From 45fb14b20678a8bad69a253d9cbf71f39b237a1f Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Fri, 25 Sep 2026 16:37:56 +0300 Subject: [PATCH] feat(vesc): integrate native calibration diagnostics and configuration archives --- .../internal/node/pairing_transport.go | 5 + .../internal/node/sensor_archives.go | 88 + .../internal/node/sensor_archives_test.go | 25 + .../node-agent/internal/node/sensor_models.go | 25 +- .../internal/node/sensor_preparation.go | 14 +- .../internal/node/sensor_vesc_test.go | 141 + apps/node-agent/internal/node/sensors.go | 49 +- apps/node-agent/ui/src/NodeSensors.tsx | 11 +- packages/sensor-ui/src/SensorWorkspace.tsx | 11 +- packages/sensor-ui/src/contracts.ts | 6 + packages/sensor-ui/src/extensions.ts | 9 +- plugins/vesc/README.md | 253 ++ plugins/vesc/frontend/src/VescBackups.tsx | 51 + .../vesc/frontend/src/VescBoardSettings.tsx | 54 + plugins/vesc/frontend/src/VescCalibration.tsx | 56 + plugins/vesc/frontend/src/VescDetail.tsx | 80 + plugins/vesc/frontend/src/VescHall.tsx | 42 + plugins/vesc/frontend/src/VescLimits.tsx | 35 + plugins/vesc/frontend/src/VescLink.tsx | 42 + plugins/vesc/frontend/src/VescMotor.tsx | 89 + plugins/vesc/frontend/src/model.ts | 69 + plugins/vesc/frontend/src/plugin.ts | 9 + plugins/vesc/native/LICENSE | 674 +++ plugins/vesc/native/config_export.h | 97 + plugins/vesc/native/engine_main.cpp | 375 ++ plugins/vesc/native/offline_main.cpp | 94 + .../vesc/packaging/70-mission-core-vesc.rules | 2 + plugins/vesc/packaging/build_native_probe.py | 33 + plugins/vesc/packaging/clear_runtime_cache.py | 22 + .../mission-core-node-vesc-prepare.service | 8 + .../vesc/packaging/mission-core-vesc.service | 37 + plugins/vesc/packaging/native-runtime.json | 676 +++ plugins/vesc/packaging/native_bundle.py | 95 + plugins/vesc/packaging/native_check.py | 34 + plugins/vesc/packaging/native_probe.py | 188 + plugins/vesc/packaging/payload.py | 49 + plugins/vesc/packaging/prepare.py | 88 + plugins/vesc/packaging/tool_build.py | 188 + plugins/vesc/runtime/__init__.py | 5 + plugins/vesc/runtime/configuration.py | 46 + plugins/vesc/runtime/drive_profile.py | 54 + plugins/vesc/runtime/foc_calibration.py | 157 + plugins/vesc/runtime/group_test.py | 135 + plugins/vesc/runtime/hall_detection.py | 99 + plugins/vesc/runtime/limits_view.py | 18 + plugins/vesc/runtime/link_check.py | 99 + plugins/vesc/runtime/motor_test.py | 390 ++ plugins/vesc/runtime/native_link.py | 171 + plugins/vesc/runtime/protocol.py | 154 + plugins/vesc/runtime/receiver.py | 22 + plugins/vesc/runtime/remote_control.py | 343 ++ plugins/vesc/runtime/schemas/5.02/info.xml | 1008 +++++ .../schemas/5.02/parameters_appconf.xml | 3626 +++++++++++++++ .../schemas/5.02/parameters_mcconf.xml | 3911 +++++++++++++++++ plugins/vesc/runtime/schemas/NOTICE | 1 + .../vesc/runtime/schemas/VESC_TOOL_LICENSE | 674 +++ plugins/vesc/runtime/serial.py | 163 + plugins/vesc/runtime/server.py | 139 + plugins/vesc/runtime/service.py | 364 ++ plugins/vesc/runtime/speed_hold.py | 52 + plugins/vesc/runtime/temporary_limits.py | 88 + plugins/vesc/tests/test_attachment.py | 50 + plugins/vesc/tests/test_drive_profile.py | 74 + plugins/vesc/tests/test_foc_calibration.py | 180 + plugins/vesc/tests/test_group_test.py | 159 + plugins/vesc/tests/test_hall_standstill.py | 108 + plugins/vesc/tests/test_limits_view.py | 34 + plugins/vesc/tests/test_link_check.py | 107 + plugins/vesc/tests/test_motor_test.py | 352 ++ plugins/vesc/tests/test_native_link.py | 93 + plugins/vesc/tests/test_reader.py | 178 + plugins/vesc/tests/test_receiver.py | 75 + plugins/vesc/tests/test_remote_control.py | 307 ++ plugins/vesc/tests/test_reverse_speed.py | 136 + plugins/vesc/tests/test_speed_and_hall.py | 206 + plugins/vesc/tests/test_upgrade.py | 26 + src/k1link/device_plugins/vesc/__init__.py | 1 + src/k1link/device_plugins/vesc/archive.py | 131 + src/k1link/fleet/registry.py | 47 +- src/k1link/fleet/sensors.py | 2 + src/k1link/fleet/transport.py | 28 + src/k1link/web/app.py | 2 + src/k1link/web/fleet_api.py | 64 +- tests/fleet/test_pairing.py | 19 + tests/fleet/test_vesc_archive.py | 74 + 85 files changed, 17968 insertions(+), 28 deletions(-) create mode 100644 apps/node-agent/internal/node/sensor_archives.go create mode 100644 apps/node-agent/internal/node/sensor_archives_test.go create mode 100644 apps/node-agent/internal/node/sensor_vesc_test.go create mode 100644 plugins/vesc/README.md create mode 100644 plugins/vesc/frontend/src/VescBackups.tsx create mode 100644 plugins/vesc/frontend/src/VescBoardSettings.tsx create mode 100644 plugins/vesc/frontend/src/VescCalibration.tsx create mode 100644 plugins/vesc/frontend/src/VescDetail.tsx create mode 100644 plugins/vesc/frontend/src/VescHall.tsx create mode 100644 plugins/vesc/frontend/src/VescLimits.tsx create mode 100644 plugins/vesc/frontend/src/VescLink.tsx create mode 100644 plugins/vesc/frontend/src/VescMotor.tsx create mode 100644 plugins/vesc/frontend/src/model.ts create mode 100644 plugins/vesc/frontend/src/plugin.ts create mode 100644 plugins/vesc/native/LICENSE create mode 100644 plugins/vesc/native/config_export.h create mode 100644 plugins/vesc/native/engine_main.cpp create mode 100644 plugins/vesc/native/offline_main.cpp create mode 100644 plugins/vesc/packaging/70-mission-core-vesc.rules create mode 100644 plugins/vesc/packaging/build_native_probe.py create mode 100644 plugins/vesc/packaging/clear_runtime_cache.py create mode 100644 plugins/vesc/packaging/mission-core-node-vesc-prepare.service create mode 100644 plugins/vesc/packaging/mission-core-vesc.service create mode 100644 plugins/vesc/packaging/native-runtime.json create mode 100644 plugins/vesc/packaging/native_bundle.py create mode 100644 plugins/vesc/packaging/native_check.py create mode 100644 plugins/vesc/packaging/native_probe.py create mode 100644 plugins/vesc/packaging/payload.py create mode 100644 plugins/vesc/packaging/prepare.py create mode 100644 plugins/vesc/packaging/tool_build.py create mode 100644 plugins/vesc/runtime/__init__.py create mode 100644 plugins/vesc/runtime/configuration.py create mode 100644 plugins/vesc/runtime/drive_profile.py create mode 100644 plugins/vesc/runtime/foc_calibration.py create mode 100644 plugins/vesc/runtime/group_test.py create mode 100644 plugins/vesc/runtime/hall_detection.py create mode 100644 plugins/vesc/runtime/limits_view.py create mode 100644 plugins/vesc/runtime/link_check.py create mode 100644 plugins/vesc/runtime/motor_test.py create mode 100644 plugins/vesc/runtime/native_link.py create mode 100644 plugins/vesc/runtime/protocol.py create mode 100644 plugins/vesc/runtime/receiver.py create mode 100644 plugins/vesc/runtime/remote_control.py create mode 100644 plugins/vesc/runtime/schemas/5.02/info.xml create mode 100644 plugins/vesc/runtime/schemas/5.02/parameters_appconf.xml create mode 100644 plugins/vesc/runtime/schemas/5.02/parameters_mcconf.xml create mode 100644 plugins/vesc/runtime/schemas/NOTICE create mode 100644 plugins/vesc/runtime/schemas/VESC_TOOL_LICENSE create mode 100644 plugins/vesc/runtime/serial.py create mode 100644 plugins/vesc/runtime/server.py create mode 100644 plugins/vesc/runtime/service.py create mode 100644 plugins/vesc/runtime/speed_hold.py create mode 100644 plugins/vesc/runtime/temporary_limits.py create mode 100644 plugins/vesc/tests/test_attachment.py create mode 100644 plugins/vesc/tests/test_drive_profile.py create mode 100644 plugins/vesc/tests/test_foc_calibration.py create mode 100644 plugins/vesc/tests/test_group_test.py create mode 100644 plugins/vesc/tests/test_hall_standstill.py create mode 100644 plugins/vesc/tests/test_limits_view.py create mode 100644 plugins/vesc/tests/test_link_check.py create mode 100644 plugins/vesc/tests/test_motor_test.py create mode 100644 plugins/vesc/tests/test_native_link.py create mode 100644 plugins/vesc/tests/test_reader.py create mode 100644 plugins/vesc/tests/test_receiver.py create mode 100644 plugins/vesc/tests/test_remote_control.py create mode 100644 plugins/vesc/tests/test_reverse_speed.py create mode 100644 plugins/vesc/tests/test_speed_and_hall.py create mode 100644 plugins/vesc/tests/test_upgrade.py create mode 100644 src/k1link/device_plugins/vesc/__init__.py create mode 100644 src/k1link/device_plugins/vesc/archive.py create mode 100644 tests/fleet/test_vesc_archive.py diff --git a/apps/node-agent/internal/node/pairing_transport.go b/apps/node-agent/internal/node/pairing_transport.go index bf0022f..cc5007d 100644 --- a/apps/node-agent/internal/node/pairing_transport.go +++ b/apps/node-agent/internal/node/pairing_transport.go @@ -152,6 +152,7 @@ func (p *Pairing) remoteHandler() http.Handler { func (p *Pairing) Run(ctx context.Context) { go p.channel(ctx) + go p.roverChannel(ctx) var server *http.Server endpoint := "" serverIdentity := "" @@ -307,6 +308,9 @@ func (p *Pairing) channel(ctx context.Context) { payload["devices"] = inv["items"] payload["sensor_state"] = inv payload["sensor_results"] = p.Sensors.RemoteResults() + if batch := p.Sensors.ConfigurationBatch(binding.BindingID); batch != nil { + payload["vesc_configurations"] = batch + } } if p.DeviceEnrollment != nil { payload["device_enrollment"] = p.DeviceEnrollment.Status() @@ -337,6 +341,7 @@ func (p *Pairing) channel(ctx context.Context) { } } if p.Sensors != nil { + p.Sensors.AcknowledgeConfigurations(binding.BindingID, result["vesc_configurations_ack"], payload["vesc_configurations"]) var ack []string if json.Unmarshal(result["sensor_acknowledgements"], &ack) == nil { p.Sensors.Acknowledge(ack) diff --git a/apps/node-agent/internal/node/sensor_archives.go b/apps/node-agent/internal/node/sensor_archives.go new file mode 100644 index 0000000..0e62326 --- /dev/null +++ b/apps/node-agent/internal/node/sensor_archives.go @@ -0,0 +1,88 @@ +package node + +import ( + "context" + "encoding/json" + "net/http" + "net/url" + "os" + "path/filepath" + "strconv" + "time" +) + +func (s *Sensors) vescArchive(path string) (map[string]any, error) { + ctx, cancel := context.WithTimeout(context.Background(), time.Second) + defer cancel() + for i := range sensorModels { + if sensorModels[i].ID == "vesc.controller" { + return s.modelDriver(ctx, &sensorModels[i], path, nil) + } + } + panic("shipped VESC model is missing") +} + +func archiveCursorName(binding string) string { + return "vesc-archive-" + digest(binding)[:24] + ".cursor" +} + +// Each pairing receives the complete immutable history, including backups +// made locally and while Core was offline. ACK follows durable Core storage. +func (s *Sensors) ConfigurationBatch(binding string) map[string]any { + var after int64 + data, _ := os.ReadFile(filepath.Join(s.root, archiveCursorName(binding))) + if json.Unmarshal(data, &after) != nil || after < 0 { + after = 0 + } + result, err := s.vescArchive("/archive-export?after=" + strconv.FormatInt(after, 10)) + if err != nil { + return nil + } + return result +} + +func (s *Sensors) AcknowledgeConfigurations(binding string, ack json.RawMessage, batch any) { + value, ok := batch.(map[string]any) + if !ok { + return + } + var sequence int64 + if json.Unmarshal(ack, &sequence) != nil || sequence < 0 { + return + } + next, ok := value["next"].(float64) + if !ok || next != float64(sequence) { + return + } + // A failed cursor write causes replay; immutable archive insertion deduplicates it. + _ = s.write(archiveCursorName(binding), sequence) +} + +func (s *Sensors) configurationRoutes(mux *http.ServeMux, server *Server) { + for _, route := range []string{"GET /api/device-configurations/{device}", "GET /api/device-configurations/{device}/{version}"} { + mux.HandleFunc(route, func(w http.ResponseWriter, r *http.Request) { + if !server.authorized(w, r) { + return + } + w.Header().Set("Cache-Control", "no-store") + device := r.PathValue("device") + model := modelForDevice(device) + if model == nil || model.ID != "vesc.controller" { + reply(w, 404, map[string]string{"error": "История не найдена"}) + return + } + path := "/archives/" + url.PathEscape(device) + if version := r.PathValue("version"); version != "" { + path += "/" + url.PathEscape(version) + } else { + path += "?before=" + url.QueryEscape(r.URL.Query().Get("before")) + } + result, err := s.vescArchive(path) + if err != nil { + reply(w, 503, map[string]string{"error": "Архив конфигураций недоступен"}) + return + } + reply(w, 200, result) + }) + } +} diff --git a/apps/node-agent/internal/node/sensor_archives_test.go b/apps/node-agent/internal/node/sensor_archives_test.go new file mode 100644 index 0000000..8debdd9 --- /dev/null +++ b/apps/node-agent/internal/node/sensor_archives_test.go @@ -0,0 +1,25 @@ +package node + +import ( + "encoding/json" + "os" + "path/filepath" + "testing" +) + +func TestVESCArchiveAckRequiresExactBatchAndPairingScope(t *testing.T) { + s := isolatedSensors(t) + batch := map[string]any{"next": float64(9)} + s.AcknowledgeConfigurations("pair-a", json.RawMessage(`10`), batch) + if _, err := os.Stat(filepath.Join(s.root, archiveCursorName("pair-a"))); !os.IsNotExist(err) { + t.Fatal("incorrect ACK persisted") + } + s.AcknowledgeConfigurations("pair-a", json.RawMessage(`9`), batch) + data, err := os.ReadFile(filepath.Join(s.root, archiveCursorName("pair-a"))) + if err != nil || string(data) != "9" { + t.Fatalf("durable cursor: %q %v", data, err) + } + if _, err := os.Stat(filepath.Join(s.root, archiveCursorName("pair-b"))); !os.IsNotExist(err) { + t.Fatal("history skipped on another pairing") + } +} diff --git a/apps/node-agent/internal/node/sensor_models.go b/apps/node-agent/internal/node/sensor_models.go index 4f6ece5..251dce0 100644 --- a/apps/node-agent/internal/node/sensor_models.go +++ b/apps/node-agent/internal/node/sensor_models.go @@ -20,6 +20,8 @@ type sensorModel struct { Socket, PrepareUnit, Report string Actions map[string]bool ActionTimeouts map[string]time.Duration + // This model may prepare an attachment only to read its protocol identity. + ProtocolIdentity bool } func actions(names ...string) map[string]bool { @@ -44,6 +46,11 @@ var sensorModels = []sensorModel{ PrepareUnit: "mission-core-node-insta360-x4-profile.service", Report: "/var/lib/mission-core-node-profiles/insta360-x4/preparation.json", ActionTimeouts: map[string]time.Duration{"power.wake": 55 * time.Second}, Actions: actions("prepare", "details", "rename", "verify", "preview.start", "preview.stop", "record.start", "record.stop", "photo.capture", "settings.read", "settings.apply", "files.list", "offer", "close-peer", "recovery.configure", "power.wake")}, + {ID: "vesc.controller", Name: "VESC", Prefix: "vesc", Kind: "vesc.controller", Plugin: "missioncore.vesc", Version: "0.7.4", + Vendor: "0483", Product: "5740", USBName: "ChibiOS/RT Virtual COM Port", Socket: "/run/mission-core-vesc/driver.sock", + PrepareUnit: "mission-core-node-vesc-prepare.service", Report: "/var/lib/mission-core-node-profiles/vesc/preparation.json", + ActionTimeouts: map[string]time.Duration{"vesc.link.check": 45 * time.Second, "vesc.motor.run": 90 * time.Second, "vesc.drive.run": 120 * time.Second, "vesc.hall.measure": 60 * time.Second, "vesc.foc.calibrate": 300 * time.Second, "vesc.motor.pulse": 60 * time.Second, "vesc.control.release": 60 * time.Second}, + ProtocolIdentity: true, Actions: actions("prepare", "details", "rename", "verify", "vesc.link.check", "vesc.telemetry.read", "vesc.limits.read", "vesc.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.layout", "vesc.drive.unassign", "vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.motor.stop", "vesc.control.release")}, } func modelForDevice(id string) *sensorModel { @@ -74,6 +81,22 @@ func modelDeviceID(model *sensorModel, serial string) string { return model.Prefix + "_" + hex.EncodeToString(h[:])[:32] } +func preparedDeviceID(command SensorCommand, result any) string { + model := modelForDevice(command.Session.DeviceID) + if model == nil { + return "" + } + if !model.ProtocolIdentity { + return command.Session.DeviceID + } + if value, ok := result.(map[string]any); ok { + if id, ok := value["device_id"].(string); ok && modelForDevice(id) == model { + return id + } + } + return "" +} + func sensorClient(socket string) *http.Client { return &http.Client{Timeout: 25 * time.Second, Transport: &http.Transport{DialContext: func(ctx context.Context, _, _ string) (net.Conn, error) { return (&net.Dialer{}).DialContext(ctx, "unix", socket) @@ -110,7 +133,7 @@ func discoverSensors(root string) []usbSensor { } unique := []usbSensor{} for _, item := range items { - if !item.stable || counts[item.id] != 1 { + if item.model.ProtocolIdentity || !item.stable || counts[item.id] != 1 { item.stable = false item.id = modelDeviceID(item.model, "provisional:"+item.binding) } diff --git a/apps/node-agent/internal/node/sensor_preparation.go b/apps/node-agent/internal/node/sensor_preparation.go index 4c7a939..e63f8e1 100644 --- a/apps/node-agent/internal/node/sensor_preparation.go +++ b/apps/node-agent/internal/node/sensor_preparation.go @@ -77,7 +77,7 @@ func (s *Sensors) preparationPhase(c SensorCommand, model *sensorModel, job *pro } op.Preparation = &sensorPreparation{OperationID: c.ID, DeviceID: c.Session.DeviceID, ModelID: model.ID, StartedAt: float64(started.UnixMilli()) / 1000, ProfileStartedAt: job.started, State: state, Phase: phase, - Steps: []preparationStep{{ID: "profile", Label: "Подготовка драйвера", State: deploy}, {ID: "verify", Label: "Проверка выбранной камеры", State: verify}}} + Steps: []preparationStep{{ID: "profile", Label: "Подготовка драйвера", State: deploy}, {ID: "verify", Label: "Проверка выбранного устройства", State: verify}}} op.Updated = time.Now().Unix() err := s.write(c.ID+".json", op) s.events.notify() @@ -217,18 +217,20 @@ func (s *Sensors) prepare(c SensorCommand, selected map[string]any) (result any, binding := s.discoverySessions[c.Session.DeviceID].binding s.mu.Unlock() if initialBinding != "" && binding != initialBinding { - return nil, errors.New("Камера переподключена во время подготовки. Повторите проверку устройства.") + return nil, errors.New("Устройство переподключено во время подготовки. Повторите проверку устройства.") } for _, raw := range inventory["items"].([]any) { item := raw.(map[string]any) - if item["id"] != c.Session.DeviceID || item["online"] != true || item["prepared"] != true { + matches := item["id"] == c.Session.DeviceID || (model.ProtocolIdentity && item["attachment_id"] == c.Session.DeviceID) + if !matches || item["online"] != true || item["prepared"] != true || (model.ProtocolIdentity && item["verified"] != true) { continue } verify := c verify.Action = "verify" + verify.Session.DeviceID, _ = item["id"].(string) verify.Session.SessionID = sensorSessionID(item) if verify.Session.SessionID == "" { - return nil, errors.New("Драйвер не подтвердил сеанс камеры.") + return nil, errors.New("Драйвер не подтвердил сеанс устройства.") } response, e := s.modelDriver(ctx, model, "/operation", verify) if e != nil || response["state"] == "unknown" { @@ -237,7 +239,7 @@ func (s *Sensors) prepare(c SensorCommand, selected map[string]any) (result any, if response["state"] != "complete" { message, _ := response["error"].(string) if message == "" { - message = "Не удалось проверить изображение выбранной камеры." + message = "Не удалось проверить выбранное устройство." } return nil, errors.New(message) } @@ -249,7 +251,7 @@ func (s *Sensors) prepare(c SensorCommand, selected map[string]any) (result any, case <-time.After(time.Second): } } - return nil, errors.New("Драйвер установлен, но камера не открылась. Проверьте USB-подключение.") + return nil, errors.New("Драйвер установлен, но устройство не ответило. Проверьте питание и USB-подключение.") } // Project only the matching model run. A previous success or another model's diff --git a/apps/node-agent/internal/node/sensor_vesc_test.go b/apps/node-agent/internal/node/sensor_vesc_test.go new file mode 100644 index 0000000..5c3016a --- /dev/null +++ b/apps/node-agent/internal/node/sensor_vesc_test.go @@ -0,0 +1,141 @@ +package node + +import ( + "context" + "encoding/json" + "net/http" + "os" + "path/filepath" + "regexp" + "strings" + "sync/atomic" + "testing" +) + +func TestVESCDeclaredVersionMatchesBundledDriver(t *testing.T) { + model := modelForDevice("vesc_00000000000000000000000000000000") + root := filepath.Join("..", "..", "..", "..", "plugins", "vesc") + driver, err := os.ReadFile(filepath.Join(root, "runtime", "__init__.py")) + if err != nil { + t.Fatal(err) + } + match := regexp.MustCompile(`(?m)^VERSION = "([^"]+)"`).FindSubmatch(driver) + if model == nil || len(match) != 2 || model.Version != string(match[1]) { + t.Fatal("Node must admit the exact driver shipped in the same release", model, string(driver)) + } + preparation, err := os.ReadFile(filepath.Join(root, "packaging", "prepare.py")) + if err != nil || !strings.Contains(string(preparation), `"version": "`+model.Version+`"`) { + t.Fatal("VESC preparation must declare the bundled driver version", err) + } +} + +func fakeVESC(t *testing.T, s *Sensors, port, number string) { + t.Helper() + fakeUSB(t, s.usbRoot, port, "duplicate", "ChibiOS/RT Virtual COM Port", number) + for key, value := range map[string]string{"idVendor": "0483", "idProduct": "5740"} { + if err := os.WriteFile(filepath.Join(s.usbRoot, port, key), []byte(value), 0600); err != nil { + t.Fatal(err) + } + } +} + +func TestVESCProvisionalIdentityIsReadOnlyAndDoesNotWeakenCameras(t *testing.T) { + s := isolatedSensors(t) + fakeVESC(t, s, "1-2", "2") + fakeVESC(t, s, "1-3", "3") + items := s.Inventory()["items"].([]any) + if len(items) != 2 { + t.Fatal("both controllers must be visible") + } + for _, raw := range items { + item := raw.(map[string]any) + if item["initializable"] != true || item["prepared"] != false { + t.Fatal("identity bootstrap unavailable or falsely prepared") + } + c := sensorTestCommand() + c.Session.DeviceID = item["id"].(string) + for _, action := range []string{"start", "stop", "option", "settings.apply", "firmware.write"} { + c.Action = action + if _, err := s.Submit(c, false); err == nil { + t.Fatal("VESC acquired write authority", action) + } + } + } + if items[0].(map[string]any)["id"] == items[1].(map[string]any)["id"] { + t.Fatal("duplicate USB serial collapsed") + } + fakeUSB(t, s.usbRoot, "2-2", "same", "Insta360 X4", "4") + fakeUSB(t, s.usbRoot, "2-3", "same", "Insta360 X4", "5") + for _, raw := range s.Inventory()["items"].([]any) { + item := raw.(map[string]any) + if item["kind"] == "insta360.x4" && item["initializable"] != false { + t.Fatal("camera guard weakened") + } + } +} + +func TestVESCPreparePromotesAttachmentToProtocolUUID(t *testing.T) { + s := isolatedSensors(t) + fakeVESC(t, s, "1-2", "2") + first := s.Inventory()["items"].([]any)[0].(map[string]any) + attachment := first["id"].(string) + model := modelForDevice(attachment) + stable := modelDeviceID(model, "uuid:synthetic-controller") + var installed atomic.Bool + s.runPreparation = func(_ context.Context, unit string) error { + if unit != "mission-core-node-vesc-prepare.service" { + t.Error("wrong profile") + } + installed.Store(true) + return nil + } + s.clients[model.ID].Transport = sensorRoundTrip(func(r *http.Request) (*http.Response, error) { + if r.URL.Path == "/inventory" { + items := []any{} + if installed.Load() { + item := s.discovery(stable, "12", true) + item["prepared"] = true + item["verified"] = true + item["configured"] = true + item["attachment_id"] = attachment + item["snapshot"].(map[string]any)["context"].(map[string]any)["session_id"] = "protocol_session" + items = append(items, item) + } + return testSensorReply(map[string]any{"items": items}), nil + } + var command SensorCommand + _ = json.NewDecoder(r.Body).Decode(&command) + if command.Action != "verify" || command.Session.DeviceID != stable || command.Session.SessionID != "protocol_session" { + t.Error("verification did not follow protocol identity") + } + return testSensorReply(map[string]any{"state": "complete", "result": map[string]any{"device_id": stable}}), nil + }) + c := sensorTestCommand() + c.Action = "prepare" + c.Session = SensorSession{DeviceID: attachment, SessionID: sensorSessionID(first)} + if _, err := s.Submit(c, true); err != nil { + t.Fatal(err) + } + awaitSensor(t, func() bool { return s.Get(c.ID).State != "running" }) + if s.Get(c.ID).State != "complete" { + t.Fatal(s.Get(c.ID)) + } + items := s.Inventory()["items"].([]any) + if len(items) != 1 || items[0].(map[string]any)["id"] != stable { + t.Fatal("provisional row survived promotion") + } + s.mu.Lock() + a, b := s.initialized[stable], s.initialized[attachment] + s.mu.Unlock() + if !a || b { + t.Fatal("initialization persisted transport identity") + } + // A stale runtime attachment is never presented as a currently connected controller. + if err := os.RemoveAll(filepath.Join(s.usbRoot, "1-2")); err != nil { + t.Fatal(err) + } + items = s.Inventory()["items"].([]any) + if len(items) != 1 || items[0].(map[string]any)["online"] != false { + t.Fatal("unplugged driver observation accepted") + } +} diff --git a/apps/node-agent/internal/node/sensors.go b/apps/node-agent/internal/node/sensors.go index d54e56e..f2a6c69 100644 --- a/apps/node-agent/internal/node/sensors.go +++ b/apps/node-agent/internal/node/sensors.go @@ -106,7 +106,9 @@ func OpenSensors(root, nodeID string) (*Sensors, error) { } for _, op := range s.operations { if op.Command.Action == "prepare" && op.State == "complete" { - s.initialized[op.Command.Session.DeviceID] = true + if id := preparedDeviceID(op.Command, op.Result); id != "" { + s.initialized[id] = true + } } } if e := s.write("initialized.json", s.initialized); e != nil { @@ -192,7 +194,7 @@ func (s *Sensors) modelDriver(ctx context.Context, model *sensorModel, path stri } response, e := client.Do(req) if e != nil { - return nil, errors.New("Служба камеры недоступна. Подготовьте устройство.") + return nil, errors.New("Служба устройства недоступна. Подготовьте устройство.") } defer response.Body.Close() var result map[string]any @@ -241,8 +243,24 @@ func (s *Sensors) Inventory() map[string]any { unsafePreparation[id] = item["preparation_safe"] == false || snapshot["acquisition"] != "idle" continue } + if model.ProtocolIdentity { + if !currentCameraSnapshot(item, model) { + continue + } + attachment, _ := item["attachment_id"].(string) + matched := false + for _, candidate := range usb { + if candidate.model == model && candidate.id == attachment { + matched = true + } + } + if !matched { + continue + } + seen[attachment] = true + } s.mu.Lock() - if model.PrepareUnit != "" { + if model.PrepareUnit != "" && !model.ProtocolIdentity { item["configured"] = s.initialized[id] } if name := s.names[id]; name != "" { @@ -325,13 +343,18 @@ func (s *Sensors) discovery(id, speed string, online bool) map[string]any { if !initializable { stability, basis = "provisional", "transport-local" } + // VESC bootstrap grants only a fixed identity read on the selected attachment. + // This does not promote the attachment to stable identity or allow motor control. + if online && model.ProtocolIdentity { + initializable = true + } return map[string]any{"id": id, "name": name, "model": model.Name, "kind": model.Kind, "initializable": initializable, "configured": configured, "prepared": false, "verified": false, "online": online, "usb": speed, "layers": []any{}, "snapshot": map[string]any{ "context": map[string]any{"session_id": session, "device": map[string]any{"device_id": id, "model": map[string]string{"plugin_id": model.Plugin, "plugin_version": model.Version, "model_id": model.ID}, "stability": stability, "basis": basis}, "execution": map[string]string{"node_id": s.nodeID, "agent_instance_id": s.instance, "platform": "linux"}, "opened_at": now}, "revision": 0, "enrollment": enrollment, "connectivity": connectivity, "acquisition": "idle", "observed_at": now}} } func sensorViewAction(action string) bool { - return action == "details" || action == "offer" || action == "close-peer" || action == "settings.read" || action == "files.list" + return action == "details" || action == "offer" || action == "close-peer" || action == "settings.read" || action == "files.list" || action == "vesc.telemetry.read" || action == "vesc.limits.read" || action == "vesc.config.backup" } func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error) { @@ -365,10 +388,10 @@ func (s *Sensors) Submit(c SensorCommand, remote bool) (*SensorOperation, error) return nil, errors.New("Срок команды истёк. Устройство не изменено.") } for _, v := range s.operations { - if v.State == "running" && v.Command.Action == "prepare" && (v.Preparation == nil || v.Preparation.Phase == "profile") && c.Action != "prepare" && !sensorViewAction(c.Action) && modelForDevice(v.Command.Session.DeviceID) == model { + if v.State == "running" && v.Command.Action == "prepare" && (v.Preparation == nil || v.Preparation.Phase == "profile") && c.Action != "prepare" && c.Action != "vesc.motor.stop" && !sensorViewAction(c.Action) && modelForDevice(v.Command.Session.DeviceID) == model { return nil, errors.New("Подготовка модели ещё выполняется.") } - if v.State == "running" && v.Command.Session.DeviceID == c.Session.DeviceID && !sensorViewAction(c.Action) && !sensorViewAction(v.Command.Action) { + if v.State == "running" && v.Command.Session.DeviceID == c.Session.DeviceID && c.Action != "vesc.motor.stop" && !sensorViewAction(c.Action) && !sensorViewAction(v.Command.Action) { return nil, errors.New("Другая операция устройства ещё выполняется.") } } @@ -411,11 +434,11 @@ func (s *Sensors) execute(c SensorCommand) { if !deadline.After(time.Now()) { err = errors.New("Срок команды истёк. Устройство не изменено.") } else if item == nil { - err = errors.New("Камера не обнаружена. Проверьте подключение.") + err = errors.New("Устройство не обнаружено. Проверьте подключение.") } else if c.Action == "prepare" && item["online"] != true { - err = errors.New("Камера отключена. Проверьте подключение.") + err = errors.New("Устройство отключено. Проверьте подключение.") } else if c.Action == "prepare" && item["initializable"] == false { - err = errors.New("Не удалось однозначно определить камеру. Проверьте её идентификатор и подключение.") + err = errors.New("Не удалось однозначно определить устройство. Проверьте его идентификатор и подключение.") } else if (c.Action == "prepare" || c.Action == "rename") && sensorSessionID(item) != c.Session.SessionID { err = errors.New("Сеанс устройства изменился. Обновите сведения.") } else if c.Action == "prepare" { @@ -451,7 +474,12 @@ func (s *Sensors) execute(c SensorCommand) { s.mu.Lock() defer s.mu.Unlock() if err == nil && c.Action == "prepare" { - s.initialized[c.Session.DeviceID] = true + initializedID := preparedDeviceID(c, result) + if initializedID == "" { + err = errors.New("Драйвер не подтвердил личность устройства.") + } else { + s.initialized[initializedID] = true + } if e := s.write("initialized.json", s.initialized); e != nil { err = e uncertain = true @@ -496,6 +524,7 @@ func (s *Sensors) RemoteResults() []any { return out } func (s *Sensors) Routes(mux *http.ServeMux, server *Server) { + s.configurationRoutes(mux, server) mux.HandleFunc("GET /api/devices/events", func(w http.ResponseWriter, r *http.Request) { s.stream(w, r, server) }) mux.HandleFunc("GET /api/devices", func(w http.ResponseWriter, r *http.Request) { if server.authorized(w, r) { diff --git a/apps/node-agent/ui/src/NodeSensors.tsx b/apps/node-agent/ui/src/NodeSensors.tsx index fa12520..97d9667 100644 --- a/apps/node-agent/ui/src/NodeSensors.tsx +++ b/apps/node-agent/ui/src/NodeSensors.tsx @@ -1,8 +1,13 @@ +import {vescSensorUi} from '../../../../plugins/vesc/frontend/src/plugin'; import {xgridsK1SensorUi} from '../../../../plugins/xgrids-k1/frontend/src/sensors/plugin'; import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin'; import {createIsolatedRerunHost} from '../../../control-station/src/components/rerun/isolatedRerunHost'; import {SensorWorkspace} from '../../../../packages/sensor-ui/src/SensorWorkspace'; import type {SensorTransport} from '../../../../packages/sensor-ui/src/contracts'; -import {request} from './api'; -const transport:SensorTransport={localPreview:{open:(command,signal)=>fetch("/api/devices/preview",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify(command),signal}),read:(peer,after,signal)=>fetch("/api/devices/preview/read",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify({peer_id:peer,after}),signal})},enrollment:{state:()=>request("/api/devices/enrollment"),submit:value=>request("/api/devices/enrollment/operations","POST",value),operation:id=>request("/api/devices/enrollment/operations/"+encodeURIComponent(id))},subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))}; -export function NodeSensors(){return ;} +import {request,type Status} from './api'; +import {Button,Icon,SettingsCard} from '@nodedc/ui-react'; +import {createBoardLayoutStore} from '../../../../packages/sensor-ui/src/boardLayout'; +const layout=createBoardLayoutStore({read:()=>request('/api/presentation/board-layout'),patch:(section,open)=>request('/api/presentation/board-layout','PATCH',{section,open})}); +const configurationArchive:NonNullable={list:(device,before)=>request(`/api/device-configurations/${encodeURIComponent(device)}${before?'?before='+encodeURIComponent(before):''}`),read:(device,version)=>request(`/api/device-configurations/${encodeURIComponent(device)}/${encodeURIComponent(version)}`)}; +const transport:SensorTransport={configurationArchive,localPreview:{open:(command,signal)=>fetch("/api/devices/preview",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify(command),signal}),read:(peer,after,signal)=>fetch("/api/devices/preview/read",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify({peer_id:peer,after}),signal})},enrollment:{state:()=>request("/api/devices/enrollment"),submit:value=>request("/api/devices/enrollment/operations","POST",value),operation:id=>request("/api/devices/enrollment/operations/"+encodeURIComponent(id))},subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))}; +export function NodeSensors({value,openSettings}:{value:Status;openSettings:()=>void}){return
Бортовой компьютер
{value.node_id}
Операционная система
{value.host.os}
Архитектура
{value.host.architecture}
Процессоры
{value.host.cpus}
Память
{value.host.memory_kib?`${(value.host.memory_kib/1048576).toFixed(1)} ГиБ`:"Нет сведений"}
Mission Core Node
{value.version}
}} contributions={[xgridsK1SensorUi,insta360X4SensorUi,vescSensorUi]} createRerunHost={createIsolatedRerunHost} transport={transport}/>;} diff --git a/packages/sensor-ui/src/SensorWorkspace.tsx b/packages/sensor-ui/src/SensorWorkspace.tsx index 0c82e6b..d04c392 100644 --- a/packages/sensor-ui/src/SensorWorkspace.tsx +++ b/packages/sensor-ui/src/SensorWorkspace.tsx @@ -9,8 +9,9 @@ import {sensorStatus} from './sensorStatus'; import {sensorContribution,type SensorUiContribution,wirelessContributions} from './extensions'; import type {RerunHostFactory} from './rerunHost'; import './sensors.css'; +import {BoardSections,type BoardSectionsProps} from './BoardSections'; import {WirelessEnrollmentWindow} from './WirelessEnrollmentWindow'; -export function SensorWorkspace({transport,enabled=true,onDetailChange,createRerunHost,contributions=[]}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void;createRerunHost?:RerunHostFactory;contributions?:readonly SensorUiContribution[]}){ +export function SensorWorkspace({transport,enabled=true,onDetailChange,createRerunHost,contributions=[],board}:{transport:SensorTransport;enabled?:boolean;onDetailChange?:(open:boolean)=>void;createRerunHost?:RerunHostFactory;contributions?:readonly SensorUiContribution[];board?:BoardSectionsProps}){ const [adding,setAdding]=useState(false); const [inventory,setInventory]=useState(null);const [selected,setSelected]=useState(null);const [editing,setEditing]=useState(null);const [name,setName]=useState('');const [localBusy,setBusy]=useState>(()=>new Map());const activeActions=useRef(new Map());const [error,setError]=useState('');const [fresh,setFresh]=useState(false); const failure=useCallback((e:unknown)=>{setError(e===null?'':e instanceof Error?e.message:'Не удалось выполнить действие устройства.');},[]); @@ -44,7 +45,7 @@ export function SensorWorkspace({transport,enabled=true,onDetailChange,createRer const editingCurrent=inventory?.items.find(v=>v.id===editing?.id); useEffect(()=>{onDetailChange?.(!!device);},[!!device,onDetailChange]); const Detail=device?(sensorContribution(contributions,device)?.Detail??(device.kind?null:SensorDetail)):null; - return
{device?Detail?setSelected(null)} refresh={refresh} failure={failure} createRerunHost={createRerunHost} reconnect={transport.enrollment?()=>setAdding(true):undefined}/>:
:<> + const inventoryView=<>
{!enabled?'БК недоступен':fresh?'Сведения с БК':'Нет свежих сведений'}
{transport.enrollment&&wirelessContributions(contributions).length>0&&setAdding(true)}>}{void refresh();}}>
{!inventory?:connected.length===0?:{connected.map(item=>{ const operation=inventory.operations?.find(v=>v.device_id===item.id&&['queued','running'].includes(v.state));const busy=!!operation||localBusy.has(item.id); @@ -52,9 +53,11 @@ export function SensorWorkspace({transport,enabled=true,onDetailChange,createRer const configured=item.configured??item.snapshot.enrollment==='enrolled'; const prep=devicePreparation(inventory,item); const status=(sensorContribution(contributions,item)?.status??sensorStatus)(item,enabled&&fresh);const label=busy?(operation?.action_id==='prepare'?'Подготовка устройства':'Выполняется команда'):status.label; - return
  • } title={item.name} description={item.model} metadata={{item.connection_label||`USB ${item.usb}`}} statusPlacement={configured?'leading':'trailing'} aria-busy={busy} progress={busy&&pending==='prepare'?preparationProgress(prep,label):undefined} status={{configured?null:label}} actions={<>void action(item,name,parameters)}/>{!configured&&sensorContribution(contributions,item)?.supportsPreparation!==false&&void action(item,'prepare')}>}{sensorContribution(contributions,item)?.supportsRenaming!==false&&{setEditing(item);setName(item.name);}}>}setSelected(item.id)}>}/>
    • ;})}    } + return
  • } title={item.name} description={item.model} metadata={{item.connection_label||`USB ${item.usb}`}} statusPlacement={configured?'leading':'trailing'} aria-busy={busy} progress={busy&&pending==='prepare'?preparationProgress(prep,label):undefined} status={{configured?null:label}} actions={<>void action(item,name,parameters)}/>{!configured&&sensorContribution(contributions,item)?.supportsPreparation!==false&&void action(item,'prepare')}>}{sensorContribution(contributions,item)?.supportsRenaming!==false&&{setEditing(item);setName(item.name);}}>}{sensorContribution(contributions,item)?.detailLabel?:setSelected(item.id)}>}}/>
    • ;})}} - } + ; + const boardSettings=contributions.filter(value=>value.BoardSettings&&contributions.filter(other=>other.kind===value.kind).length===1); + return
    {device?Detail?setSelected(null)} refresh={refresh} failure={failure} createRerunHost={createRerunHost} reconnect={transport.enrollment?()=>setAdding(true):undefined}/>:
    :(board?{boardSettings.map(contribution=>{const View=contribution.BoardSettings!;return ;})}{!boardSettings.length&&

    Для подключённых устройств общие настройки пока недоступны.

