startRun(S::SETTLE, S::INDUCTION_PARAMS, path, save_results); + } else if (stringsEqual(path, "Motor.Induction.VHz")) { + if (motorCalibration().motor_type != MotorType::Induction) { + motorCalibration().motor_type = MotorType::Induction; + Telemetry::printf("[CAL] motor type set to induction for this run"); + } + /* Accept either `cal ...VHz 20` or `cal ...VHz --wye 20`. + * args[1] is the string slot, so a bare number lands there. */ + float freq_hz = 5.0f; + bool wye = false; + + if (args[1].present) { + if (std::strstr(args[1].s_val, "--wye") != nullptr) { + wye = true; + } else { + /* atof is safer than sscanf in newlib-nano. */ + const float parsed = static_cast(std::atof(args[1].s_val)); + if (parsed > 0.0f) { + freq_hz = parsed; + } + } + } + if (args[2].present) { + freq_hz = args[2].f_val; + if (std::strstr(args[2].s_val, "--wye") != nullptr) { + wye = true; + } + } + wye = wye || (std::strstr(flags, "--wye") != nullptr); + if (inductionVHzCalibrator().start(freq_hz, 0.35f, 10, 1000U, 2000U, + 80.0f, !wye)) { + Telemetry::printf("[CAL] %s: started f=%.1f Hz (%s)", path, + static_cast(freq_hz), + wye ? "wye" : "delta"); + } else { + Telemetry::printf("[CAL] %s: failed to start", path); + } } else { Telemetry::printf("[CAL] unknown routine '%s' (try 'cal list')", path); } @@ -499,12 +521,22 @@ class CalCommand : public CommandInterface { printStored("Motor.PMSM.Inductance.Ld", "d-axis inductance, H"); printStored("Motor.PMSM.Inductance.Lq", "q-axis inductance, H"); printStored("Motor.PMSM.FluxLinkage.Wb", "PM flux linkage, Wb"); + Telemetry::printf("[CAL] Motor.Induction"); + Telemetry::printf("[CAL] Motor.Induction.VHz [freq_hz] V/Hz spin Ls sweep (encoderless)"); + printStored("Motor.Type", "1=PMSM 3=induction"); + printStored("Motor.Induction.SigmaLs", "stator transient inductance, H"); + printStored("Motor.Induction.TauR", "rotor time constant, ms"); + printStored("Motor.Induction.Lm", "magnetizing inductance, H"); + printStored("Motor.Induction.Lr", "rotor inductance, H"); + printStored("Motor.Induction.Rr", "rotor resistance, ohm"); + printStored("Motor.Induction.LLeak", "leakage inductance, H"); } void printStatus() const { AutoCalibrationCoordinator& coord = autoCalibrationCoordinator(); - Telemetry::printf("[CAL] state=%s poles=%.2f enc_cycles=%.2f offset=%.3fdeg sign=%.0f R=%.4f", + Telemetry::printf("[CAL] state=%s type=%s poles=%.2f enc_cycles=%.2f offset=%.3fdeg sign=%.0f R=%.4f", coord.stateName(), + Inverter::MotorConfigStore::typeName(motorCalibration().motor_type), static_cast(coord.lastPoles()), static_cast(coord.lastEncoderCyclesPerRev()), static_cast(coord.lastEncoderOffset()), @@ -614,7 +646,6 @@ class EncLinCommand : public CommandInterface { }; static ResCalCommand sResCalCmd; -static IndCalCommand sIndCalCmd; static FluxCalCommand sFluxCalCmd; static MotorCalCommand sMotorCalCmd; static EncFitCommand sEncFitCmd; diff --git a/Images/Gen6FW/Src/Inverter/Command/Commands/ControlCommands.cpp b/Images/Gen6FW/Src/Inverter/Command/Commands/ControlCommands.cpp index 211b6491..4f448475 100644 --- a/Images/Gen6FW/Src/Inverter/Command/Commands/ControlCommands.cpp +++ b/Images/Gen6FW/Src/Inverter/Command/Commands/ControlCommands.cpp @@ -6,6 +6,8 @@ #include "Inverter/Control/FaultManager.h" #include "Inverter/Drivers/Sensors/ApplicationSensors.h" #include "Inverter/Drivers/Storage/RteParamStore.h" +#include "Inverter/Drivers/Storage/MotorConfigStore.h" +#include "Inverter/Calibration/MotorCalibration.h" #include "Inverter/Telemetry.h" #include "../../../generated/domain_tim_isr_generated.h" @@ -185,6 +187,15 @@ class ConfigCommand : public CommandInterface { Telemetry::printf("[SHELL] ERROR: KV store full or invalid key '%s'", key); return; } + /* Motor.Type also drives runtime calibration branching, so keep the + * RAM struct in sync immediately (the KV-store load path may be + * skipped when encoder prerequisites are absent). */ + if (strcasecmp(key, "Motor.Type") == 0) { + Inverter::MotorCalibration& mc = Inverter::motorCalibration(); + if (value >= 0.0f && value <= static_cast(Inverter::MotorType::SlipRing)) { + mc.motor_type = static_cast(static_cast(value)); + } + } reportFlush("config value saved to FRAM", 1); return; } diff --git a/Images/Gen6FW/Src/Inverter/Command/Commands/OpenLoopCommands.cpp b/Images/Gen6FW/Src/Inverter/Command/Commands/OpenLoopCommands.cpp index f1b54d52..b4f52caa 100644 --- a/Images/Gen6FW/Src/Inverter/Command/Commands/OpenLoopCommands.cpp +++ b/Images/Gen6FW/Src/Inverter/Command/Commands/OpenLoopCommands.cpp @@ -14,6 +14,11 @@ #include +static bool stringsEqual(const char* a, const char* b) { + while (*a && *a == *b) { ++a; ++b; } + return *a == *b; +} + using Inverter::dcLinkVoltageSensor; using Inverter::encoderADC; using Inverter::FocControlManager; @@ -228,6 +233,84 @@ class VectorScanCommand : public CommandInterface { } }; +/** + * @brief Induction-motor scalar (V/Hz) control. + * + * The simplest way to spin an induction machine: apply a rotating voltage vector + * whose magnitude is roughly proportional to frequency. This is not field-oriented + * control — there is no current loop and no slip control — but it will spin the + * rotor if the V/Hz ratio is in the right ballpark. + */ +class InductionCommand : public CommandInterface { +public: + InductionCommand() + : CommandInterface("induction", + "Induction motor scalar control: induction start | stop | demo", + {ArgSpec{"subcmd", "", 0.0f, 0.0f, 0.0f, true, ArgSpec::STRING}, + ArgSpec{"freq_hz", "Hz", -200.0f, 200.0f, 0.0f, false, ArgSpec::FLOAT}, + ArgSpec{"mod_idx", "", 0.0f, 1.0f, 0.0f, false, ArgSpec::FLOAT}}) {} + + void execute(const