    }
    } devices={inventoryView}/>:inventoryView)} setEditing(null)} footer={}>
    setName(e.target.value)} disabled={localBusy.has(editing?.id??'')}/>{editing&&sensorContribution(contributions,editing)?.supportsPreparation!==false&&(editing.configured??editing.snapshot.enrollment==='enrolled')&&{const target=editing;setEditing(null);void action(target,'prepare');}}>Обновить}/>}
     {adding&&transport.enrollment&&wirelessContributions(contributions).length>0&&setAdding(false)} onChange={()=>{void refresh();}} onComplete={completeEnrollment}/>} setError('')}/> diff --git a/packages/sensor-ui/src/contracts.ts b/packages/sensor-ui/src/contracts.ts index 8ec2a22..e26668d 100644 --- a/packages/sensor-ui/src/contracts.ts +++ b/packages/sensor-ui/src/contracts.ts @@ -4,6 +4,7 @@ export interface Sensor { kind?:string; connection_label?:string; control?:{generation:number;revision:number;phase:string;can_start:boolean;can_stop?:boolean;can_verify?:boolean;network_applied?:boolean;reason_code?:string|null;acquisition_id:string|null;acquisition_phase?:string}; live_settings?: Record; camera_status?: Record; + vesc_status?: Record; id: string; name: string; model: string; initializable?:boolean; preparation_safe?:boolean; prepared: boolean; configured?: boolean; verified: boolean; online: boolean; usb: string; firmware?: string; playback_id?: string | null; snapshot: {context: {session_id: string; device: {device_id: string}; execution: {node_id: string}}; acquisition: string; enrollment: string; message?: string}; profiles?: SensorProfile[]; defaults?: string[]; options?: SensorOption[]; layers: string[]; @@ -33,6 +34,10 @@ export interface SensorCommand { } export interface SensorOperation {state:string;error?:string;result?:unknown} export interface SensorTransport { + configurationArchive?: { + list:(deviceId:string,before?:string)=>Promise<{items:ConfigurationVersion[];next:string|null}>; + read:(deviceId:string,versionId:string)=>Promise>; + }; localPreview?: { open: (command:SensorCommand, signal:AbortSignal) => Promise; read: (peer:string, after:number, signal:AbortSignal) => Promise; @@ -43,6 +48,7 @@ export interface SensorTransport { submit: (value:SensorCommand) => Promise; operation: (id:string) => Promise; } +export interface ConfigurationVersion {id:string;sequence:number;device_id:string;observed_at:string;firmware:string;configs:Record} export function command(device:Sensor,action:string,parameters:Record={},timeoutMs=60000):SensorCommand { const id='op_'+crypto.randomUUID().replaceAll('-','');const now=Date.now(); return {api_version:'missioncore.nodedc/plugin-sdk/v0alpha2',kind:'OperationRequest',operation_id:id,idempotency_key:id, diff --git a/packages/sensor-ui/src/extensions.ts b/packages/sensor-ui/src/extensions.ts index 492950b..393f93d 100644 --- a/packages/sensor-ui/src/extensions.ts +++ b/packages/sensor-ui/src/extensions.ts @@ -1,6 +1,6 @@ import type {ComponentType,ReactNode} from 'react'; import type {IconName} from '@nodedc/ui-react'; -import type {Sensor, SensorTransport} from './contracts'; +import type {Sensor, SensorInventory, SensorTransport} from './contracts'; import type {EnrollmentTransport} from './enrollment'; import type {RerunHostFactory} from './rerunHost'; @@ -15,6 +15,7 @@ export interface SensorEnrollmentProps { renderWindow:(view:{content:ReactNode;actions?:ReactNode;busy?:boolean})=>ReactNode; } export interface SensorUiContribution { + BoardSettings?:ComponentType; observation?:import('./observation').SensorObservationContribution; kind:string; Detail:ComponentType; @@ -22,11 +23,17 @@ export interface SensorUiContribution { retainOffline:boolean; supportsPreparation:boolean; supportsRenaming?:boolean; + detailLabel?:string; rowActions?:(device:Sensor)=>readonly SensorRowAction[]; status?:(device:Sensor,fresh:boolean)=>{label:string;tone:'neutral'|'success'|'warning'|'danger'}; wirelessEnrollment?:{label:string;View:ComponentType}; } +export interface SensorBoardSettingsProps { + inventory:SensorInventory|null;transport:SensorTransport;enabled:boolean; + refresh:()=>Promise;failure:(error:unknown)=>void;openDevice:(id:string)=>void; +} + export interface SensorRowAction { actionId:string; label:string; description?:string; disabled?:boolean; parameters?:Record; diff --git a/plugins/vesc/README.md b/plugins/vesc/README.md new file mode 100644 index 0000000..dc70141 --- /dev/null +++ b/plugins/vesc/README.md @@ -0,0 +1,253 @@ +# VESC onboard plugin — profile 0.4.0 + +**Native release in preparation:** 0.4.0 / Node 0.8.30-1 uses the actual VESC Tool 7.00 C++ engine for USB ownership, commands, configuration codecs and Hall measurement. Installation and physical qualification are still pending. + +**Previous release status, 2026-09-23:** 0.3.0 / Node 0.8.29-1 is an uninstalled, +withheld experiment. The owner requires the actual upstream VESC Tool as the +onboard engine behind Mission Core controls. Do not deploy the separate Python +Hall workflow below as the intended calibration backend. Hardware currently +runs 0.2.5 / Node 0.8.28-1. The verified native adapter and canonical procedure +are documented in [the native engine plan](../../docs/node/18_VESC_TOOL_NATIVE_BACKEND.md). + +This increment discovers USB candidates, reads protocol identity and telemetry, +saves opaque motor/application configuration backups and provides bounded +identification pulses and user-assigned drive positions. It is not complete +VESC Tool functional parity and does not implement continuous driving, +configuration writes, calibration, CAN forwarding, custom configuration, +firmware update or script execution. + +## Placement and ownership + +One `mission-core-vesc` service owns the serial descriptors. The Node model +registry admits only its Unix socket and explicit domain operations. Local Node UI +and paired Core use the same `SensorUiContribution` and operation journal. +`VESC Tool` is a text action in the existing device row, opening the existing +Detail slot. No workspace, root, visual control or motor icon was added. + +Candidates must match `0483:5740` and `ChibiOS/RT Virtual COM Port`. USB serial +is never their durable identity: every candidate starts with a transport-local +attachment including USB devnum. Only a valid firmware reply with a nonzero +12-byte UUID establishes a stable ID. Duplicate protocol UUIDs remain separate +provisional rows and cannot receive read operations. Replug renews the session. +Names and physical Left/Right roles must not be inferred from tty numbering. + +The read-only serial path admits command bytes 0, 4, 14, 17, 31 and 62, with no +arguments: identity, values, motor config, application config, decoded PPM and +CAN discovery. The separate fixed test commands are described below. No +keepalive, detect, config write, terminal or arbitrary packet API exists. Firmware identity is checked again before each operation; +backup verifies it at the end as well. CRC/framing/length and response limits +are enforced. Every port is held with flock/TIOCEXCL; an already running external +tool must release it before this service is prepared. + +## Compatibility and backup + +Wire reference is the official [VESC Tool source](https://github.com/vedderb/vesc_tool/tree/dc53c658cbb89a947246034f7a00149cf79abdfc), +specifically packet.cpp, commands.cpp and datatypes.h. The reference identifies +itself as test version 7.01; it is not installed by this profile. The first +reader implements the common values prefix for motor firmware major 5–7 and +hardware type 0 (or an older reply without hardware type). Exact board/firmware +qualification remains a hardware acceptance result, not a claim from a version +number alone. Unknown layouts may identify themselves but are not decoded. + +Config replies are preserved as received, including command byte and signature, +with SHA-256 and identity/version metadata. Their fields are not decoded without +the exact firmware schema. The backups are not XML files importable into Tool, +and this profile provides no restore action. Motor and application reads are +sequential, not an atomic snapshot against other controller interfaces. + +Read receipts and backups live privately in `/var/lib/mission-core-vesc`. +Operation IDs bind the exact request; retries retrieve receipts. An interrupted +request remains unknown rather than being silently replayed. This service's +host storage is bounded and does not delete backups to make space. GUI telemetry +is an explicitly requested timestamped snapshot, not a control loop or a +waveform recorder. ERPM is not mechanical shaft RPM. + +## Packaging and first preparation + +Node 0.8.22-1 carries this plugin from `packaging/payload.py`; no ad-hoc files, +global Python packages or separate Qt installation are required. The source +build pin is Design Guideline `8dd9190573d6616024ef01b9b34bf90b72960f44`. +The existing versioned owner installer installs Node. Its local Ubuntu sudo +prompt belongs to the owner; no password is handled by Core or an agent. + +The device's Prepare action starts only +`mission-core-node-vesc-prepare.service`, via the existing Node polkit rule. +The shipped profile creates the dedicated account, installs the exact-candidate +udev rule, applies it to matching attached ttys and starts the read service. +It does not add the operator or Node to dialout or disable ModemManager globally. +Node retains PrivateDevices. The adapter has no capabilities, private network, +read-only system files, bounded memory/tasks and a cdc_acm device cgroup rule. +`modprobe@cdc_acm` ensures the named ttyACM group exists before cgroup resolution +on cold boot; [systemd DeviceAllow](https://www.freedesktop.org/software/systemd/man/latest/systemd.resource-control.html#DeviceAllow=) +uses group names from `/proc/devices`, not `char-`. + +Before package replacement, the installer refuses an active preparation and +stops the reader. A prepared profile restarts through its shipped job afterward. +Removal stops/disables the service and removes only a byte-matching owned udev +rule. Private backups and account identity are retained. Rolling Node back to +0.8.21-3 disables VESC support; do not claim an older package can restore the new +UI or firmware configuration. No VESC firmware was changed by this profile. + +## Validation + +Synthetic tests cover every denied transmit byte, fragmented/coalesced/corrupt +frames, missing identities, scales, duplicate IDs, two independent attachments, +replug sessions, receipts, config hashes and denied write actions. Node tests +cover UUID promotion and preservation of camera guards. Full Node and Core +checks are required alongside Linux package qualification and actual hardware +reads. Test success is not clean-Ubuntu or motor calibration acceptance. + +On the Mini, `qmake`, `qmake6` and `cmake` were absent in the read-only build +inventory. This first increment therefore uses the bounded reader fallback from +the implementation plan. Headless extraction of the full upstream engine has +not been demonstrated; it remains a separate build/compatibility task for the +remaining Tool feature matrix. + + +## 0.2.1 — per-controller identification pulse and immutable archive + +Node 0.8.24-1 adds a fixed 2 A pulse on one selected VESC, with a duration +chosen from 1.5, 5 or 10 seconds. Discovery and session validation accept up +to 128 directly attached controllers per board; there is no two-motor role enum. +Names are the existing UUID-bound device names, scoped to their board. +Synthetic 1/6/10-controller tests do not establish physical USB capacity. +This is not a vehicle drive controller, completed RC arbiter, or calibration. +All attached UUID sessions, firmware 5.02 / 75_300_R2, FOC, PPM Duty Cycle, +neutral input for one second and a zero-current failsafe are mandatory. +Official 5.02 schemas are included unchanged with their upstream license. +Before any torque, motor and application configurations of every attached +controller are archived durably, and each CAN segment is checked for unmanaged +peers. Attachments are rechecked throughout the pulse. Each +controller receives its own 250 ms volatile app-output lease (CAN-forward +flag false). Other controllers receive zero current; the target receives only 2 A. +A receiver command, serial fault, telemetry limit or local Stop ends the test. +No config/firmware write, arbitrary current, arbitrary packet or CAN broadcast +is exposed. Replaying an operation ID never repeats physical work. + +Firmware PPM pulses reset the global timeout even during app-output pause; +therefore the design relies on the expiring local app-output lease returning +to the existing PPM neutral/missing-pulse behavior, not solely on USB timeout. +RC activity latches further test requests until an explicit neutral release. +This is a test-session guard, not continuous production RC takeover monitoring. +Neutral PPM alone cannot prove transmitter/link availability. Host-independent +lease behavior follows the pinned firmware source; real stop/failsafe +qualification is still required and must not be claimed from synthetic tests. + +Versions live in a private SQLite archive, are replicated via existing pairing +with ACK after durable Core storage, and remain downloadable when a controller +is offline. The Node and Core use the same detail component. The native VESC +Tool 7.00 engineering build is separate: it has not acquired serial ownership +or been integrated for calibration. + +Package upgrades remove only generated bytecode below the installed VESC +payload before preparation starts. Deterministic source mtimes can otherwise +validate stale same-size `.pyc` files even with `python -B`; a regression test +reproduces the failed 0.8.23-1 upgrade and verifies this installer-owned fix. + +## 0.2.2 — entered test values and drive positions + +Node 0.8.25-1 carries numeric current and duration fields. The board advertises +and independently enforces 0.5–5 A and 0.5–10 seconds for this identification +mode. These are software bounds, not controller or motor nameplate +ratings. Existing 60 A motor / 55 A battery configuration is not evidence that +the rig can safely sustain those currents. Above 2 A the test coasts at +400 electrical RPM and resumes current below 250, with a separate 800 ERPM +abort threshold. Requested current is also bounded by the read configuration. +Receipts distinguish successfully sent current commands from sampled cycles +that ended before transmission. These bounds do not admit maximum-power tests. + +The existing VESC detail offers one board-wide drive profile: 1×1 means left +and right (two motors); 2×2 means left front, left rear, right front and right +rear (four motors). Directions are relative to forward vehicle motion. Position +is manually assigned after physical identification and persists by controller +UUID, not USB address. The same component is used on Node and paired Core. +Revision checks prevent stale updates; an occupied position cannot be stolen, +and rear assignments must be explicitly removed before shrinking to 1×1. +Changing profile/position is local metadata and sends no VESC command. +Discovery itself remains independent of these two admitted layout presets. + +## 0.2.3 — explain blocked tests and retain stop evidence + +Numeric fields show validation errors beside invalid values. The action area +explains why Start is unavailable, including confirmation reset after a test. +A telemetry-bound stop retains the triggering sample and its field, measured +value and unchanged bounds. A completed current pulse never proves physical +rotation; the owner must observe the motor before assigning its position. + +## 0.2.4 — gradual current in identification mode + +The confirmed right motor crossed800ERPM within0.245s of a5A step. The next +profile starts and resumes at0.5A, increasing by approximately1A/s toward the +entered ceiling. Soft coasting triggers at200ERPM or4%PWM and only resumes +below100ERPM and2%PWM. It applies to every allowed current, while the hard +abort thresholds remain unchanged. This is an identification pulse governor, +not a vehicle speed controller. Command receipts record actual requested +current per sample, including ramp/coasting;5A input is a ceiling. + + +## 0.2.5 — entered current up to 30 A and time up to 30 seconds + +At the owner's request the raised-rig test accepts 0.5–30 A and 0.5–30 s. +These are software admission bounds, not motor/controller nameplate ratings. +The selected controller's configured motor and input current limits still bind. +Positive current starts at0.5A and ramps by2A/s; the entered value is a current +ceiling, not a speed request. No configuration or firmware write is performed. + +The former200ERPM/4%PWM coast/restart loop was causing the observed right-motor +steps and pauses. This increment removes that automatic cycling. Current is +maintained until time expires, Stop/RC/link interruption, or a telemetry limit. +The test ends at6000ERPM or25%PWM (or a lower configured speed/duty limit), +without automatic re-acceleration. A no-load motor can reach a speed limit +before the entered time:30seconds is the maximum duration, not a promise of +constant-speed rotation. Current feedback has bounded overshoot tolerance, +capped by the configured motor current limit. Fault, voltage, temperature, +identity/topology, neutral RC, expiring per-device leases and release checks +remain active. + +Above5A, a2-second interval without at least three net electrical tachometer +steps at60ERPM ends the test. This uses the existing Hall/FOC estimate; it is +not independent mechanical feedback or certified thermal protection, especially +with a damaged sensor connection. It prevents continuing to raise commanded +current while the reported rotor remains stationary. Sustained vehicle control, +calibration and native VESC Tool parity remain separate unfinished work. + +The owner clarified the diagnostic roles: LEFT is the problematic motor; +RIGHT works normally from RC and is physically assigned right.1. Short steps +in the earlier Core test must not be recorded as a right-motor defect. Every +powered engineering experiment is coordinated with the owner at launch time. + + +## 0.3.0 — measured speed hold and native Hall measurement + +`vesc.motor.run` calls firmware speed PID (`COMM_SET_RPM`), ramps the setpoint +at 600 ERPM/s and counts time only after one second within 15% of the requested +speed with a changing VESC tachometer. The UI exposes speed 300–3000 ERPM, +motor-current ceiling 0.5–30 A and **rotation time** 0.5–30 s. Startup is bounded +by 15 s; losing speed for 2 s ends the run. No automatic restart. FOC telemetry +is not an independent physical encoder; the operator compares visible motion. +The old `vesc.motor.pulse` action remains compatible but is not used by this UI. + +Before a speed command, `COMM_SET_MCCONF_TEMP` applies current scaling to both +positive and braking motor current. Store/CAN/divide flags are false. ACK and +full configuration readback precede torque. A durable UUID-bound journal exists +before the first write. Cleanup restores the exact original configuration, +verified byte-for-byte. A lost ACK, disconnection or process interruption leaves +the journal pending; discovery retries restoration only with a matching identity, +zero current, neutral receiver and unchanged unrelated configuration. An external +configuration change is never overwritten. No flash or application write is used. +The operation transport permits 90 s, including preflight and acceleration. + +`vesc.hall.measure` is the native FW 5.02 `COMM_DETECT_HALL_FOC` procedure also +used by VESC Tool. It uses fixed 5 A, sweeps three electrical turns forward and +three backwards, returns the observed table and restores its prior configuration. +The table is **not automatically applied**. The firmware locks `mc_interface` +during this approximately 12 s cycle; USB current-zero and receiver input cannot +interrupt it. The UI requires a separate observed-rig/physical-power-cut +acknowledgement and explicitly describes this limitation. Unknown completion +latches authority and blocks another powered operation. Measurement, samples and +backup references remain in the receipt. + +These operations do not constitute the full VESC Tool desktop UI. The product +entry is labelled “Настройка VESC” until complete native application session +integration is shipped. Full R/L/flux calibration, table application and +configuration restore remain separate unimplemented work. diff --git a/plugins/vesc/frontend/src/VescBackups.tsx b/plugins/vesc/frontend/src/VescBackups.tsx new file mode 100644 index 0000000..0ada10e --- /dev/null +++ b/plugins/vesc/frontend/src/VescBackups.tsx @@ -0,0 +1,51 @@ +import {useEffect,useState} from 'react'; +import {Button,LoadingRegion,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react'; +import type {ConfigurationVersion,SensorTransport} from '../../../../packages/sensor-ui/src/contracts'; + +export function VescBackups({deviceId,archive,revision}: {deviceId:string;archive:SensorTransport['configurationArchive'];revision:string|null}) { + const [reload,setReload]=useState(0); + const [items,setItems]=useState([]); + const [next,setNext]=useState(null); + const [loading,setLoading]=useState(false); + const [error,setError]=useState(null); + const [download,setDownload]=useState(null); + useEffect(()=>{ + let active=true; + setItems([]);setNext(null);setError(null); + if(!archive)return; + setLoading(true); + archive.list(deviceId).then(result=>{if(active){setItems(result.items);setNext(result.next);}}) + .catch(()=>{if(active)setError('Не удалось загрузить историю конфигураций.');}) + .finally(()=>{if(active)setLoading(false);}); + return()=>{active=false;}; + },[deviceId,archive,revision,reload]); + async function more(){ + if(!archive||!next||loading)return; + setLoading(true);setError(null); + try{const result=await archive.list(deviceId,next);setItems(current=>[...current,...result.items.filter(item=>!current.some(old=>old.id===item.id))]);setNext(result.next);} + catch{setError('Не удалось загрузить следующие версии.');} + finally{setLoading(false);} + } + async function save(id:string){ + if(!archive||download)return; + setDownload(id);setError(null); + try{ + const value=await archive.read(deviceId,id); + const url=URL.createObjectURL(new Blob([JSON.stringify(value,null,2)+'\n'],{type:'application/json'})); + const link=document.createElement('a');link.href=url;link.download=`${deviceId}-${id}.json`;link.click(); + setTimeout(()=>URL.revokeObjectURL(url),1000); + }catch{setError('Не удалось скачать выбранную версию.');} + finally{setDownload(null);} + } + return setReload(value=>value+1)}>Обновить историю}> + + {error&&

    {error}

    } + {!loading&&!items.length&&!error&&

    Сохранённых версий пока нет.

    } + {items.map(item=>
  • + void save(item.id)}>Скачать}/> +
    • )}     +     + {next&&} +     ; +} diff --git a/plugins/vesc/frontend/src/VescBoardSettings.tsx b/plugins/vesc/frontend/src/VescBoardSettings.tsx new file mode 100644 index 0000000..0d6327e --- /dev/null +++ b/plugins/vesc/frontend/src/VescBoardSettings.tsx @@ -0,0 +1,54 @@ +import {useRef,useState} from 'react'; +import {Button,InspectorSelectField,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react'; +import type {SensorBoardSettingsProps} from '../../../../packages/sensor-ui/src/extensions'; +import {perform,type Sensor} from '../../../../packages/sensor-ui/src/contracts'; +import {drivePositions,vescStatus,type DriveProfile} from './model'; +import {VescLimits} from './VescLimits'; + +export function VescBoardSettings({inventory,transport,enabled,refresh,failure,openDevice}:SensorBoardSettingsProps){ + const controllers=inventory?.items.filter(device=>device.kind==='vesc.controller')??[]; + const profile=controllers.map(device=>vescStatus(device).drive_profile).filter((value):value is DriveProfile=>!!value).sort((a,b)=>b.revision-a.revision)[0]; + const anchor=controllers.find(device=>device.online&&device.verified&&vescStatus(device).board_settings_supported); + const [busy,setBusy]=useState(false);const running=useRef(false); + const active=inventory?.operations?.some(value=>['queued','running'].includes(value.state)&&controllers.some(device=>device.id===value.device_id)); + const blocked=!enabled||!anchor||busy||active||!profile; + const positions=drivePositions(profile?.layout??null); + async function change(device:Sensor,action:string,parameters:Record){ + if(blocked||running.current||!profile)return; + running.current=true;setBusy(true);failure(null); + try{await perform(transport,device,action,{revision:profile.revision,...parameters});await refresh();} + catch(error){failure(error);await refresh();}finally{running.current=false;setBusy(false);} + } + return
    + + {if(anchor)void change(anchor,'vesc.drive.layout',{layout});}}/> + {!profile&&

    {inventory?'Подключите VESC, чтобы получить профиль привода с борта.':'Получение профиля привода…'}

    } + {profile&&!anchor&&

    Профиль показан по последним сведениям с борта. Для изменения нужна связь с VESC и актуальное бортовое приложение.

    } + {profile?.layout&&<> +

    Стороны — по направлению движения вперёд. Назначения сохраняются автоматически и остаются с контроллером при смене USB-порта.

    + {Object.entries(positions).map(([slot,label])=>{ + const bound=profile.bindings[slot]; + const missing=bound&&!controllers.some(device=>device.id===bound.device_id); + return ({value:device.id,label:device.name+(!device.online?' · нет связи':''),disabled:!device.online||!device.verified||Object.entries(profile.bindings).some(([other,binding])=>other!==slot&&binding.device_id===device.id)})), + ...(missing?[{value:bound.device_id,label:`VESC ${bound.uuid.slice(0,6).toUpperCase()} · нет связи`,disabled:true}]:[]), + ]} onChange={id=>{ + const target=id?controllers.find(device=>device.id===id):anchor; + if(!target)return; + void change(target,id?'vesc.drive.assign':'vesc.drive.unassign',id?{layout:profile.layout,slot}:{slot}); + }}/>; + })} + {Object.entries(profile.bindings).map(([slot,binding])=>{ + const target=controllers.find(device=>device.id===binding.device_id); + return
  • openDevice(binding.device_id)}>Настройка мотора}/>
    • ; + })}     + } +     + +
    ; +} diff --git a/plugins/vesc/frontend/src/VescCalibration.tsx b/plugins/vesc/frontend/src/VescCalibration.tsx new file mode 100644 index 0000000..5ee193c --- /dev/null +++ b/plugins/vesc/frontend/src/VescCalibration.tsx @@ -0,0 +1,56 @@ +import {useRef,useState} from 'react'; +import {Button,Checker,ResourceList,ResourceRow,SettingsCard,TextField} from '@nodedc/ui-react'; +import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions'; +import {perform} from '../../../../packages/sensor-ui/src/contracts'; +import {vescStatus} from './model'; + +interface CalibrationResult { + completed:boolean;success:boolean;configuration_verified:boolean;release_confirmed:boolean; + native:{success?:boolean;code?:number;sensor_mode?:number;parameters?:Record}; +} + +export function VescCalibration({device,transport,enabled,refresh,failure,blocked,onBusyChange}:SensorDetailProps&{blocked:boolean;onBusyChange:(busy:boolean)=>void}){ + const [loss,setLoss]=useState('50'); + const [confirmed,setConfirmed]=useState(false); + const [busy,setBusy]=useState(false); + const [result,setResult]=useState(null); + const running=useRef(false); + const limits=vescStatus(device).foc_calibration; + const power=Number(loss); + const valid=!!limits&&loss.trim()!==''&&Number.isFinite(power)&&power>=limits.min_power_loss_w&&power<=limits.max_power_loss_w; + const available=enabled&&device.online&&device.verified&&device.vesc_status?.test_supported===true&&!!limits; + async function calibrate(){ + if(running.current||blocked||!available||!confirmed||!valid)return; + running.current=true;setBusy(true);onBusyChange(true);setResult(null);failure(null); + try{ + const inventory=await transport.inventory(); + const controllers=inventory.items.filter(item=>item.kind==='vesc.controller'&&item.online); + const target=controllers.find(item=>item.id===device.id); + if(inventory.fresh===false||!target||controllers.some(item=>!item.verified))throw new Error('Нужна свежая связь со всеми VESC борта.'); + setResult(await perform(transport,target,'vesc.foc.calibrate',{ + rig_clear:true,native_cycle_confirmed:true,max_power_loss_w:power, + sessions:Object.fromEntries(controllers.map(item=>[item.id,item.snapshot.context.session_id])), + },300000)); + }catch(error){failure(error);} + finally{running.current=false;setBusy(false);onBusyChange(false);setConfirmed(false);await refresh();} + } + const parameters=result?.native.parameters; + const calibrated=result?.native.success===true&&result.configuration_verified; + return +

    Мастер измеряет сопротивление, индуктивность и магнитный поток, определяет датчики и записывает параметры выбранного мотора. Версии до и после сохраняются в истории; настройки аккумулятора и пульта сохраняются.

    + setLoss(event.target.value)} disabled={busy||blocked||!limits} min={limits?.min_power_loss_w} max={limits?.max_power_loss_w} step="5" aria-invalid={!valid} description="Параметр нагрева для мастера VESC Tool, не номинальная мощность мотора. По нему мастер выбирает токи измерения; предел тока проверки вращения здесь не применяется."/> +

    Мотор будет двигаться и разгоняться. На прошивке 5.02 процедуру нельзя прервать кнопкой или пультом — только отключением силового питания. Оставьте пульт выключенным и приводы вывешенными до завершения; цикл может занять до трёх минут.

    + + + {busy&&

    Подготовка и калибровка VESC Tool. Дождитесь результата и снятия тока.

    } + {result&&<> +

    {calibrated?'Параметры мотора измерены, записаны и проверены.':result.completed?`Калибровка не принята. Код VESC: ${result.native.code??'не получен'}.`:'Завершение калибровки не подтверждено. Проверьте состояние мотора и питание.'} {result.release_confirmed?'Снятие тока подтверждено.':'Снятие тока пока не подтверждено. Перед следующей проверкой верните управление после нейтрали.'} {!result.configuration_verified&&' Проверка конфигурации не завершена; новое движение заблокировано.'}

    + {calibrated&&<> +

    {result.native.sensor_mode===0?'Выбран режим без датчиков. Холлы не определились; качество запуска нужно проверить вращением.':result.native.sensor_mode===2?'Определены датчики Холла.':'Определён энкодер.'}

    + {parameters&& + {([['foc_motor_r','Сопротивление',1000,'мОм'],['foc_motor_l','Индуктивность',1e6,'мкГн'],['foc_motor_flux_linkage','Магнитный поток',1000,'мВб'],['l_current_max','Предел тока мотора',1,'А']] as const).map(([key,title,scale,unit])=>
    • )} +     } + } + } +     ; +} diff --git a/plugins/vesc/frontend/src/VescDetail.tsx b/plugins/vesc/frontend/src/VescDetail.tsx new file mode 100644 index 0000000..8b90e6b --- /dev/null +++ b/plugins/vesc/frontend/src/VescDetail.tsx @@ -0,0 +1,80 @@ +import {useEffect,useRef,useState} from 'react'; +import {Button,LoadingRegion,ResourceList,ResourceRow,SettingsCard,StatusBadge} from '@nodedc/ui-react'; +import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions'; +import {perform} from '../../../../packages/sensor-ui/src/contracts'; +import {vescLabel,vescStatus,type VescTelemetry} from './model'; +import {VescBackups} from './VescBackups'; +import {VescMotor} from './VescMotor'; +import {VescHall} from './VescHall'; +import {VescCalibration} from './VescCalibration'; +import {VescLink} from './VescLink'; + +const fields=[['input_voltage_v','Напряжение питания','В'],['input_current_a','Ток питания','А'], + ['motor_current_a','Ток мотора','А'],['erpm','Электрические обороты','ERPM'],['duty','Заполнение PWM',''], + ['mos_temperature_c','Температура контроллера','°C'],['motor_temperature_c','Температура мотора','°C'], + ['fault_code','Код ошибки',''],['can_id','CAN ID',''],['timeout','Тайм-аут управления',''], + ['kill_switch','Вход аварийного останова','']] as const; + +export function VescDetail(props:SensorDetailProps){ + const {device,transport,enabled,back,refresh,failure}=props; + const status=vescStatus(device);const label=vescLabel(device,enabled); + const [telemetry,setTelemetry]=useState(status.telemetry); + const [pending,setPending]=useState(null); + const [saved,setSaved]=useState(null); + const [motorBusy,setMotorBusy]=useState(false); + const [hallBusy,setHallBusy]=useState(false); + const [calibrationBusy,setCalibrationBusy]=useState(false); + const [linkBusy,setLinkBusy]=useState(false); + const poweredBusy=motorBusy||hallBusy||calibrationBusy||linkBusy; + const running=useRef(false);const mounted=useRef(true); + const available=enabled&&device.online&&device.verified&&status.readable; + useEffect(()=>{mounted.current=true;return()=>{mounted.current=false;};},[]); + async function read(action:'vesc.telemetry.read'|'vesc.config.backup'){ + if(running.current||poweredBusy||!available)return; + running.current=true;setPending(action);failure(null); + try{ + const result=await perform>(transport,device,action); + if(!mounted.current)return; + if(action==='vesc.telemetry.read')setTelemetry(result as unknown as VescTelemetry); + else { + setSaved(String(result.observed_at)); + } + await refresh(); + }catch(error){if(mounted.current)failure(error);} + finally{running.current=false;if(mounted.current)setPending(null);} + } + const backupAt=saved??status.backup?.observed_at; + return
    +
    + {label.label}}> + {!enabled||!device.online?

    Нет свежей связи с контроллером.

    :status.message?

    {status.message}

    :null} + {status.identity? +
    • +
    • +
    • + {status.identity.test_firmware!==null&&status.identity.test_firmware>0&&
    • } +     :

    Аппаратный идентификатор ещё не подтверждён.

    } +     + void read('vesc.telemetry.read')}>Обновить показания}> + + {telemetry?{fields.map(([key,title,unit])=>{ + const value=telemetry.values[key];if(value===undefined)return null; + return
    • ; + })}    :

    Показания ещё не прочитаны.

    } +     +

    ERPM — электрические обороты. Обороты вала зависят от числа пар полюсов мотора.

    +     + void read('vesc.config.backup')}>Сохранить версию}> + {backupAt&&

    Последняя копия: {new Date(backupAt).toLocaleString()}

    } +

    Копия привязана к UUID и прошивке. Версии до и после калибровки остаются в истории.

    +     + + + + + +
    ; +} diff --git a/plugins/vesc/frontend/src/VescHall.tsx b/plugins/vesc/frontend/src/VescHall.tsx new file mode 100644 index 0000000..870102d --- /dev/null +++ b/plugins/vesc/frontend/src/VescHall.tsx @@ -0,0 +1,42 @@ +import {useRef,useState} from 'react'; +import {Button,Checker,SettingsCard} from '@nodedc/ui-react'; +import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions'; +import {perform} from '../../../../packages/sensor-ui/src/contracts'; +import {vescStatus} from './model'; + +interface HallResult { + completed:boolean;configuration_restored:boolean;release_confirmed:boolean; + measurement:null|{valid_six_states:boolean;observed_states:number[];hall_table:number[]}; +} + +export function VescHall({device,transport,enabled,refresh,failure,blocked,onBusyChange}:SensorDetailProps&{blocked:boolean;onBusyChange:(busy:boolean)=>void}){ + const [confirmed,setConfirmed]=useState(false); + const [busy,setBusy]=useState(false); + const [result,setResult]=useState(null); + const running=useRef(false); + const available=enabled&&device.online&&device.verified&&device.vesc_status?.test_supported===true&&!!vescStatus(device).hall_measurement; + async function measure(){ + if(running.current||blocked||!available||!confirmed)return; + running.current=true;setBusy(true);onBusyChange(true);setResult(null);failure(null); + try{ + const inventory=await transport.inventory(); + const controllers=inventory.items.filter(item=>item.kind==='vesc.controller'&&item.online); + const target=controllers.find(item=>item.id===device.id); + if(inventory.fresh===false||!target||controllers.some(item=>!item.verified))throw new Error('Нужна свежая связь со всеми VESC борта.'); + setResult(await perform(transport,target,'vesc.hall.measure',{ + rig_clear:true,native_cycle_confirmed:true, + ...(vescStatus(target).hall_measurement?.standstill_confirmation_required?{standstill_confirmed:true}:{}), + sessions:Object.fromEntries(controllers.map(item=>[item.id,item.snapshot.context.session_id])), + },60000)); + }catch(error){failure(error);} + finally{running.current=false;setBusy(false);onBusyChange(false);setConfirmed(false);await refresh();} + } + return +

    Мотор медленно смещается в обе стороны около 12 секунд. Измерение проверяет состояния датчиков и получает таблицу их положения; новая таблица автоматически не записывается.

    +

    На прошивке 5.02 этот цикл нельзя прервать кнопкой или пультом. Для немедленной остановки нужно отключить силовое питание. Пульт должен оставаться выключенным, все приводы — вывешенными. Перед запуском убедитесь, что все моторы полностью остановились: в бессенсорном режиме показание оборотов на остановленном моторе может быть ненулевым.

    + + + {busy&&

    Подготовка и штатное измерение датчиков. Дождитесь результата.

    } + {result&&

    {!result.completed?'Завершение измерения не подтверждено. Проверьте мотор и питание.':result.measurement?.valid_six_states?'Измерение получило шесть состояний Холла.':'Не удалось получить полную таблицу Холла. Возможны отсутствие движения или неисправность датчиков/соединения.'} {result.release_confirmed?'Снятие тока подтверждено.':'Снятие тока не подтверждено.'} {result.configuration_restored?'Исходная конфигурация сохранена.':'Возврат исходной конфигурации не подтверждён.'}

    } +     ; +} diff --git a/plugins/vesc/frontend/src/VescLimits.tsx b/plugins/vesc/frontend/src/VescLimits.tsx new file mode 100644 index 0000000..dfb4adb --- /dev/null +++ b/plugins/vesc/frontend/src/VescLimits.tsx @@ -0,0 +1,35 @@ +import {useRef,useState} from 'react'; +import {Button,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react'; +import {perform,type Sensor,type SensorTransport} from '../../../../packages/sensor-ui/src/contracts'; +import {vescStatus} from './model'; + +interface Limits {observed_at:string;identity?:{uuid:string};parameters:Record} +const number=(value:number|undefined)=>value===undefined?'—':value.toLocaleString('ru-RU',{maximumFractionDigits:2}); +export function VescLimits({controllers,transport,enabled,failure}:{controllers:Sensor[];transport:SensorTransport;enabled:boolean;failure:(error:unknown)=>void}){ + const [values,setValues]=useState>({}); + const [busy,setBusy]=useState(false);const running=useRef(false); + const readable=controllers.filter(device=>device.online&&device.verified&&vescStatus(device).readable&&vescStatus(device).board_settings_supported); + async function read(){ + if(!enabled||running.current||!readable.length)return; + running.current=true;setBusy(true);failure(null);setValues({}); + try{for(const device of readable){const value=await perform(transport,device,'vesc.limits.read');setValues(current=>({...current,[device.id]:value}));}} + catch(error){failure(error);}finally{running.current=false;setBusy(false);} + } + return void read()}>Прочитать ограничения}> +

    Ток мотора задаёт тягу; ток батареи ограничивает потребление. Эти настройки действуют и при управлении с пульта. Паспортные пределы моторов, контроллеров и батареи проверяются отдельно.

    + {controllers.map(device=>{ + const value=values[device.id];if(!value)return null; + const p=value.parameters; + const fields=[ + ['Ток мотора · разгон / торможение',`${number(p.l_current_max)} / ${number(p.l_current_min)} А`], + ['Масштаб тока · разгон / торможение',`${number(p.l_current_max_scale*100)} / ${number(p.l_current_min_scale*100)} %`], + ['Ток батареи · потребление / рекуперация',`${number(p.l_in_current_max)} / ${number(p.l_in_current_min)} А`], + ['Диапазон электрических оборотов',`${number(p.l_min_erpm)} … ${number(p.l_max_erpm)} ERPM`], + ['Максимальная мощность',p.l_watt_max>=1500000?'Отдельный предел не задан':`${number(p.l_watt_max)} Вт`], + ['Максимальный duty cycle',`${number(p.l_max_duty*100)} %`], + ]; + return {fields.map(([title,description])=>
    • )}    ; + })} + {!Object.keys(values).length&&

    Прочитайте значения для подключённых контроллеров.

    } +     ; +} diff --git a/plugins/vesc/frontend/src/VescLink.tsx b/plugins/vesc/frontend/src/VescLink.tsx new file mode 100644 index 0000000..1317b63 --- /dev/null +++ b/plugins/vesc/frontend/src/VescLink.tsx @@ -0,0 +1,42 @@ +import {useEffect,useRef,useState} from 'react'; +import {Button,ResourceList,ResourceRow,SettingsCard} from '@nodedc/ui-react'; +import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions'; +import {perform} from '../../../../packages/sensor-ui/src/contracts'; +import {vescStatus} from './model'; + +interface LinkResult { + outcome:string;duration_s:number; + devices:Record; +} +export function VescLink({device,transport,enabled,failure,refresh,blocked,onBusyChange}:SensorDetailProps&{blocked:boolean;onBusyChange:(busy:boolean)=>void}){ + const [busy,setBusy]=useState(false);const [result,setResult]=useState(null); + const running=useRef(false);const mounted=useRef(true); + useEffect(()=>{mounted.current=true;return()=>{mounted.current=false;};},[]); + const available=enabled&&device.online&&device.verified&&vescStatus(device).link_check_supported; + async function check(){ + if(running.current||blocked||!available)return; + running.current=true;setBusy(true);onBusyChange(true);failure(null);setResult(null); + try{ + const inventory=await transport.inventory(); + const peers=inventory.items.filter(item=>item.kind==='vesc.controller'); + const selected=peers.find(item=>item.id===device.id); + if(inventory.fresh===false||!selected||peers.some(item=>!item.online||!item.verified))throw new Error('Обновите связь со всеми VESC борта.'); + const sessions=Object.fromEntries(peers.map(item=>[item.id,item.snapshot.context.session_id])); + const value=await perform(transport,selected,'vesc.link.check',{sessions},45000); + if(mounted.current)setResult(value); + await refresh(); + }catch(error){if(mounted.current)failure(error);} + finally{running.current=false;if(mounted.current){setBusy(false);onBusyChange(false);}} + } + if(!vescStatus(device).link_check_supported)return null; + const text=result?.outcome==='complete'?'Все ответы получены. Эта проверка не подтверждает связь во время вращения.': + result?.outcome==='not_idle'?'Измерение прекращено: есть команда с пульта или движение мотора.': + result?.outcome==='read_failed'?'Ответ контроллера не получен. Проверка прервана.': + 'Измерение не завершено.'; + return void check()}>Проверить связь}> + {busy&&

    Измеряется время ответа контроллеров.

    } + {result&&<>

    {text}

    {Object.entries(result.devices).map(([id,item])=>
    • )}    } +     ; +} diff --git a/plugins/vesc/frontend/src/VescMotor.tsx b/plugins/vesc/frontend/src/VescMotor.tsx new file mode 100644 index 0000000..a5a94dd --- /dev/null +++ b/plugins/vesc/frontend/src/VescMotor.tsx @@ -0,0 +1,89 @@ +import {useEffect,useRef,useState} from 'react'; +import {Button,Checker,Select,TextField,SettingsCard} from '@nodedc/ui-react'; +import type {SensorDetailProps} from '../../../../packages/sensor-ui/src/extensions'; +import {perform} from '../../../../packages/sensor-ui/src/contracts'; +import {testInput,speedInput,rotationResult,vescStatus,driveTestIds,drivePositions} from './model'; + +export function VescMotor({device,transport,enabled,refresh,failure,blocked=false,onBusyChange}:SensorDetailProps&{blocked?:boolean;onBusyChange?:(busy:boolean)=>void}){ + const [duration,setDuration]=useState('30'); + const [current,setCurrent]=useState('30'); + const [speed,setSpeed]=useState('2000'); + const [direction,setDirection]=useState('forward'); + const [scope,setScope]=useState('single'); + const status=vescStatus(device),profile=status.drive_profile; + const driveIds=driveTestIds(profile,device.id); + const group=scope==='profile'; + const groupAvailable=status.group_test_supported===true&&driveIds.length>1; + const [clear,setClear]=useState(false);const [busy,setBusy]=useState(false); + const [result,setResult]=useState(null);const [stopping,setStopping]=useState(false); + const [rc,setRc]=useState(device.vesc_status?.rc_latched===true); + const running=useRef(false);const mounted=useRef(true); + useEffect(()=>{mounted.current=true;return()=>{mounted.current=false;};},[]); + const limits=vescStatus(device).test_limits; + const speedLimits=vescStatus(device).speed_limits; + const speedValue=speedInput(speed,speedLimits); + const input=testInput(current,duration,limits); + const available=!!limits&&!!speedLimits&&enabled&&!blocked&&device.online&&device.verified&&device.vesc_status?.test_supported===true; + const valid=input.valid&&!speedValue.error&&(direction==='forward'||speedLimits?.reverse_supported===true)&&(!group||groupAvailable); + const blockedReason=busy?'Подготовка и проверка выполняются. Дождитесь результата или остановите проверку.': + !enabled||!device.online?'Для запуска нужна свежая связь с бортом и VESC.': + !device.verified?'Контроллер ещё не определён. Обновите устройства.': + !available?'Проверка вращения для этого VESC сейчас недоступна на борту.': + !valid?'Исправьте значения в отмеченных полях.': + !clear?'Для запуска подтвердите, что все приводы остановлены, вывешены и вращение свободно.':null; + async function execute(release=false){ + if(running.current||!available||!clear||!valid)return; + running.current=true;setBusy(true);onBusyChange?.(true);setResult(null);failure(null); + try{ + const inventory=await transport.inventory(); + const controllers=inventory.items.filter(item=>item.kind==='vesc.controller'&&item.online); + const target=controllers.find(item=>item.id===device.id); + if(inventory.fresh===false||!target||controllers.some(item=>!item.verified))throw new Error('Нужна свежая связь со всеми подключёнными VESC этого борта.'); + if(group&&!release&&(vescStatus(target).drive_profile?.revision!==profile?.revision||driveIds.some(id=>!controllers.some(item=>item.id===id))))throw new Error('Профиль или состав моторов изменился. Обновите карточку.'); + const value=await perform<{outcome?:string;rotation_s?:number;release_confirmed?:boolean;limits_restored?:boolean}>(transport,target,release?'vesc.control.release':group?'vesc.drive.run':'vesc.motor.run',{ + rig_clear:true,duration_s:input.durationS,current_a:input.currentA, + ...(release?{}:{erpm:speedValue.erpm*(direction==='reverse'?-1:1)}), + ...(vescStatus(target).speed_limits?.standstill_confirmation_required?{standstill_confirmed:true}:{}), + ...(!release&&group?{profile_revision:profile?.revision,device_ids:driveIds}:{}), + sessions:Object.fromEntries(controllers.map(item=>[item.id,item.snapshot.context.session_id])), + },group&&!release?120000:90000); + if(mounted.current){ + setResult(release?'Управление возвращено для проверки.':rotationResult(value)); + if(release)setRc(false); + } + }catch(error){if(mounted.current)failure(error);} + finally{ + running.current=false; + onBusyChange?.(false); + if(mounted.current){setBusy(false);setClear(false);await refresh();} + } + } + async function stop(){ + if(stopping)return;setStopping(true); + try{const value=await perform<{interruptible?:boolean}>(transport,device,'vesc.motor.stop',{},15000);if(mounted.current)setResult(value.interruptible===false?'Идёт штатный цикл измерения VESC. Немедленная остановка возможна отключением питания.':'Остановка запрошена. Ожидаем результат проверки.');} + catch(error){if(mounted.current)failure(error);} + finally{if(mounted.current)setStopping(false);} + } + useEffect(()=>setRc(device.vesc_status?.rc_latched===true),[device.vesc_status?.rc_latched]); + return +

    Для вывешенных колёс без нагрузки. При команде с приёмника проверка прекращается; повторный запуск требует явного возврата управления.

    + {setDirection(value);setClear(false);}}/> +

    Направление относительно настроек VESC. Перед обратным запуском дождитесь полной остановки всех моторов и подтвердите её.

    + setSpeed(event.target.value)} disabled={busy||!speedLimits} min={speedLimits?.min_erpm} max={speedLimits?.max_erpm} step="100" aria-invalid={!!speedValue.error} description={speedValue.error??'Электрические обороты в минуту. VESC плавно разгоняет мотор и удерживает заданную скорость.'}/> + setCurrent(event.target.value)} disabled={busy||!limits} min={limits?.min_current_a} max={limits?.max_current_a} step="0.1" aria-invalid={!!input.currentError} hint={limits?`${limits.min_current_a}–${limits.max_current_a} А`:undefined} description={input.currentError??'Максимальный ток разгона и удержания скорости. Прежние пределы сохраняются перед тестом и восстанавливаются после него.'}/> + setDuration(event.target.value)} disabled={busy||!limits} min={limits?.min_duration_s} max={limits?.max_duration_s} step="0.1" aria-invalid={!!input.durationError} hint={limits?`${limits.min_duration_s}–${limits.max_duration_s} с`:undefined} description={input.durationError??'Отсчёт начинается после разгона и стабилизации скорости. Подготовка, разгон и остановки не входят в это время.'}/> +

    Время считается по скорости и тахометру VESC. Если мотор не разгонится за 15 секунд, потеряет скорость или сработает ограничение, результат покажет фактическое время и причину остановки. Показания контроллера нужно сопоставить с видимым вращением.

    + {limits?.stall_timeout_s&&

    При токе выше {limits.stall_current_a} А и отсутствии подтверждённого движения в течение {limits.stall_timeout_s} секунд проверка остановится.

    } +

    Все приводы должны быть вывешены, вращение свободно. Подтверждение требуется перед каждым запуском.