ArgValue* args, CommandContext&) override { + const char* sub = args[0].s_val; + + if (stringsEqual(sub, "stop")) { + openLoopController().stop(); + Telemetry::printf("[SHELL] induction stopped"); + return; + } + + if (stringsEqual(sub, "start")) { + if (!args[1].present || !args[2].present) { + Telemetry::printf("[SHELL] usage: induction start "); + return; + } + const float freq = args[1].f_val; + const float mod = args[2].f_val; + if (focControlManager().isRunning()) { + focControlManager().stop(); + Telemetry::printf("[SHELL] stopped FOC first"); + } + openLoopController().start(freq, mod); + Telemetry::printf("[SHELL] induction start f=%.2f Hz mod=%.3f", static_cast(freq), static_cast(mod)); + return; + } + + if (stringsEqual(sub, "demo")) { + if (focControlManager().isRunning()) { + focControlManager().stop(); + Telemetry::printf("[SHELL] stopped FOC first"); + } + Telemetry::printf("[SHELL] induction demo: ramping 0 -> 30 Hz, mod 0.02 -> 0.20"); + openLoopController().start(0.0f, 0.02f); + constexpr float F_MAX = 30.0f; + constexpr float M_MAX = 0.20f; + constexpr uint32_t RAMP_MS = 6000U; + constexpr uint32_t HOLD_MS = 3000U; + constexpr uint32_t STEP_MS = 100U; + const uint32_t steps = RAMP_MS / STEP_MS; + for (uint32_t i = 0; i <= steps; ++i) { + const float frac = static_cast(i) / static_cast(steps); + openLoopController().setFrequency(frac * F_MAX); + openLoopController().setModulationIndex(0.02f + frac * (M_MAX - 0.02f)); + HAL_Delay(STEP_MS); + } + Telemetry::printf("[SHELL] induction demo: holding 30 Hz / mod 0.20"); + HAL_Delay(HOLD_MS); + for (uint32_t i = 0; i <= steps; ++i) { + const float frac = 1.0f - static_cast(i) / static_cast(steps); + openLoopController().setFrequency(frac * F_MAX); + openLoopController().setModulationIndex(0.02f + frac * (M_MAX - 0.02f)); + HAL_Delay(STEP_MS); + } + openLoopController().stop(); + Telemetry::printf("[SHELL] induction demo done"); + return; + } + + Telemetry::printf("[SHELL] induction: unknown subcommand '%s' (start/stop/demo)", sub); + } +}; + static StartCommand sStartCmd; static StopCommand sStopCmd; static FreqCommand sFreqCmd; @@ -236,6 +319,8 @@ static SwFreqCommand sSwFreqCmd; static StatusCommand sStatusCmd; static RampCurrentLimitCommand sRampCurrentLimitCmd; static VectorScanCommand sVectorScanCmd; +/* Induction command object is larger than the others; keep it out of DTCM. */ +static InductionCommand sInductionCmd __attribute__((section(".dma_buffers"))); #include "Inverter/Command/CommandManager.h" @@ -248,4 +333,5 @@ void registerOpenLoopCommands(CommandManager& mgr) { mgr.registerCommand(&sStatusCmd); mgr.registerCommand(&sRampCurrentLimitCmd); mgr.registerCommand(&sVectorScanCmd); + mgr.registerCommand(&sInductionCmd); } diff --git a/Images/Gen6FW/Src/Inverter/Drivers/Storage/MotorConfigStore.cpp b/Images/Gen6FW/Src/Inverter/Drivers/Storage/MotorConfigStore.cpp index 3ba0921e..b641b18f 100644 --- a/Images/Gen6FW/Src/Inverter/Drivers/Storage/MotorConfigStore.cpp +++ b/Images/Gen6FW/Src/Inverter/Drivers/Storage/MotorConfigStore.cpp @@ -27,6 +27,8 @@ MotorConfigData s_working = { 0, 0, 0, 0, /* encoder bounds: unset until learned */ 0, 0, /* ind_n_points / reserved */ {0}, {0}, {0}, {0}, /* ind_bias_ld_a / ind_ld_h / ind_bias_lq_a / ind_lq_h */ + 0.0f, 0.0f, /* sigma_ls_h / rotor_tau_ms */ + 0.0f, 0.0f, 0.0f, 0.0f, /* lm_h / lr_h / rr_ohm / l_leak_h */ }; bool s_stored = false; CY15B102Q_HandleTypeDef* s_fram_dev = nullptr; @@ -45,6 +47,7 @@ MotorConfigData capture(const MotorConfigData& base) { d.r_phase_vw_ohm = mc.r_phase_vw; d.pi_kp = focControlManager().kp(); d.pi_ki = focControlManager().ki(); + d.motor_type = static_cast(mc.motor_type); /* Encoder amplitude bounds are learned dynamically as the rotor turns; * persist them so FOC commutates correctly from the first electrical * cycle after a reboot (the hardcoded fallback bounds distort the angle @@ -71,6 +74,13 @@ MotorConfigData capture(const MotorConfigData& base) { d.ind_lq_h[i] = ic.lqPoint(i); } } + /* Induction parameters: take runtime values when measured. */ + if (mc.sigma_ls_henry > 0.0f) d.ind_sigma_ls_h = mc.sigma_ls_henry; + if (mc.rotor_time_constant_ms > 0.0f) d.ind_rotor_tau_ms = mc.rotor_time_constant_ms; + if (mc.lm_henry > 0.0f) d.ind_lm_h = mc.lm_henry; + if (mc.lr_henry > 0.0f) d.ind_lr_h = mc.lr_henry; + if (mc.rr_ohm > 0.0f) d.ind_rr_ohm = mc.rr_ohm; + if (mc.l_leak_henry > 0.0f) d.ind_l_leak_h = mc.l_leak_henry; return d; } @@ -154,6 +164,14 @@ bool applyToRuntime() { if (s_working.ld_henry > 0.0f) mc.ld_henry = s_working.ld_henry; if (s_working.lq_henry > 0.0f) mc.lq_henry = s_working.lq_henry; if (s_working.flux_linkage_wb > 0.0f) mc.flux_linkage_wb = s_working.flux_linkage_wb; + + mc.motor_type = static_cast(s_working.motor_type); + if (s_working.ind_sigma_ls_h > 0.0f) mc.sigma_ls_henry = s_working.ind_sigma_ls_h; + if (s_working.ind_rotor_tau_ms > 0.0f) mc.rotor_time_constant_ms = s_working.ind_rotor_tau_ms; + if (s_working.ind_lm_h > 0.0f) mc.lm_henry = s_working.ind_lm_h; + if (s_working.ind_lr_h > 0.0f) mc.lr_henry = s_working.ind_lr_h; + if (s_working.ind_rr_ohm > 0.0f) mc.rr_ohm = s_working.ind_rr_ohm; + if (s_working.ind_l_leak_h > 0.0f) mc.l_leak_henry = s_working.ind_l_leak_h; mc.valid = true; if (s_working.pi_kp >= 0.0f) focControlManager().setKp(s_working.pi_kp); @@ -242,6 +260,16 @@ void dump() { } else { Telemetry::printf("[CFG] (no Ld/Lq curve stored)"); } + if (stored.motor_type == static_cast(MotorType::Induction)) { + Telemetry::printf("[CFG] sigma_Ls = %.2e H", static_cast(stored.ind_sigma_ls_h)); + Telemetry::printf("[CFG] tau_r = %.2f ms", static_cast(stored.ind_rotor_tau_ms)); + Telemetry::printf("[CFG] Lm / Lr = %.2e / %.2e H", + static_cast(stored.ind_lm_h), + static_cast(stored.ind_lr_h)); + Telemetry::printf("[CFG] Rr' / Ll = %.4f ohm / %.2e H", + static_cast(stored.ind_rr_ohm), + static_cast(stored.ind_l_leak_h)); + } Telemetry::printf("[CFG] pi kp / ki = %.4f / %.3f", static_cast(stored.pi_kp), static_cast(stored.pi_ki)); @@ -322,7 +350,32 @@ bool setField(const char* name, float value) { s_working.lq_henry = value; } else if (std::strcmp(name, "type") == 0) { if (value < 0.0f || value > static_cast(MotorType::SlipRing)) return false; + mc.motor_type = static_cast(value); s_working.motor_type = static_cast(value); + } else if (std::strcmp(name, "sigma_ls") == 0) { + if (value <= 0.0f || value > 1.0f) return false; + s_working.ind_sigma_ls_h = value; + mc.sigma_ls_henry = value; + } else if (std::strcmp(name, "tau_r") == 0) { + if (value <= 0.0f || value > 10000.0f) return false; + s_working.ind_rotor_tau_ms = value; + mc.rotor_time_constant_ms = value; + } else if (std::strcmp(name, "lm") == 0) { + if (value <= 0.0f || value > 1.0f) return false; + s_working.ind_lm_h = value; + mc.lm_henry = value; + } else if (std::strcmp(name, "lr") == 0) { + if (value <= 0.0f || value > 1.0f) return false; + s_working.ind_lr_h = value; + mc.lr_henry = value; + } else if (std::strcmp(name, "rr") == 0) { + if (value <= 0.0f || value > 10.0f) return false; + s_working.ind_rr_ohm = value; + mc.rr_ohm = value; + } else if (std::strcmp(name, "l_leak") == 0) { + if (value <= 0.0f || value > 1.0f) return false; + s_working.ind_l_leak_h = value; + mc.l_leak_henry = value; } else { return false; } diff --git a/Images/Gen6FW/Src/Inverter/InverterMain.cpp b/Images/Gen6FW/Src/Inverter/InverterMain.cpp index 53ea5dc8..cc1fb3dd 100644 --- a/Images/Gen6FW/Src/Inverter/InverterMain.cpp +++ b/Images/Gen6FW/Src/Inverter/InverterMain.cpp @@ -10,6 +10,8 @@ #include "Inverter/Calibration/EncoderLinearityCalibrator.h" #include "Inverter/Calibration/ResistanceCalibrator.h" #include "Inverter/Calibration/InductanceCalibrator.h" +#include "Inverter/Calibration/InductionMotorCalibrator.h" +#include "Inverter/Calibration/InductionVHzCalibrator.h" #include "Inverter/Calibration/FluxLinkageCalibrator.h" #include "Inverter/Control/FaultManager.h" #include "Inverter/Control/FocControlManager.h" @@ -138,6 +140,10 @@ static void init() * the gate-driver/isolated rails have settled with PWM running. */ Inverter::dcLinkCurrentSensor().init(); + /* Open-loop controller (used by shell commands for scalar induction control + * and vector scan). */ + Inverter::openLoopController().init(); + /* UART command shell for start/stop/freq/mod. */ Inverter::commandShell().init(); @@ -265,6 +271,8 @@ static void loop() Inverter::encoderLinearityCalibrator().update(); Inverter::resistanceCalibrator().update(); Inverter::inductanceCalibrator().update(); + Inverter::inductionMotorCalibrator().update(); + Inverter::inductionVHzCalibrator().update(); Inverter::fluxLinkageCalibrator().update(); /* Legacy FOC manager (forced-angle diagnostics, offset experiments). */ diff --git a/Source/NodeGUI/README.md b/Source/NodeGUI/README.md index a65750ba..ebe2219a 100644 --- a/Source/NodeGUI/README.md +++ b/Source/NodeGUI/README.md @@ -50,11 +50,12 @@ Or launch with no arguments and use `File → Open`. domain, then drag its background to move every node in that domain together. - The Runtime screen's `Export Session…` button writes a chronological JSONL event stream with all float and string telemetry samples, console output, - sent console commands, connection statistics, and session metadata captured - since the runtime started. Its final record includes per-signal sample count, - minimum, maximum, and mean. Clearing the visible console does not discard - export data. `Clear Session` resets the plots, latest telemetry, console, - command history, statistics, and export archive after confirmation. + sent console commands (with both send and first-response timestamps), + connection statistics, and session metadata captured since the runtime + started. Its final record includes per-signal sample count, minimum, maximum, + and mean. Clearing the visible console does not discard export data. + `Clear Session` resets the plots, latest telemetry, console, command history, + statistics, and export archive after confirmation. - `View → Auto Arrange` lays out the graph left-to-right by dependency flow, grouping nodes by timing domain so cross-domain bridges run between groups. - `File → Save` / `File → Save As` writes the graph back to JSON, including any manual or auto-arranged node positions. - `Edit → Undo` / `Redo` restores complete graph snapshots, including nodes, diff --git a/Source/NodeGUI/src/MainWindow.cpp b/Source/NodeGUI/src/MainWindow.cpp index 7d8682bf..d914e1f8 100644 --- a/Source/NodeGUI/src/MainWindow.cpp +++ b/Source/NodeGUI/src/MainWindow.cpp @@ -95,6 +95,29 @@ std::filesystem::path DefaultFirmwareBaseDir() { return ProjectRoot() / "Images" / "Gen6FW"; } +/** + * @brief Find the firmware base source directory that belongs to a graph file. + * + * Graphs live under /Assets/Examples, while the matching firmware tree + * is at /Images/Gen6FW. When RTE Studio is launched from a directory + * other than the project root (or packaged without RTE_PROJECT_ROOT), the + * generic DefaultFirmwareBaseDir() resolves relative to cwd and points at the + * wrong place. This helper walks up from the graph file until it finds the + * Images/Gen6FW tree and returns an absolute path. + */ +std::filesystem::path FirmwareBaseDirForGraph(const std::filesystem::path& graphPath) { + std::error_code ec; + std::filesystem::path dir = graphPath.parent_path(); + for (int level = 0; level < 6 && !dir.empty(); ++level) { + std::filesystem::path candidate = dir / "Images" / "Gen6FW"; + if (std::filesystem::is_regular_file(candidate / "CMakeLists.txt", ec)) { + return candidate.lexically_normal(); + } + dir = dir.parent_path(); + } + return DefaultFirmwareBaseDir(); +} + QString RteCliPath() { const std::filesystem::path adjacent = std::filesystem::path(QCoreApplication::applicationDirPath().toStdString()) @@ -1076,13 +1099,16 @@ void MainWindow::StartBuildCommand(BuildCommand command) { return; } + const std::filesystem::path firmwareBaseDir = + FirmwareBaseDirForGraph(absoluteGraphPath.toStdString()); + QStringList arguments{ QStringLiteral("--format"), QStringLiteral("jsonl"), command == BuildCommand::Generate ? QStringLiteral("generate") : QStringLiteral("build"), QStringLiteral("--graph"), absoluteGraphPath, QStringLiteral("--base-source"), - QString::fromStdString(DefaultFirmwareBaseDir().string()), + QString::fromStdString(firmwareBaseDir.string()), QStringLiteral("--templates"), QString::fromStdString(DefaultTemplatesDir()), }; if (command == BuildCommand::Generate) { diff --git a/Source/NodeGUI/src/runtime/RuntimeController.cpp b/Source/NodeGUI/src/runtime/RuntimeController.cpp index bf65fa46..340a5b22 100644 --- a/Source/NodeGUI/src/runtime/RuntimeController.cpp +++ b/Source/NodeGUI/src/runtime/RuntimeController.cpp @@ -200,6 +200,7 @@ void RuntimeController::DrainQueue() { store_.AddString(v.key, v.value); } else if constexpr (std::is_same_v) { store_.AddConsoleLine(v.text); + store_.MarkLastCommandReceived(); } else { store_.SetStats(v.rxHz, v.rxBytesPerSec, diff --git a/Source/NodeGUI/src/runtime/RuntimeSessionExporter.cpp b/Source/NodeGUI/src/runtime/RuntimeSessionExporter.cpp index e9d4490e..ade530df 100644 --- a/Source/NodeGUI/src/runtime/RuntimeSessionExporter.cpp +++ b/Source/NodeGUI/src/runtime/RuntimeSessionExporter.cpp @@ -297,6 +297,8 @@ double WriteEvents(QTextStream& stream, const auto& command = session.commands[cursor.index]; stream << "{\"type\":\"command\",\"t\":"; WriteTime(stream, command.tsec); + stream << ",\"received_t\":"; + WriteTime(stream, command.receivedTsec); stream << ",\"source\":" << JsonString(command.source) << ",\"text\":" << JsonString(command.text) << ",\"sent\":" @@ -335,7 +337,7 @@ bool ExportRuntimeSession(const QString& path, stream << "{\"type\":\"session_start\"" << ",\"format\":\"rte-runtime-session-jsonl\"" - << ",\"version\":2" + << ",\"version\":3" << ",\"t\":0" << ",\"started_at_utc\":" << JsonString(startedAt.toString(Qt::ISODateWithMs)) diff --git a/Source/NodeGUI/src/runtime/TelemetryStore.cpp b/Source/NodeGUI/src/runtime/TelemetryStore.cpp index c6551c42..b989984a 100644 --- a/Source/NodeGUI/src/runtime/TelemetryStore.cpp +++ b/Source/NodeGUI/src/runtime/TelemetryStore.cpp @@ -1,6 +1,7 @@ #include "TelemetryStore.h" #include +#include namespace NodeGUI::runtime { @@ -48,7 +49,22 @@ void TelemetryStore::AddCommand(const std::string& text, bool sent) { std::lock_guard lock(mtx_); sessionCommands_.push_back( - SessionCommand{SessionElapsedSeconds(), source, text, sent}); + SessionCommand{SessionElapsedSeconds(), + std::numeric_limits::quiet_NaN(), + source, + text, + sent}); +} + +void TelemetryStore::MarkLastCommandReceived() { + std::lock_guard lock(mtx_); + for (auto it = sessionCommands_.rbegin(); it != sessionCommands_.rend(); + ++it) { + if (std::isnan(it->receivedTsec)) { + it->receivedTsec = SessionElapsedSeconds(); + return; + } + } } void TelemetryStore::ClearConsole() { diff --git a/Source/NodeGUI/src/runtime/TelemetryStore.h b/Source/NodeGUI/src/runtime/TelemetryStore.h index 1dc539b3..91a79d8b 100644 --- a/Source/NodeGUI/src/runtime/TelemetryStore.h +++ b/Source/NodeGUI/src/runtime/TelemetryStore.h @@ -3,6 +3,7 @@ #include #include #include +#include #include #include #include @@ -53,6 +54,7 @@ struct SessionConsoleLine { struct SessionCommand { double tsec = 0.0; + double receivedTsec = std::numeric_limits::quiet_NaN(); std::string source; std::string text; bool sent = false; @@ -114,6 +116,11 @@ class TelemetryStore { void AddCommand(const std::string& text, const std::string& source, bool sent); + // Marks the most recent command that has not yet been marked as received + // with the current session elapsed time. Call when a device console line + // arrives so the exported command event can record when the response came + // back. Safe to call when no pending command exists (no-op). + void MarkLastCommandReceived(); void ClearConsole(); void ClearSession(); diff --git a/Source/RTECLI/src/Main.cpp b/Source/RTECLI/src/Main.cpp index 773bee28..396d7754 100644 --- a/Source/RTECLI/src/Main.cpp +++ b/Source/RTECLI/src/Main.cpp @@ -123,6 +123,27 @@ bool ParseOptions(const std::vector& args, Options& options, else if (arg == "--auto-gpio") options.autoGpio = true; else { error = "unknown option: " + arg; return false; } } + + /* Resolve any relative paths to absolute against the process's starting cwd. + * This keeps later code (emitter, builder, subprocess runners) from + * interpreting them relative to a changed working directory. */ + auto normalize = [](std::optional& p) { + if (!p || p->is_absolute()) return; + std::error_code ec; + fs::path abs = fs::weakly_canonical(fs::absolute(*p, ec), ec); + if (ec || abs.empty()) abs = fs::absolute(*p); + p = std::move(abs); + }; + normalize(options.graph); + normalize(options.templates); + normalize(options.baseSource); + normalize(options.output); + normalize(options.sourceOutput); + normalize(options.buildDir); + normalize(options.firmware); + normalize(options.programmer); + normalize(options.session); + return true; } diff --git a/Source/RTECodeEmitter/src/Emitter.cpp b/Source/RTECodeEmitter/src/Emitter.cpp index 19b4ec49..16f853ca 100644 --- a/Source/RTECodeEmitter/src/Emitter.cpp +++ b/Source/RTECodeEmitter/src/Emitter.cpp @@ -153,7 +153,8 @@ bool GenerateEmptyDomainFiles(const std::filesystem::path& generatedDir, std::ostringstream header; header << "#pragma once\n\n"; header << "// Generated by InverterCodegen. Do not edit by hand.