    + + {blockedReason&&

    {blockedReason}

    } +
    + {rc?: + } + +
    + {result&&

    {result}

    } +     ; +} diff --git a/plugins/vesc/frontend/src/model.ts b/plugins/vesc/frontend/src/model.ts new file mode 100644 index 0000000..eeaa024 --- /dev/null +++ b/plugins/vesc/frontend/src/model.ts @@ -0,0 +1,69 @@ +import type {Sensor} from '../../../../packages/sensor-ui/src/contracts'; + +export interface VescIdentity {uuid:string;hardware:string;version:string;test_firmware:number|null;hardware_type:number|null} +export interface VescTelemetry {observed_at:string;values:Record} +export interface DriveProfile {layout:null|'1x1'|'2x2';revision:number;bindings:Record} +export function drivePositions(layout:DriveProfile['layout']):Record { + return layout==='2x2' + ? {'left.1':'Левый передний','left.2':'Левый задний','right.1':'Правый передний','right.2':'Правый задний'} + : {'left.1':'Левый','right.1':'Правый'}; +} +export interface VescStatus { + board_settings_supported?:boolean; + group_test_supported?:boolean; + link_check_supported?:boolean; + foc_calibration?:{min_power_loss_w:number;max_power_loss_w:number;interruptible:boolean}; + speed_limits?:{min_erpm:number;max_erpm:number;duration_basis:string;reverse_supported?:boolean;standstill_confirmation_required?:boolean}; + hall_measurement?:{current_a:number;interruptible:boolean;standstill_confirmation_required?:boolean}; + drive_profile?:DriveProfile; + test_limits?:{min_current_a:number;max_current_a:number;min_duration_s:number;max_duration_s:number;current_ramp_a_per_s?:number;continuous_current?:boolean;max_erpm?:number;max_duty?:number;stall_current_a?:number;stall_timeout_s?:number}; + identity:VescIdentity|null; readable:boolean; message:string|null; telemetry:VescTelemetry|null; + backup:{observed_at:string;operation_id:string;configs:Record}|null; +} + +export function driveTestIds(profile:DriveProfile|undefined,selected:string):string[] { + if(!profile?.layout)return []; + const slots=Object.keys(drivePositions(profile.layout)); + if(Object.keys(profile.bindings).length!==slots.length||slots.some(slot=>!profile.bindings[slot]))return []; + const ids=slots.map(slot=>profile.bindings[slot].device_id); + return new Set(ids).size===ids.length&&ids.includes(selected)?ids:[]; +} + +export function speedInput(speed:string,limits:VescStatus['speed_limits']) { + const erpm=Number(speed); + const error=!limits?'Для удержания скорости требуется обновление профиля VESC на борту.': + speed.trim()===''||!Number.isFinite(erpm)?'Введите скорость.': + erpmlimits.max_erpm?`Скорость должна быть от ${limits.min_erpm} до ${limits.max_erpm} ERPM.`:null; + return {erpm,error}; +} + +export function rotationResult(value:{outcome?:string;rotation_s?:number;release_confirmed?:boolean;limits_restored?:boolean}) { + const time=(value.rotation_s??0).toLocaleString('ru-RU',{maximumFractionDigits:1}); + const outcome=value.outcome==='duration'?'Заданное время вращения набрано.':value.outcome==='stopped'?'Проверка остановлена.':String(value.outcome); + return `${outcome} Вращение на заданной скорости по данным VESC: ${time} с. ${value.release_confirmed?'Снятие тока подтверждено.':'Снятие тока не подтверждено.'}${value.limits_restored?' Исходные токовые пределы восстановлены.':''}`; +} +export function vescStatus(device:Sensor):VescStatus { + return {identity:null,readable:false,message:null,telemetry:null,backup:null,...device.vesc_status} as VescStatus; +} +export function vescLabel(device:Sensor,fresh:boolean):{label:string;tone:'neutral'|'success'|'warning'|'danger'} { + const status=vescStatus(device); + if(!fresh||!device.online)return {label:'Нет связи',tone:'neutral'}; + if(!device.prepared)return {label:'Требуется подготовка',tone:'neutral'}; + if(!status.identity)return {label:'Не определён',tone:'warning'}; + if(!status.readable)return {label:'Прошивка не поддерживается',tone:'warning'}; + return {label:'Готов к чтению',tone:'success'}; +} + +export function testInput(current:string,duration:string,limits:VescStatus['test_limits']) { + const currentA=Number(current),durationS=Number(duration); + const number=(value:number)=>value.toLocaleString('ru-RU'); + const currentError=!limits?null:current.trim()===''||!Number.isFinite(currentA) + ? 'Введите ток мотора.' + : currentAlimits.max_current_a + ? `Ток должен быть от ${number(limits.min_current_a)} до ${number(limits.max_current_a)} А.`:null; + const durationError=!limits?null:duration.trim()===''||!Number.isFinite(durationS) + ? 'Введите длительность проверки.' + : durationSlimits.max_duration_s + ? `Длительность должна быть от ${number(limits.min_duration_s)} до ${number(limits.max_duration_s)} с.`:null; + return {currentA,durationS,currentError,durationError,valid:!!limits&&!currentError&&!durationError}; +} diff --git a/plugins/vesc/frontend/src/plugin.ts b/plugins/vesc/frontend/src/plugin.ts new file mode 100644 index 0000000..93dddcd --- /dev/null +++ b/plugins/vesc/frontend/src/plugin.ts @@ -0,0 +1,9 @@ +import type {SensorUiContribution} from '../../../../packages/sensor-ui/src/extensions'; +import {VescDetail} from './VescDetail'; +import {VescBoardSettings} from './VescBoardSettings'; +import {vescLabel} from './model'; + +export const vescSensorUi:SensorUiContribution={ + kind:'vesc.controller',Detail:VescDetail,BoardSettings:VescBoardSettings,icon:'activity',retainOffline:true, + supportsPreparation:true,supportsRenaming:true,detailLabel:'Настройка VESC',status:vescLabel, +}; diff --git a/plugins/vesc/native/LICENSE b/plugins/vesc/native/LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/plugins/vesc/native/LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If not, see . + +Also add information on how to contact you by electronic and paper mail. + + If the program does terminal interaction, make it output a short +notice like this when it starts in an interactive mode: + + Copyright (C) + This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'. + This is free software, and you are welcome to redistribute it + under certain conditions; type `show c' for details. + +The hypothetical commands `show w' and `show c' should show the appropriate +parts of the General Public License. Of course, your program's commands +might be different; for a GUI interface, you would use an "about box". + + You should also get your employer (if you work as a programmer) or school, +if any, to sign a "copyright disclaimer" for the program, if necessary. +For more information on this, and how to apply and follow the GNU GPL, see +. + + The GNU General Public License does not permit incorporating your program +into proprietary programs. If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/plugins/vesc/native/config_export.h b/plugins/vesc/native/config_export.h new file mode 100644 index 0000000..17e9076 --- /dev/null +++ b/plugins/vesc/native/config_export.h @@ -0,0 +1,97 @@ +// SPDX-License-Identifier: GPL-3.0-or-later +#pragma once +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include "vescinterface.h" +#include "utility.h" + +static QString sha256(const QByteArray &data) { + return QCryptographicHash::hash(data, QCryptographicHash::Sha256).toHex(); +} + +static void require(bool condition, const char *message) { + if (!condition) throw std::runtime_error(message); +} + +static QJsonObject exportConfig(ConfigParams *config, const QByteArray &packet, + const QString &xmlName) { + VByteArray roundTrip; + config->serialize(roundTrip); + require(roundTrip == packet.mid(1), "Native configuration round-trip differs from archive"); + QJsonArray parameters; + for (const auto &name : config->getParamOrder()) { + const auto p = config->getParamCopy(name); + QJsonObject item{{"name", name}, {"title", p.longName}, + {"description", p.description}, {"suffix", p.suffix}, + {"transmittable", p.transmittable}, {"editor_scale", p.editorScale}}; + switch (p.type) { + case CFG_T_DOUBLE: + item.insert("type", "number"); item.insert("value", p.valDouble); + item.insert("min", p.minDouble); item.insert("max", p.maxDouble); + item.insert("step", p.stepDouble); item.insert("decimals", p.editorDecimalsDouble); + break; + case CFG_T_INT: case CFG_T_BITFIELD: + item.insert("type", p.type == CFG_T_INT ? "integer" : "bitfield"); + item.insert("value", p.valInt); item.insert("min", p.minInt); + item.insert("max", p.maxInt); item.insert("step", p.stepInt); + break; + case CFG_T_ENUM: + item.insert("type", "enum"); item.insert("value", p.valInt); + item.insert("options", QJsonArray::fromStringList(p.enumNames)); break; + case CFG_T_BOOL: + item.insert("type", "boolean"); item.insert("value", bool(p.valInt)); break; + case CFG_T_QSTRING: + item.insert("type", "string"); item.insert("value", p.valString); + item.insert("max_length", p.maxLen); break; + default: item.insert("type", "undefined"); + } + parameters.append(item); + } + QJsonArray groups; + for (const auto &group : config->getParamGroups()) { + QJsonArray subgroups; + for (const auto &subgroup : config->getParamSubgroups(group)) { + subgroups.append(QJsonObject{{"name", subgroup}, {"parameters", + QJsonArray::fromStringList(config->getParamsFromSubgroup(group, subgroup))}}); + } + groups.append(QJsonObject{{"name", group}, {"subgroups", subgroups}}); + } + QString xml; + QXmlStreamWriter writer(&xml); + writer.setAutoFormatting(true); + config->getXML(writer, xmlName); + // Validate Tool's own XML load as well as its binary codec. No output file, + // motor configuration write, custom schema, or custom parameter parser. + ConfigParams loaded; + loaded = *config; + QXmlStreamReader reader(xml); + require(loaded.setXML(reader, xmlName), "Native XML round-trip failed"); + VByteArray xmlRoundTrip; loaded.serialize(xmlRoundTrip); + const auto differences = config->checkDifference(&loaded); + require(differences.isEmpty(), "Native XML differs beyond upstream comparison tolerance"); + return QJsonObject{{"parameters", parameters}, {"groups", groups}, {"xml", xml}, + {"packet_sha256", sha256(packet)}, {"round_trip_exact", true}, + {"xml_round_trip_exact", xmlRoundTrip == roundTrip}, + {"xml_equivalent_by_upstream_comparison", true}, + {"signature", double(config->getSignature())}}; +} + +static QByteArray archivePacket(const QJsonObject &archive, const QString &key, int command) { + auto entry = archive.value("configs").toObject().value(key).toObject(); + auto encoded = entry.value("payload").toString().toLatin1(); + auto packet = QByteArray::fromBase64(encoded, QByteArray::AbortOnBase64DecodingErrors); + require(entry.value("encoding") == "base64" && !packet.isEmpty() && packet.size() <= 16384, + "Invalid archived configuration encoding"); + require(packet.toBase64() == encoded && packet.size() == entry.value("bytes").toInt(), + "Invalid archived configuration length"); + require(quint8(packet.at(0)) == command && sha256(packet) == entry.value("sha256").toString(), + "Archived configuration hash or command mismatch"); + return packet; +} diff --git a/plugins/vesc/native/engine_main.cpp b/plugins/vesc/native/engine_main.cpp new file mode 100644 index 0000000..9f7d2f5 --- /dev/null +++ b/plugins/vesc/native/engine_main.cpp @@ -0,0 +1,375 @@ +// SPDX-License-Identifier: GPL-3.0-or-later +// Private per-device JSON process adapter. Every wire operation is upstream. +#include "config_export.h" +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include +#include + +class ExchangeFailure : public std::runtime_error { +public: + QJsonObject diagnostics; + explicit ExchangeFailure(const QJsonObject &value) + : std::runtime_error("Native query timed out or disconnected"), diagnostics(value) {} +}; + +class Engine { +public: + VescInterface vesc; + Packet *packet; + FW_RX_PARAMS identity; + bool procedureRunning = false; + bool procedureUncertain = false; + QJsonObject procedure; + bool queryRunning = false; + bool allowHardware = false; + QByteArray lastMotor, lastApplication, lastHall; + QTimer outputWatchdog; + + Engine() { + outputWatchdog.setSingleShot(true); + QObject::connect(&outputWatchdog, &QTimer::timeout, [&] { + if (allowHardware && vesc.isPortConnected() && !procedureRunning) { + vesc.commands()->setCurrent(0); + try { flush(); } catch (...) {} + } + }); + require(Utility::configLoadLatest(&vesc), "Upstream resources missing"); + packet = vesc.findChild(); + require(packet, "Upstream packet transport missing"); + QObject::connect(vesc.commands(), &Commands::fwVersionReceived, + [&](FW_RX_PARAMS value) { identity = value; }); + QObject::connect(packet, &Packet::packetReceived, [&](QByteArray &raw) { + if (!raw.isEmpty() && quint8(raw[0]) == COMM_GET_MCCONF) lastMotor = raw; + if (!raw.isEmpty() && quint8(raw[0]) == COMM_GET_APPCONF) lastApplication = raw; + if (!raw.isEmpty() && quint8(raw[0]) == COMM_DETECT_HALL_FOC) lastHall = raw; + }); + } + + void open(const QString &port) { + require(QRegularExpression("^/dev/ttyACM[0-9]+$").match(port).hasMatch(), "Unsupported USB path"); + struct stat st; + require(lstat(port.toLocal8Bit(), &st) == 0 && S_ISCHR(st.st_mode) && major(st.st_rdev) == 166, + "Not a CDC ACM device"); + require(vesc.connectSerial(port, 115200), "Native serial connection failed"); + auto serial = vesc.findChild(); + require(serial && serial->isOpen() && "/dev/" + serial->portName() == port, + "Native serial path mismatch"); + require(flock(serial->handle(), LOCK_EX | LOCK_NB) == 0 && ioctl(serial->handle(), TIOCEXCL) == 0, + "Serial port is already owned"); + allowHardware = true; + query(COMM_FW_VERSION, 3000); + require(identity.major == 5 && identity.minor == 2 && identity.hwType == HW_TYPE_VESC + && identity.isTestFw == 0 && identity.customConfigNum == 0, + "Native hardware acceptance currently admits stable FW 5.02 only"); + } + + QByteArray exchange(int command, int timeoutMs, const std::function &send) { + require(allowHardware && vesc.isPortConnected(), "Device disconnected"); + require(!queryRunning, "A native query is already pending"); + queryRunning = true; + struct PendingReset { bool &pending; ~PendingReset() { pending = false; } } reset{queryRunning}; + QEventLoop loop; + QTimer timeout; timeout.setSingleShot(true); + QObject observer; + QElapsedTimer elapsed; elapsed.start(); + QJsonArray events; + bool emitted = false; + int packetsSent = 0, packetsReceived = 0; + qint64 bytesWritten = 0; + auto serial = vesc.findChild(); + auto record = [&](const QString &kind, int code, qint64 bytes) { + if (events.size() == 24) events.removeFirst(); + events.append(QJsonObject{{"event", kind}, {"command", code}, + {"bytes", double(bytes)}, {"at_ms", elapsed.nsecsElapsed() / 1e6}}); + }; + QObject::connect(vesc.commands(), &Commands::dataToSend, &observer, [&](QByteArray &raw) { + const int code = raw.isEmpty() ? -1 : quint8(raw[0]); + if (code == command) emitted = true; + record("command_emitted", code, raw.size()); + }); + QObject::connect(packet, &Packet::dataToSend, &observer, [&](QByteArray &raw) { + ++packetsSent; record("packet_sent", -1, raw.size()); + }); + if (serial) { + QObject::connect(serial, &QSerialPort::bytesWritten, &observer, [&](qint64 bytes) { + bytesWritten += bytes; record("serial_written", -1, bytes); + }); + QObject::connect(serial, &QSerialPort::errorOccurred, &observer, [&](QSerialPort::SerialPortError error) { + if (error != QSerialPort::NoError) record("serial_error", int(error), 0); + }); + } + QByteArray answer; + QObject::connect(packet, &Packet::packetReceived, &observer, [&](QByteArray &raw) { + ++packetsReceived; + record("packet_received", raw.isEmpty() ? -1 : quint8(raw[0]), raw.size()); + if (!raw.isEmpty() && quint8(raw[0]) == command) { answer = raw; loop.quit(); } + }); + QObject::connect(&timeout, &QTimer::timeout, &loop, &QEventLoop::quit); + timeout.start(timeoutMs); + send(); + if (answer.isEmpty()) loop.exec(); + if (answer.isEmpty() || !vesc.isPortConnected()) { + throw ExchangeFailure({{"requested_command", command}, {"timeout_ms", timeoutMs}, + {"elapsed_ms", elapsed.nsecsElapsed() / 1e6}, {"request_emitted", emitted}, + {"packets_sent", packetsSent}, {"packets_received", packetsReceived}, + {"serial_bytes_written", double(bytesWritten)}, {"port_connected", vesc.isPortConnected()}, + {"serial_open", serial && serial->isOpen()}, {"serial_error", serial ? int(serial->error()) : -1}, + {"serial_bytes_pending", serial ? double(serial->bytesToWrite()) : -1}, {"events", events}}); + } + return answer; + } + + QByteArray query(int code, int timeoutMs, bool internal = false) { + auto cmd = vesc.commands(); + require(internal || !procedureRunning || code == COMM_GET_VALUES || code == COMM_GET_DECODED_PPM, + "Configuration reads are unavailable during native measurement"); + std::function send; + switch (code) { + case COMM_FW_VERSION: send = [=] { cmd->getFwVersion(); }; break; + case COMM_GET_VALUES: send = [=] { cmd->getValues(); }; break; + case COMM_GET_MCCONF: send = [=] { cmd->getMcconf(); }; break; + case COMM_GET_APPCONF: send = [=] { cmd->getAppConf(); }; break; + case COMM_GET_DECODED_PPM: send = [=] { cmd->getDecodedPpm(); }; break; + case COMM_PING_CAN: send = [=] { cmd->pingCan(); }; break; + default: throw std::runtime_error("Native read command is not admitted"); + } + auto raw = exchange(code, timeoutMs, send); + if (code == COMM_GET_MCCONF || code == COMM_GET_APPCONF) { + VByteArray serialized; + auto config = code == COMM_GET_MCCONF ? vesc.mcConfig() : vesc.appConfig(); + config->serialize(serialized); + require(serialized == raw.mid(1), "Native configuration decode is not byte-exact"); + } + return raw; + } + + QByteArray configurationPacket(ConfigParams *config, int code) { + VByteArray raw; raw.vbAppendInt8(code); config->serialize(raw); return raw; + } + + void calibrate(double loss) { + ConfigParams beforeMotor, beforeApp; + beforeMotor = *vesc.mcConfig(); beforeApp = *vesc.appConfig(); + bool received = false, validated = false; + int code = -1000; + QString report, error; + QJsonArray changed; + auto connection = QObject::connect(vesc.commands(), &Commands::detectAllFocReceived, + [&](int result) { received = true; code = result; }); + try { + // The actual upstream wizard motor procedure, including its FW 5.02 + // power-loss correction. Do not infer a battery profile from Ah/voltage. + report = Utility::detectAllFoc(&vesc, false, loss, + beforeMotor.getParamDouble("l_in_current_min"), beforeMotor.getParamDouble("l_in_current_max"), + beforeMotor.getParamDouble("foc_openloop_rpm"), beforeMotor.getParamDouble("foc_sl_erpm")); + require(received, "Native calibration completion was not received"); + query(COMM_GET_MCCONF, 3000, true); + query(COMM_GET_APPCONF, 3000, true); + auto mc = vesc.mcConfig(); auto app = vesc.appConfig(); + const QStringList admitted = {"l_current_max", "l_current_min", "motor_type", "foc_motor_r", + "foc_motor_l", "foc_motor_flux_linkage", "foc_current_kp", "foc_current_ki", "foc_observer_gain", + "foc_sensor_mode", "m_sensor_port_mode", "foc_encoder_offset", "foc_encoder_ratio", "foc_encoder_inverted", + "foc_hall_table__0", "foc_hall_table__1", "foc_hall_table__2", "foc_hall_table__3", + "foc_hall_table__4", "foc_hall_table__5", "foc_hall_table__6", "foc_hall_table__7"}; + for (const auto &key : beforeMotor.checkDifference(mc)) { + require(admitted.contains(key), "Calibration changed a protected motor parameter"); + changed.append(key); + } + for (const auto &key : beforeApp.checkDifference(app)) + require(key == "send_can_status", "Calibration changed a protected receiver parameter"); + // Native FW 5.02 enables CAN status as a side effect. Restore the + // original application exactly; retain existing PPM and CAN identity. + if (!beforeApp.checkDifference(app).isEmpty()) { + *app = beforeApp; + const auto expected = configurationPacket(app, COMM_GET_APPCONF); + require(exchange(COMM_SET_APPCONF, 3000, [&] { vesc.commands()->setAppConf(); }).size() == 1, + "Application write ACK invalid"); + require(query(COMM_GET_APPCONF, 3000, true) == expected, "Application restore not byte-exact"); + } + if (code < 0) { + // A completed failed detection can leave partial RAM changes. + // Only the known calibration fields passed the guard above. + *mc = beforeMotor; + } else { + for (const auto &key : {"foc_motor_r", "foc_motor_l", "foc_motor_flux_linkage"}) + require(std::isfinite(mc->getParamDouble(key)) && mc->getParamDouble(key) > 0, + "Invalid detected motor parameter"); + require(mc->getParamDouble("l_current_max") > 0 && mc->getParamDouble("l_current_min") < 0, + "Invalid detected current limits"); + // Calibration must not silently increase the owner's existing + // current limits. The separate spin test applies its own 30 A cap. + mc->updateParamDouble("l_current_max", qMin(mc->getParamDouble("l_current_max"), beforeMotor.getParamDouble("l_current_max"))); + mc->updateParamDouble("l_current_min", qMax(mc->getParamDouble("l_current_min"), beforeMotor.getParamDouble("l_current_min"))); + } + const auto expected = configurationPacket(mc, COMM_GET_MCCONF); + if (expected != lastMotor) { + require(exchange(COMM_SET_MCCONF, 3000, [&] { vesc.commands()->setMcconf(false); }).size() == 1, + "Motor write ACK invalid"); + require(query(COMM_GET_MCCONF, 3000, true) == expected, "Motor write not byte-exact"); + } + validated = true; + } catch (const std::exception &e) { error = e.what(); } + QObject::disconnect(connection); + QJsonObject parameters; + for (const auto &key : {"l_current_max", "l_current_min", "foc_motor_r", "foc_motor_l", "foc_motor_flux_linkage"}) + parameters.insert(key, vesc.mcConfig()->getParamDouble(key)); + procedure = {{"kind", "foc"}, {"completed", received}, {"success", received && code >= 0 && validated}, + {"validated", validated}, {"code", code}, {"report", report}, {"error", error}, + {"sensor_mode", vesc.mcConfig()->getParamEnum("foc_sensor_mode")}, {"parameters", parameters}, + {"changed", changed}, {"upstream", "Utility::detectAllFoc"}}; + procedureUncertain = !validated; + procedureRunning = false; + } + + double number(const QJsonObject &request, const QString &name, double min, double max) { + auto v = request.value(name); + require(v.isDouble() && std::isfinite(v.toDouble()) && v.toDouble() >= min && v.toDouble() <= max, + "Numeric argument is outside operation bounds"); + return v.toDouble(); + } + + void flush() { + auto serial = vesc.findChild(); + require(serial && serial->isOpen(), "Serial transport closed"); + serial->flush(); + if (serial->bytesToWrite() > 0) require(serial->waitForBytesWritten(40), "Serial write not confirmed"); + require(serial->bytesToWrite() == 0, "Serial write is incomplete"); + } + + QJsonObject dispatch(const QJsonObject &request) { + const auto method = request.value("method").toString(); + if (method == "engine") return {{"version", "7.00"}, {"commit", "01d5f10901116c311e3fb84d5a1541f663d3ce20"}, + {"connected", vesc.isPortConnected()}, {"hardware_enabled", allowHardware}, + {"legacy_power_loss_correction", vesc.commands()->getMaxPowerLossBug()}}; + require(allowHardware && vesc.isPortConnected(), "Native device is not connected"); + if (method == "query") return {{"payload", QString::fromLatin1(query( + int(number(request, "command", 0, 255)), int(number(request, "timeout_ms", 20, 8000))).toBase64())}}; + if (method == "procedure_result") return {{"running", procedureRunning}, {"uncertain", procedureUncertain}, {"result", procedure}}; + if (method == "lease") { + require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller"); + vesc.commands()->disableAppOutput(250, false); flush(); outputWatchdog.start(200); return {}; + } + if (method == "release") { vesc.commands()->setCurrent(0); flush(); return {}; } + require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller"); + if (method == "current") { + require(outputWatchdog.isActive(), "Output lease expired"); + auto current = number(request, "current_a", 0, 30); + require(current <= vesc.mcConfig()->getParamDouble("l_current_max"), "Configured current limit exceeded"); + vesc.commands()->setCurrent(current); flush(); return {}; + } + if (method == "rpm") { require(outputWatchdog.isActive(), "Output lease expired"); vesc.commands()->setRpm(int(number(request, "erpm", -3000, 3000))); flush(); return {}; } + if (method == "limits") { + auto p = request.value("parameters").toObject(); + MCCONF_TEMP conf; + conf.current_min_scale = number(p, "l_current_min_scale", 0, 1); + conf.current_max_scale = number(p, "l_current_max_scale", 0, 1); + // Restore/application may only change current scales. All other + // values must equal the last native read, including battery limits. + auto mc = vesc.mcConfig(); + for (const auto &key : {"l_min_erpm", "l_max_erpm", "l_min_duty", "l_max_duty", "l_watt_min", "l_watt_max", "l_in_current_min", "l_in_current_max"}) + require(p.value(key).isDouble() && p.value(key).toDouble() == mc->getParamDouble(key), "Only volatile current scales may change"); + conf.erpm_or_speed_min = mc->getParamDouble("l_min_erpm"); + conf.erpm_or_speed_max = mc->getParamDouble("l_max_erpm"); + conf.duty_min = mc->getParamDouble("l_min_duty"); conf.duty_max = mc->getParamDouble("l_max_duty"); + conf.watt_min = mc->getParamDouble("l_watt_min"); conf.watt_max = mc->getParamDouble("l_watt_max"); + auto ack = exchange(COMM_SET_MCCONF_TEMP, 2000, [&] { + vesc.commands()->setMcconfTemp(conf, false, false, false, false, true); + }); + require(ack.size() == 1, "Invalid native limits ACK"); return {}; + } + if (method == "configuration") { + auto motor = query(COMM_GET_MCCONF, 2000); + auto application = query(COMM_GET_APPCONF, 2000); + return {{"motor", exportConfig(vesc.mcConfig(), motor, "MCConfiguration")}, + {"application", exportConfig(vesc.appConfig(), application, "APPConfiguration")}}; + } + if (method == "foc_start") { + const auto loss = number(request, "max_power_loss_w", 10, 150); + require(!lastMotor.isEmpty() && !lastApplication.isEmpty(), "Read configurations before calibration"); + for (const auto &key : {"l_in_current_min", "l_in_current_max", "foc_openloop_rpm", "foc_sl_erpm"}) + require(std::isfinite(vesc.mcConfig()->getParamDouble(key)) && std::abs(vesc.mcConfig()->getParamDouble(key)) > 0.001, + "Zero-valued detection inputs require an explicit equipment profile"); + procedureRunning = true; procedure = {{"kind", "foc"}}; + QTimer::singleShot(0, [this, loss] { calibrate(loss); }); + return {{"started", true}, {"interruptible", false}}; + } + if (method == "hall_start") { + require(request.value("current_a") == 5, "This Hall profile uses 5 A"); + procedureRunning = true; procedure = {}; lastHall.clear(); + QTimer::singleShot(0, [&] { + auto measured = Utility::measureHallFocBlocking(&vesc, 5.0); + QJsonArray table; + for (int i = 1; i < measured.size(); ++i) table.append(measured[i]); + const bool completed = measured.size() == 9 && measured.first() != -10; + procedure = {{"kind", "hall"}, {"completed", completed}, + {"status", measured.isEmpty() ? -10 : measured.first()}, {"table", table}, + {"payload", QString::fromLatin1(lastHall.toBase64())}, + {"upstream", "Utility::measureHallFocBlocking"}}; + procedureUncertain = !completed; + procedureRunning = false; + }); + return {{"started", true}, {"interruptible", false}}; + } + throw std::runtime_error("Native operation is not admitted"); + } +}; + +int main(int argc, char **argv) { + qputenv("QT_QPA_PLATFORM", "offscreen"); + QApplication application(argc, argv); + QCoreApplication::setOrganizationName("MissionCore"); + QCoreApplication::setApplicationName("VescToolEngine"); + try { + require(argc == 2, "One exact serial port or --offline argument is required"); + Engine engine; + const QString port = QString::fromLocal8Bit(argv[1]); + if (port != "--offline") engine.open(port); + QFile output; output.open(stdout, QIODevice::WriteOnly); + auto write = [&](const QJsonObject &value) { + output.write(QJsonDocument(value).toJson(QJsonDocument::Compact) + '\n'); output.flush(); + }; + write({{"ready", true}, {"engine", engine.dispatch({{"method", "engine"}})}}); + QByteArray buffer; + fcntl(STDIN_FILENO, F_SETFL, fcntl(STDIN_FILENO, F_GETFL) | O_NONBLOCK); + QSocketNotifier input(STDIN_FILENO, QSocketNotifier::Read); + QObject::connect(&input, &QSocketNotifier::activated, [&] { + char chunk[4096]; const auto size = ::read(STDIN_FILENO, chunk, sizeof(chunk)); + if (size == 0) { application.quit(); return; } + if (size < 0) return; + buffer.append(chunk, int(size)); + if (buffer.size() > 65536) { application.exit(2); return; } + int end; + while ((end = buffer.indexOf('\n')) >= 0) { + auto raw = buffer.left(end); buffer.remove(0, end + 1); + QJsonParseError error; + auto document = QJsonDocument::fromJson(raw, &error); + auto request = document.object(); + QJsonObject response{{"id", request.value("id")}}; + try { + require(error.error == QJsonParseError::NoError && document.isObject(), "Invalid JSON request"); + response.insert("result", engine.dispatch(request)); response.insert("ok", true); + } catch (const ExchangeFailure &e) { + response.insert("ok", false); response.insert("error", e.what()); + response.insert("diagnostics", e.diagnostics); + } catch (const std::exception &e) { response.insert("ok", false); response.insert("error", e.what()); } + write(response); + } + }); + return application.exec(); + } catch (const std::exception &error) { + fprintf(stderr, "Native engine startup failed: %s\n", error.what()); + return 1; + } +} diff --git a/plugins/vesc/native/offline_main.cpp b/plugins/vesc/native/offline_main.cpp new file mode 100644 index 0000000..91a7cd2 --- /dev/null +++ b/plugins/vesc/native/offline_main.cpp @@ -0,0 +1,94 @@ +// SPDX-License-Identifier: GPL-3.0-or-later +// Mission Core adapter to the unmodified VESC Tool engine. No hardware transport +// is admitted by this executable. Input is one archived snapshot on stdin. +#include "config_export.h" + +int main(int argc, char **argv) { + // This application never calls connectSerial/connectTcp/connectBle or starts + // a Qt event loop. Upstream timers therefore cannot reconnect or poll. + qputenv("QT_QPA_PLATFORM", "offscreen"); + QApplication app(argc, argv); + QCoreApplication::setOrganizationName("MissionCore"); + QCoreApplication::setApplicationName("VescToolOfflineAdapter"); + QJsonObject result{{"schema", "missioncore.vesc.native-offline/v1"}, + {"upstream_commit", "01d5f10901116c311e3fb84d5a1541f663d3ce20"}, + {"upstream_version", QString::number(VT_VERSION, 'f', 2)}, + {"hardware_access", false}}; + try { + require(argc == 1, "No command-line transport or operation arguments are accepted"); + QFile input; require(input.open(stdin, QIODevice::ReadOnly), "Cannot read input"); + const auto raw = input.read(1024 * 1024 + 1); + require(!raw.isEmpty() && raw.size() <= 1024 * 1024, "Archive input is empty or too large"); + QJsonParseError parse; + auto document = QJsonDocument::fromJson(raw, &parse); + require(parse.error == QJsonParseError::NoError && document.isObject(), "Invalid archive JSON"); + const auto archive = document.object(); + const auto identity = archive.value("identity").toObject(); + FW_RX_PARAMS fw; + fw.major = identity.value("major").toInt(-1); + fw.minor = identity.value("minor").toInt(-1); + fw.hw = identity.value("hardware").toString(); + fw.isTestFw = identity.value("test_firmware").toInt(-1); + fw.customConfigNum = identity.value("custom_configs").toInt(-1); + const auto uuid = identity.value("uuid").toString(); + require(QRegularExpression("^[0-9a-fA-F]{24}$").match(uuid).hasMatch(), "Invalid archived UUID"); + fw.uuid = QByteArray::fromHex(uuid.toLatin1()); + require(fw.major == 5 && fw.minor == 2 && fw.isTestFw == 0 && fw.customConfigNum == 0 + && identity.value("hardware_type").toInt(-1) == 0, + "Offline acceptance currently admits stable firmware 5.02 only"); + VescInterface vesc; + require(Utility::configLoadLatest(&vesc), "Bundled upstream configuration resources missing"); + auto *commands = vesc.commands(); + // Replay the archived identity through the real firmware negotiation + // signal. The real engine selects bundled schemas and compatibility. + commands->fwVersionReceived(fw); + require(!vesc.isPortConnected(), "Offline adapter unexpectedly connected"); + require(vesc.mcConfig()->getSerializeOrder().size() > 0, "Native schema not selected"); + bool failed = false; + QObject::connect(commands, &Commands::deserializeConfigFailed, + [&](bool, bool) { failed = true; }); + auto motor = archivePacket(archive, "motor", COMM_GET_MCCONF); + auto application = archivePacket(archive, "application", COMM_GET_APPCONF); + // FW 5.02 has fixed-size configurations. Obtain their size through the + // public native serializer; do not reproduce the private schema walker. + VByteArray motorShape, applicationShape; + vesc.mcConfig()->serialize(motorShape); + vesc.appConfig()->serialize(applicationShape); + require(motor.size() == motorShape.size() + 1 && application.size() == applicationShape.size() + 1, + "Archive length differs from the native firmware schema"); + commands->processPacket(motor); + commands->processPacket(application); + require(!failed, "Upstream rejected archived configuration"); + result.insert("motor", exportConfig(vesc.mcConfig(), motor, "MCConfiguration")); + result.insert("application", exportConfig(vesc.appConfig(), application, "APPConfiguration")); + // A disconnected serializer-only probe demonstrates that FW-specific + // detect corrections execute upstream. This byte array goes nowhere. + QByteArray encodedDetect; + QObject::connect(commands, &Commands::dataToSend, [&](QByteArray &data) { + if (!data.isEmpty() && quint8(data.at(0)) == COMM_DETECT_APPLY_ALL_FOC) encodedDetect = data; + }); + commands->detectAllFoc(false, 100.0, 0.0, 0.0, 0.0, 0.0); + require(!encodedDetect.isEmpty() && !vesc.isPortConnected(), "Offline serialization failed"); + result.insert("compatibility", QJsonObject{ + {"legacy_power_loss_correction", commands->getMaxPowerLossBug()}, + {"offline_detect_example_base64", QString::fromLatin1(encodedDetect.toBase64())}, + {"example_requested_power_loss_w", 100.0}, {"transmitted_to_hardware", false}}); + QJsonArray rpmExamples; + QObject::connect(commands, &Commands::dataToSend, [&](QByteArray &data) { + if (!data.isEmpty() && quint8(data.at(0)) == COMM_SET_RPM) + rpmExamples.append(QString::fromLatin1(data.toBase64())); + }); + commands->setRpm(3000); + commands->setRpm(-3000); + require(rpmExamples.size() == 2 && !vesc.isPortConnected(), "Offline signed RPM serialization failed"); + result.insert("offline_signed_rpm_examples_base64", rpmExamples); + result.insert("archive_sha256", sha256(raw)); + result.insert("ok", true); + } catch (const std::exception &error) { + result = QJsonObject{{"schema", "missioncore.vesc.native-offline/v1"}, + {"ok", false}, {"hardware_access", false}, {"error", error.what()}}; + } + QFile output; output.open(stdout, QIODevice::WriteOnly); + output.write(QJsonDocument(result).toJson(QJsonDocument::Compact) + '\n'); + return result.value("ok").toBool() ? 