\n\n"; - header << "#include \n\n"; + header << "#include \n"; + header << "#include \n\n"; header << "namespace app {\n\n"; header << "struct " << domainTitle << "State {\n"; header << "};\n\n"; @@ -161,7 +162,14 @@ bool GenerateEmptyDomainFiles(const std::filesystem::path& generatedDir, header << "void " << domainTitle << "Step(" << domainTitle << "State& state);\n"; header << "void " << domainTitle << "Start(" << domainTitle << "State& state);\n"; header << "void " << domainTitle << "Stop(" << domainTitle << "State& state);\n"; - header << "\n} // namespace app\n"; + header << "\n} // namespace app\n\n"; + header << "#include \"RteParams.h\"\n"; + header << "namespace app {\n"; + header << "extern const RteParamDesc g_" << domainCpp << "_configs[];\n"; + header << "extern const size_t g_" << domainCpp << "_config_count;\n"; + header << "extern const RteParamDesc g_" << domainCpp << "_vars[];\n"; + header << "extern const size_t g_" << domainCpp << "_var_count;\n"; + header << "} // namespace app\n"; std::ostringstream source; source << "// Generated by InverterCodegen. Do not edit by hand.\n\n"; @@ -180,6 +188,14 @@ bool GenerateEmptyDomainFiles(const std::filesystem::path& generatedDir, source << "void " << domainTitle << "Stop(" << domainTitle << "State& state) {\n"; source << " (void)state;\n"; source << "}\n\n"; + source << "const RteParamDesc g_" << domainCpp << "_configs[] = {\n"; + source << " {nullptr, nullptr, nullptr},\n"; + source << "};\n"; + source << "const size_t g_" << domainCpp << "_config_count = 0;\n\n"; + source << "const RteParamDesc g_" << domainCpp << "_vars[] = {\n"; + source << " {nullptr, nullptr, nullptr},\n"; + source << "};\n"; + source << "const size_t g_" << domainCpp << "_var_count = 0;\n\n"; source << "} // namespace app\n"; if (!WriteFileText(generatedDir / headerName, header.str(), error)) return false; diff --git a/Tools/generate_induction_vhz_graph.py b/Tools/generate_induction_vhz_graph.py new file mode 100644 index 00000000..24ea2f5e --- /dev/null +++ b/Tools/generate_induction_vhz_graph.py @@ -0,0 +1,388 @@ +#!/usr/bin/env python3 +"""Generate Assets/Examples/induction_vhz.json from node templates + custom nodes.""" + +import json +from pathlib import Path + +ROOT = Path(__file__).resolve().parent.parent +TEMPLATES = ROOT / "Assets" / "NodeTemplates" +OUT = ROOT / "Assets" / "Examples" / "induction_vhz.json" + +DT = 0.0002 # 5 kHz TIM1 update ISR in FOC mode + + +def load_template(category_name: str) -> dict: + d = TEMPLATES / category_name + meta = json.loads((d / "node.json").read_text()) + inline_file = d / "inline.cpp" + if inline_file.exists(): + meta["inlineCode"] = inline_file.read_text() + # Ensure the GUI-emitted keys exist. + meta.setdefault("classDefinition", "") + meta.setdefault("classHeader", "") + meta.setdefault("constructorCode", "") + meta.setdefault("displayName", meta.get("id", "").split(".")[-1]) + meta.setdefault("domain", "") + meta.setdefault("defaultName", meta.get("displayName", "")) + meta.setdefault("description", "") + return meta + + +def make_custom_types() -> list[dict]: + return [ + { + "id": "induction.AngleIntegrator", + "displayName": "Angle Integrator", + "defaultName": "AngleIntegrator", + "description": "Integrates electrical frequency in Hz to a wrapped angle in radians.", + "domain": "", + "isEntryPoint": False, + "maxInstances": 0, + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "inputPorts": [ + { + "name": "Hz", + "description": "Electrical frequency in Hz.", + "direction": "input", + "type": {"quantity": "dimensionless", "frame": "scalar", "dtype": "f32"}, + } + ], + "outputPorts": [ + { + "name": "Theta", + "description": "Wrapped electrical angle in radians.", + "direction": "output", + "type": {"quantity": "dimensionless", "frame": "scalar", "dtype": "f32"}, + } + ], + "parameterTypes": { + "Dt": { + "description": "Update period in seconds.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + }, + "Angle": { + "description": "Persistent integrated angle state in radians.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + }, + }, + "inlineCode": ( + "Angle += Hz * 6.28318530718f * Dt;\n" + "while (Angle >= 6.28318530718f) Angle -= 6.28318530718f;\n" + "while (Angle < 0.0f) Angle += 6.28318530718f;\n" + "Theta = Angle;\n" + ), + }, + { + "id": "induction.VHzToAlphaBeta", + "displayName": "V/Hz to Alpha/Beta", + "defaultName": "VHzToAlphaBeta", + "description": "Scalar V/Hz law: converts frequency and angle to alpha-beta voltage vector.", + "domain": "", + "isEntryPoint": False, + "maxInstances": 0, + "classDefinition": "", + "classHeader": "", + "constructorCode": "", + "inputPorts": [ + { + "name": "Hz", + "description": "Electrical frequency in Hz.", + "direction": "input", + "type": {"quantity": "dimensionless", "frame": "scalar", "dtype": "f32"}, + }, + { + "name": "Theta", + "description": "Electrical angle in radians.", + "direction": "input", + "type": {"quantity": "dimensionless", "frame": "scalar", "dtype": "f32"}, + }, + ], + "outputPorts": [ + { + "name": "V_Alpha", + "description": "Stationary-frame alpha-axis voltage.", + "direction": "output", + "type": {"quantity": "voltage", "frame": "scalar", "dtype": "f32"}, + }, + { + "name": "V_Beta", + "description": "Stationary-frame beta-axis voltage.", + "direction": "output", + "type": {"quantity": "voltage", "frame": "scalar", "dtype": "f32"}, + }, + ], + "parameterTypes": { + "VoltsPerHz": { + "description": "V/Hz ratio in peak line-neutral volts per hertz.