0 : 1; +} diff --git a/plugins/vesc/packaging/70-mission-core-vesc.rules b/plugins/vesc/packaging/70-mission-core-vesc.rules new file mode 100644 index 0000000..faf267d --- /dev/null +++ b/plugins/vesc/packaging/70-mission-core-vesc.rules @@ -0,0 +1,2 @@ +# Exact observed candidate descriptor. Firmware identity is verified by the reader. +SUBSYSTEM=="tty", ATTRS{idVendor}=="0483", ATTRS{idProduct}=="5740", ATTRS{product}=="ChibiOS/RT Virtual COM Port", GROUP="mission-core-vesc", MODE="0660", ENV{ID_MM_DEVICE_IGNORE}="1", ENV{ID_MM_PORT_IGNORE}="1" diff --git a/plugins/vesc/packaging/build_native_probe.py b/plugins/vesc/packaging/build_native_probe.py new file mode 100644 index 0000000..5e5c0e4 --- /dev/null +++ b/plugins/vesc/packaging/build_native_probe.py @@ -0,0 +1,33 @@ +"""Create the deterministic, self-contained native-engine qualification job.""" +import argparse +import hashlib +import json +from pathlib import Path +import zipfile + + +def build(output): + root = Path(__file__).resolve().parents[1] + files = {"__main__.py": (root / "packaging/native_probe.py").read_bytes(), + "offline_main.cpp": (root / "native/offline_main.cpp").read_bytes(), + "config_export.h": (root / "native/config_export.h").read_bytes(), + "engine_main.cpp": (root / "native/engine_main.cpp").read_bytes(), + "native_bundle.py": (root / "packaging/native_bundle.py").read_bytes()} + identity = hashlib.sha256(b"".join(k.encode() + v for k, v in sorted(files.items()))).hexdigest()[:24] + output.mkdir(parents=True, exist_ok=True) + path = output / ("mission-core-vesc-native-probe-" + identity + ".pyz") + with zipfile.ZipFile(path, "w", zipfile.ZIP_DEFLATED) as bundle: + for name, data in files.items(): + entry = zipfile.ZipInfo(name, (2026, 9, 23, 0, 0, 0)) + entry.external_attr = 0o600 << 16 + bundle.writestr(entry, data) + result = {"id": identity, "artifact": str(path.resolve()), + "sha256": hashlib.sha256(path.read_bytes()).hexdigest(), "bytes": path.stat().st_size} + (output / "current-artifact.json").write_text(json.dumps(result, indent=2) + "\n") + return result + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--output", type=Path, required=True) + print(json.dumps(build(parser.parse_args().output))) diff --git a/plugins/vesc/packaging/clear_runtime_cache.py b/plugins/vesc/packaging/clear_runtime_cache.py new file mode 100644 index 0000000..2031f47 --- /dev/null +++ b/plugins/vesc/packaging/clear_runtime_cache.py @@ -0,0 +1,22 @@ +"""Discard only generated VESC bytecode before starting an upgraded profile. + +Deterministic packages reuse file mtimes; a same-size Python source update +can otherwise validate an old timestamp-based pyc, even with python -B. +""" +from pathlib import Path +import shutil +import sys + + +def clear(root): + for cache in root.rglob("__pycache__"): + if cache.is_symlink(): + cache.unlink() + elif cache.is_dir(): + shutil.rmtree(cache) + + +if __name__ == "__main__": + if sys.argv[1:]: + raise ValueError("This installer step accepts no paths or arguments") + clear(Path("/usr/lib/mission-core-vesc")) diff --git a/plugins/vesc/packaging/mission-core-node-vesc-prepare.service b/plugins/vesc/packaging/mission-core-node-vesc-prepare.service new file mode 100644 index 0000000..5460994 --- /dev/null +++ b/plugins/vesc/packaging/mission-core-node-vesc-prepare.service @@ -0,0 +1,8 @@ +[Unit] +Description=Prepare the versioned VESC read profile + +[Service] +Type=oneshot +ExecStart=/usr/bin/python3 -I -B /usr/lib/mission-core-vesc/prepare.py +TimeoutStartSec=90 +UMask=0022 diff --git a/plugins/vesc/packaging/mission-core-vesc.service b/plugins/vesc/packaging/mission-core-vesc.service new file mode 100644 index 0000000..9a04177 --- /dev/null +++ b/plugins/vesc/packaging/mission-core-vesc.service @@ -0,0 +1,37 @@ +[Unit] +Description=Mission Core VESC Tool service +Wants=modprobe@cdc_acm.service +After=systemd-udev-settle.service modprobe@cdc_acm.service + +[Service] +Type=simple +User=mission-core-vesc +Group=mission-core-node +SupplementaryGroups=mission-core-vesc +WorkingDirectory=/usr/lib/mission-core-vesc +ExecStart=/usr/bin/python3 -B -m runtime.server +RuntimeDirectory=mission-core-vesc +RuntimeDirectoryMode=0750 +StateDirectory=mission-core-vesc +StateDirectoryMode=0700 +UMask=0007 +Restart=on-failure +RestartSec=5 +NoNewPrivileges=yes +CapabilityBoundingSet= +AmbientCapabilities= +PrivateNetwork=yes +ProtectSystem=strict +ProtectHome=yes +ProtectKernelTunables=yes +ProtectKernelModules=yes +ProtectControlGroups=yes +RestrictSUIDSGID=yes +RestrictAddressFamilies=AF_UNIX +DevicePolicy=closed +DeviceAllow=char-ttyACM rw +MemoryMax=512M +TasksMax=64 + +[Install] +WantedBy=multi-user.target diff --git a/plugins/vesc/packaging/native-runtime.json b/plugins/vesc/packaging/native-runtime.json new file mode 100644 index 0000000..e155f7f --- /dev/null +++ b/plugins/vesc/packaging/native-runtime.json @@ -0,0 +1,676 @@ +{ + "schema": "missioncore.vesc.native-runtime/v1", + "upstream_version": "7.00", + "upstream_commit": "01d5f10901116c311e3fb84d5a1541f663d3ce20", + "os": "ubuntu-24.04-amd64", + "file": "mission-core-vesc-native-runtime.tar.gz", + "bytes": 50354000, + "sha256": 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"plugins/platforms/libqoffscreen.so": { + "sha256": "f2f19a29e816c7e5c60fd52b9d3c1a214634c38e06cd2ffdf9fc88e9f0c49ffd", + "bytes": 193880 + } + }, + "host_libraries": [ + "ld-linux-x86-64.so.2", + "libc.so.6", + "libdl.so.2", + "libm.so.6", + "libpthread.so.0", + "libresolv.so.2", + "librt.so.1" + ], + "offline_verified": true, + "hardware_qualified": false, + "clean_os_qualified": false +} diff --git a/plugins/vesc/packaging/native_bundle.py b/plugins/vesc/packaging/native_bundle.py new file mode 100644 index 0000000..a0c3b26 --- /dev/null +++ b/plugins/vesc/packaging/native_bundle.py @@ -0,0 +1,95 @@ +"""Bundle an admitted native engine and the actual ELF dependency closure. + +Private, installer-owned Qt runtime; never installs packages on the build host. +The target is Ubuntu 24.04 amd64. Only its glibc family stays a host prerequisite. +""" +import argparse +import hashlib +import json +import os +from pathlib import Path +import re +import shutil +import subprocess +import tarfile + +SYSTEM = {"libc.so.6", "libm.so.6", "libpthread.so.0", "libdl.so.2", "librt.so.1", "libresolv.so.2", "ld-linux-x86-64.so.2"} + + +def build(engine, sysroot, source, output): + output.mkdir(mode=0o700, exist_ok=False) + staging = output / "payload" + (staging / "bin").mkdir(parents=True) + (staging / "lib").mkdir() + (staging / "plugins/platforms").mkdir(parents=True) + binary = staging / "bin/mission-core-vesc-engine" + shutil.copyfile(engine, binary); binary.chmod(0o755) + qtlib = sysroot / "usr/lib/x86_64-linux-gnu" + plugin = qtlib / "qt5/plugins/platforms/libqoffscreen.so" + shutil.copyfile(plugin, staging / "plugins/platforms/libqoffscreen.so") + env = dict(os.environ, LD_LIBRARY_PATH=str(qtlib), LC_ALL="C") + sources = {} + for executable in (engine, plugin): + result = subprocess.run(["/usr/bin/ldd", str(executable)], env=env, capture_output=True, text=True, check=True).stdout + if "not found" in result: raise RuntimeError("Native runtime dependency missing") + for name, path in re.findall(r"^\s*(\S+) => (/[\S]+) \(", result, re.MULTILINE): + if name in SYSTEM: continue + library = Path(path) + if name in sources and sources[name] != library: raise RuntimeError("Conflicting dependency") + sources[name] = library + for name, library in sources.items(): shutil.copyfile(library, staging / "lib" / name) + env.update(LD_LIBRARY_PATH=str(staging / "lib"), QT_PLUGIN_PATH=str(staging / "plugins"), + QT_QPA_PLATFORM="offscreen", XDG_CONFIG_HOME=str(output / "config"), XDG_CACHE_HOME=str(output / "cache")) + # All non-glibc ELF dependencies must now resolve inside the shipped payload. + for executable in (binary, staging / "plugins/platforms/libqoffscreen.so"): + result = subprocess.run(["/usr/bin/ldd", str(executable)], env=env, capture_output=True, text=True, check=True).stdout + if "not found" in result: raise RuntimeError("Bundled native closure incomplete") + for name, path in re.findall(r"^\s*(\S+) => (/[\S]+) \(", result, re.MULTILINE): + if name not in SYSTEM and not Path(path).resolve().is_relative_to(staging): + raise RuntimeError("Undeclared host dependency: " + name) + proc = subprocess.run([str(binary), "--offline"], env=env, input=b'{"id":1,"method":"engine"}\n', + capture_output=True, timeout=15, check=True) + responses = [json.loads(line) for line in proc.stdout.splitlines()] + if len(responses) != 2 or not responses[0]["ready"] or responses[1]["result"]["connected"]: + raise RuntimeError("Bundled engine acceptance failed") + (output / "offline.stdout").write_bytes(proc.stdout) + (output / "offline.stderr").write_bytes(proc.stderr) + (staging / "licenses").mkdir() + shutil.copyfile(source / "LICENSE", staging / "licenses/VESC-Tool-LICENSE") + (staging / "licenses/UPSTREAM-SOURCE.txt").write_text( + "VESC Tool 7.00, unmodified upstream sources and resources:\n" + "https://github.com/vedderb/vesc_tool/tree/01d5f10901116c311e3fb84d5a1541f663d3ce20\n" + "Source archive SHA-256: 4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189\n" + "The process adapter source is included alongside this notice.\n") + for name in ("engine_main.cpp", "config_export.h"): + shutil.copyfile(engine.parent / name, staging / "licenses" / name) + # Preserve dependency notices available in the private signed-package sysroot. + for index, path in enumerate(sorted((sysroot / "usr/share/doc").glob("*/copyright"))): + shutil.copyfile(path, staging / "licenses" / (path.parent.name + ".copyright")) + # Host libraries copied into the closure retain their distribution notices. + for library in sources.values(): + if library.resolve().is_relative_to(sysroot): continue + owner = subprocess.run(["dpkg-query", "-S", str(library)], capture_output=True, text=True) + if owner.returncode: continue + package = owner.stdout.split(": ", 1)[0].split(":", 1)[0] + notice = Path("/usr/share/doc") / package / "copyright" + if notice.is_file(): shutil.copyfile(notice, staging / "licenses" / (package + ".copyright")) + metadata = {str(p.relative_to(staging)): {"sha256": hashlib.sha256(p.read_bytes()).hexdigest(), "bytes":p.stat().st_size} + for p in sorted(staging.rglob("*")) if p.is_file()} + archive = output / "mission-core-vesc-native-runtime.tar.gz" + with tarfile.open(archive, "w:gz") as stream: + for path in sorted(staging.rglob("*")): + if path.is_file(): stream.add(path, arcname=str(path.relative_to(staging))) + report = {"schema":"missioncore.vesc.native-runtime/v1", "upstream_version":"7.00", + "upstream_commit":"01d5f10901116c311e3fb84d5a1541f663d3ce20", "os":"ubuntu-24.04-amd64", + "file":archive.name, "bytes":archive.stat().st_size, "sha256":hashlib.sha256(archive.read_bytes()).hexdigest(), + "engine_sha256":hashlib.sha256(binary.read_bytes()).hexdigest(), "files":metadata, + "host_libraries":sorted(SYSTEM), "offline_verified":True, "hardware_qualified":False, + "clean_os_qualified":False} + (output / "bundle.json").write_text(json.dumps(report,indent=2)+"\n") + + +if __name__ == "__main__": + parser=argparse.ArgumentParser() + for name in ("engine","sysroot","source","output"):parser.add_argument("--"+name,type=Path,required=True) + args=parser.parse_args();build(args.engine,args.sysroot,args.source,args.output) diff --git a/plugins/vesc/packaging/native_check.py b/plugins/vesc/packaging/native_check.py new file mode 100644 index 0000000..da34918 --- /dev/null +++ b/plugins/vesc/packaging/native_check.py @@ -0,0 +1,34 @@ +"""Installer acceptance under the service account; never opens a USB device.""" +import hashlib +import json +import os +from pathlib import Path +import subprocess +import tempfile + + +def check(root): + manifest = json.loads((root / "manifest.json").read_text()) + for name, expected in manifest["files"].items(): + path = root / name + if path.is_symlink() or not path.resolve().is_relative_to(root.resolve()): + raise RuntimeError("Untrusted native runtime path") + if path.stat().st_size != expected["bytes"] or hashlib.sha256(path.read_bytes()).hexdigest() != expected["sha256"]: + raise RuntimeError("Native runtime integrity check failed") + with tempfile.TemporaryDirectory(prefix="mission-core-vesc-check-") as temporary: + env = {"PATH":"/usr/bin:/bin", "LANG":"C.UTF-8", "QT_QPA_PLATFORM":"offscreen", + "LD_LIBRARY_PATH":str(root / "lib"), "QT_PLUGIN_PATH":str(root / "plugins"), + "XDG_CONFIG_HOME":temporary, "XDG_CACHE_HOME":temporary} + result = subprocess.run([str(root / "bin/mission-core-vesc-engine"), "--offline"], + env=env, input=b'{"id":1,"method":"engine"}\n', capture_output=True, timeout=15, check=True) + replies = [json.loads(line) for line in result.stdout.splitlines()] + if (len(replies) != 2 or not replies[0]["ready"] or not replies[1]["ok"] + or replies[1]["result"]["hardware_enabled"] or replies[1]["result"]["connected"] + or replies[1]["result"]["commit"] != manifest["upstream_commit"]): + raise RuntimeError("Native engine offline check failed") + print(json.dumps({"ok":True, "upstream_commit":manifest["upstream_commit"], "hardware_access":False})) + + +if __name__ == "__main__": + if os.geteuid() == 0: raise RuntimeError("Run as the VESC service account") + check(Path(__file__).resolve().parent / "native") diff --git a/plugins/vesc/packaging/native_probe.py b/plugins/vesc/packaging/native_probe.py new file mode 100644 index 0000000..c006fc1 --- /dev/null +++ b/plugins/vesc/packaging/native_probe.py @@ -0,0 +1,188 @@ +"""Versioned offline qualification artifact, not a runtime installer. + +Reuse an attested upstream Tool build's object files unchanged. Only the adapter +entry point is compiled. The previous staging, packages and services are untouched. +All inputs, link objects, outputs and checks are hashed in the private report. +""" +import argparse +from datetime import datetime, timezone +import hashlib +import json +import os +from pathlib import Path +import platform +import re +import subprocess +import time +import zipfile + +COMMIT = "01d5f10901116c311e3fb84d5a1541f663d3ce20" +UPSTREAM_SHA256 = "4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189" + + +def digest(path): + return hashlib.sha256(path.read_bytes()).hexdigest() + + +def run(args): + release = platform.freedesktop_os_release() + if os.geteuid() == 0 or (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"): + raise RuntimeError("Unprivileged Ubuntu 24.04 amd64 required") + group = Path("/sys/fs/cgroup") / Path("/proc/self/cgroup").read_text().strip().split("::", 1)[1].lstrip("/") + limit = (group / "memory.max").read_text().strip() + if limit == "max" or int(limit) > 3 * 1024**3: + raise RuntimeError("A bounded user scope with MemoryMax <= 3G is required") + previous = json.loads(args.upstream_report.read_text()) + if previous.get("state") != "complete" or previous.get("source_sha256") != UPSTREAM_SHA256: + raise RuntimeError("Unqualified upstream build") + upstream = Path(previous["binary"]) + if digest(upstream) != previous["binary_sha256"]: + raise RuntimeError("Upstream binary changed") + source = upstream.parents[2] + if source.name != "vesc_tool-" + COMMIT: + raise RuntimeError("Upstream source path mismatch") + os.umask(0o077) + root = args.output.resolve() + root.mkdir(parents=True, mode=0o700, exist_ok=False) + # Paths enter a generated makefile, never a shell command assembled from JSON. + if any(not re.fullmatch(r"[A-Za-z0-9_./-]+", str(p)) for p in (root, source)): + raise RuntimeError("Build paths must be make-safe") + with zipfile.ZipFile(args.artifact) as bundle: + for name in ("offline_main.cpp", "config_export.h", "engine_main.cpp", "native_bundle.py"): + (root / name).write_bytes(bundle.read(name)) + report = {"schema": "missioncore.vesc.native-probe/v1", "state": "running", + "started_at": datetime.now(timezone.utc).isoformat(), "monotonic_started": time.monotonic(), + "source_commit": COMMIT, "artifact_sha256": digest(args.artifact), + "upstream_report_sha256": digest(args.upstream_report), + "adapter_sha256": digest(root / "offline_main.cpp"), + "hardware_access": False, "runtime_installed": False, "system_packages_installed": False, + "jobs": [], "checks": []} + + def publish(): + (root / "report.json").write_text(json.dumps(report, indent=2) + "\n") + + staging = source.parents[1] + qtbase = staging / "sysroot/usr" + env = dict(os.environ, LC_ALL="C", QT_QPA_PLATFORM="offscreen", + LD_LIBRARY_PATH=str(qtbase / "lib/x86_64-linux-gnu"), + QT_PLUGIN_PATH=str(qtbase / "lib/x86_64-linux-gnu/qt5/plugins"), + XDG_CONFIG_HOME=str(root / "config"), XDG_CACHE_HOME=str(root / "cache")) + + def execute(name, command, data=None, expected=0, timeout=60): + start = time.monotonic() + proc = subprocess.run(command, cwd=source, env=env, input=data, + stdout=subprocess.PIPE, stderr=subprocess.PIPE, timeout=timeout) + (root / (name + ".stdout")).write_bytes(proc.stdout) + (root / (name + ".stderr")).write_bytes(proc.stderr) + report["jobs"].append({"id": name, "exit_code": proc.returncode, + "duration_seconds": time.monotonic() - start, + "stdout_sha256": hashlib.sha256(proc.stdout).hexdigest(), + "stderr_sha256": hashlib.sha256(proc.stderr).hexdigest()}) + publish() + if proc.returncode != expected: + raise RuntimeError("Native probe step failed: " + name) + return proc.stdout + + try: + makefile = (source / "Makefile").read_text().replace("\\\n", " ") + match = re.search(r"^OBJECTS\s*=\s*(.+)$", makefile, re.MULTILINE) + if not match: + raise RuntimeError("Upstream link objects missing") + objects = [source / name for name in match.group(1).split() if name != "build/lin/obj/main.o"] + if not 100 < len(objects) < 1000 or any(not p.is_file() for p in objects): + raise RuntimeError("Upstream object inventory incomplete") + report["link_objects"] = [{"file": str(p.relative_to(source)), "sha256": digest(p)} for p in objects] + report["upstream_makefile_sha256"] = digest(source / "Makefile") + target = root / "mission-core-vesc-offline" + wrapper = root / "Makefile.native" + wrapper.write_text( + "include " + str(source / "Makefile") + "\n" + ".PHONY: mission-core-native-probe\n" + "mission-core-native-probe:\n" + "\t$(CXX) -c $(CXXFLAGS) $(INCPATH) -o " + str(root / "offline_main.o") + " " + str(root / "offline_main.cpp") + "\n" + "\t$(LINK) $(LFLAGS) -o " + str(target) + " " + str(root / "offline_main.o") + + " $(filter-out build/lin/obj/main.o,$(OBJECTS)) $(OBJCOMP) $(LIBS)\n") + execute("compile-link", ["/usr/bin/make", "-f", str(wrapper), "mission-core-native-probe"], timeout=180) + report["binary_sha256"] = digest(target) + for index, archive in enumerate(args.archives): + raw = archive.read_bytes() + native = json.loads(execute("archive-%d" % index, [str(target)], raw)) + if not native["ok"] or not native["compatibility"]["legacy_power_loss_correction"]: + raise RuntimeError("Upstream compatibility check failed") + import base64 + packet = base64.b64decode(native["compatibility"]["offline_detect_example_base64"]) + if packet[:2] != bytes([58, 0]) or int.from_bytes(packet[2:6], "big", signed=True) != 50000: + raise RuntimeError("Expected native 5.02 detect correction was not applied") + rpm_packets = [base64.b64decode(p) for p in native["offline_signed_rpm_examples_base64"]] + if (len(rpm_packets) != 2 or any(len(p) != 5 or p[0] != 8 for p in rpm_packets) + or [int.from_bytes(p[1:], "big", signed=True) for p in rpm_packets] != [3000, -3000]): + raise RuntimeError("Upstream signed RPM serialization mismatch") + report["checks"].append({"id": "signed-rpm-serialization-%d" % index, "ok": True}) + report["checks"].append({"id": "native-archive-%d" % index, "ok": True, + "archive_sha256": hashlib.sha256(raw).hexdigest(), + "motor_parameter_count": len(native["motor"]["parameters"]), + "application_parameter_count": len(native["application"]["parameters"]), + "binary_round_trip_exact": True, + "xml_equivalent_by_upstream_comparison": True, + "xml_binary_exact": all(native[k]["xml_round_trip_exact"] for k in ("motor", "application")), + "legacy_power_loss_correction": True}) + # Fail closed on archive corruption and unsupported firmware instead + # of silently presenting the bundled defaults as actual settings. + original = json.loads(raw) + damaged = json.loads(raw); damaged["configs"]["motor"]["sha256"] = "0" * 64 + unknown = json.loads(raw); unknown["identity"]["major"] = 99 + wrong_signature = json.loads(raw) + payload = bytearray(base64.b64decode(original["configs"]["motor"]["payload"])); payload[1] ^= 1 + wrong_signature["configs"]["motor"]["payload"] = base64.b64encode(payload).decode() + wrong_signature["configs"]["motor"]["sha256"] = hashlib.sha256(payload).hexdigest() + truncated = json.loads(raw) + payload = base64.b64decode(original["configs"]["motor"]["payload"])[:-1] + truncated["configs"]["motor"].update(payload=base64.b64encode(payload).decode(), + sha256=hashlib.sha256(payload).hexdigest(), bytes=len(payload)) + for name, value in (("corrupt", damaged), ("unsupported", unknown), ("signature", wrong_signature), ("truncated", truncated)): + rejected = json.loads(execute("%s-%d" % (name, index), [str(target)], json.dumps(value).encode(), expected=1)) + if rejected["ok"] or rejected["hardware_access"]: + raise RuntimeError("Invalid archive was not rejected") + report["checks"].append({"id": "%s-%d" % (name, index), "ok": True}) + for item in report["link_objects"]: + if digest(source / item["file"]) != item["sha256"]: + raise RuntimeError("Upstream objects were modified") + engine = root / "mission-core-vesc-engine" + wrapper.write_text(wrapper.read_text() + + "\n.PHONY: mission-core-native-engine\nmission-core-native-engine:\n" + "\t$(CXX) -c $(CXXFLAGS) $(INCPATH) -o " + str(root / "engine_main.o") + " " + str(root / "engine_main.cpp") + "\n" + "\t$(LINK) $(LFLAGS) -o " + str(engine) + " " + str(root / "engine_main.o") + + " $(filter-out build/lin/obj/main.o,$(OBJECTS)) $(OBJCOMP) $(LIBS)\n") + execute("engine-compile", ["/usr/bin/make", "-f", str(wrapper), "mission-core-native-engine"], timeout=180) + requests = [{"id": 1, "method": "engine"}, {"id": 2, "method": "current", "current_a": 30}, + {"id": 3, "method": "hall_start", "current_a": 5}, {"id": 4, "method": "arbitrary_packet"}] + responses = [json.loads(line) for line in execute("engine-offline", [str(engine), "--offline"], + b"".join(json.dumps(r).encode()+b"\n" for r in requests)).splitlines()] + if (len(responses) != 5 or not responses[0]["ready"] or not responses[1]["ok"] + or any(r["ok"] for r in responses[2:]) or responses[1]["result"]["hardware_enabled"]): + raise RuntimeError("Native engine offline boundary failed") + report["checks"].append({"id": "engine-offline-denies-hardware", "ok": True}) + execute("runtime-bundle", ["/usr/bin/python3", str(root / "native_bundle.py"), + "--engine", str(engine), "--sysroot", str(staging / "sysroot"), "--source", str(source), "--output", str(root / "runtime")], timeout=180) + report["native_runtime"] = json.loads((root / "runtime/bundle.json").read_text()) + report.update(state="complete", binary=str(target), upstream_objects_unchanged=True) + except Exception as error: + report.update(state="error", error=str(error)) + raise + finally: + report["finished_at"] = datetime.now(timezone.utc).isoformat() + report["duration_seconds"] = time.monotonic() - report["monotonic_started"] + publish() + + +def main(): + parser = argparse.ArgumentParser() + parser.add_argument("--artifact", type=Path, required=True) + parser.add_argument("--upstream-report", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + parser.add_argument("--archives", type=Path, nargs="+", required=True) + run(parser.parse_args()) + + +if __name__ == "__main__": + main() diff --git a/plugins/vesc/packaging/payload.py b/plugins/vesc/packaging/payload.py new file mode 100644 index 0000000..c589475 --- /dev/null +++ b/plugins/vesc/packaging/payload.py @@ -0,0 +1,49 @@ +"""The Node release carries this model profile from the first hardware use.""" +from pathlib import Path, PurePosixPath +import hashlib +import json +import tarfile + + +def payload(): + root = Path(__file__).resolve().parents[1] + files = [("usr/lib/mission-core-vesc/runtime/" + p.name, p.read_bytes(), 0o644) + for p in sorted((root / "runtime").glob("*.py"))] + files.extend(("usr/lib/mission-core-vesc/runtime/" + str(p.relative_to(root / "runtime")), p.read_bytes(), 0o644) + for p in sorted((root / "runtime/schemas").rglob("*")) if p.is_file()) + files.append(("usr/lib/mission-core-vesc/runtime/archive.py", + (root.parents[1] / "src/k1link/device_plugins/vesc/archive.py").read_bytes(), 0o644)) + for name in ("mission-core-vesc.service", "mission-core-node-vesc-prepare.service"): + files.append(("usr/lib/systemd/system/" + name, (root / "packaging" / name).read_bytes(), 0o644)) + files.append(("usr/lib/mission-core-vesc/prepare.py", (root / "packaging/prepare.py").read_bytes(), 0o644)) + files.append(("usr/lib/mission-core-vesc/clear_runtime_cache.py", (root / "packaging/clear_runtime_cache.py").read_bytes(), 0o644)) + files.append(("usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules", + (root / "packaging/70-mission-core-vesc.rules").read_bytes(), 0o644)) + manifest = json.loads((root / "packaging/native-runtime.json").read_text()) + bundle = root / "build/native-runtime" / manifest["file"] + data = bundle.read_bytes() + if len(data) != manifest["bytes"] or hashlib.sha256(data).hexdigest() != manifest["sha256"]: + raise ValueError("Native VESC Tool bundle changed") + seen = set() + with tarfile.open(bundle, "r:gz") as archive: + for member in archive.getmembers(): + path = PurePosixPath(member.name) + if (not member.isfile() or path.is_absolute() or ".." in path.parts + or path.as_posix() != member.name or member.name in seen + or member.name not in manifest["files"]): + raise ValueError("Unexpected native payload member") + seen.add(member.name) + expected = manifest["files"][member.name] + if member.size != expected["bytes"] or member.size > 128 * 1024**2: + raise ValueError("Native member size mismatch") + content = archive.extractfile(member).read() + if hashlib.sha256(content).hexdigest() != expected["sha256"]: + raise ValueError("Native member hash mismatch") + mode = 0o755 if member.name.startswith("bin/") else 0o644 + files.append(("usr/lib/mission-core-vesc/native/" + member.name, content, mode)) + if seen != set(manifest["files"]): raise ValueError("Incomplete native payload") + files.append(("usr/lib/mission-core-vesc/native/manifest.json", + (root / "packaging/native-runtime.json").read_bytes(), 0o644)) + files.append(("usr/lib/mission-core-vesc/native_check.py", + (root / "packaging/native_check.py").read_bytes(), 0o644)) + return files diff --git a/plugins/vesc/packaging/prepare.py b/plugins/vesc/packaging/prepare.py new file mode 100644 index 0000000..ebae100 --- /dev/null +++ b/plugins/vesc/packaging/prepare.py @@ -0,0 +1,88 @@ +"""Versioned, idempotent VESC profile; no packages downloaded and no motor I/O.""" + +import fcntl +import hashlib +import json +import os +from pathlib import Path +import platform +import subprocess +import sys +import time +import uuid + +sys.path.insert(0, str(Path(__file__).resolve().parent)) +from runtime.serial import discover +from runtime.service import atomic + +STATE = Path("/var/lib/mission-core-node-profiles/vesc") + + +def prepare(): + if os.geteuid() != 0 or sys.argv[1:]: + raise RuntimeError("Fixed system profile only") + release = platform.freedesktop_os_release() + if (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"): + raise RuntimeError("Ubuntu 24.04 amd64 required") + STATE.mkdir(mode=0o755, parents=True, exist_ok=True) + for directory in (STATE.parent, STATE): + info = directory.lstat() + if directory.is_symlink() or info.st_uid != 0 or info.st_mode & 0o022: + raise RuntimeError("Untrusted profile state") + lock = os.open(STATE / "prepare.lock", os.O_CREAT | os.O_RDWR | os.O_NOFOLLOW, 0o600) + fcntl.flock(lock, fcntl.LOCK_EX | fcntl.LOCK_NB) + report = {"schema": "missioncore.node.device-preparation/v1", "model_id": "vesc.controller", + "version": "0.7.4", "run_id": uuid.uuid4().hex, "started_at": time.time(), + "monotonic_started": time.monotonic(), "state": "running", "steps": []} + + def publish(): + atomic(STATE / "preparation.json", report) + os.chmod(STATE / "preparation.json", 0o644) + + def run(name, label, args): + step = {"id": name, "label": label, "state": "running"} + report["steps"].append(step) + publish() + result = subprocess.run(args, capture_output=True, timeout=45, + env={"PATH": "/usr/sbin:/usr/bin:/sbin:/bin", "LANG": "C.UTF-8"}) + step["state"] = "complete" if result.returncode == 0 else "error" + publish() + if result.returncode: + raise RuntimeError("Не завершён этап: " + label) + + try: + import pwd + try: + pwd.getpwnam("mission-core-vesc") + except KeyError: + run("account", "Подготовка доступа", ["/usr/sbin/adduser", "--system", "--group", "--home", + "/var/lib/mission-core-vesc", "--no-create-home", "--disabled-login", "mission-core-vesc"]) + run("native", "Проверка VESC Tool", ["/usr/sbin/runuser", "-u", "mission-core-vesc", "--", + "/usr/bin/python3", "-I", "/usr/lib/mission-core-vesc/native_check.py"]) + source = Path("/usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules") + rules = source.read_bytes() + report["udev_sha256"] = hashlib.sha256(rules).hexdigest() + target = Path("/etc/udev/rules.d/70-mission-core-vesc.rules") + if target.is_symlink(): + raise RuntimeError("Untrusted udev destination") + target.write_bytes(rules) + target.chmod(0o644) + run("rules", "Настройка USB-доступа", ["/usr/bin/udevadm", "control", "--reload-rules"]) + for i, device in enumerate(discover()): + run("usb" + str(i), "Применение USB-доступа", ["/usr/bin/udevadm", "trigger", "--action=change", + "/sys/class/tty/" + device.tty]) + run("settle", "Проверка USB-доступа", ["/usr/bin/udevadm", "settle", "--timeout=10"]) + run("enable", "Подготовка службы", ["/usr/bin/systemctl", "enable", "mission-core-vesc.service"]) + run("runtime", "Запуск чтения контроллеров", ["/usr/bin/systemctl", "restart", "mission-core-vesc.service"]) + report["state"] = "complete" + except (OSError, RuntimeError, subprocess.SubprocessError) as error: + report.update(state="error", message=str(error)[:300]) + finally: + report["duration_seconds"] = time.monotonic() - report["monotonic_started"] + publish() + os.close(lock) + return report["state"] == "complete" + + +if __name__ == "__main__": + sys.exit(0 if prepare() else 1) diff --git a/plugins/vesc/packaging/tool_build.py b/plugins/vesc/packaging/tool_build.py new file mode 100644 index 0000000..9b2f740 --- /dev/null +++ b/plugins/vesc/packaging/tool_build.py @@ -0,0 +1,188 @@ +"""Unprivileged VESC Tool build spike; never installs packages or opens a device. + +Run in a bounded user systemd scope on Ubuntu 24.04 amd64. APT resolves and +downloads signed Ubuntu packages into this job; dpkg-deb only extracts them. +The output is an engineering build, not an installed or qualified runtime. +""" + +import argparse +import hashlib +import json +import os +from pathlib import Path +import platform +import re +import shutil +import subprocess +import tarfile +import time +from datetime import datetime, timezone + +COMMIT = "01d5f10901116c311e3fb84d5a1541f663d3ce20" +ARCHIVE_SHA256 = "4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189" +DEPS = ( + "qtbase5-dev", "qtbase5-private-dev", "qtdeclarative5-dev", + "qtquickcontrols2-5-dev", "libqt5serialport5-dev", "qtconnectivity5-dev", + "qtpositioning5-dev", "libqt5gamepad5-dev", "libqt5svg5-dev", +) + + +def build(archive, root, dependency_cache=None, resume=None): + if os.geteuid() == 0: + raise RuntimeError("This build must not run as root") + release = platform.freedesktop_os_release() + if (release.get("ID"), release.get("VERSION_ID"), platform.machine()) != ("ubuntu", "24.04", "x86_64"): + raise RuntimeError("Ubuntu 24.04 amd64 required") + assert hashlib.sha256(archive.read_bytes()).hexdigest() == ARCHIVE_SHA256 + group = Path("/sys/fs/cgroup") / Path("/proc/self/cgroup").read_text().strip().split("::", 1)[1].lstrip("/") + limit = (group / "memory.max").read_text().strip() + if limit == "max" or int(limit) > 3 * 1024**3: + raise RuntimeError("Run in a user scope with MemoryMax=3G") + os.umask(0o077) + root.mkdir(mode=0o700, parents=True, exist_ok=False) + root = root.resolve() + report = {"schema": "missioncore.vesc.tool-build/v1", "source_commit": COMMIT, + "source_sha256": ARCHIVE_SHA256, "state": "running", "jobs": [], + "started_at": datetime.now(timezone.utc).isoformat(), "monotonic_started": time.monotonic(), + "hardware_access": False, "system_packages_installed": False, "packages": []} + env = dict(os.environ, LC_ALL="C", DEBIAN_FRONTEND="noninteractive", QT_QPA_PLATFORM="offscreen") + + def publish(): + (root / "report.json").write_text(json.dumps(report, indent=2) + "\n") + + def run(name, args, cwd=None, timeout=600): + job = {"id": name, "state": "running"}; report["jobs"].append(job); publish() + started = time.monotonic() + with (root / (name + ".stdout")).open("wb") as out, (root / (name + ".stderr")).open("wb") as err: + result = subprocess.run(args, cwd=cwd or root, env=env, stdout=out, stderr=err, timeout=timeout) + job.update(state="complete" if result.returncode == 0 else "error", exit_code=result.returncode, + duration_seconds=time.monotonic() - started) + publish() + if result.returncode: + raise RuntimeError("Build step failed: " + name) + return (root / (name + ".stdout")).read_text() + + try: + staging = root + if resume is not None: + previous_raw = (resume / "report.json").read_bytes() + previous = json.loads(previous_raw) + if previous.get("source_sha256") != ARCHIVE_SHA256 or previous.get("error") != "Build step failed: compile": + raise RuntimeError("Only this source's failed compile may resume") + staging = resume.resolve() + report["resume_report_sha256"] = hashlib.sha256(previous_raw).hexdigest() + report["resumed_staging"] = str(staging) + downloads = staging / "packages" + if resume is None: downloads.mkdir() + sysroot = staging / "sysroot" + if resume is None: sysroot.mkdir() + if resume is not None: + report["packages"] = previous["packages"] + for item in report["packages"]: + if hashlib.sha256((downloads / item["file"]).read_bytes()).hexdigest() != item["sha256"]: + raise RuntimeError("Resumed dependency changed") + elif dependency_cache is not None: + previous = json.loads((dependency_cache / "report.json").read_text()) + if previous.get("source_sha256") != ARCHIVE_SHA256 or not previous.get("packages"): + raise RuntimeError("Unqualified dependency cache") + for item in previous["packages"]: + name = item["file"] + if Path(name).name != name or not name.endswith(".deb"): + raise RuntimeError("Invalid cached package name") + package = dependency_cache / "packages" / name + if hashlib.sha256(package.read_bytes()).hexdigest() != item["sha256"]: + raise RuntimeError("Cached dependency changed") + shutil.copyfile(package, downloads / name) + report["dependency_cache_report_sha256"] = hashlib.sha256((dependency_cache / "report.json").read_bytes()).hexdigest() + else: + # Host lists may refer to superseded security packages. Refresh only + # this job's signed Ubuntu indexes; never update /var/lib/apt or invoke + # the host's update hooks (Timescale and other sources are irrelevant). + aptdir = root / "apt"; aptdir.mkdir() + for name in ("lists", "lists/partial", "archives", "archives/partial"): + (aptdir / name).mkdir(exist_ok=True) + sources = aptdir / "sources.list" + sources.write_text("".join( + "deb [signed-by=/usr/share/keyrings/ubuntu-archive-keyring.gpg] " + url + " " + suite + " main universe\n" + for url, suite in (("https://archive.ubuntu.com/ubuntu", "noble"), + ("https://archive.ubuntu.com/ubuntu", "noble-updates"), + ("https://security.ubuntu.com/ubuntu", "noble-security")))) + config = aptdir / "apt.conf" + config.write_text( + 'Dir::Etc::Parts "-";\nDir::Etc::main "-";\n' + 'Dir::Etc::sourceparts "-";\nDir::Etc::sourcelist "' + str(sources) + '";\n' + 'Dir::State::lists "' + str(aptdir / "lists") + '";\n' + 'Dir::Cache::archives "' + str(aptdir / "archives") + '";\n' + 'Dir::Cache::pkgcache "";\nDir::Cache::srcpkgcache "";\n' + 'Acquire::Languages "none";\nDebug::NoLocking "true";\n' + '#clear APT::Update::Post-Invoke;\n#clear APT::Update::Post-Invoke-Success;\n') + env["APT_CONFIG"] = str(config) + apt = ["/usr/bin/apt-get"] + run("private-indexes", [*apt, "update"]) + plan = run("dependencies-plan", [*apt, "--simulate", "--no-install-recommends", "--no-remove", "install", *DEPS]) + packages = re.findall(r"^Inst (\S+)(?: \[[^\]]+\])? \((\S+)", plan, re.MULTILINE) + if not packages or len(packages) > 150: + raise RuntimeError("Unexpected dependency plan; inspect before changing profile") + for index, (name, version) in enumerate(packages): + # apt-get download verifies the archive against the host's trusted + # repository metadata. No maintainer script or package install runs. + run("download-%03d" % index, [*apt, "download", name + "=" + version], downloads) + for index, package in enumerate(sorted(downloads.glob("*.deb")) if resume is None else []): + report["packages"].append({"file": package.name, "sha256": hashlib.sha256(package.read_bytes()).hexdigest()}) + run("extract-%03d" % index, ["/usr/bin/dpkg-deb", "--extract", str(package), str(sysroot)]) + source = staging / "source" + if resume is None: + source.mkdir() + with tarfile.open(archive) as stream: + stream.extractall(source, filter="data") + source = source / ("vesc_tool-" + COMMIT) + qtbase = sysroot / "usr" + # APT omits already-installed runtime packages. Complete the private + # development symlinks from declared host libraries, recording provenance. + report["host_libraries"] = [] + for name in ("libGL.so.1", "libGLX.so.0", "libGLU.so.1"): + target = qtbase / "lib/x86_64-linux-gnu" / name + host = Path("/usr/lib/x86_64-linux-gnu") / name + if not target.exists() and host.exists(): + shutil.copyfile(host, target) + report["host_libraries"].append({"source": str(host.resolve()), "sha256": hashlib.sha256(host.read_bytes()).hexdigest()}) + qtarch = qtbase / "lib/x86_64-linux-gnu/qt5" + qtbin = qtbase / "lib/qt5/bin" + qtconfig = "[Paths]\nPrefix=" + str(qtbase) + "\n" + "\n".join( + name + "=" + str(path) for name, path in { + "Headers": qtbase / "include/x86_64-linux-gnu/qt5", + "Libraries": qtbase / "lib/x86_64-linux-gnu", "ArchData": qtarch, + "HostData": qtarch, "Binaries": qtbin, "HostBinaries": qtbin, + "Plugins": qtarch / "plugins", "Qml2Imports": qtarch / "qml", + "Data": qtbase / "share/qt5", + }.items()) + "\n" + (qtbin / "qt.conf").write_text(qtconfig) + env["LD_LIBRARY_PATH"] = str(qtbase / "lib/x86_64-linux-gnu") + env["QT_PLUGIN_PATH"] = str(qtarch / "plugins") + env["PKG_CONFIG_LIBDIR"] = str(qtbase / "lib/x86_64-linux-gnu/pkgconfig") + env["PKG_CONFIG_SYSROOT_DIR"] = str(sysroot) + run("qmake", [str(qtbin / "qmake"), "-config", "release", "CONFIG += release_lin build_original exclude_fw", + "VT_GIT_COMMIT=" + COMMIT[:8], "INCLUDEPATH += " + str(qtbase / "include") + " " + str(qtbase / "include/x86_64-linux-gnu"), + "QMAKE_LIBDIR += " + str(qtbase / "lib/x86_64-linux-gnu")], source) + run("compile", ["/usr/bin/make", "-j2"], source, timeout=1800) + binary = source / "build/lin/vesc_tool_7.00" + result = run("version", [str(binary), "--version"], source, timeout=30) + report.update(state="complete", binary=str(binary), binary_sha256=hashlib.sha256(binary.read_bytes()).hexdigest(), + version_output=result, runtime_installed=False, hardware_qualified=False) + except Exception as error: + report.update(state="error", error=str(error)) + raise + finally: + report["duration_seconds"] = time.monotonic() - report["monotonic_started"] + report["finished_at"] = datetime.now(timezone.utc).isoformat() + publish() + + +if __name__ == "__main__": + parser = argparse.ArgumentParser() + parser.add_argument("--source", type=Path, required=True) + parser.add_argument("--output", type=Path, required=True) + parser.add_argument("--dependencies", type=Path) + parser.add_argument("--resume", type=Path) + args = parser.parse_args() + build(args.source.resolve(), args.output, args.dependencies, args.resume) diff --git a/plugins/vesc/runtime/__init__.py b/plugins/vesc/runtime/__init__.py new file mode 100644 index 0000000..5cf8079 --- /dev/null +++ b/plugins/vesc/runtime/__init__.py @@ -0,0 +1,5 @@ +"""Onboard VESC discovery, archive and bounded motor identification service.""" + +VERSION = "0.7.4" +MODEL = "vesc.controller" +SCHEMA = "missioncore.nodedc/plugin-sdk/v0alpha2" diff --git a/plugins/vesc/runtime/configuration.py b/plugins/vesc/runtime/configuration.py new file mode 100644 index 0000000..68ccfab --- /dev/null +++ b/plugins/vesc/runtime/configuration.py @@ -0,0 +1,46 @@ +"""Exact, read-only firmware configuration decoder. Never serializes a write.""" +import math +from pathlib import Path +import struct +import xml.etree.ElementTree as ET + + +def crc32c(data): + value = 0xffffffff + for byte in data: + value ^= byte + for _ in range(8): + value = (value >> 1) ^ (0x82f63b78 if value & 1 else 0) + return value ^ 0xffffffff + + +def decode(data, kind): + code, name = {"motor": (14, "mcconf"), "application": (17, "appconf")}[kind] + xml = ET.parse(Path(__file__).parent / "schemas/5.02" / ("parameters_" + name + ".xml")).getroot() + params = {p.tag: p for p in xml.find("Params")} + order = [p.text for p in xml.find("SerOrder")] + signature = "".join(n + params[n].findtext("type", "0") + params[n].findtext("vTx", "0") + + "".join(x.text or "" for x in params[n].findall("enumNames")) for n in order) + if len(data) < 5 or data[0] != code or int.from_bytes(data[1:5], "big") != crc32c(signature.encode()): + raise ValueError("Configuration signature differs from firmware 5.02 schema") + offset, result = 5, {} + for name in order: + p = params[name]; kind = int(p.findtext("type")); tx = int(p.findtext("vTx", "0")) + if kind in (4, 5): fmt = "b" + elif kind == 6: fmt = "B" + elif kind == 2: fmt = {1: "B", 2: "b", 3: "H", 4: "h", 5: "I", 6: "i"}[tx] + elif kind == 1: fmt = {7: "h", 8: "i", 9: "I"}[tx] + else: raise ValueError("Unsupported configuration type") + size = struct.calcsize(">" + fmt) + if offset + size > len(data): raise ValueError("Truncated configuration") + value = struct.unpack_from(">" + fmt, data, offset)[0]; offset += size + if kind == 1: + if tx == 9: + exponent, fraction = (value >> 23) & 255, value & 0x7fffff + part = fraction / 16777216.0 + 0.5 if exponent or fraction else 0.0 + value = math.ldexp(-part if value & 0x80000000 else part, exponent - 126) + else: value /= float(p.findtext("vTxDoubleScale", "1")) + if not math.isfinite(value): raise ValueError("Non-finite parameter") + result[name] = value + if offset != len(data): raise ValueError("Unexpected configuration tail") + return result diff --git a/plugins/vesc/runtime/drive_profile.py b/plugins/vesc/runtime/drive_profile.py new file mode 100644 index 0000000..b2b8503 --- /dev/null +++ b/plugins/vesc/runtime/drive_profile.py @@ -0,0 +1,54 @@ +"""Owner-assigned drive slots, independent of USB addresses and motor commands.""" +import json + +LAYOUTS = {"1x1": ("left.1", "right.1"), "2x2": ("left.1", "left.2", "right.1", "right.2")} + +def slot_label(layout, slot): + side = "Левый" if slot.startswith("left.") else "Правый" + return side + ((" передний" if slot.endswith(".1") else " задний") if layout == "2x2" else "") + + +class DriveProfile: + def __init__(self, root, atomic): + self.path, self.atomic = root / "drive-profile.json", atomic + self.value = json.loads(self.path.read_text()) if self.path.exists() else {"layout": None, "revision": 0, "bindings": {}} + + def update(self, action, params, device): + current = self.value + if params["revision"] != current["revision"]: + raise ValueError("Профиль привода изменился. Обновите карточку.") + bindings = dict(current["bindings"]) + layout = current["layout"] + if action == "vesc.drive.layout": + layout = params["layout"] + if set(bindings) - set(LAYOUTS[layout]): + raise ValueError("Сначала снимите назначения задних моторов.") + elif action == "vesc.drive.assign": + layout, slot = params["layout"], params["slot"] + if set(bindings) - set(LAYOUTS[layout]): + raise ValueError("Сначала снимите назначения задних моторов.") + if slot and slot in bindings and bindings[slot]["device_id"] != device.id: + raise ValueError("Это место уже занято. Сначала снимите прежнее назначение.") + bindings = {key: value for key, value in bindings.items() if value["device_id"] != device.id} + if slot: + bindings[slot] = {"device_id": device.id, "uuid": device.identity["uuid"]} + else: + bindings.pop(params["slot"], None) + value = {"layout": layout, "revision": current["revision"] + 1, "bindings": bindings} + self.atomic(self.path, value) + self.value = value + return value + + +def validate(action, params): + keys = {"revision", "layout"} if action == "vesc.drive.layout" else ({"revision", "layout", "slot"} if action == "vesc.drive.assign" else {"revision", "slot"}) + if set(params) != keys or type(params["revision"]) is not int or params["revision"] < 0: + raise ValueError("Invalid drive profile revision") + if action == "vesc.drive.layout": + if params["layout"] not in LAYOUTS: + raise ValueError("Invalid drive layout") + elif action == "vesc.drive.assign": + if params["layout"] not in LAYOUTS or params["slot"] not in ("", *LAYOUTS[params["layout"]]): + raise ValueError("Invalid drive layout or slot") + elif params["slot"] not in LAYOUTS["2x2"]: + raise ValueError("Invalid drive slot") diff --git a/plugins/vesc/runtime/foc_calibration.py b/plugins/vesc/runtime/foc_calibration.py new file mode 100644 index 0000000..bd5e16e --- /dev/null +++ b/plugins/vesc/runtime/foc_calibration.py @@ -0,0 +1,157 @@ +"""Transaction lifecycle around unchanged upstream Utility::detectAllFoc. + +No FOC algorithm or wire writes here. Native firmware owns this non-interruptible +cycle; a pending marker survives any uncertain completion and prevents replay. +""" +import base64 +import hashlib +import json +import os +import re +import uuid + +from .protocol import firmware, values +from .configuration import decode +from .receiver import neutral_band + + +def fresh_values(owner, devices): + # FW 5.02 GET_VALUES reads AND resets accumulated average current. The + # first reply after a quiet 30 s calibration includes the entire cycle. + # Drain it, then measure a new bounded interval after the release command. + for device in devices: + values(device.link.query(4, timeout=0.2)) + owner.sleep(0.25) + return {device.id: values(device.link.query(4, timeout=0.2)) for device in devices} + + +def remove_pending(pending): + pending.unlink() + fd = os.open(pending.parent, os.O_RDONLY) + try: os.fsync(fd) + finally: os.close(fd) + + +def reconcile(owner, devices): + """Explicit neutral-return recovery, never calibration or config replay. + + Admits only a previously completed/verified native receipt, exact archived + post-configs for every peer, stable identity, neutral PPM and fresh idle + telemetry. Unknown native completion always remains blocked. + """ + if any(device.link is None for device in devices): raise ValueError("Controller disconnected") + pending = owner.service.root / "calibration-pending.json" + record = json.loads(pending.read_text()) + operation = record.get("operation_id", "") + if not re.fullmatch(r"op_[0-9a-f]{32}", operation): raise ValueError("Invalid pending operation") + receipt = json.loads((owner.service.root / (operation + ".json")).read_text())["receipt"] + result = receipt.get("result", {}) + native = result.get("native", {}) + if not (receipt.get("state") == "complete" and result.get("completed") is True + and result.get("configuration_verified") is True and native.get("validated") is True): + raise ValueError("Native completion/configuration is unconfirmed") + expected = {} + for identifier in result.get("after_backups", []): + if not re.fullmatch(r"op_[0-9a-f]{32}", identifier): raise ValueError("Invalid backup identity") + backup = json.loads((owner.service.root / ("backup_" + identifier + ".json")).read_text()) + if backup.get("parent_operation_id") != operation or backup["device_id"] in expected: + raise ValueError("Calibration backup ownership differs") + expected[backup["device_id"]] = backup + if set(expected) != {d.id for d in devices}: raise ValueError("Controller set changed") + for device in devices: + backup = expected[device.id] + if firmware(device.link.query(0)) != backup["identity"]: raise ValueError("Controller identity changed") + for kind, code in (("motor",14),("application",17)): + actual = device.link.query(code) + if actual != base64.b64decode(backup["configs"][kind]["payload"], validate=True): + raise ValueError("Post-calibration configuration changed") + if kind == "application": + owner.receiver_bands[device.id] = neutral_band(decode(actual, kind)) + owner.neutral(devices) + after = fresh_values(owner, devices) + if any(abs(v["motor_current_a"]) > 1 or abs(v["erpm"]) > 30 or abs(v["duty"]) > .01 or v["fault_code"] != 0 for v in after.values()): + raise ValueError("Fresh idle state unconfirmed") + evidence = {"operation_id": operation, "observed_at": owner.utc(), "after": after, + "configuration_verified": True, "release_confirmed": True, "calibration_replayed": False} + owner.atomic(owner.service.root / ("calibration_recovered_" + operation + ".json"), evidence) + remove_pending(pending) + return evidence + + +def archive_after(owner, command, device, configs): + identifier = "op_" + uuid.uuid4().hex + backup = {"schema": "missioncore.vesc.config-backup/v1", "device_id": device.id, + "identity": device.identity, "operation_id": identifier, + "parent_operation_id": command["operation_id"], "observed_at": owner.utc(), + "monotonic_at": owner.monotonic(), "decoded": False, + "configs": {kind: {"encoding": "base64", "payload": base64.b64encode(raw).decode(), + "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(), "signature_hex": raw[1:5].hex()} + for kind, raw in configs.items()}} + owner.atomic(owner.service.root / ("backup_" + identifier + ".json"), backup) + owner.service.archive.add("local", backup) + device.backup = {"observed_at": backup["observed_at"], "operation_id": identifier, + "configs": {k: {"bytes": v["bytes"], "sha256": v["sha256"]} for k, v in backup["configs"].items()}} + return identifier + + +def calibrate(owner, command, devices, target, originals, backups, unchanged): + pending = owner.service.root / "calibration-pending.json" + owner.atomic(pending, {"device_id": target.id, "identity": target.identity, + "started_at": owner.utc(), "operation_id": command["operation_id"], "backups": backups}) + owner.state("calibrating") + owner.active, owner.mode = True, "foc" + started = owner.monotonic() + native, after, issues, saved = {}, {}, [], [] + verified, attempted = False, False + try: + unchanged() + owner.neutral(devices) + if owner.stop.is_set(): raise ValueError("Cancelled before calibration") + # Do not renew a 250 ms lease over the upstream 180 s calibration lease. + # No host current/RPM or configuration command is sent while it runs. + for device in devices: device.link.test_command("release") + attempted = True + target.link.calibrate_foc(command["parameters"]["max_power_loss_w"]) + while owner.monotonic() - started < 225: + unchanged() + state = target.link.procedure_result() + if not state.get("running"): + native = state.get("result", {}) + if state.get("uncertain"): issues.append("native_postcondition_unconfirmed") + break + if owner.stop.is_set() and "stop_requested_during_native_cycle" not in issues: + issues.append("stop_requested_during_native_cycle") + owner.sleep(0.5) + if not native.get("completed"): issues.append("native_completion_unconfirmed") + except (OSError, ValueError, TimeoutError): + issues.append("communication_unconfirmed") + finally: + for device in devices: + try: device.link.test_command("release") + except (OSError, ValueError, TimeoutError): issues.append("release_unconfirmed") + owner.sleep(0.5) + try: after = fresh_values(owner, devices) + except (OSError, ValueError, TimeoutError): after = {device.id: None for device in devices} + released = all(v is not None and abs(v["motor_current_a"]) <= 1 and abs(v["duty"]) <= .01 for v in after.values()) + if not attempted or native.get("completed"): + try: + unchanged() + for device in devices: + if firmware(device.link.query(0)) != device.identity: raise ValueError("Identity changed") + configs = {kind: device.link.query(code) for kind, code in (("motor",14),("application",17))} + saved.append(archive_after(owner, command, device, configs)) + if configs["application"] != originals[device.id]["application"]: raise ValueError("Receiver config changed") + if (device is not target or not attempted or not native.get("success")) and configs["motor"] != originals[device.id]["motor"]: + raise ValueError("Unchanged/restored motor config differs") + verified = not attempted or native.get("validated") is True + except (OSError, ValueError, TimeoutError): issues.append("configuration_unconfirmed") + if verified and released: + remove_pending(pending) + if not owner.latched: owner.state("ready") + else: owner.state("rc") + owner.active, owner.mode = False, None + return {"observed_at": owner.utc(), "device_id": target.id, "procedure": "native_foc_calibration", + "elapsed_s": owner.monotonic() - started, "completed": native.get("completed", False), + "success": bool(native.get("success") and verified and released), "native": native, + "configuration_verified": verified, "release_confirmed": released, "after": after, + "issues": issues, "backups": backups, "after_backups": saved} diff --git a/plugins/vesc/runtime/group_test.py b/plugins/vesc/runtime/group_test.py new file mode 100644 index 0000000..618a8f6 --- /dev/null +++ b/plugins/vesc/runtime/group_test.py @@ -0,0 +1,135 @@ +"""One local, bounded speed test for the complete owner-assigned drive profile.""" +from concurrent.futures import ThreadPoolExecutor + +from .drive_profile import LAYOUTS +from .protocol import ppm, values, TEST_LIMITS +from .speed_hold import SpeedHold + + +def targets(service, params, devices, selected): + profile = service.drive.value + bindings = profile["bindings"] + slots = LAYOUTS.get(profile["layout"], ()) + if (not slots or params["profile_revision"] != profile["revision"] + or set(bindings) != set(slots)): + raise ValueError("Профиль изменился или не все моторы назначены.") + ids = [bindings[slot]["device_id"] for slot in slots] + if len(set(ids)) != len(ids) or set(params["device_ids"]) != set(ids) or selected.id not in ids: + raise ValueError("Состав проверяемого привода не совпадает с профилем.") + available = {device.id: device for device in devices} + if any(identifier not in available for identifier in ids): + raise ValueError("Один из назначенных моторов отключён.") + if any(available[b["device_id"]].identity["uuid"] != b["uuid"] for b in bindings.values()): + raise ValueError("Идентичность назначенного VESC изменилась.") + return [available[identifier] for identifier in ids] + + +def batch(pool, devices, function): + # Join every submitted call before propagating an error: no late worker may + # issue torque after the caller has already released the other controllers. + futures = [(device.id, pool.submit(function, device)) for device in devices] + result, errors = {}, [] + for identifier, future in futures: + try: result[identifier] = future.result() + except (OSError, ValueError, TimeoutError) as error: + error.device_id = identifier + errors.append(error) + if errors: raise errors[0] + return result + + +def run(owner, command, devices, moving, originals, backups, unchanged, preflight): + from .motor_test import Rejected, check_values + params = command["parameters"] + duration, erpm, current_a = (params[key] for key in ("duration_s", "erpm", "current_a")) + ids = {device.id for device in moving} + motors, samples, after, cleanup = {}, [], {}, {} + restored, failure, rotation, previous_good = True, None, 0.0, False + outcome, claimed, started, previous = "duration", False, owner.monotonic(), owner.monotonic() + stalls = {} + owner.state("testing") + owner.active, owner.mode = True, "group_speed" + with ThreadPoolExecutor(max_workers=min(16, len(devices)), thread_name_prefix="vesc-drive") as pool: + try: + for device in moving: + motors[device.id] = owner.limits.apply(device, originals[device.id]["motor"], current_a) + started = previous = owner.monotonic() + holds = {device.id: SpeedHold(erpm, duration, started) for device in moving} + while owner.monotonic() - started < duration + 20: + cycle = owner.monotonic() + if owner.stop.is_set(): outcome = "stopped"; break + unchanged() + def read(device): + level = ppm(device.link.query(31, timeout=.06))["level"] + value = values(device.link.query(4, timeout=.06)) if device.id in ids else None + return level, value + observed = batch(pool, devices, read) + if any(owner.receiver_active(identifier, level) for identifier, (level, _) in observed.items()): + owner.state("rc") + raise Rejected("Приёмник передаёт команду. Общая проверка остановлена; управление за пультом.") + now = owner.monotonic() + readings = {identifier: observed[identifier][1] for identifier in ids} + setpoint = None + for identifier, value in readings.items(): + check_values(value, moving=True, current_a=current_a, motor=motors[identifier]) + setpoint, _, error = holds[identifier].update(now, value) + if error: raise Rejected(error) + if abs(value["motor_current_a"]) > TEST_LIMITS["stall_current_a"]: + at, tacho = stalls.setdefault(identifier, (now, value["tachometer"])) + if abs(value["erpm"]) >= 60 and abs(value["tachometer"] - tacho) >= 3: + stalls[identifier] = (now, value["tachometer"]) + elif now - at >= TEST_LIMITS["stall_timeout_s"]: + raise Rejected("Один из моторов не движется при токе выше 5 А. Общая проверка остановлена.") + else: stalls.pop(identifier, None) + good = all(h.hold_started is not None and h.previous_good for h in holds.values()) + delta = now - previous + if good and previous_good and delta <= .25: rotation += delta + previous, previous_good = now, good + sample = {"at": now-started, "devices": readings, "rotation_s": rotation, + "phase": "holding" if good else "accelerating", "commanded_erpm": None} + samples.append(sample) + if rotation >= duration: break + if owner.monotonic()-cycle > .12: raise Rejected("Связь слишком медленная для общей проверки.") + claimed = True + batch(pool, devices, lambda d: d.link.test_command("claim")) + if owner.stop.is_set(): outcome = "stopped"; break + if owner.monotonic()-cycle > .16: raise Rejected("Связь слишком медленная для общей проверки.") + def send(device): + if owner.stop.is_set(): return + if device.id in ids: device.link.test_speed(setpoint) + else: device.link.test_command("release") + sent_at = owner.monotonic() + batch(pool, devices, send) + sample.update(commanded_erpm=setpoint, command_batch_s=owner.monotonic()-sent_at) + owner.sleep(max(0, .1-(owner.monotonic()-cycle))) + if outcome == "duration" and rotation < duration: + outcome = "Общий срок проверки истёк; заданное время совместного вращения не набрано." + except (OSError, ValueError, TimeoutError) as error: + failure = {"type": type(error).__name__, "message": str(error), "elapsed_s": owner.monotonic()-started} + failure["device_id"] = getattr(error, "device_id", None) + failure["native_rpc"] = getattr(error, "native_rpc", None) + failure["native_history"] = getattr(error, "native_history", []) + outcome = str(error) if isinstance(error, Rejected) else "Ответ одного из VESC не получен вовремя. Общая проверка остановлена." + finally: + def release(device): + try: + device.link.test_command("release") + return "zero_current_sent" + except (OSError, ValueError, TimeoutError): return "unconfirmed" + if claimed: cleanup = batch(pool, devices, release) + owner.sleep(.3) + for device in devices: + try: after[device.id] = values(device.link.query(4, timeout=.2)) + except (OSError, ValueError, TimeoutError): after[device.id] = None + confirmed = all(v is not None and abs(v["motor_current_a"]) <= 1 for v in after.values()) + for device in moving: + try: owner.limits.restore(device) + except (OSError, ValueError, TimeoutError): restored = False + if not confirmed or not restored: owner.state("rc") + elif not owner.latched: owner.state("ready") + owner.active, owner.mode = False, None + return {"observed_at": owner.utc(), "device_ids": [d.id for d in moving], "mode": "group_speed", + "preflight": preflight, "profile_revision": params["profile_revision"], "current_a": current_a, "erpm_target": erpm, + "duration_limit_s": duration, "rotation_s": rotation, "outcome": outcome, "failure": failure, + "samples": samples, "release": cleanup, "release_confirmed": confirmed, + "limits_restored": restored, "after": after, "backups": backups} diff --git a/plugins/vesc/runtime/hall_detection.py b/plugins/vesc/runtime/hall_detection.py new file mode 100644 index 0000000..c2b79e4 --- /dev/null +++ b/plugins/vesc/runtime/hall_detection.py @@ -0,0 +1,99 @@ +"""Native FW 5.02 Hall measurement used by VESC Tool (COMM_DETECT_HALL_FOC). + +This is a non-interruptible ~12 s firmware procedure: it locks mc_interface, +overrides phase, sweeps three electrical turns in each direction and restores +its prior RAM configuration. A host stop/current-zero cannot cancel the sweep. +No table is applied here; measurements are archived in the operation receipt. +""" +from .configuration import decode +from .protocol import values, ppm + + +def parse_result(raw): + if len(raw) != 10 or raw[0] != 28 or raw[9] not in (0, 1): + raise ValueError("Invalid Hall result") + table = list(raw[1:9]) + if any(v > 200 and v != 255 for v in table): raise ValueError("Invalid Hall angle") + observed = [i for i, v in enumerate(table) if v != 255] + return {"firmware_success": raw[9] == 0, "hall_table": table, + "observed_states": observed, "valid_six_states": raw[9] == 0 and len(observed) == 6} + + +def measure(owner, devices, target, original, backups, unchanged, preflight): + motor = decode(original, "motor") + if motor["m_sensor_port_mode"] != 0: + from .motor_test import Rejected + raise Rejected("Вход датчиков выбран не в режиме Холла.") + pending = owner.service.root / "hall-pending.json" + owner.atomic(pending, {"device_id": target.id, "identity": target.identity, + "started_at": owner.utc(), "backups": backups}) + owner.state("calibrating") + owner.active, owner.mode = True, "hall" + started = owner.monotonic() + samples, issues, result, after = [], [], None, {} + completed, restored, attempted = False, False, False + try: + unchanged() + owner.neutral(devices) + # Do not enter the native procedure if Stop arrived during preflight. + if owner.stop.is_set(): raise ValueError("Measurement cancelled before start") + for device in devices: device.link.test_command("claim") + attempted = True + target.link.detect_hall() + while owner.monotonic() - started < 30: + cycle = owner.monotonic() + try: + unchanged() + for device in devices: + incoming = ppm(device.link.query(31, timeout=0.06)) + if owner.receiver_active(device.id, incoming["level"]): + owner.state("rc") + if "rc_during_native_cycle" not in issues: issues.append("rc_during_native_cycle") + sample = values(target.link.query(4, timeout=0.06)) + samples.append({"at": owner.monotonic() - started, "values": sample}) + for device in devices: device.link.test_command("claim") + for device in devices: + if device is not target: device.link.test_command("release") + except (OSError, ValueError, TimeoutError): + if "communication_unconfirmed" not in issues: issues.append("communication_unconfirmed") + if owner.stop.is_set() and "stop_requested_during_native_cycle" not in issues: + issues.append("stop_requested_during_native_cycle") + reply = target.link.hall_result + if reply is not None: + result = parse_result(reply) + completed = True + break + owner.sleep(max(0, 0.1 - (owner.monotonic() - cycle))) + except (OSError, ValueError, TimeoutError): + issues.append("native_completion_unconfirmed") + finally: + # Zero is a release AFTER completion, never a claim that native detect + # is interruptible. Peers also receive release if the target disappears. + for device in devices: + try: device.link.test_command("release") + except (OSError, ValueError, TimeoutError): issues.append("release_unconfirmed") + owner.sleep(0.3) + for device in devices: + try: after[device.id] = values(device.link.query(4, timeout=0.1)) + except (OSError, ValueError, TimeoutError): after[device.id] = None + if completed or not attempted: + target.link.hall_pending = False + try: restored = target.link.query(14) == original + except (OSError, ValueError, TimeoutError): pass + released = all(v is not None and abs(v["motor_current_a"]) <= 1 for v in after.values()) + if (completed or not attempted) and restored and released: + pending.unlink() + import os + fd = os.open(pending.parent, os.O_RDONLY) + try: os.fsync(fd) + finally: os.close(fd) + if not owner.latched: owner.state("ready") + else: + owner.state("rc") + owner.active, owner.mode = False, None + return {"observed_at": owner.utc(), "device_id": target.id, "procedure": "native_foc_hall", + "preflight": preflight, + "current_a": 5, "elapsed_s": owner.monotonic() - started, + "completed": completed, "measurement": result, "issues": issues, + "configuration_restored": restored, "configuration_written": False, + "release_confirmed": released, "after": after, "samples": samples, "backups": backups} diff --git a/plugins/vesc/runtime/limits_view.py b/plugins/vesc/runtime/limits_view.py new file mode 100644 index 0000000..350682a --- /dev/null +++ b/plugins/vesc/runtime/limits_view.py @@ -0,0 +1,18 @@ +"""Read controller settings using the bundled upstream VESC Tool decoder.""" +import math + +FIELDS = frozenset({"l_current_max", "l_current_min", "l_current_max_scale", "l_current_min_scale", + "l_in_current_max", "l_in_current_min", "l_min_erpm", "l_max_erpm", "l_max_duty", + "l_watt_max", "l_watt_min", "si_motor_poles", "si_gear_ratio", "si_wheel_diameter"}) + + +def read_limits(link): + configuration = link.configuration() + result = {} + for parameter in configuration["motor"]["parameters"]: + name, value = parameter["name"], parameter.get("value") + if name in FIELDS and type(value) in (int, float) and math.isfinite(value): + result[name] = value + if set(result) != FIELDS: + raise ValueError("Native configuration is missing limit fields") + return result diff --git a/plugins/vesc/runtime/link_check.py b/plugins/vesc/runtime/link_check.py new file mode 100644 index 0000000..7ac3cf6 --- /dev/null +++ b/plugins/vesc/runtime/link_check.py @@ -0,0 +1,99 @@ +"""Bounded idle transport measurement through the installed native owners. + +Only application/PPM/telemetry reads, no leases, motor commands or configuration writes. +The 500 ms diagnostic deadline observes replies beyond the 60 ms motor budget; +it never relaxes the motor-control deadline or authorizes powered operation. +""" +from concurrent.futures import ThreadPoolExecutor +from contextlib import ExitStack +from datetime import datetime, timezone +import math +import time + +from .protocol import ppm, values +from .configuration import decode +from .receiver import active, neutral_band + + +def summary(samples): + times = sorted(s["elapsed_ms"] for s in samples) + if not times: return {"replies": 0} + def percentile(p): return times[max(0, math.ceil(len(times)*p)-1)] + return {"replies": len(times), "p50_ms": percentile(.5), "p95_ms": percentile(.95), + "p99_ms": percentile(.99), "max_ms": times[-1], + "over_60_ms": sum(t > 60 for t in times)} + + +def measure(service, command, devices, *, sleep=time.sleep, monotonic=time.monotonic): + started = monotonic() + observed = datetime.now(timezone.utc).isoformat() + deadline = datetime.fromisoformat(command["deadline_at"].replace("Z", "+00:00")) + ids = {d.id: d.session for d in devices} + if not devices or len(ids) != len(devices) or ids != command["parameters"]["sessions"]: + raise ValueError("Controller sessions changed") + samples = {d.id: [] for d in devices} + bands = {} + failure = None + stop_reason = "complete" + def interrupted(): + cancelled = service.motor.cancelled_at + if cancelled is not None and cancelled >= datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00")): + return "stopped" + if monotonic()-started >= 25 or (deadline-datetime.now(timezone.utc)).total_seconds() < 2: + return "deadline" + return None + def failed(device, code, before, error): + return {"device_id": device.id, "command": code, "reason": "read_failed", "error": str(error), + "elapsed_ms": (monotonic()-before)*1000, + "native_rpc": getattr(error, "native_rpc", None), + "native_history": getattr(error, "native_history", [])} + def read(device): + for code in (31, 4): + before = monotonic() + try: + raw = device.link.query(code, timeout=.5) + reading = ppm(raw) if code == 31 else values(raw) + sample = {"command": code, "at_s": before-started, "elapsed_ms": (monotonic()-before)*1000, + "native_rpc": getattr(device.link, "last_rpc", None)} + if code == 31: + sample["ppm_level"] = reading["level"] + idle = not active(reading["level"], bands[device.id]) + else: + sample.update(erpm=reading["erpm"], current_a=reading["motor_current_a"], + duty=reading["duty"], fault_code=reading["fault_code"]) + idle = abs(reading["erpm"]) <= 30 and abs(reading["motor_current_a"]) <= 1 and abs(reading["duty"]) <= .01 + samples[device.id].append(sample) + if not idle: return {"device_id": device.id, "reason": "not_idle"} + except (OSError, ValueError, TimeoutError) as error: + return failed(device, code, before, error) + return None + with ExitStack() as locks: + for device in sorted(devices, key=lambda d: d.id): locks.enter_context(device.lock) + if any(d.link is None for d in devices): raise ValueError("Controller unavailable") + for device in devices: + if reason := interrupted(): + stop_reason = reason; break + before = monotonic() + try: + bands[device.id] = neutral_band(decode(device.link.query(17), "application")) + except (OSError, ValueError, TimeoutError) as error: + failure = [failed(device, 17, before, error)] + stop_reason = "read_failed"; break + # Same cadence and per-controller query order as group rotation, with a + # larger read-only deadline to expose latency instead of destroying it. + with ThreadPoolExecutor(max_workers=min(16, len(devices))) as pool: + for _ in range(100): + if stop_reason != "complete": break + cycle = monotonic() + if reason := interrupted(): + stop_reason = reason; break + futures = [pool.submit(read, d) for d in devices] + errors = [error for future in futures if (error := future.result()) is not None] + if errors: + failure = errors; stop_reason = errors[0]["reason"]; break + sleep(max(0, .1-(monotonic()-cycle))) + return {"observed_at": observed, "monotonic_started": started, "duration_s": monotonic()-started, + "outcome": stop_reason, "motor_commands_sent": False, "read_timeout_ms": 500, + "failure": failure, "devices": {d.id: {"name": "VESC "+d.identity["uuid"][:6].upper(), + "neutral_band": bands.get(d.id), "summary": summary(samples[d.id]), + "samples": samples[d.id]} for d in devices}} diff --git a/plugins/vesc/runtime/motor_test.py b/plugins/vesc/runtime/motor_test.py new file mode 100644 index 0000000..d6766df --- /dev/null +++ b/plugins/vesc/runtime/motor_test.py @@ -0,0 +1,390 @@ +"""A bounded 0.5–30 A raised-rig test for firmware 5.02, never a drive API. + +Firmware reference: vedderb/bldc 3f670137e27e6e383fa79c50cc6b1fa85aab1554, +commands.c, app_ppm.c, app.c and chvt.h. The admitted PPM applications are paused +with separate 250 ms leases, never broadcast. Firmware resumes PPM on expiry, +including its missing-pulse timeout. USB commands alone cannot rely on the +global timeout: receiver pulses reset it even while app output is disabled. +""" +import base64 +from contextlib import ExitStack +import hashlib +import math +import threading +import time +import uuid +from datetime import datetime, timezone + +from .configuration import decode +from .protocol import firmware, ppm, values, TEST_LIMITS, SPEED_LIMITS +from .speed_hold import SpeedHold +from .temporary_limits import TemporaryLimits +from .receiver import active as receiver_active, neutral_band + + +class Rejected(ValueError): + pass + + +class LimitExceeded(Rejected): + def __init__(self, field, value, low, high, label, unit, scale=1): + self.violation = {"field": field, "value": value, "minimum": low, "maximum": high} + number = lambda v: format(v * scale, ".3g").replace(".", ",") + super().__init__(f"Тест остановлен: {label} {number(value)} {unit}; диапазон проверки {number(low)}…{number(high)} {unit}.") + + +def check_configuration(identity, motor, app): + if (identity["version"], identity["hardware"], identity["test_firmware"], identity["hardware_type"]) != ("5.02", "75_300_R2", 0, 0): + raise Rejected("Тест поддерживает только проверенный профиль VESC 75_300_R2 / 5.02.") + if (motor["motor_type"] != 2 or app["app_to_use"] not in (1, 4) + or app["timeout_msec"] > 1000 or app["timeout_msec"] < 100 + or app["timeout_brake_current"] != 0 or app["app_ppm_conf.ctrl_type"] != 4 + or not 0.01 <= app["app_ppm_conf.hyst"] <= 0.3): + raise Rejected("Настройки FOC, PPM или тайм-аута не подходят для короткой проверки.") + if not 2 <= motor["l_current_max"] <= 100 or not 2 <= motor["l_in_current_max"] <= 100: + raise Rejected("Нужна проверка токовых ограничений.") + + +def check_values(value, moving=False, current_a=2, motor=None, *, standstill_confirmed=False): + current_limit = max(5, current_a * 1.2 + 2) if moving else 1 + speed_limit = TEST_LIMITS["max_erpm"] if moving else 30 + duty_limit = TEST_LIMITS["max_duty"] if moving else 0.01 + if moving and motor is not None: + current_limit = min(current_limit, motor["l_current_max"]) + speed_limit = min(speed_limit, motor["l_max_erpm"], -motor["l_min_erpm"]) + duty_limit = min(duty_limit, motor["l_max_duty"]) + # FW 5.02 continues its observer/PLL while undriven. Sensorless ERPM and + # tachometer share that estimate, so neither proves physical standstill. + # Only explicitly attended Hall/speed/release operations may substitute + # observation. Current, modulation bounds and sensored ERPM still apply. + observed_sensorless = (standstill_confirmed is True and not moving + and motor is not None and motor["motor_type"] == 2 + and motor["foc_sensor_mode"] == 0) + if observed_sensorless: + # FW 5.02 mcpwm_foc.c calculates duty_now from measured phase voltages + # even in the undriven branch. COMM_GET_VALUES quantizes it to 1/1000; + # one idle quantum is not proof that PWM is enabled. Permit at most + # that quantum only with fresh operator-confirmed physical standstill. + # Current/voltage/temperature/fault and neutral-window guards remain. + duty_limit = 0.001 + bounds = ( + ("fault_code", 0, 0, "код ошибки VESC", "", 1), + ("input_voltage_v", 20, 60, "напряжение питания", "В", 1), + ("mos_temperature_c", 0, 65, "температура контроллера", "°C", 1), + ("motor_current_a", -current_limit, current_limit, "ток мотора", "А", 1), + ("erpm", -speed_limit, speed_limit, "электрические обороты", "ERPM", 1), + ("duty", -duty_limit, duty_limit, "заполнение PWM", "%", 100), + ) + for field, low, high, label, unit, scale in bounds: + actual = value[field] + estimated_speed = field == "erpm" and observed_sensorless + if not math.isfinite(actual) or (not estimated_speed and not low <= actual <= high): + raise LimitExceeded(field, actual, low, high, label, unit, scale) + if standstill_confirmed: + actual = value["input_current_a"] + if not math.isfinite(actual) or abs(actual) > 1: + raise LimitExceeded("input_current_a", actual, -1, 1, "ток батареи", "А") + + +class MotorTest: + def __init__(self, service, atomic, utc, sleep=time.sleep, monotonic=time.monotonic): + self.service, self.atomic, self.utc = service, atomic, utc + self.sleep, self.monotonic = sleep, monotonic + self.stop = threading.Event() + self.stop_lock = threading.Lock() + self.cancelled_at = None + self.active = False + self.mode = None + self.receiver_bands = {} + self.limits = TemporaryLimits(service, atomic) + self.authority = service.root / "motor-authority.json" + # A process restart during a test cannot silently grant another pulse. + if self.authority.exists(): + import json + self.latched = json.loads(self.authority.read_text()).get("state") != "ready" + else: + self.latched = False + + def state(self, value): + self.atomic(self.authority, {"state": value, "observed_at": self.utc()}) + self.latched = value == "rc" + + def cancel(self): + with self.stop_lock: + self.cancelled_at = datetime.now(timezone.utc) + self.stop.set() + + def neutral(self, devices): + for device in devices: + value = ppm(device.link.query(31, timeout=0.06)) + if self.receiver_active(device.id, value["level"]): + self.state("rc") + raise Rejected("Приёмник передаёт команду. Управление удерживается за пультом.") + + def receiver_active(self, identifier, level): + if identifier not in self.receiver_bands: + raise Rejected("Нейтраль приёмника ещё не проверена по конфигурации VESC.") + return receiver_active(level, self.receiver_bands[identifier]) + + def run(self, command, devices, target, release=False, remote=None): + if not 1 <= len(devices) <= 128 or len({d.id for d in devices}) != len(devices): + raise Rejected("Для проверки нужны однозначно определённые VESC этого борта.") + duration = command["parameters"]["duration_s"] + current_a = command["parameters"]["current_a"] + group_mode = command["action_id"] == "vesc.drive.run" + speed_mode = command["action_id"] in ("vesc.motor.run", "vesc.drive.run") + moving = [target] + if group_mode: + from .group_test import targets + try: moving = targets(self.service, command["parameters"], devices, target) + except ValueError as error: raise Rejected(str(error)) from error + hall_mode = command["action_id"] == "vesc.hall.measure" + foc_mode = command["action_id"] == "vesc.foc.calibrate" + budget = duration + (20 if speed_mode else 0) + if self.latched and not release and remote is None: + raise Rejected("Управление удерживается за пультом. Верните его явно после нейтрали.") + requested = datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00")) + if (datetime.now(timezone.utc) - requested).total_seconds() > 10: + raise Rejected("Команда устарела до начала проверки. Повторите запрос.") + deadline = datetime.fromisoformat(command["deadline_at"].replace("Z", "+00:00")) + def preflight(): + if remote is not None: remote.ensure_live() + if self.stop.is_set(): raise Rejected("Проверка отменена.") + if (deadline - datetime.now(timezone.utc)).total_seconds() < budget + 5: + raise Rejected("Не хватило времени для проверки всех контроллеров. Ток не подавался.") + attachments = {d.attachment for d in devices} + def unchanged(): + if set(self.service.discover_fn()) != attachments: + raise Rejected("Подключение VESC изменилось. Обновите устройства.") + with self.stop_lock: + if self.cancelled_at is not None and requested <= self.cancelled_at: + raise Rejected("Проверка отменена до начала исполнения.") + self.stop.clear() + with ExitStack() as stack: + # Never reuse an earlier operation's neutral configuration. + self.receiver_bands = {} + for device in sorted(devices, key=lambda d: d.id): + stack.enter_context(device.lock) + recovered = None + if release and (self.service.root / "calibration-pending.json").exists(): + from .foc_calibration import reconcile + unchanged() + try: recovered = reconcile(self, devices) + except (OSError, ValueError, TimeoutError, KeyError) as error: + raise Rejected("Возврат управления пока невозможен: итог калибровки, конфигурация или нулевой ток не подтверждены.") from error + identities, applications, backups, originals = {}, {}, [], {} + motors, idle_samples = {}, [] + observed_standstill = (hall_mode or speed_mode or release) and command["parameters"].get("standstill_confirmed") is True + target_motor, target_raw = None, None + for device in devices: + preflight() + if device.link is None: raise Rejected("Один из контроллеров отключён.") + if self.limits.pending(device): + raise Rejected("Восстановление временных токовых пределов ещё не подтверждено.") + if (self.service.root / "hall-pending.json").exists(): + raise Rejected("Завершение предыдущего измерения Холла не подтверждено. Нужна проверка состояния VESC.") + if (self.service.root / "calibration-pending.json").exists(): + raise Rejected("Завершение предыдущей калибровки не подтверждено. Новое движение заблокировано.") + identity = firmware(device.link.query(0)) + if identity != device.identity: raise Rejected("Идентичность контроллера изменилась.") + configs = {kind: device.link.query(code) for kind, code in (("motor", 14), ("application", 17))} + originals[device.id] = configs + motor, app = decode(configs["motor"], "motor"), decode(configs["application"], "application") + motors[device.id] = motor + check_configuration(identity, motor, app) + self.receiver_bands[device.id] = neutral_band(app) + if device in moving: + if not foc_mode and current_a > min(motor["l_current_max"], motor["l_in_current_max"]): + raise Rejected("Ток проверки превышает настроенный предел выбранного контроллера.") + if not (motor["l_max_erpm"] > 0 and motor["l_min_erpm"] < 0 and 0 < motor["l_max_duty"] <= 1): + raise Rejected("Нужна проверка настроенных пределов оборотов и PWM.") + target_motor = motor + target_raw = configs["motor"] + if foc_mode and any(abs(motor[key]) <= 0.001 for key in ("l_in_current_min", "l_in_current_max", "foc_openloop_rpm", "foc_sl_erpm")): + raise Rejected("Для калибровки нужны ненулевые сохранённые пределы питания и настройки запуска FOC.") + if speed_mode and abs(command["parameters"]["erpm"]) > min(SPEED_LIMITS["max_erpm"], + (motor["l_max_erpm"] if command["parameters"]["erpm"] > 0 else -motor["l_min_erpm"]) * 0.8): + raise Rejected("Заданная скорость превышает настроенный диапазон контроллера.") + if speed_mode and abs(command["parameters"]["erpm"]) < motor["s_pid_min_erpm"]: + raise Rejected(f"Минимальная скорость регулятора этого VESC: {motor['s_pid_min_erpm']:g} ERPM.") + check_values(values(device.link.query(4)), motor=motor, + standstill_confirmed=observed_standstill) + identities[device.id], applications[device.id] = identity, app + identifier = "op_" + uuid.uuid4().hex + backup = {"schema": "missioncore.vesc.config-backup/v1", "device_id": device.id, + "identity": identity, "operation_id": identifier, "parent_operation_id": command["operation_id"], + "observed_at": self.utc(), "monotonic_at": self.monotonic(), "decoded": False, + "configs": {kind: {"encoding": "base64", "payload": base64.b64encode(raw).decode(), + "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(), "signature_hex": raw[1:5].hex()} + for kind, raw in configs.items()}} + self.atomic(self.service.root / ("backup_" + identifier + ".json"), backup) + self.service.archive.add("local", backup) + device.backup = {"observed_at": backup["observed_at"], "operation_id": identifier, + "configs": {k: {"bytes": v["bytes"], "sha256": v["sha256"]} for k, v in backup["configs"].items()}} + backups.append(identifier) + ids = {int(app["controller_id"]) for app in applications.values()} + if len(ids) != len(devices): raise Rejected("У контроллеров совпали CAN ID. Нужна проверка схемы.") + for device in devices: + preflight() + # CAN ping includes up to 5 ms transmit wait plus 10 ms reply + # wait for every ID; scheduling can exceed the former 4 s cap. + try: + peers = device.link.query(62, timeout=8) + except TimeoutError as error: + raise Rejected("Проверка CAN не завершилась вовремя. Ток не подавался.") from error + if not peers or peers[0] != 62 or not set(peers[1:]).issubset(ids): + raise Rejected("На CAN обнаружено другое устройство. Нужна проверка схемы.") + if foc_mode and len(peers) != 1: + raise Rejected("Этот профиль калибрует VESC по отдельным USB без CAN-соседей. Требуется профиль связанного CAN-борта.") + for _ in range(10): + preflight() + unchanged() + self.neutral(devices) + if observed_standstill: + for device in devices: + sample = values(device.link.query(4, timeout=0.06)) + check_values(sample, motor=motors[device.id], + standstill_confirmed=observed_standstill) + idle_samples.append({"device_id": device.id, "at": self.monotonic(), + "sensor_mode": motors[device.id]["foc_sensor_mode"], "values": sample}) + self.sleep(0.1) + preflight_record = {"standstill_confirmed": observed_standstill, "samples": idle_samples} + if release: + self.state("ready") + return {"authority": "ready", "observed_at": self.utc(), "backups": backups, "calibration_recovered": recovered, "preflight": preflight_record} + if hall_mode: + from .hall_detection import measure + return measure(self, devices, target, target_raw, backups, unchanged, + preflight_record) + if foc_mode: + from .foc_calibration import calibrate + return calibrate(self, command, devices, target, originals, backups, unchanged) + now = datetime.now(timezone.utc) + if (deadline - now).total_seconds() < budget + 1: + raise Rejected("Команда устарела до запуска. Повторите проверку.") + if group_mode: + if remote is not None: + self.state("testing") + return remote.drive(self, command, devices, moving, originals, unchanged) + from .group_test import run + return run(self, command, devices, moving, originals, backups, unchanged, preflight_record) + self.state("testing") + self.active = True + self.mode = "speed" if speed_mode else "current" + started = self.monotonic() + samples, outcome, cleanup = [], "duration", {} + limit_violation = None + failure = None + claimed = False + sent_current = 0.0 + last_command_at = started + stalled_since = None + stall_tachometer = None + hold = SpeedHold(command["parameters"]["erpm"], duration, started) if speed_mode else None + restored = not speed_mode + try: + if speed_mode: + target_motor = self.limits.apply(target, target_raw, current_a) + started = self.monotonic() + hold = SpeedHold(command["parameters"]["erpm"], duration, started) + while self.monotonic() - started < budget: + cycle = self.monotonic() + if self.stop.is_set(): + outcome = "stopped"; break + unchanged() + self.neutral(devices) + sample = {"at": self.monotonic() - started, "devices": {}} + current = values(target.link.query(4, timeout=0.06)) + sample["commanded_current_a"] = None + sample["devices"][target.id] = current + samples.append(sample) + check_values(current, moving=True, current_a=current_a, motor=target_motor) + if hold: + setpoint, done, error = hold.update(self.monotonic(), current) + sample.update(phase=hold.phase, rotation_s=hold.rotation_s, commanded_erpm=None) + if error: raise Rejected(error) + if done: break + # A current command is torque, not a speed setpoint. Do not + # repeatedly coast/restart at each Hall edge. A hard limit + # ends this operation and cannot automatically re-arm it. + # Above 5 A require continuing measured movement. Hall/FOC + # telemetry is not an independent physical motion sensor. + if max(abs(current["motor_current_a"]), sent_current) > TEST_LIMITS["stall_current_a"]: + if stalled_since is None: + stalled_since = self.monotonic() + stall_tachometer = current["tachometer"] + elif abs(current["erpm"]) >= 60 and abs(current["tachometer"] - stall_tachometer) >= 3: + stalled_since = self.monotonic() + stall_tachometer = current["tachometer"] + elif self.monotonic() - stalled_since >= TEST_LIMITS["stall_timeout_s"]: + raise Rejected("Тест остановлен: при токе выше 5 А движение не подтверждается 2 секунды. Проверьте мотор и датчики.") + else: + stalled_since = None + if self.monotonic() - cycle > 0.12: + raise Rejected("Связь слишком медленная для короткой проверки.") + # Refresh local leases only after fresh neutral/telemetry. A + # delayed process never sends current after an expired lease. + claimed = True + for device in devices: device.link.test_command("claim") + for device in devices: + if device is not target: device.link.test_command("release") + if self.stop.is_set(): + outcome = "stopped"; break + if self.monotonic() - cycle > 0.16: + raise Rejected("Связь слишком медленная для короткой проверки.") + if self.monotonic() - started >= budget: + if hold: raise Rejected("Истёк общий срок проверки; время вращения не набрано.") + break + if hold: + target.link.test_speed(setpoint) + sample["commanded_erpm"] = setpoint + else: + elapsed = self.monotonic() - last_command_at + sent_current = round(min(current_a, max(0.5, sent_current + elapsed * TEST_LIMITS["current_ramp_a_per_s"])), 3) if sent_current else 0.5 + target.link.test_current(sent_current) + last_command_at = self.monotonic() + sample["commanded_current_a"] = None if hold else sent_current + self.sleep(max(0, 0.05 - (self.monotonic() - cycle))) + except (OSError, ValueError, TimeoutError) as error: + failure = {"type": type(error).