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + }, + "BoostVolts": { + "description": "Voltage boost added at all frequencies for low-speed torque.", + "quantity": "dimensionless", + "frame": "scalar", + "dtype": "f32", + }, + }, + "inlineCode": ( + "float vmag = Hz * VoltsPerHz + BoostVolts;\n" + "if (vmag < 0.0f) vmag = 0.0f;\n" + "V_Alpha = rte::Volts(vmag * cosf(Theta));\n" + "V_Beta = rte::Volts(vmag * sinf(Theta));\n" + ), + }, + ] + + +def make_graph() -> dict: + standard = [ + "Values.Var", + "Values.Config", + "Control.Slew", + "Sensors.DcLinkVoltage", + "Transforms.Svpwm", + "Actuators.PwmOut", + "Debug.TelemetryLog", + ] + node_types = make_custom_types() + for t in standard: + node_types.append(load_template(t)) + + nodes = [ + # Frequency command + ramp + { + "id": "TargetHz", + "type": "Values.Var", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {"Stored": "0.0", "Set": "0.0", "In": "0.0"}, + }, + { + "id": "CfgSlewRate", + "type": "Values.Config", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": { + "Cached": "0.0", + "DefaultValue": "20.0", + "Key": "Induction.SlewRateHzPs", + }, + }, + { + "id": "FreqSlew", + "type": "Control.Slew", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameterInputs": ["Rate"], + "parameters": {"Dt": str(DT), "Rate": "20.0", "Value": "0.0"}, + }, + # V/Hz tuning constants + { + "id": "CfgVoltsPerHz", + "type": "Values.Config", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": { + "Cached": "0.0", + "DefaultValue": "1.6", + "Key": "Induction.VoltsPerHz", + }, + }, + { + "id": "CfgBoostVolts", + "type": "Values.Config", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": { + "Cached": "0.0", + "DefaultValue": "0.0", + "Key": "Induction.BoostVolts", + }, + }, + # Angle + V/Hz vector generation + { + "id": "AngleGen", + "type": "induction.AngleIntegrator", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {"Dt": str(DT), "Angle": "0.0"}, + }, + { + "id": "VHzGen", + "type": "induction.VHzToAlphaBeta", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameterInputs": ["VoltsPerHz", "BoostVolts"], + "parameters": {"VoltsPerHz": "1.6", "BoostVolts": "0.0"}, + }, + # DC link + modulation + { + "id": "VdcSense", + "type": "Sensors.DcLinkVoltage", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {}, + }, + { + "id": "Svpwm", + "type": "Transforms.Svpwm", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {}, + }, + { + "id": "PwmOut", + "type": "Actuators.PwmOut", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {}, + }, + # Telemetry + { + "id": "LogFreq", + "type": "Debug.TelemetryLog", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {"Key": "ind_hz"}, + }, + { + "id": "LogVmag", + "type": "Debug.TelemetryLog", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {"Key": "ind_vmag"}, + }, + { + "id": "LogAngle", + "type": "Debug.TelemetryLog", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {"Key": "ind_theta"}, + }, + { + "id": "LogVdc", + "type": "Debug.TelemetryLog", + "domain": "tim_isr", + "position": {"x": 0, "y": 0}, + "parameters": {"Key": "ind_vdc"}, + }, + ] + + connections = [ + # TargetHz -> Slew + { + "id": "c_target_to_slew", + "from": {"nodeId": "TargetHz", "portName": "Value"}, + "to": {"nodeId": "FreqSlew", "portName": "In"}, + }, + # Config -> Slew Rate param + { + "id": "c_cfg_slew", + "from": {"nodeId": "CfgSlewRate", "portName": "Value"}, + "to": {"nodeId": "FreqSlew", "portName": "Rate"}, + }, + # Slew -> Angle + VHz + { + "id": "c_slew_to_angle", + "from": {"nodeId": "FreqSlew", "portName": "Out"}, + "to": {"nodeId": "AngleGen", "portName": "Hz"}, + }, + { + "id": "c_slew_to_vhz", + "from": {"nodeId": "FreqSlew", "portName": "Out"}, + "to": {"nodeId": "VHzGen", "portName": "Hz"}, + }, + # Angle -> VHz + { + "id": "c_angle_to_vhz", + "from": {"nodeId": "AngleGen", "portName": "Theta"}, + "to": {"nodeId": "VHzGen", "portName": "Theta"}, + }, + # VHz -> SVPWM + { + "id": "c_valpha", + "from": {"nodeId": "VHzGen", "portName": "V_Alpha"}, + "to": {"nodeId": "Svpwm", "portName": "V_Alpha"}, + }, + { + "id": "c_vbeta", + "from": {"nodeId": "VHzGen", "portName": "V_Beta"}, + "to": {"nodeId": "Svpwm", "portName": "V_Beta"}, + }, + # Vdc -> SVPWM + { + "id": "c_vdc", + "from": {"nodeId": "VdcSense", "portName": "V_Dc"}, + "to": {"nodeId": "Svpwm", "portName": "V_Dc"}, + }, + # SVPWM -> PWM out + { + "id": "c_duty_a", + "from": {"nodeId": "Svpwm", "portName": "Duty_A"}, + "to": {"nodeId": "PwmOut", "portName": "Duty_A"}, + }, + { + "id": "c_duty_b", + "from": {"nodeId": "Svpwm", "portName": "Duty_B"}, + "to": {"nodeId": "PwmOut", "portName": "Duty_B"}, + }, + { + "id": "c_duty_c", + "from": {"nodeId": "Svpwm", "portName": "Duty_C"}, + "to": {"nodeId": "PwmOut", "portName": "Duty_C"}, + }, + # Config -> V/Hz params + { + "id": "c_cfg_vhz_ratio", + "from": {"nodeId": "CfgVoltsPerHz", "portName": "Value"}, + "to": {"nodeId": "VHzGen", "portName": "VoltsPerHz"}, + }, + { + "id": "c_cfg_vhz_boost", + "from": {"nodeId": "CfgBoostVolts", "portName": "Value"}, + "to": {"nodeId": "VHzGen", "portName": "BoostVolts"}, + }, + # Telemetry taps + { + "id": "c_log_freq", + "from": {"nodeId": "FreqSlew", "portName": "Out"}, + "to": {"nodeId": "LogFreq", "portName": "Value"}, + }, + { + "id": "c_log_vmag", + "from": {"nodeId": "VHzGen", "portName": "V_Alpha"}, + "to": {"nodeId": "LogVmag", "portName": "Value"}, + }, + { + "id": "c_log_angle", + "from": {"nodeId": "AngleGen", "portName": "Theta"}, + "to": {"nodeId": "LogAngle", "portName": "Value"}, + }, + { + "id": "c_log_vdc", + "from": {"nodeId": "VdcSense", "portName": "V_Dc"}, + "to": {"nodeId": "LogVdc", "portName": "Value"}, + }, + ] + + return { + "name": "induction_vhz", + "nodeTypes": node_types, + "nodes": nodes, + "connections": connections, + "bridges": [], + } + + +if __name__ == "__main__": + graph = make_graph() + OUT.parent.mkdir(parents=True, exist_ok=True) + OUT.write_text(json.dumps(graph, indent=2) + "\n") + print(f"Wrote {OUT}") diff --git a/Tools/rteplot/README.md b/Tools/rteplot/README.md index 7cd1463c..69c8513c 100644 --- a/Tools/rteplot/README.md +++ b/Tools/rteplot/README.md @@ -41,6 +41,33 @@ cd Tools/rteplot --t0 5 --t1 35 --logo assets/logo.png ``` +## Web viewer (embeddable) + +`viewer.html` is a self-contained, browser-based telemetry explorer. It has no +build step and no backend—just open it in a browser or drop it into a +documentation repo. + +```bash +# from repo root +firefox Tools/rteplot/viewer.html +``` + +What it can do: + +- Drag-and-drop (or click to select) any RTE runtime session `.jsonl` file. +- Search and click signals to add them to an interactive Plotly graph. +- Toggle a signal onto a secondary y-axis with `Shift+click`. +- Browse the command log and click a command to drop a marker at its send time. +- `Shift+click` on the plot to add vertical time markers; plain click sets the +cursor for adding markers/annotations. +- Add text annotations and export the current view as PNG. +- Persist the selected signal set in the URL hash so links/bookmarks preserve + the view. + +The only external dependency is Plotly.js loaded from a CDN. To use it offline, +download `plotly-2.27.0.min.js` and update the ` + + + +
+ + +
+
+ + + + + + Upload a file to begin +
+
+
+
+ No telemetry loaded
+ Upload an RTE runtime session .jsonl file from the sidebar. +
+
+
+
+
+ + + + diff --git a/example-mystery-problem.jsonl b/example-mystery-problem.jsonl new file mode 100644 index 00000000..9cd4543b --- /dev/null +++ b/example-mystery-problem.jsonl @@ -0,0 +1,9394 @@ +{"type":"session_start","format":"rte-runtime-session-jsonl","version":2,"t":0,"started_at_utc":"2026-08-06T23:21:30.670Z","exported_at_utc":"2026-08-06T23:23:03.735Z","port":"/dev/ttyACM0","mode":"device","protocol":"legacy"} 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From 885dead6837f2a37cf4c8df872fb3c683f7bd54e Mon Sep 17 00:00:00 2001 From: Thomas Liao Date: Sun, 9 Aug 2026 16:42:14 -0700 Subject: [PATCH 16/16] feat(cal): enforce motor-family matching in cal Motor.* commands - Add isPmsmMotorType() / isInductionMotorType() helpers and a shared requireMotorFamily() guard in CalibrationCommands. - Refuse cal Motor.PMSM, Motor.PMSM.Inductance, Motor.PMSM.FluxLinkage if the runtime motor type is not PmsmIpm/PmsmSpm. - Refuse cal Motor.Induction and Motor.Induction.VHz if the runtime motor type is not Induction, instead of silently overwriting the motor type. - Update the CalCommand help block and add docs/MotorTypeAndCalibration.md documenting MotorType enum values and the strict command behavior. --- .../Command/Commands/CalibrationCommands.cpp | 47 ++++++--- Images/Gen6FW/docs/MotorTypeAndCalibration.md | 97 +++++++++++++++++++ 2 files changed, 130 insertions(+), 14 deletions(-) create mode 100644 Images/Gen6FW/docs/MotorTypeAndCalibration.md diff --git a/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp b/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp index c1d7e553..bf9ac5e9 100644 --- a/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp +++ b/Images/Gen6FW/Src/Inverter/Command/Commands/CalibrationCommands.cpp @@ -66,6 +66,27 @@ static bool stringsEqual(const char* a, const char* b) { return *a == '\0' && *b == '\0'; } +static bool isPmsmMotorType(MotorType mt) { + return mt == MotorType::PmsmIpm || mt == MotorType::PmsmSpm; +} + +static bool isInductionMotorType(MotorType mt) { + return mt == MotorType::Induction; +} + +/** Refuse a motor-family-specific cal command if the runtime motor type does + * not match. Keeps the family checks in one place so the error message and + * type-name lookup are not duplicated in every command handler. */ +static bool requireMotorFamily(const char* path, bool want_pmsm) { + const MotorType mt = motorCalibration().motor_type; + const bool ok = want_pmsm ? isPmsmMotorType(mt) : isInductionMotorType(mt); + if (!ok) { + Telemetry::printf("[CAL] %s: motor type is %s; refusing", + path, Inverter::MotorConfigStore::typeName(mt)); + } + return ok; +} + static bool parsePair(const char* token, ResistanceCalibrator::Pair& out) { if (stringsEqual(token, "uv")) { out = ResistanceCalibrator::Pair::UV; @@ -326,15 +347,18 @@ static EncOffsetCommand sEncOffsetCmd; * cal Motor.Resistance [I_A] Phase resistances. Optional target current; * default uses the firmware default. Append * --force to skip the inactive-phase check. - * cal Motor.PMSM Inductance then flux linkage. + * cal Motor.PMSM Inductance then flux linkage. Requires the + * runtime motor type to be a PMSM variant. * cal Motor.PMSM.Inductance [I_A] Ld/Lq only. Optional max bias current; - * default uses firmware default. - * cal Motor.PMSM.FluxLinkage PM flux linkage only. + * default uses firmware default. Requires PMSM. + * cal Motor.PMSM.FluxLinkage PM flux linkage only. Requires PMSM. * cal Motor.Induction [I_A] Induction-machine sigma_Ls / tau_r. Optional * flux current; default uses firmware default. + * Requires motor type Induction. * cal Motor.Induction.VHz [f] Encoderless V/Hz spin Ls sweep. Optional - * electrical frequency in Hz (default 5). + * electrical frequency in Hz (default 10). * Append --wye if the motor is not delta. + * Requires motor type Induction. * * Results are stored in the RTE KV store under the same Motor.