__name__, "message": str(error), "elapsed_s": self.monotonic()-started} + failure["native_rpc"] = getattr(error, "native_rpc", None) + failure["native_history"] = getattr(error, "native_history", []) + outcome = str(error) if isinstance(error, Rejected) else "Обмен с VESC прерван. Проверка остановлена." + if isinstance(error, LimitExceeded): limit_violation = error.violation + finally: + # Never reconnect to send a stop to a replacement device. Leases + # expire in firmware even if USB or this process is lost. + if claimed: + for device in devices: + try: + device.link.test_command("release") + cleanup[device.id] = "zero_current_sent" + except (OSError, ValueError, TimeoutError): + cleanup[device.id] = "unconfirmed" + self.active = False + self.mode = None + if not self.latched: self.state("ready") + self.sleep(0.3) + after = {} + for device in devices: + try: after[device.id] = values(device.link.query(4, timeout=0.1)) + except (OSError, ValueError, TimeoutError): after[device.id] = None + confirmed = all(value is not None and abs(value["motor_current_a"]) <= 1 for value in after.values()) + if claimed and not confirmed: + self.state("rc") + outcome = "Снятие тока не подтверждено. Проверьте фактическое состояние моторов." + if speed_mode: + try: restored = self.limits.restore(target) + except (OSError, ValueError, TimeoutError): + self.state("rc") + outcome += " Восстановление прежних токовых пределов не подтверждено; новые запуски заблокированы." + if outcome == "duration" and hold.rotation_s < duration: + outcome = "Проверка закончилась до набора заданного времени вращения." + return {"observed_at": self.utc(), "device_id": target.id, "current_a": current_a, + "mode": "speed" if speed_mode else "current", "rotation_s": hold.rotation_s if hold else None, + "erpm_target": hold.erpm if hold else None, "limits_restored": restored, + "current_ramp_a_per_s": TEST_LIMITS["current_ramp_a_per_s"], + "test_limits": TEST_LIMITS, "preflight": preflight_record, + "duration_limit_s": duration, "outcome": outcome, "samples": samples, + "limit_violation": limit_violation, "failure": failure, + "release": cleanup, "release_confirmed": confirmed, "after": after, "backups": backups} diff --git a/plugins/vesc/runtime/native_link.py b/plugins/vesc/runtime/native_link.py new file mode 100644 index 0000000..e15b421 --- /dev/null +++ b/plugins/vesc/runtime/native_link.py @@ -0,0 +1,171 @@ +"""Private lifecycle/RPC boundary to unmodified upstream VESC Tool C++. + +No wire encoding or calibration algorithm lives here. The native process owns +one exact USB attachment and sends all commands through upstream Commands. +""" +import base64 +from collections import deque +import hashlib +import json +import os +from pathlib import Path +import select +import subprocess +import time + +from .serial import check_attachment + + +class NativeLink: + def __init__(self, attachment): + self.attachment = attachment + self.process = None + self.buffer = b"" + self.sequence = 0 + self.hall_pending = False + self.history = deque(maxlen=32) + self.check() + root = Path("/usr/lib/mission-core-vesc/native") + config = Path("/run/mission-core-vesc/native") / hashlib.sha256(attachment.binding.encode()).hexdigest()[:24] + config.mkdir(parents=True, mode=0o700, exist_ok=True) + env = dict(os.environ, QT_QPA_PLATFORM="offscreen", XDG_CONFIG_HOME=str(config), + XDG_CACHE_HOME=str(config / "cache"), LD_LIBRARY_PATH=str(root / "lib"), + QT_PLUGIN_PATH=str(root / "plugins")) + # Preserve native startup diagnostics in the private runtime directory. + with (config / "engine.log").open("wb") as diagnostic: + self.process = subprocess.Popen([str(root / "bin/mission-core-vesc-engine"), "/dev/" + attachment.tty], + stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=diagnostic, + env=env, bufsize=0, close_fds=True) + try: + hello = self._receive(time.monotonic() + 6) + if hello.get("ready") is not True or not hello.get("engine", {}).get("connected"): + raise OSError("Native VESC Tool did not connect") + self.engine = hello["engine"] + self.check() + except BaseException: + self.close() + raise + + @property + def alive(self): + return self.process is not None and self.process.poll() is None + + def check(self): + check_attachment(self.attachment) + + def _receive(self, deadline): + while b"\n" not in self.buffer: + if not self.alive or not select.select([self.process.stdout], [], [], max(0, deadline-time.monotonic()))[0]: + raise TimeoutError("Native VESC Tool response timed out") + data = os.read(self.process.stdout.fileno(), 65536) + if not data: raise OSError("Native VESC Tool exited") + self.buffer += data + if len(self.buffer) > 2 * 1024 * 1024: raise ValueError("Native response exceeds bound") + line, self.buffer = self.buffer.split(b"\n", 1) + return json.loads(line) + + def rpc(self, method, timeout=2, **parameters): + self.sequence += 1 + request = json.dumps({"id": self.sequence, "method": method, **parameters}, allow_nan=False).encode()+b"\n" + if len(request) > 65536: raise ValueError("Native request exceeds bound") + started = time.monotonic() + deadline = started + timeout + trace = {"method": method, "command": parameters.get("command"), + "timeout_ms": parameters.get("timeout_ms", timeout*1000), + "attachment": {"usb": self.attachment.usb, "address": self.attachment.address, + "tty": self.attachment.tty}} + try: + trace["stage"] = "attachment_before" + self.check() + trace["attachment_before_ms"] = (time.monotonic()-started)*1000 + trace["stage"] = "request_write" + if not self.alive: raise OSError("Native VESC Tool is not running") + if not select.select([], [self.process.stdin], [], max(0, deadline-time.monotonic()))[1]: + raise TimeoutError("Native VESC Tool request timed out") + if os.write(self.process.stdin.fileno(), request) != len(request): + raise OSError("Native request write incomplete") + sent_at = time.monotonic() + trace["request_write_ms"] = (sent_at-started)*1000-trace["attachment_before_ms"] + trace["stage"] = "native_response" + response = self._receive(deadline) + received_at = time.monotonic() + trace["native_response_ms"] = (received_at-sent_at)*1000 + if not isinstance(response, dict): raise ValueError("Invalid native response") + if response.get("id") != self.sequence: raise ValueError("Native response identity mismatch") + if response.get("ok") is not True: + if isinstance(response.get("diagnostics"), dict): + trace["transport"] = response["diagnostics"] + raise OSError(response.get("error", "Native operation failed")) + trace["stage"] = "attachment_after" + self.check() + trace["attachment_after_ms"] = (time.monotonic()-received_at)*1000 + trace["stage"] = "complete" + result = response.get("result") + if not isinstance(result, dict): raise ValueError("Invalid native result") + trace.update(ok=True, elapsed_ms=(time.monotonic()-started)*1000) + self.last_rpc = trace + if hasattr(self, "history"): self.history.append(trace) + return result + except (OSError, ValueError, TimeoutError) as error: + # An unconfirmed reply is never silently retried on the same stream. + trace.update(ok=False, elapsed_ms=(time.monotonic()-started)*1000, + process_alive=self.alive, error=str(error)) + try: self.check(); trace["attachment_present"] = True + except OSError: trace["attachment_present"] = False + self.last_rpc = trace + if hasattr(self, "history"): self.history.append(trace) + error.native_rpc = trace + error.native_history = list(getattr(self, "history", [])) + self.close() + raise + + def query(self, command, timeout=2): + result = self.rpc("query", timeout=timeout+0.1, command=command, timeout_ms=max(20, int(timeout*1000))) + return base64.b64decode(result["payload"], validate=True) + + def test_command(self, action): + if action not in ("claim", "release"): raise ValueError("Unknown control action") + self.rpc("lease" if action == "claim" else "release", timeout=0.1) + + def test_current(self, current_a): + self.rpc("current", timeout=0.1, current_a=current_a) + + def test_speed(self, erpm): + self.rpc("rpm", timeout=0.1, erpm=erpm) + + def set_temporary_limits(self, config): + from .temporary_limits import FIELDS + self.rpc("limits", timeout=2.2, parameters={k: config[k] for k in FIELDS}) + + def configuration(self): + return self.rpc("configuration", timeout=5) + + def detect_hall(self): + if self.hall_pending: raise ValueError("Hall measurement already pending") + self.hall_pending = True + self.rpc("hall_start", timeout=0.2, current_a=5) + + def calibrate_foc(self, max_power_loss_w): + self.rpc("foc_start", timeout=0.2, max_power_loss_w=max_power_loss_w) + + def procedure_result(self): + return self.rpc("procedure_result", timeout=0.2) + + @property + def hall_result(self): + if not self.hall_pending: return None + state = self.rpc("procedure_result", timeout=0.1) + result = state.get("result", {}) + if state.get("running") or not result.get("completed"): return None + return base64.b64decode(result["payload"], validate=True) + + def close(self): + process, self.process = self.process, None + if process is None: return + if process.poll() is None: + process.terminate() + try: process.wait(timeout=1) + except subprocess.TimeoutExpired: + process.kill(); process.wait(timeout=1) + for stream in (process.stdin, process.stdout): + if stream: stream.close() diff --git a/plugins/vesc/runtime/protocol.py b/plugins/vesc/runtime/protocol.py new file mode 100644 index 0000000..72bb070 --- /dev/null +++ b/plugins/vesc/runtime/protocol.py @@ -0,0 +1,154 @@ +"""Bounded VESC serial reader. + +Wire reference: vedderb/vesc_tool dc53c658cbb89a947246034f7a00149cf79abdfc, +packet.cpp, commands.cpp and datatypes.h. No arbitrary packet transmit API. +Config payloads remain opaque until their exact firmware schema is admitted. +""" + +import binascii +import struct + +READ_COMMANDS = frozenset({0, 4, 14, 17, 31, 62}) +MAX_PACKET = 10000 + + +def request(command): + if type(command) is not int or command not in READ_COMMANDS: + raise ValueError("Unsupported read command") + data = bytes([command]) + return b"\x02\x01" + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03" + + +TEST_LIMITS = {"min_current_a": 0.5, "max_current_a": 30, "min_duration_s": 0.5, + "max_duration_s": 30, "current_ramp_a_per_s": 2.0, + "continuous_current": True, "max_erpm": 6000, "max_duty": 0.25, + "stall_current_a": 5, "stall_timeout_s": 2.0} + +# A separate action/capability keeps old clients from silently changing modes. +SPEED_LIMITS = {"min_erpm": 300, "max_erpm": 3000, "ramp_erpm_per_s": 600, + "startup_timeout_s": 15, "settle_s": 1, "speed_tolerance": 0.15, + "lost_speed_timeout_s": 2, "duration_basis": "measured_speed", + "reverse_supported": True, "standstill_confirmation_required": True} + + +def frame(data): + if not 1 <= len(data) <= 255: raise ValueError("Invalid bounded command size") + return bytes([2, len(data)]) + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03" + + +def speed_packet(erpm): + if type(erpm) not in (int, float) or not -SPEED_LIMITS["max_erpm"] <= erpm <= SPEED_LIMITS["max_erpm"]: + raise ValueError("Invalid test speed") + return frame(bytes([8]) + struct.pack(">i", round(erpm))) + + +def hall_packet(): + # FW 5.02 native FOC Hall sweep, fixed 5 A; no store and no CAN forwarding. + return frame(bytes([28]) + struct.pack(">i", 5000)) + + +def current_packet(current_a): + if type(current_a) not in (int, float) or not TEST_LIMITS["min_current_a"] <= current_a <= TEST_LIMITS["max_current_a"]: + raise ValueError("Test current must be between 0.5 and 30 A") + data = b"\x06" + struct.pack(">i", round(current_a * 1000)) + return bytes([2, len(data)]) + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03" + + +def test_packet(action): + """Only fixed volatile commands; no arbitrary current/lease/packet.""" + data = {"current": b"\x06" + struct.pack(">i", 2000), + "release": b"\x06" + bytes(4), + "claim": b"\x3f\x00" + struct.pack(">i", 250)}[action] + return bytes([2, len(data)]) + data + binascii.crc_hqx(data, 0).to_bytes(2, "big") + b"\x03" + + +def ppm(packet): + if len(packet) != 9 or packet[0] != 31: + raise ValueError("Incomplete PPM reply") + level, pulse = struct.unpack(">ii", packet[1:]) + if not -1100000 <= level <= 1100000 or not 0 <= pulse <= 3000000: + raise ValueError("Invalid PPM values") + return {"level": level / 1e6, "pulse_ms": pulse / 1e6} + + +class Decoder: + def __init__(self): + self.buffer = bytearray() + + def feed(self, data): + if len(self.buffer) + len(data) > MAX_PACKET * 2 + 16: + self.buffer.clear() + raise ValueError("Serial buffer overflow") + self.buffer.extend(data) + packets = [] + while self.buffer: + start = self.buffer[0] + if start not in (2, 3, 4): + del self.buffer[0] + continue + width = start - 1 + if len(self.buffer) < width + 1: + break + size = int.from_bytes(self.buffer[1:width + 1], "big") + if not 1 <= size <= MAX_PACKET: + del self.buffer[0] + continue + end = width + 1 + size + if len(self.buffer) < end + 3: + break + payload = bytes(self.buffer[width + 1:end]) + if self.buffer[end + 2] != 3 or int.from_bytes(self.buffer[end:end + 2], "big") != binascii.crc_hqx(payload, 0): + del self.buffer[0] + continue + del self.buffer[:end + 3] + packets.append(payload) + return packets + + +def firmware(packet): + if len(packet) < 4 or packet[0] != 0: + raise ValueError("Incomplete firmware reply") + end = packet.find(b"\0", 3, 132) + if end <= 3 or len(packet) < end + 13: + raise ValueError("Firmware has no complete hardware identity") + name = packet[3:end].decode("ascii") + if not all(32 <= ord(c) < 127 for c in name): + raise ValueError("Invalid hardware name") + uuid = packet[end + 1:end + 13] + if uuid in (bytes(12), b"\xff" * 12): + raise ValueError("Invalid hardware UUID") + optional = packet[end + 13:] + return {"major": packet[1], "minor": packet[2], "version": f"{packet[1]}.{packet[2]:02d}", + "hardware": name, "uuid": uuid.hex(), + "test_firmware": optional[1] if len(optional) > 1 else None, + "hardware_type": optional[2] if len(optional) > 2 else None, + "custom_configs": optional[3] if len(optional) > 3 else None} + + +def values(packet): + if len(packet) < 54 or packet[0] != 4: + raise ValueError("Incomplete telemetry reply") + fields = (("mos_temperature_c", "h", 10), ("motor_temperature_c", "h", 10), + ("motor_current_a", "i", 100), ("input_current_a", "i", 100), + ("id_current_a", "i", 100), ("iq_current_a", "i", 100), + ("duty", "h", 1000), ("erpm", "i", 1), ("input_voltage_v", "h", 10), + ("amp_hours", "i", 10000), ("amp_hours_charged", "i", 10000), + ("watt_hours", "i", 10000), ("watt_hours_charged", "i", 10000), + ("tachometer", "i", 1), ("tachometer_abs", "i", 1), ("fault_code", "B", 1)) + result, offset = {}, 1 + for key, fmt, scale in fields: + result[key] = struct.unpack_from(">" + fmt, packet, offset)[0] / scale + offset += struct.calcsize(fmt) + # Optional tail is ordered, not an independent set of guessed offsets. + for key, fmt, scale in (("position_deg", "i", 1e6), ("can_id", "B", 1), + ("mos1_c", "h", 10), ("mos2_c", "h", 10), ("mos3_c", "h", 10), + ("vd_v", "i", 1000), ("vq_v", "i", 1000), ("status", "B", 1)): + size = struct.calcsize(fmt) + if len(packet) < offset + size: + break + result[key] = struct.unpack_from(">" + fmt, packet, offset)[0] / scale + offset += size + if "status" in result: + flags = int(result.pop("status")) + result.update(timeout=bool(flags & 1), kill_switch=bool(flags & 2)) + return result diff --git a/plugins/vesc/runtime/receiver.py b/plugins/vesc/runtime/receiver.py new file mode 100644 index 0000000..05b8d4c --- /dev/null +++ b/plugins/vesc/runtime/receiver.py @@ -0,0 +1,22 @@ +"""Interpret the admitted FW 5.02 PPM input before its firmware deadband. + +app_ppm.c publishes input_val before utils_deadband. A nonzero decoded value +inside app_ppm_conf.hyst is therefore not a motor command. Do not infer radio +link presence from this value: the receiver can keep emitting failsafe pulses. +""" +import math + + +def neutral_band(application): + band = application["app_ppm_conf.hyst"] + if (application["app_to_use"] not in (1, 4) + or application["app_ppm_conf.ctrl_type"] != 4 + or not math.isfinite(band) or not .01 <= band <= .3): + raise ValueError("Unsupported PPM neutral configuration") + return band + + +def active(level, band): + if not math.isfinite(level) or not math.isfinite(band) or not .01 <= band <= .3: + raise ValueError("Invalid PPM level or neutral band") + return abs(level) > band diff --git a/plugins/vesc/runtime/remote_control.py b/plugins/vesc/runtime/remote_control.py new file mode 100644 index 0000000..9966af1 --- /dev/null +++ b/plugins/vesc/runtime/remote_control.py @@ -0,0 +1,343 @@ +"""Single Node-owned, volatile keyboard control session and live read projection. + +Configuration/calibration keeps the same exclusive hardware owner. Browser input +is a short lease, not a queue. Native Tool still owns all serial commands. +""" +import copy +import math +import re +import threading +import time +import uuid +from concurrent.futures import ThreadPoolExecutor +from datetime import datetime, timedelta, timezone + +from .group_test import batch +from .protocol import ppm, values +from .drive_profile import LAYOUTS, slot_label + + +class ControlEnded(ValueError): + """A terminal input lease is normal stop; cleanup still verifies release.""" + + +class InputLease: + def __init__(self, clock=time.monotonic): + self.clock = clock + self.id = None + self.sequence = -1 + self.until = 0 + self.demand = (0., 0.) + self.retired = set() + + def accept(self, command): + if not isinstance(command, dict) or set(command) != {"id", "sequence", "ttl_ms", "left", "right", "settings"}: + raise ValueError("Invalid control envelope") + if (not re.fullmatch(r"[0-9a-f]{32}", str(command["id"])) + or type(command["sequence"]) is not int or not 0 <= command["sequence"] < 2**53 + or any(type(command[k]) not in (int,float) or not math.isfinite(command[k]) for k in ("left","right","ttl_ms")) + or max(abs(command["left"]), abs(command["right"])) > 1 + or not 0 < command["ttl_ms"] <= 400): + raise ValueError("Invalid control bounds") + s = command["settings"] + if (not isinstance(s, dict) or set(s) != {"standstill_confirmed","current_a","max_erpm"} + or s["standstill_confirmed"] is not True + or type(s["current_a"]) not in (int,float) or not .5 <= s["current_a"] <= 30 + or type(s["max_erpm"]) not in (int,float) or not 300 <= s["max_erpm"] <= 3000): + raise ValueError("Invalid control settings") + if command["id"] in self.retired: + return False + if self.id is not None and (self.id != command["id"] or self.clock() >= self.until): + self.stop() + return False + if self.id == command["id"] and command["sequence"] <= self.sequence: + return False # Repeated frames cannot extend a lease. + self.id, self.sequence = command["id"], command["sequence"] + self.until = self.clock()+command["ttl_ms"]/1000 + self.demand = (command["left"], command["right"]) + return True + + def stop(self): + if self.id: + self.retired.add(self.id) + # Bound tombstones; Core never reuses a cryptographic session id. + if len(self.retired)>1024: + raise ValueError("Restart control service after excessive sessions") + self.until = 0 + self.demand = (0.,0.) + + def live(self): + return self.id is not None and self.id not in self.retired and self.clock() < self.until + + +class RemoteControl: + def __init__(self, service): + self.service = service + self.lock = threading.RLock() + self.lease = InputLease() + self.instance = uuid.uuid4().hex + self.relay = None + self.primed = False + self.thread = None + self.watch_until = 0 + self.state = "observing" + self.message = None + self.readings = {} + self.release_confirmed = None + + def feed(self, body): + if (set(body) != {"watch","command","relay_id"} or type(body["watch"]) is not bool + or not re.fullmatch(r"[0-9a-f]{32}", str(body["relay_id"]))): + raise ValueError("Invalid relay") + with self.lock: + if self.relay != body["relay_id"]: + self.lease.stop() + self.relay = body["relay_id"] + self.primed = False + if body["watch"]: + self.watch_until = time.monotonic()+2 + command = body["command"] + if command is None: + self.primed = True + self.lease.stop() + elif not self.primed: + self.lease.retired.add(command.get("id")) + else: + running = self.thread is not None and self.thread.is_alive() + if not running and command.get("id") != self.lease.id: + self.lease.id = None + self.lease.sequence = -1 + accepted = self.lease.accept(command) + if accepted and not running: + self.state, self.message = "preparing", None + self.thread = threading.Thread(target=self._prepare, args=(copy.deepcopy(command),), daemon=True, + name="vesc-remote-control") + self.thread.start() + return self.snapshot() + + def snapshot(self): + with self.lock: + readings = [{**copy.deepcopy(v), "age_ms": int((time.monotonic()-v["sampled_at"])*1000)} for v in self.readings.values()] + for v in readings: v.pop("sampled_at", None) + return {"supported": True, "instance": self.instance, "state": self.state, + "session_id": self.lease.id, "message": self.message, "devices": readings, + "release_confirmed": self.release_confirmed, + "profile": copy.deepcopy(self.service.drive.value)} + + def observe(self): + with self.lock: + # Let an in-flight read finish, but do not start another one while + # the control worker is waiting to become the exclusive owner. + if self.thread is not None and self.thread.is_alive(): + return + if time.monotonic() >= self.watch_until or not self.service.operation_lock.acquire(False): + return + try: + with self.service.lock: devices = [d for d in self.service.devices.values() if d.link and d.readable] + # Reading is explicit window interest, never discovery-port reset. + for d in devices: + if not d.lock.acquire(False): continue + try: + self._publish(d, values(d.link.query(4, timeout=.06)), ppm(d.link.query(31, timeout=.06))) + except (OSError, ValueError, TimeoutError): + pass # Old values retain age; a read failure is never zero. + finally: d.lock.release() + finally: self.service.operation_lock.release() + + def _publish(self, device, value, receiver): + profile = self.service.drive.value + slot = next((k for k,b in profile["bindings"].items() if b["device_id"]==device.id), None) + with self.lock: + self.readings[device.id] = {"id": device.id,"uuid":device.identity["uuid"], + "slot":slot,"label":slot_label(profile["layout"],slot) if slot else "VESC "+device.identity["uuid"][:6].upper(), + "values":value,"receiver":receiver,"sampled_at":time.monotonic()} + + def _prepare(self, envelope): + owner = self.service.motor + acquired = False + try: + # Observation also owns this lock. A nonblocking attempt made + # arming depend on which thread happened to read first. Wait only + # briefly, with a live input lease, never enqueue a future drive. + deadline = time.monotonic() + .5 + while not acquired: + self.ensure_live() + remaining = deadline - time.monotonic() + if remaining <= 0: + raise ValueError("Другая операция с VESC ещё выполняется.") + acquired = self.service.operation_lock.acquire(timeout=min(.02, remaining)) + self.ensure_live() + with self.service.lock: devices = list(self.service.devices.values()) + profile = self.service.drive.value + slots = LAYOUTS.get(profile["layout"], ()) + if not slots or set(profile["bindings"]) != set(slots): + raise ValueError("Назначьте все моторы в настройках борта.") + if not devices or any(not d.link for d in devices): + raise ValueError("Один из VESC недоступен.") + now = datetime.now(timezone.utc) + settings = envelope["settings"] + command = {"action_id":"vesc.drive.run","operation_id":"op_"+uuid.uuid4().hex, + "requested_at":now.isoformat(),"deadline_at":(now+timedelta(seconds=300)).isoformat(), + "parameters":{"current_a":settings["current_a"],"duration_s":30,"erpm":settings["max_erpm"], + "standstill_confirmed":True,"profile_revision":profile["revision"], + "device_ids":[profile["bindings"][s]["device_id"] for s in slots]}} + owner.run(command, devices, devices[0], remote=self) + except ControlEnded: + with self.lock: + self.state = "fault" if self.message or self.release_confirmed is False else "stopped" + except (OSError, ValueError, TimeoutError, KeyError) as error: + with self.lock: + self.state = "fault" + self.message = str(error) if self.message is None else self.message + " " + str(error) + finally: + with self.lock: self.lease.stop() + if acquired: self.service.operation_lock.release() + + def ensure_live(self): + with self.lock: + if not self.lease.live(): raise ControlEnded("Управление остановлено: команда больше не подтверждается.") + + def drive(self, owner, command, devices, moving, originals, unchanged): + from .motor_test import check_values + limit = command["parameters"]["current_a"] + maximum = command["parameters"]["erpm"] + profile = copy.deepcopy(self.service.drive.value) + sides = {b["device_id"]:0 if slot.startswith("left.") else 1 for slot,b in profile["bindings"].items()} + configs, minimum_speeds, claimed, neutral_since = {}, {}, False, None + previous, speeds = time.monotonic(), {d.id:0. for d in moving} + last_sign, undriven_since = {}, None + self.release_confirmed = None + owner.active, owner.mode = True, "remote" + receiver = False + zero_seen = False + stalls = {} + with ThreadPoolExecutor(max_workers=min(16,len(devices)),thread_name_prefix="vesc-remote") as pool: + try: + for d in moving: + self.ensure_live() + configs[d.id] = owner.limits.apply(d, originals[d.id]["motor"], limit) + minimum = configs[d.id]["s_pid_min_erpm"] + if not math.isfinite(minimum) or minimum < 0: + raise ValueError("Некорректный минимальный порог регулятора VESC.") + # Native Tool serializes setRpm as an integer. Round up so + # the first command actually reaches the firmware threshold. + minimum_speeds[d.id] = max(1, math.ceil(minimum)) + if maximum < minimum_speeds[d.id]: + raise ValueError(f"Минимальная скорость регулятора этого VESC: {minimum_speeds[d.id]} ERPM.") + self.state = "ready" + while True: + cycle = time.monotonic() + if owner.stop.is_set(): break + if not receiver: self.ensure_live() + unchanged() + if self.service.drive.value != profile: raise ValueError("Назначения моторов изменились.") + def read(d): return values(d.link.query(4,timeout=.06)),ppm(d.link.query(31,timeout=.06)) + readouts = batch(pool, devices, read) + for d in devices: self._publish(d,*readouts[d.id]) + active = any(owner.receiver_active(d.id,readouts[d.id][1]["level"]) for d in devices) + if active: + receiver = True + self.state = "receiver" + owner.state("rc") + with self.lock: self.lease.stop() + if receiver: + # Hold zero locally through the first gesture. Neutral + # releases PPM, so only a subsequent gesture drives it. + stopped = all(abs(v[0]["motor_current_a"])<=1 and abs(v[0]["duty"])<.01 for v in readouts.values()) + neutral_since = (neutral_since or cycle) if not active and stopped else None + if neutral_since is not None and cycle-neutral_since>=.5: break + demand=(0.,0.) + else: + with self.lock: demand=self.lease.demand + if demand==(0.,0.): zero_seen=True + if not zero_seen: demand=(0.,0.) + now=time.monotonic() + dt=min(.15,now-previous);previous=now + targets = {} + for d in moving: + value=readouts[d.id][0] + check_values(value,moving=True,current_a=limit,motor=configs[d.id]) + target=demand[sides[d.id]]*maximum + minimum = minimum_speeds[d.id] + # A small analogue request must never be rounded UP to + # a faster requested speed. Release below the operable + # range; firmware would otherwise enter zero-duty mode. + if abs(target) < minimum: target=0 + targets[d.id] = target + signs = {key: 1 if target>0 else -1 if target<0 else 0 for key,target in targets.items()} + quiet = all(abs(readouts[d.id][0]["erpm"])<300 + and abs(readouts[d.id][0]["motor_current_a"])<=1 + and abs(readouts[d.id][0]["duty"])<.01 for d in moving) + # Count only observed neutral while ALL previous outputs + # were released. A long operator pause already satisfies it. + if quiet and not any(speeds.values()): + if undriven_since is None: undriven_since = now + else: undriven_since = None + reversing = any(sign and last_sign.get(key,sign)!=sign for key,sign in signs.items()) + if reversing and (undriven_since is None or now-undriven_since<.5): + # One shared barrier: after a turn, the side keeping its + # direction must not drive while the other waits to reverse. + targets = dict.fromkeys(targets, 0.) + else: + last_sign.update({key:sign for key,sign in signs.items() if sign}) + for d in moving: + value=readouts[d.id][0] + target=targets[d.id] + minimum=minimum_speeds[d.id] + # Zero is immediate release, never an RPM hold/brake. + if target==0: + speeds[d.id]=0 + else: + step=600*dt + speeds[d.id]+=max(-step,min(step,target-speeds[d.id])) + # FW 5.02 disables its speed PID below s_pid_min_erpm. + # Ramping from zero spent 900/600 = 1.5 s sending + # ineffective commands. Enter the configured range + # immediately, then keep the existing ramp above it. + if abs(speeds[d.id]) < minimum: + speeds[d.id] = math.copysign(minimum, target) + if abs(value["motor_current_a"])>5: + at,tacho=stalls.setdefault(d.id,(now,value["tachometer"])) + if abs(value["erpm"])>=60 and abs(value["tachometer"]-tacho)>=3: stalls[d.id]=(now,value["tachometer"]) + elif now-at>=2: raise ValueError("Мотор не движется при токе выше 5 А.") + else: stalls.pop(d.id,None) + if now-cycle>.12: raise ValueError("Связь с VESC слишком медленная.") + if not receiver: self.ensure_live() + claimed=True + batch(pool,devices,lambda d:d.link.test_command("claim")) + if time.monotonic()-cycle>.16: raise ValueError("Связь с VESC слишком медленная.") + if not receiver: self.ensure_live() + def send(d): + if not receiver: self.ensure_live() + if owner.stop.is_set() or receiver or abs(speeds.get(d.id,0))<1: d.link.test_command("release") + else: d.link.test_speed(speeds[d.id]) + batch(pool,devices,send) + if not receiver: self.state="driving" if any(speeds.values()) else "ready" + owner.sleep(max(0,.1-(time.monotonic()-cycle))) + finally: + self.state="stopping" + def release(d): + try: d.link.test_command("release") + except (OSError,ValueError,TimeoutError): pass + if claimed: batch(pool,devices,release) + if claimed: + owner.sleep(.3) + def released(d): + try: + value = values(d.link.query(4, timeout=.1)) + return all(math.isfinite(value[k]) and abs(value[k]) <= 1 + for k in ("motor_current_a", "input_current_a")) and abs(value["duty"]) < .01 + except (OSError, ValueError, TimeoutError): return False + self.release_confirmed = all(batch(pool, devices, released).values()) + if not self.release_confirmed: + self.message = "Снятие тока не подтверждено. Проверьте фактическое состояние моторов." + owner.state("rc") + for d in moving: + try: owner.limits.restore(d) + except (OSError,ValueError,TimeoutError): + notice="Восстановление пределов ожидает нейтрали." + self.message=(self.message+" " if self.message else "")+notice + owner.state("rc") + owner.active,owner.mode=False,None + self.state="fault" if self.release_confirmed is False else "receiver" if receiver else "stopped" + if not receiver and not owner.latched: owner.state("ready") diff --git a/plugins/vesc/runtime/schemas/5.02/info.xml b/plugins/vesc/runtime/schemas/5.02/info.xml new file mode 100644 index 0000000..28efebd --- /dev/null +++ b/plugins/vesc/runtime/schemas/5.02/info.xml @@ -0,0 +1,1008 @@ + + + + + Firmware Version + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The firmware version(s) that this version of VESC Tool supports.</span></p></body></html> + + 0 + 5.02 + + + Soft Battery Cutoff Calculator + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Parameters for a soft battery cutoff can be calculated here. To do that, select the battery type and amount of cells. When the battery voltage is at the start value, the battery current will start to get reduced. At the end value battery current draw (and thus motor current) is disabled completely. In between the current is limited proportionally to where between the start and end values the input voltage is.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Notice that braking always is possible, even when the battery current is limited. That is because braking does not draw any current from the battery, it only charges the battery.</span></p></body></html> + + + + Detect BLDC Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Spin up the motor in delay commutation mode and try to measure the following parameters:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cycle Integrator Limit</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">BEMF Coupling</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall Sensor Table</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The settings mean the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current (I)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The current to use for spinning up the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">ERPM (ω)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The minimum speed for the delay commutation mode to start the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Duty (D)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The duty cycle to measure the BEMF coupling at. This value should be as low as possible, but not so low that the motor cannot spin at the end of the detection sequence.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If the motor is not able to spin up properly these settings can be tweaked. Symptoms:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-style:italic;">The motor starts to spin, but is too weak to reach enough speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the current setting.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-style:italic;">The motor cogs and is unable to spin up.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto'; font-style:italic;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-style:normal;">Increase or decrease the current.</span></li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has low inertia increase ERPM.