* paths and * picked up by graph config nodes at boot. @@ -407,30 +431,25 @@ class CalCommand : public CommandInterface { } startRun(S::SETTLE, S::RESISTANCE, path, save_results); } else if (stringsEqual(path, "Motor.PMSM")) { + if (!requireMotorFamily(path, true)) return; startRun(S::INDUCTANCE, S::FLUX, path, save_results); } else if (stringsEqual(path, "Motor.PMSM.Inductance")) { + if (!requireMotorFamily(path, true)) return; if (args[2].present) { autoCalibrationCoordinator().setInductanceParams(args[2].f_val, 0.0f, 0.0f); } startRun(S::INDUCTANCE, S::INDUCTANCE, path, save_results); } else if (stringsEqual(path, "Motor.PMSM.FluxLinkage")) { + if (!requireMotorFamily(path, true)) return; startRun(S::FLUX, S::FLUX, path, save_results); } else if (stringsEqual(path, "Motor.Induction")) { - /* Ensure the coordinator branches to the induction parameter-identification - * routine rather than the PMSM Ld/Lq + flux-linkage path. */ - if (motorCalibration().motor_type != MotorType::Induction) { - motorCalibration().motor_type = MotorType::Induction; - Telemetry::printf("[CAL] motor type set to induction for this run"); - } + if (!requireMotorFamily(path, false)) return; if (args[2].present) { autoCalibrationCoordinator().setInductionParams(args[2].f_val, 0.0f, 0.0f, 0.0f); } startRun(S::SETTLE, S::INDUCTION_PARAMS, path, save_results); } else if (stringsEqual(path, "Motor.Induction.VHz")) { - if (motorCalibration().motor_type != MotorType::Induction) { - motorCalibration().motor_type = MotorType::Induction; - Telemetry::printf("[CAL] motor type set to induction for this run"); - } + if (!requireMotorFamily(path, false)) return; /* Accept either `cal ...VHz 20` or `cal ...VHz --wye 20`. * args[1] is the string slot, so a bare number lands there. */ float freq_hz = 10.0f; diff --git a/Images/Gen6FW/docs/MotorTypeAndCalibration.md b/Images/Gen6FW/docs/MotorTypeAndCalibration.md new file mode 100644 index 00000000..2383cd8c --- /dev/null +++ b/Images/Gen6FW/docs/MotorTypeAndCalibration.md @@ -0,0 +1,97 @@ +# Motor Type and Calibration Commands + +## MotorType values + +`MotorType` is stored as a `uint32_t` in FRAM and in the runtime `MotorCalibration` +struct. The calibration dispatcher uses it to decide which parameter-identification +routine is appropriate for the connected motor. + +| Value | Name | Meaning | +|-------|-------------|--------------------------------------------------| +| 0 | `Unknown` | Not configured. Treated as an error for FOC. | +| 1 | `PmsmIpm` | Interior permanent-magnet synchronous motor. | +| 2 | `PmsmSpm` | Surface permanent-magnet synchronous motor. | +| 3 | `Induction` | Squirrel-cage or wound-rotor induction machine. | +| 4 | `SynRel` | Synchronous reluctance motor (future). | +| 5 | `Brushed` | Brushed DC motor (future). | +| 6 | `SlipRing` | Wound-rotor synchronous motor (future). | + +Both `PmsmIpm` (1) and `PmsmSpm` (2) count as **PMSM** for the hierarchical `cal` +command. Everything else is rejected by the PMSM-specific routines. + +## Setting and inspecting the motor type + +The type is set from the shell with the numeric value: + +``` +setconfig type 1 # PMSM_IPM +setconfig type 2 # PMSM_SPM +setconfig type 3 # Induction +``` + +Or by name: + +``` +setconfig type pmsm_ipm +setconfig type pmsm_spm +setconfig type induction +``` + +The active runtime type is shown by: + +``` +cal status +``` + +## Calibration command families + +The `cal` command is now strictly partitioned by motor family. Running a routine +on the wrong motor family is refused with an error instead of silently changing +the motor type. + +### PMSM routines + +Require `motor_type` to be `PmsmIpm` (1) or `PmsmSpm` (2): + +- `cal Motor.PMSM` — full PMSM profile: Ld/Lq then flux linkage. +- `cal Motor.PMSM.Inductance [I_A]` — biased-AC injection Ld/Lq only. +- `cal Motor.PMSM.FluxLinkage` — back-EMF flux-linkage sweep only. + +### Induction routines + +Require `motor_type` to be `Induction` (3): + +- `cal Motor.Induction [I_A]` — standstill sigma-Ls / rotor-time-constant test. +- `cal Motor.Induction.VHz [f] [--wye]` — encoderless V/Hz spin Ls sweep. + +### Shared routines + +These do not depend on motor family: + +- `cal Motor.Poles` +- `cal Motor.Encoder[.SinCos[.Breakaway]]` +- `cal Motor.Encoder.Linearity` +- `cal Motor.Resistance [I_A]` + +### Full automatic profile + +`cal all` reads the current `motor_type` and branches accordingly: + +- PMSM: pole → encoder → resistance → Ld/Lq → flux linkage. +- Induction: pole → encoder → resistance → sigma-Ls / tau_r. + +## Why the strict checks matter + +Previously, `cal Motor.Induction` and `cal Motor.Induction.VHz` silently overwrote +`motor_type` to `Induction` if it was set to something else. This made it easy to +accidentally run induction-specific parameter identification on a PMSM, which then +caused the auto-coordinator to skip the PMSM Ld/Lq and flux-linkage stages on the +next `cal all` or `cal Motor.PMSM` invocation. + +The V/Hz inductance sweep in particular is **not** valid for PMSMs: the routine +assumes the current is nearly 90° out of phase with the voltage (magnetizing +current), which is only true for an induction machine near no-load slip. A PMSM +at the default 10 Hz is resistance-dominated, so the phase check rejects the data +and the hunt fails. PMSM inductance should be measured with +`cal Motor.PMSM.Inductance`, which uses locked-rotor AC current injection and does +not depend on back-EMF or V/Hz sync.