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-style:italic;">The motor spins up properly, but does not spin at the end of the detection.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the duty and try again. This is usually needed for low KV motor when using low voltage, such as ebike motors.</li></ul></body></html> + + + + Detect FOC Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/846930886.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAAZAAAAAsCAYAAABLwO52AAAACXBIWXMAAC4jAAAuIwF4pT92AAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAGMBJREFUeJztnXtU1NW+wD+/efASEpWHJCK+g +MwETC5HzVArH5WPsjzVKk1Ls1PZsbvsdlPpddZtSddHnI6WUbflyTqZCaZlpD1MzPD6iERC8ZoiiiKhM +AEDzMy+f2wZ/Tk8BphhBpjPWnutWfu3f/u3f7/fnt/e+/vacIWBwPPAXqACEB00mYDfgS3Aw0APPLSVP 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calculate the necessary FOC motor and control parameters. The procedure is the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ol style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Measure <span style=" font-weight:600;">R</span> and <span style=" font-weight:600;">L</span> and wait for the detection result. When the detection result arrives, <span style=" font-weight:600;">KP</span>, <span style=" font-weight:600;">KI</span> and <span style=" font-weight:600;">Observer Gain</span> will be calculated.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Measure <span style=" font-weight:600;">λ</span> and wait for the detection result. If the detections fails, tweak <span style=" font-weight:600;">I</span>, <span style=" font-weight:600;">D</span> and <span style=" font-weight:600;">ω </span>as described below and try again until it works.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use the <span style=" font-weight:600;">Apply</span> button to apply the measured and calculated parameters.</li></ol> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The following parameters are measured:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Resistance (R)</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Inductance (L)</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Flux Linkage (λ)</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The following parameter are calculated from </span><span style=" font-family:'Roboto'; font-weight:600;">R</span><span style=" font-family:'Roboto';"> and </span><span style=" font-family:'Roboto'; font-weight:600;">L</span><span style=" font-family:'Roboto';">:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Proportional gain for the current controller (KP)</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Integral gain for the current controller (KI)</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gain for the observer</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">For measuring resistance and inductance, signals are injected into the motor. Nothing requires configuration for doing that and the motor does not need to spin up.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">For measuring the flux linkage the motor needs to spin up, which is controlled by the </span><span style=" font-family:'Roboto'; font-weight:600;">I</span><span style=" font-family:'Roboto';">, </span><span style=" font-family:'Roboto'; font-weight:600;">D</span><span style=" font-family:'Roboto';"> and </span><span style=" font-family:'Roboto'; font-weight:600;">ω</span><span style=" font-family:'Roboto';"> startup settings. Notice that the resistance has to be measured first. The startup settings mean the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current (I)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The current to use for spinning up the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Duty (D)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The duty cycle where to measure the flux linkage.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">ERPM (ω)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The minimum speed for the delay commutation mode to start the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If the motor is not able to spin up properly these settings can be tweaked. Symptoms:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-style:italic;">The motor starts to spin, but is too weak to reach enough speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Increase the current setting.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the load increases with speed (e.g. a propeller) you can decrease the duty cycle. This makes the detection slightly less accurate, but that does not matter in general.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-style:italic;">The motor cogs and is unable to spin up.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-style:italic;"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto'; font-style:italic;" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-style:normal;">Increase or decrease the current.</span></li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has high inertia decrease ERPM. E-bike hub motors tend to have high inertia.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If the motor has low inertia increase ERPM.</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">After measuring the motor parameters, gain factors for the current PI control loop and the observer gain should be calculated. KP and KI are calculated based on a desired time constant of the current controller and the motor parameters R and L, which have to be measured first. The observer gain is calculated based on the motor inductance, which also has to be measured first.</span></p></body></html> + + + + Detect FOC Encoder Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Detect the following encoder parameters:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Offset</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Ratio</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Inverted</li></ul> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">To do that, the motor is turned slowly in open loop while the encoder output is sampled, once for the ratio and once for the offset. This is done in both directions for one full mechanical revolution to get rid off possible offsets and nonlinearities.</span></p></body></html> + + + + Detect FOC Hall Sensor Parameters + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Detect the hall sensor table. To do that, the motor is turned slowly in open loop while the hall sensor outputs are sampled. This is done in both directions to get rid of offsets.</span></p></body></html> + + + + Detect IMU Calibration + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Calibrate the IMU. This will set the curent IMU orientation to level. If your Pitch/Roll axes don't end up in the desired orientation, you can supply a yaw value.</span></p></body></html> + + + + NRF Pairing + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the VESC in NRF pairing mode for the amount of time specified in the Time box (default 10 seconds). Afer that, you should put the device to pair in pairing mode before the time runs out. A popup should appear and show that pairing was successful, or that it timed out. After a sucessful pairing, the NRF settings will be updated according to the unique ID of the paired NRF device and stored to the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">NRF Nunchuk</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">For pairing the NRF nunchuk, set the VESC in pairing mode and switch on a nunchuk (that was switched off previously) before the pairing time runs out.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that the unique ID of the NRF nunchuk is based on a hashed version of its microcontroller UUID, so the pairing should still be valid even after updating firmware. The chance of collisions between NRF nunchuks is practically non-existent.</p></body></html> + + + + CAN Forwarding + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">When CAN forwarding is enabled, all communication will be forwarded over CAN bus to the VESC with the ID selected in the ID box in the connection page.</p></body></html> + + + + RT data logging + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">VESC Tool (mobile and desktop) can log realtime data to CSV files. The output directory has to be chosen, which is where the log files are stored. Each time the logging checkbox is checked, a new CSV file with the current date and time is created in the output directory. This means that toggling the box will store the current file create a new one, which can be convenient to split the logs.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The output format is as follows:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Roboto';">ms_today;v_in;temp_mos;temp_mos_1;temp_mos_2;temp_mos_3;</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Roboto';">temp_motor;current_motor;current_in;id;iq;rpm;duty_now;amp_hours;</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Roboto';">amp_hours_charged;watt_hours;watt_hours_charged;tachometer;</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-family:'Roboto';">tachometer_abs;position;fault_code;vesc_id</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The values mean the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">ms_today</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Time today in milliseconds. This time is sampled in VESC Tool, so it can contain jitter compared to the data values depending in transmission latency.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">temp_mos</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">MOSFET temperature in °C.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">temp_mos_1, temp_mos_2, temp_mos_3</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Individual MOSFET temperatures for the legs in the power stage in </span><span style=" font-family:'Roboto';">°C. Only available on hardware with individual temperature sensors, such as the VESC 75/300.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">temp_motor</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor temperature in °C.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">current_motor</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor current in A. The sign is the same as the input current, thus positive when the motor is driving and negative when the motor is generating.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">current_in</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Input current in A.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">id, iq</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">D-axis and Q-axis current of the motor. Only available in FOC mode.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">rpm</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor speed in electrical rouds per minute. Has to be divided by the number of pole pairs to get the mechanical speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">duty_now</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Modulation, range -1.0 to 1.0</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">amp_hours</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Ampere hours consumed from the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">amp_hours_charged</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Ampere hours fed back to the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">watt_hours</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Watt hours consumed from the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">watt_hours_charged</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Watt hours fed back to the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">tachometer</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">1/6 electrical revolution counter. Will count 6 steps for every electrical revolution of the motor. Has to be multiplied by the number of pole pairs to get 6 times the counts per mechanical revolution. Will count backwards when the motor is turning backwards.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">tachometer_abs</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Same as </span><span style=" font-family:'Roboto'; font-weight:600;">tachometer</span><span style=" font-family:'Roboto';">, but couts the absolute value</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">position</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor position in degrees. It is the mechanical position when using an encoder, the electrical position otherwise. In sensorless mode the position is not valid when the motor is not turning.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">fault_code</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current fault code.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">vesc_id</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">CAN ID of this VESC.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p></body></html> + + + + Motor Setting Description + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Motor Settings</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-weight:600;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This is where you can edit your motor settings. It is </span><span style=" font-family:'Roboto'; color:#00A1E4;">very important</span><span style=" font-family:'Roboto';"> to setup your VESC every time you connect a different motor, otherwise the VESC and/or the motor are likely to get damaged. The easiest way to set up your VESC for your motor is to use the </span><span style=" font-family:'Roboto'; font-weight:600;">Motor Setup Wizard</span><span style=" font-family:'Roboto';">. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The motor settings are stored in their own configuration structure. Every time you make changes to the motor configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the motor configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/846930886.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAWtJREFUSInt1L9LlVEYB/CPP9I7iFAkpojgq +lOCg0u4COIi0aAipuDQv+Ag4dbQ7ChUSNASNIWLiAjSkEugIAjXSREUU0QMUYdzgpfTe7tXsu1+4YX3P +N/nnO95Hr7PoYoq/hfq/sK14TyzbsE0+rCP0yS/BuN4hiYUy4k34Fvc8Bu9uME13uTs6cJl5BezRG0Jk +Zl447dRMIsfGEUhiU/gEMfpYXkij/FaKL8Pkwn/Ca0YyMQeRJElXFUiMocn8b8G83iU4YtYxctMrF9o1 +8ec8/4Q6cGrJNaB2ST2HsOCGWAKG9ipRORaKHsMF1jAC6wkuV8j/xwPMYJ3eQJQn6y341cQeruJz5Hrz +eSdxfgUfglt/VKpyF3wQXBhaxQ4QWNeYikLV4Lv2EJnFCyJf6nkCkPCdO/dRaRdcFiD8OR0YxA/5fhfG +L7DcrdJ3642PEUzlnEkuKdWmPRdrMuZ6ogbHGBNmeqqqOJ+cAulnEDcgz/2JwAAAABJRU5ErkJggg==" width="25" height="25" /><br /><span style=" font-weight:600;">Read Motor Configuration</span>. This button will read the current motor configuration from the VESC to VESC Tool.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#00A1E4;">Warning</span>: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAbJJREFUSInt002IjlEUB/Cfd8Y0xTsWGjYWE +7MkKZRYqMl3Yulj7CykbC2sbJSsLKSJohEWk0RZiIhYKmUiSmoWamgsNIbxORb3PLpuzzAWdu+/nnru+ +frfc87/0kIL/wuz0Ibb6C18U+jHg5q8fqzBGI5GbI5lOBD/xyvjDvyI4Oq7gUb427A0K3Iu4j9jec0lB +vA9YlbkHT3OCD4VRbdjHDszkjEM40RBMDd890qS9fiCb0FyskjswHm8w+IgGcVhjKAzi92N9zhUktyJ7 +zTeoLtmBF14hVMZSQ8+YFs2kZu4gH05ybzoYg8WYG8NQYVjeBlFRjEb1zAU/h5Moi8naWAR2vEcb3HpD +yTPMB/NOE9hEJuxMC74GvfzpAY+RnDT39GFr1LnFW5JotgVJBel3f5GMiKpYcMMSDbiKSYy2wSu4AiW4 +HKZ1JDmdgYHI2g69GELztb4BqW3dBcvpivQxBNpL6tqLrJV2td1aX+VutqzuM7i/GvxlXE8Cg3hofSQH +knqWYeVkor2K+adYXK6Dkp0SFK+KilpWFLbJukNVOjF6sJWohtrMWem5C208O/4CY0gaupzHd1QAAAAA +ElFTkSuQmCC" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default Motor Configuration</span>. This button will read the default motor configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#00A1E4;">Warning</span>: All of the motor settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1714636915.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAWdJREFUSInt1L9LlVEcx/FXYupYkJhLEDTEx +cmQaKpcjJZoCCLJxMF/wKFFBJeKaG20KFSQtpbGRIlCcGhRiAhJIZUyEH/itdvwnEuPD+c+XC+03Q88c +L7f8/2c9+E533Ooq67/pROZ+CK6I3VrmMGdEL/FSmStuziNRbyvBD2L6+jBNp6G+BI6UcIfPI54z2M/z +I9VAqTVgk0MpHJlyGd8CzVpDWMZP7OQhmqIGU2hDddSuZPoxTiKWUMtkCVMoy+VuyL5XZMxQy0QeIWba +A3xA3zEl1hxYybuQAFNYa4LW9iRdFhZ77CL23iDWxiqdoeFsGAp8z3x7+Dvhdrn+IB+/MIpNGNVFd31T +NKGZcB3Se9nIZexh694EXJRSOxMHuFHGJcwgt+Runks4Bxe5+06BtnAaAB8wkQFbxE3JK/E7HEh8BJze +IiDHP+65GIe5kHy1O7o23YGg7iQ42nAfVytFVpXXcfTX2+vTfc/khePAAAAAElFTkSuQmCC" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Write Motor Configuration</span>. This button will write the motor configuration that currently is in VESC Tool to the VESC. Every time you make a change to the motor configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Every motor setting has three small buttons to the right of its value. They have the following functions:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/719885386.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAApUlEQ +VQ4je2UOwoCMRRFz4iduAOX4AJ0HwqW2YIrcQfpZzYy1rMGG8sB21Gb+yCIUZOJ2HjgwsuHk0cggR8xU +4pQAV6pSggdcFXcWNkS6IGb0msuiznQBTJLp7Vk/BOZxafKHDC8EA5E7nMaEZ6Bneo9sFbdAgfVl9Quj +TrorHm3eZJ7yl/4PWFx7PdYAKuRriNwssGG+Kv4NNvHDu015NKGHRbjDvLBOhzaahdWAAAAAElFTkSuQ +mCC" width="20" height="20" /><br /><span style=" font-weight:600;">Read Current Value</span>. This button will read the current value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1189641421.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABy0lEQ +VQ4ja3UuWsUUBAG8N9uNCbe8T4LDdqpYGNhBCWQxsZCRMWjEBsbK5vUVv4DBkQR7ETwQkUhoCBBRAQRQ +RuPRDwKC2M0mpCsxcyaZY+sRQYejzfvvZlvvjmYYSk00C/BBqzCbPzCh1y//9d4Cw6gHz8xiVLFmsRXX +MK2ZgiLuIwjiaYfT/ERY5iPTdiN7RjHcVxtZHhnIriO5U0i2YHBdFYjxdxXa8xnPSlgbb2LWVXnfejBQ +wxgCH+wEJvRja2C72llvyD+guBvRG1SJkwlZSB1TRG+xUksRifWoDUdvMc7kZC+dNgU4QTu4qjIarvge +anIbiWAeYKKaQ2+wGhVqCVRSl1Vf3rybhjn03FNyOfwAHtE8a5DG+7gE07gYr79nPsCPFZFQRnhoCjYj +jpRXEv0nXlehidpeAhz6xkcy30Ez3EbZ0WZjCbSshSwCGcSXRdThV2WUxnWPdFu3blaMQdfKt6W8D11h +Qz9n+xKLzc0br1XgscVFboi7osJtF7VxZU0+gM30YtjYgJtwSFRVi9xGHtxK//01UPQgoN4pHZ8vRZ8n +RZlUtaPi85pLxtpNBA6sNFUpwyLJH3DSpGANjzDmwY2Zkb+AmCVfJ8j/k4uAAAAAElFTkSuQmCC" width="20" height="20" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default Value</span>. This button will read the default value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1350490027.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABiUlEQ +VQ4ja3UQUtVURAH8F8iiOt4lRuJBF/wAj9Drtzk24maguuo71G67xtIayNa5t6lqagrFVMRdGdQ1LPFm +fu8He99mvSHA/fcmf//zJyZM/xn3LvBPoAmhmN/gB38+NeDHmIJR+jgMlYn/i2Fz60ifI4PeIANrGA3b +KNo4xlOMYPVXpGN4zvOMI2+Cp++EDoL3/E6sQaOcY5WJvDE1T0WaIXvcXCvYVG6o+nSv/tYw2/8wicMl +uwzwVnMxQaky173d5qvpWK8wpv4XsiiX8e30OiSn+KRVIBOifAFU1iOSEnFKtDBRwyFRheTcfpcHnopg +89SEVqZbT64L6C/RiDHW0zEgZu9HIuU9+OUZo3fT7yX+jNHM7gHZcFtqfxt1b23j60g5gG1g7udk4q2m +a0Q3IiV42Vw3lXYNKTWOcdYZhuJVcZY+B6paWzSM7oIx1n1T28ufC6kt99F3XBYlvryq9RnO2FruhoOJ +1LKPYdDgYZ0p4euj6/DsFWmedsB+zj2e+44YO+MPwJ2YaVTOqggAAAAAElFTkSuQmCC" width="20" height="20" /><br /><span style=" font-weight:600;">Show Help</span>. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The full motor configuration, including the notes you make on the <span style=" font-weight:600;">Description</span> page, can also be written to and read from XML files using the <span style=" font-weight:600;">File</span> menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the motor configuration again.</p></body></html> + + + + App Setting Description + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">App Settings</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-weight:600;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This is where you can edit your app settings. The VESC can run one or more apps, and the apps are used to enable different functions on the communication interfaces of the VESC. If you are going to use your VESC with USB or CAN-bus you don't have to change the app configuration since these interfaces always are active. If you want to use conventional input devices such as nunchuks, ebike throttles or RC remote controllers you have to configure the apps accordingly.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The easiest way to configure your VESC for conventional input devices is to use the </span><span style=" font-family:'Roboto'; font-weight:600;">Input Setup Wizard</span><span style=" font-family:'Roboto';">. This wizard can be accessed from the welcome page, from the help menu or using the button at the bottom of this page.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The app settings are stored in their own configuration structure. Every time you make changes to the app configuration you have to write the configuration to the VESC in order to apply the new settings. Reading/writing the app configuration can be done using the buttons on the toolbar to the right. The functions of these toolbar buttons are the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1804289383.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAVdJREFUSInt079LW1EYxvFP1PgrVFCwDh0FB +wvSQnEQuhRsJykJdLCrg5uLuJTSSXToH5A/oFuhIjhI/wFxqlYquAu2OliCLaUaicM5kcuNCTHoli+8c +O9933ue5xyeQ5s290Vng94Asjiv089hDuPYa9XAKlYa9GdRiSYmWhEYwx+cxeeb+Iod/MLHVkTWBJcVf +EEm1R/FP8yjiEP03UbgFcoJkTJepmY+oIQRTOESr5sV6Mb3hEC1vqE3MXOAz/E9i32sNysyiDwK2I5Vi +DUYZ15E5zOJ/97jLx41K1RlLVaaTzjCsBDjnJCuCyzehcgwfuM/jhN1IuxuDx3phbpuKZzHA7wTopvkC +RYwKRxzU6R3ksEWftQxNyQkrphupId78Dwu+DB+mxYSVsIzLAuxTnOKTbzBknCZr90l6cdbtedawS6eY +gM/bxCBx8K92VB7nG3a3ANXA4ZLC/b9+0UAAAAASUVORK5CYII=" width="25" height="25" /><br /><span style=" font-weight:600;">Read App Configuration</span>. This button will read the current app configuration from the VESC to VESC Tool.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#00A1E4;">Warning</span>: All of the app settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/846930886.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAZpJREFUSInt1L9LVmEUB/BPWr0qJUENQViXl +qIh0KaIhoyghiCyFyKC/ANaWmuxsK3FEGyooCjQoZaagqagoPYGM/qJCoaCFFiWNTwHul7ufd+ltvcLh +8vhfM/5nuee5zm00ML/xgF8wMeCPcX6JrlrcAmj2NFM6DF+52wFJ3Px7eguyduFH8EfaiayH79yIk/Qn +os/wktsKeQN4wseYgprG4ncxXIILKG3EN+DTxiXfhF04C1uoT+aPFIlsDsEzmMGYxW8U/iOvvCPRuFD0 +uymcL9K5ALmUMNpbK3gdcRpLoY/gTdYF/4wFrE5n9QW3wzvostxzFaILAUvi0aOBX854vfQhXqZyDdsy +PmNsDH49Sj4IkQz6Za9xmBZ4kB0s7OJQBYCZ/HK6iuft5/YW0zuxHvp6O3FYKANd6RHejgKXca+gh3EV +1wrK3JcmskNbCrEujEizaSO61FoW0VDD6RbWisLnsF8EG5LL/gmPmMB56SZTEsbogoD0gY4UUXowRU8w +ySe46q/e6lL2nU9DURqwckacFpo4R/gDwhEYoEYfLxOAAAAAElFTkSuQmCC" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default App Configuration</span>. This button will read the default app configuration from the VESC to VESC Tool. The default configuration is hard-coded in firmware, and is how the VESC is configured right after uploading new firmware.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" color:#00A1E4;">Warning</span>: All of the app settings currently in VESC Tool will be overwritten by pressing this button.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAABLDAAASwwFyLQTKAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAVZJREFUSInt1D1LXUEQxvGfIor4UgiCL6VYC +WqVSjQSsReC+IKFRSxtJEUs0qXyAySlYKGV2gbEwkICIQhikS8QURHFBAyJihY7By4H782BaHf/MOzO7 +s4+e2aGQ5Uqz0VNzm/CHGpz6/dYxe9Hzl5jLc4Uoh4jGMVe2Chexl4p03HxX/QXFcizGVaOzzjACVYqX +ZRPS1F6MIxP2MIUGp9aZFZK07ZUjy6MP6VIPWakdJ3iK75jvlxAXc5vw1jMu2OcjHEHFxhCL97G+g3W8 +S5ifhR55YHUNaX2DQ1xZg3HaJfauEnqrhss/UsgYywCMoFbvIq9dlzij5SqzM5wh0OPlCCfLlJatvE6/ +E3sxnwCLViWWreUQSziBb4U+Zpe/MLPmJP+Dvs4KvO4NlzhYxGBjA9hGQNS276vELOBczQXFWmViprRh +wV0Vojpwxt0FBWpUuX/eABXPUWBkBgNpgAAAABJRU5ErkJggg==" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Write App Configuration</span>. This button will write the app configuration that currently is in VESC Tool to the VESC. Every time you make a change to the app configuration in VESC Tool you must use this button to apply the new settings. The new settings will be used as soon as you write them to the VESC, and they will be stored in the flash memory of the VESC persistently.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Every app setting has three small buttons to the right of its value. They have the following functions:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/719885386.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAApUlEQ +VQ4je2UOwoCMRRFz4iduAOX4AJ0HwqW2YIrcQfpZzYy1rMGG8sB21Gb+yCIUZOJ2HjgwsuHk0cggR8xU +4pQAV6pSggdcFXcWNkS6IGb0msuiznQBTJLp7Vk/BOZxafKHDC8EA5E7nMaEZ6Bneo9sFbdAgfVl9Quj +TrorHm3eZJ7yl/4PWFx7PdYAKuRriNwssGG+Kv4NNvHDu015NKGHRbjDvLBOhzaahdWAAAAAElFTkSuQ +mCC" width="20" height="20" /><br /><span style=" font-weight:600;">Read Current Value</span>. This button will read the current value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1189641421.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABy0lEQ +VQ4ja3UuWsUUBAG8N9uNCbe8T4LDdqpYGNhBCWQxsZCRMWjEBsbK5vUVv4DBkQR7ETwQkUhoCBBRAQRQ +RuPRDwKC2M0mpCsxcyaZY+sRQYejzfvvZlvvjmYYSk00C/BBqzCbPzCh1y//9d4Cw6gHz8xiVLFmsRXX +MK2ZgiLuIwjiaYfT/ERY5iPTdiN7RjHcVxtZHhnIriO5U0i2YHBdFYjxdxXa8xnPSlgbb2LWVXnfejBQ +wxgCH+wEJvRja2C72llvyD+guBvRG1SJkwlZSB1TRG+xUksRifWoDUdvMc7kZC+dNgU4QTu4qjIarvge +anIbiWAeYKKaQ2+wGhVqCVRSl1Vf3rybhjn03FNyOfwAHtE8a5DG+7gE07gYr79nPsCPFZFQRnhoCjYj +jpRXEv0nXlehidpeAhz6xkcy30Ez3EbZ0WZjCbSshSwCGcSXRdThV2WUxnWPdFu3blaMQdfKt6W8D11h +Qz9n+xKLzc0br1XgscVFboi7osJtF7VxZU0+gM30YtjYgJtwSFRVi9xGHtxK//01UPQgoN4pHZ8vRZ8n +RZlUtaPi85pLxtpNBA6sNFUpwyLJH3DSpGANjzDmwY2Zkb+AmCVfJ8j/k4uAAAAAElFTkSuQmCC" width="20" height="20" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><span style=" font-weight:600;">Read Default Value</span>. This button will read the default value for this setting from the VESC.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:1; text-indent:0px;"><img src="data:image/1350490027.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABQAAAAUCAYAAACNiR0NAAAACXBIWXMAAA7EAAAOxAGVKw4bAAABiUlEQ +VQ4ja3UQUtVURAH8F8iiOt4lRuJBF/wAj9Drtzk24maguuo71G67xtIayNa5t6lqagrFVMRdGdQ1LPFm +fu8He99mvSHA/fcmf//zJyZM/xn3LvBPoAmhmN/gB38+NeDHmIJR+jgMlYn/i2Fz60ifI4PeIANrGA3b +KNo4xlOMYPVXpGN4zvOMI2+Cp++EDoL3/E6sQaOcY5WJvDE1T0WaIXvcXCvYVG6o+nSv/tYw2/8wicMl +uwzwVnMxQaky173d5qvpWK8wpv4XsiiX8e30OiSn+KRVIBOifAFU1iOSEnFKtDBRwyFRheTcfpcHnopg +89SEVqZbT64L6C/RiDHW0zEgZu9HIuU9+OUZo3fT7yX+jNHM7gHZcFtqfxt1b23j60g5gG1g7udk4q2m +a0Q3IiV42Vw3lXYNKTWOcdYZhuJVcZY+B6paWzSM7oIx1n1T28ufC6kt99F3XBYlvryq9RnO2FruhoOJ +1LKPYdDgYZ0p4euj6/DsFWmedsB+zj2e+44YO+MPwJ2YaVTOqggAAAAAElFTkSuQmCC" width="20" height="20" /><br /><span style=" font-weight:600;">Show Help</span>. This button will show a help dialog describing what this setting does. If you are not sure about a setting the help dialog can be very useful.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The full app configuration can also be written to and read from XML files using the <span style=" font-weight:600;">File</span> menu. This is a good way to keep your settings when going between different VESC Tool versions, to share your settings and to store your configuration in general.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that uploading new firmware to the VESC will reset all its settings to their default values for that firmware. This means that after uploading firmware to the VESC you have to perform the app configuration again.</p></body></html> + + + + Data Analysis Description + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p align="center" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Data Analysis</span></p> +<p align="center" style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-weight:600;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Here you can stream and plot data from the VESC to analyze what is going on. Next to all plots the following buttons are available:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1804289383.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAOtJREFUSInt0j9KQ0EQx/FPTODlIMY7iIXWg +VgoSmzEE3gEsRDvoCm0Tx0lJ/AUsbW0TUCfFhkhLlmeAcv9wrAzO39+u+xSKBT+k0P0w+9H/Ce2GvJdn +KBCB+3Yb0dcRb67qUgL+xjhDedYZPoXuIi6EQ6iP0sPN3hFja+w08gfYRD+IGI4W6mto/8WO6nANT5Xi +lftCQ+YJiLT2H/O9NUx9xfbuMIsucmw4SbDZPAshvdSgZRd3OMdkwaRSdTdYc+aN+lkRF7CLmNglamr8 +IhjzHMnzon8MMc4/A/LdxNry/J3jdf0FQqFDfkG0GlAe84ws98AAAAASUVORK5CYII=" width="25" height="25" /> <img src="data:image/1714636915.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAzBJREFUSInF1k9oHGUYx/HP7O5sNptNVo20E +T14KqKmeIg9Bbx4LygR9ObRUsFDaQ8e7NGCVG/qSbyoPdR4EhQ8VOjFHoQUUYoHRYXYvybZ/7uz42HfN +5mkMS0o+MLDDDs7z3d+z7zP75nEvVYuQQmVcEyQY4wMmUR+UIrkgOQlVFELx3QfyBAD9DCQGN8/JFfFD +KZDVEOUCvdkATBAN0RbYrA3XWUfwDRm0UA9xFRQUikoiZA+OiFSuS2J7j9DJoAm5gIkgmLJipCRnVIVr +5fkFEGVAqAaFMwF0GyIWLYpOy9/HCD9UKZ4rRyyjeWyWLpKAJRCsvj0s3sUzRRKFiHDAGkXfhfKOMJQb +iQxjkqq4WnrBcjcHlAtgGK5+qFU1V0Kdpexi14l9EGtAKkXVO2U7n1H1KRedd1HDukZes21AiArqIuAm +ly/FGTGLTpVAM7Y0HTOUS3zSmZVNPGwiqaSWS3zzjlqQ7Pw7qLiqagydnIqNlxmyruesmzFgpNWLWqoS +82omAuQOakZDXWfW7TgpGUr3vG0bDt5GqIcd0vJOY+74CXXPK/tkLhe8RumlU1JNTAtVTaQYdrLfvedR +1y25LIlZ113xDdedMGbbk/y5+oOOx9eWn5XHLPuuHXLNl20Kdd10aZlW45bd8z6vvcxdth5uXrZWRWnr +Km7ZNPQhgUDjW0lp/zoPX8oS6VST+r5QW7RbW/7WVvXVx7d/n/Dn56x6nVv+cIqOpWgYOy0X532scyXP +rTkM8+5YtEnHvOG72X6hlpoG5qRhUb81BNqep511YpvnXBF2U3cjLkr240z2dtDZX0n/OSEGzZc8oGjW +jqG2lIj3DGSGepr6XjBVV9b03QDt8IWHoScQ2RRSXTT4h5va6o6Yw2zxuaN9HDTSMnYUMMtZ/yCDZPO7 +4b7+wVYNrHtXA0PFeJBPOD+Or6FzQD6C3dwezsSvWgrcSZ0FN10sqKlH+RdEbQVzjshX8EgE2P5ttHtd +tNJsp6DXbgdABEy2SBhUu5YfWIgt+VuN+279zzpFJJPFBUm5O6hleiGT4K9bnq/k7EVAN3dafdb//GM/ +x+/VnbD/vV3198lXlrK5rk7bAAAAABJRU5ErkJggg==" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph horizontally.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/719885386.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAARFJREFUSInN1DFKA0EUxvFfVDBipa1l9BbBG +1ioWMbeM4jYCnZeII1dChHPolXwCpvOFCZa7CwmC4lvTBb8wzI7s/PNNzvz3uOfctO0wREmOMwRbWSa9 +JKml6kL08I7vlLbasLkGNNkMk39EDnHdeln963UXys7GCn/onpGaEfEm0GTM+zhFru4xj4+8Ja338Vsz +7z3F4wvZCsw57Q27wAXM/1PPK1qMjZ/rA+175PAGs0TSagTywNkgpdlC+SWFbj6gybEStEVzZNz3CnLS +Te198o8eQ2u8SttFOYzvhDM+OidjDGojQ3S+Fqpjqmqwt11G1QMk8kwR5Qbwo+1thE6yuTr5IiiIVxRK +O/jOVPXPN97eDNuBsQAEwAAAABJRU5ErkJggg==" width="25" height="25" /> <img src="data:image/1649760492.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACKaAAAimgG+3fsqAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAzdJREFUSImN1rtvXEUUBvDf3bu7Xtu7Xju2C +YiGDslSkBLJQAGUqSlwh0SDRBOEBEi0UEJFnKRD/AMxEgVVSuo0KFKI6CgQAePH4td6X5fiznhn18bJl +T7Nfcz5vnPOnDlzM8+6ChnygAoyFBhhiKFMcRlF5RLyikIDbVzBCla85Kuz+/J9W6Gh+H+uiz8U6gn5c +sCKr93w1Ge+cT0RWk7E6s8nUpjFIpYSkZJwy3vI3LeRCESRJSwG+4mreoFAGwtoBsyhYWjGr26CJ24a+ +knuFF00UA98FQUyJ+cjKUNtBYH2uWg2veHIKji06o7Xz0UxdrCVpq4SBCqYT7xvTQkt+8HbysqCzJZ3g +kgq0Eo45mMxxEjqmA2piSIxoiW7XvDQtYnUPnTNntUgMo5gnOLZwCsP+6CZkMYxRtK26TV7FnzuiX1VX +3hsW92xzFs6QTbum0FAH31fOs0UcmmZju9jvhcdWtYM3r1rzY8e48ShY0072McudqbwD3aryoqohdDiO +BPQcNerKlpq5uQadsz73iuGuvqOjay45ZfEpp5w1ZBXw7pEVBPUMKOlKldXM6um6VOFQktfpm9gqBrIa +4lt2oYq1VAx04iimQ/8HfKdhwWt4SRgL6Rk0iatQrKqstlNYxRQ+M5VFW1186pyub6h3MCcnitGch+eO +TJKOMT7SvJxlFRGrI5TQz0DXQNHBjo2MdAJz11DPZyG+dF2GDDCqJoQ9pLxNODER36bqK4t8973+1R1d +RObXsLVxzBG0kvIuyHfRwEH7lnwputua/oT32pad8M9CzjAYZh7coHgMAuZayj3RMRkL+poe9EtXQ3xa +uh66q62Dv5FR7lf9pR7pkSmG9tKL3hxHLw6SAz3tG1b90h6rXukbTuQRqEY1XHg6xF7V2YUwj0MmPZsx +4afJ0TK553wfT/MP0g4jgLvWT0Labv8PFl026Grmv6y75PkPDk27eCF50kpeZJEEPtR2ZNy29Y8AGsey +G2HSOKcaDMhcF5kLJQuYGx0OzbcxyiM4/flvDJtUwLn0zWZuoqy0cWjtYaKl33sD3eUpR/3VRe9uAbPL +zIWi30pNtP0v2uA0bP+u/4DiYs9rS0c1UcAAAAASUVORK5CYII=" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">If this button is toggled active (blue), scolling with the mouse on the graph will zoom the graph vertically. Often it is useful to deactivate this button and only zoom in the horizontal direction because the sampled data can be squeezed together horizontally for long sampling sequences.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACdjAAAnYwEdzQRDAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAS5JREFUSInd1j9LA0EQh+EnEr+BYBdJKrFST +KGIimhh52cTLMReBEH80ymCjZ0INlqpRToLeyHqWeSCe6fEy92mcWDgbmbn93J7s8PWkBixjY0aAPXge +Q2diNoNXOUhHTxHEJ/EWxiIuV3T2MM9xvPJJPVWSfElnOIj1dlO461AuxSkhi1cB/UJupiKAVnEQ0687 +/vBukqQut4WHeEzqP/EbCxI35p4DOrPc/nKkKbeGWjgOK1fjwkJAbCMm1/WFYa0ZXs+D5Dm21Ugt1gZA +BhkhSAbafykBKAw5MJ3az4NCSgEmZM9AwnOsCo7VCtBDnKAvt9hIQakpTeDwpN8ic2C4oUgO+n7Ow4xP +6T4n5AJvGJX+dH/A5L/iV3M4KUiIGMhJGzRql+R0av5L1eiL2cWjCtk8xZ0AAAAAElFTkSuQmCC" width="25" height="25" /> <img src="data:image/424238335.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACdjAAAnYwEdzQRDAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAA4hJREFUSImt1k9oHGUYx/HP7k5mN5tNWlttS +lsKKbbRixDBg5aihVKsiHrRo1QFQax/yEEvnjyVHvSQg4gXEaSCetBD25PtoVTRQw6emv7D0EBDbRubZ +Jvdzc56mHdmh9jUgr7wMC8z8/6+7/M88z7PlNBzr1FCGVG4lsKKBN1g91YQrfukjBi1cB24C6SDNlbCN +fl3yH7Mgj1iE+q2qxlVVRcbMqCsrKSkrKcjsayjqW1ey5wV05pmtIPeTpxeC5nFZT2DGA57qwdbDb5EB +V+64Z0WmsGW7Fd3xsL64UoBGzCCRrB6IWhFyGohWDUfGzflZTccdMhjTt4NskccPBgJoOFgQxhEVT/9S +YC0HLPDlEOuegJlW33lhLZxDTNFSBkT6mFnjSBe9GgoQNL0r+o5aswXnjJrLN9oSddHvkXDhLqL6XZSS +IztaiE0GWRkDaiGqu+MesfTrtlk7djlrLfdJnw0cRrMslJYPqqqn+ihIJyBNmIzNnsBn/ndPlfXIHo+c +CrXGFVVSzMY5eehLg5xroUcZKDhABnGoFjFS7oedsEBG81rgN1mvOl67vGIWIwKZVGI9JCBMItD/Kthw +VAhR5vxoPO2OuxxP/nNXnPgXefCmhixqgEDKST1JLWseGQ2UIBlZ2eji+pe03DcFbsx6ZI5kSOuFtZWw +tGlTKSUxk2pMMuwP3jIQRWDKohcVPeGB3ztVvimKg65qeJsvibTSPqKZT2C9WckEj3v2eeETeg6r+RVD +V+6ZUxTWrm6BnW86Lr07CS5RrmvGOWPkvyApTZlhz9s8YmOcTMO2+a4K8by076IO9Ky0grQbH1XJygmR +FbD42Ud/braMuVJcM52B2xwxq92K6Wp1A2ARSxLS0sGa6OtJQq+KkvC7WZe7FZ8botL9uQnYF7D6x7xv +Yq2G/gTN7EQQEsBdicH3tbWziC9cHu+UE2PeTYksD9+ts37HvUjuBFsAX/hdgGUasxrWclyIngyZwVNn +xpz2d6CfM8uF7zlF5NmQ43IWlYrCC8FUOZV05w46ywpJMF06AdHvRLinhhzzqRTjrhmvSqchmg5ADLIk +mlx1in7pX5G23Ni1z1vi+M+9I1JC+6vnzRz8cyjmVBurG1aJy16xoTTmvoNa0W/zP97Z2RRyZ2ibBGyE +5zBuE332eMjTZF5kTmxaXHBg52ZcLarf47/8W9lfUjxjf/43/U3pE5Iq8YBubkAAAAASUVORK5CYII=" width="25" height="25" /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is the auto fit button. If the toggle verion of the button is active (blue), new realtime data that drops in will cause a rezoom in the graph to fit all data. Deactivating this button can be useful of you want to zoom in on the realtime data manually while samples are dropping in.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAACdjAAAnYwEdzQRDAAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAS5JREFUSInd1j9LA0EQh+EnEr+BYBdJKrFST +KGIimhh52cTLMReBEH80ymCjZ0INlqpRToLeyHqWeSCe6fEy92mcWDgbmbn93J7s8PWkBixjY0aAPXge +Q2diNoNXOUhHTxHEJ/EWxiIuV3T2MM9xvPJJPVWSfElnOIj1dlO461AuxSkhi1cB/UJupiKAVnEQ0687 +/vBukqQut4WHeEzqP/EbCxI35p4DOrPc/nKkKbeGWjgOK1fjwkJAbCMm1/WFYa0ZXs+D5Dm21Ugt1gZA +BhkhSAbafykBKAw5MJ3az4NCSgEmZM9AwnOsCo7VCtBDnKAvt9hIQakpTeDwpN8ic2C4oUgO+n7Ow4xP +6T4n5AJvGJX+dH/A5L/iV3M4KUiIGMhJGzRql+R0av5L1eiL2cWjCtk8xZ0AAAAAElFTkSuQmCC" width="25" height="25" /> </p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is the non-toggle version of the auto fit button. Pressing it will zoom the plots so that all data fits in them.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Realtime Data</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The realtime data page can be used to stream and plot filtered data continuously, which can be useful for visualizing things in real time while they are happening. For example, if you run a motor and put some load on it, you can see that reflected right away in the current and RPM graphs. Tuning the position and speed PID control parameters is also a lot easier when looking at the step response in a graph.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">In ordet to stream realtime data, the </span><span style=" font-family:'Roboto'; font-style:italic;">Stream realtime data</span><span style=" font-family:'Roboto';"> button in the main toolbar to the right has to be activated:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1681692777.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAAB4AAAAeCAYAAAA7MK6iAAAACXBIWXMAAC4jAAAuIwF4pT92AAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAABRdJREFUSIm111+MnFUZx/HPO/POOzM7u93Wb +jFtt40RApRWYsIFBm+8hCipUYxcKFygwQskVqsXxP9S/8RN1gRso60Ua0hpiDE0Jpgof7RcaKxpMJAAp +qloQSOpbdndme78eV8v3vPOvLO7unrhSZ6LOXPmfM/vec7zPGci/8vIVFBFBdFwlhQDkfS/3Spad0UOq +5UsDuBKWJEG66M3tHUOUQbHeBIz4fNAxTm7HPGil0z6kZ5ZkWiILEaKSN/nfMqD/oJlXEFXJFtPW4LX5 +a4bWaTtTneoO7fqu3Hr+5ZbZa6V2SmzRaYVPLZqxGvMpWpeEKnpuk6m6Wn32+gNHUQiPS1tM2oWtVwIm +gau1sR0EFGEpSqzJDJYD9zzE3f6KPa6zUnzLrnRP9xtoyoS93qvH7rPbn9wxmEM0JXHtwyuKsKZWSzHf +eSGa0rx3qyFSV/3stiSVMM5W7ERG7W0QnASbBrO59ANmAo2GayFpmzEGCn+kMR3RYg0tVBRM6VInYapo +CwJ31NXD8B+UHzF+M3Ptea/6wdbHoEzFU9oiMIdbGmias4t+pqmXHa1Wjh9XSOAa0PFvbBhsgKaBmiRZ +l1ZnmqF4pot6iKRVM0tHhWJtc0g8h6vSExiAg0NEysU90pqy9BCZbfkkStYHoE3Swiu7tg2DEFT2yG/L +cVqQi0ojoeKl/8NtFcC1oPVsFwZVqZELYQ+NeuPtjmLVEfTs3YG6BQ2SILiZKi4uFCt4JUmGgGUGN3y3 +DKVovbGqmJEKgaeM+91cz7gOUR+4KawYQ6PAzhXPL0CuhI4yukTNvuzOqpFza0YqA4ve0WM2DecVtPzg +m3Omg6bttQ0SuAC2iy5srjZcRBWdcx2n/R9B2wnVxyhIhmr2/ncu7Xt8lc9seNmw4aJiiSAawGYlCAjW +CHqmB0+4yvucsBhbyBas46Ojff7Ezhp67pr1xqPmfV59/mSb3s47BVOlPfT7lgXGfXYTzgr1nfG27ymg +q5UF/T10JHf3L5RoRhg4KgdvuDjDpqzz2tGLTSrDD9UDUR6Ij3pMP/63mnBHudlMidMY0mqI5bK02gBS ++EAy4piccQOX3W7H3vIh/09HKYAp1FIp2ls8rK3a9po1oSqaUX9bduka1pdS1NTX1NHoibTGKpeCodY8 +LAt5t3kZw660XlcKtlFXI5FUlk45fUWjC5G0cwTE2ohgfKiEFs2pRrCMghr21gyZ4cjdnnKYde6YFS1x +l4nxeUqam23BOwY6PiOnVJLWAyKLodTjymQWvA17/Co6zzjkQDthL2WS9Zj1J16ygqL9Pismx2z12lnP +OF54zW5rLhnvz2etd0zjrrKxeCBdoCXD9CjqK15g75SWtR21LTH3eY3vuhVk+53Q1BbqMwtdck99jhlx +q894ioXgncW14SHx0A5j7vDhb8zsM8++815l7/5lUN+bleoOiMXpy66w81e0nLKERv8E28FK+BLpQN0C +9j48za/4ZM2mXeNV/zeLxVF/7QZt3vAgx5zj/N6qm71ER2Zpx3XHN6RwnPtAF0cWunps/pdnfiY2Pu86 +csmNBla3QmzPu0Bh3zPAR9U95bnHVcda4HLYyHL4aseeyvBN+Ahu+31oszqFlez324HfdNuTzrlcY1Qp +Ub9d5QVRXzXeNyXwVM4iXvxaniYJSVo0Xli87ba583wu5X/JIq0+Y8P+jL4MH6Bn46t+D/9hSmP69ddk +anI1GTqMo1g9TC3fqcrjX8Bmh7iKXvL0NIAAAAASUVORK5CYII=" width="30" height="30" /></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Sampled Data</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The sampled data page can be used to sample data at high rate internally on the VESC and send it back for plotting after that. This page can be used to visualize all samples taken by the ADCs to analyze the current and voltage waveforms in detail. Since this data is sampled at such a high rate it cannot be streamed in real time, which is why sampling and plotting has to be toggled manually. There are two buttons for starting the sampling in the lower toolbar in this page:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/596516649.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAAA7EAAAOxAGVKw4bAAAAxklEQ +VRIie2UwQnCMBiFv4oHnaPgzRF0CD24lR7sEm4hCl3Am07QFidoqV7+YAykTW0CBfvBI7wkzctPksK/M +gOO0gYhAvbAS9ooRMgGKCWkFO+VGMglQCmXfi/MgdQIUEplvDcHoLaE1DLeiy2fc7CplHk/EQNFS4BSQ +cP5NF3DFbDU/A5Ya/4CnDR/A66uFdhI+N594vrhpG/yGDKGWJl2mPsAzoYfDvqLX9CtsjYq4G52Zrj9p +1yVqYX1nT89VhFivQHwBrDpUhHNZWIJAAAAAElFTkSuQmCC" width="25" height="25" /> </p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Sample data now and send it when this is done.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><img src="data:image/1189641421.PNG;base64,i +VBORw0KGgoAAAANSUhEUgAAABkAAAAZCAYAAADE6YVjAAAACXBIWXMAAAZoAAAGaAHEuzO0AAAAGXRFW +HRTb2Z0d2FyZQB3d3cuaW5rc2NhcGUub3Jnm+48GgAAAy9JREFUSImN1l9ol2UUB/DPby6ynK4MZ1uh9 +gdHeZFSpBBd5I0FboQXEZEhDMn+KShRUiJlEV54URIFiehtWuT2s2CREXSRVheVw6kkscrMqViSZsnWx +TnvfPttv7kDLw/v85zne/6f81SMT5PRgYcwA0OlswYM4mNU8Xc9kEqd/UasxoMJNIxmNKEbD+PP/P5BG +z7Fm/i3FqxhDAHtqd1ZHMev2JgWfYAbsSv/X0klTuAM9ub9cYUsxNsJ/nwKOIgf61h8JM9/wQvJ/07ij +CmkHW8I31bxOFqxXLhpLGrK81Y8ho9wHq+XLSqEXIW38DPew258i0vYh/XJN6tmXZ/nl5J/D3akZVsTd +4TWoQv9WFDan5lW7UavSIDvcu3N/WryFXQXDifeOiK7JqcGv6UGN+EiNgjXHRKBfVdk1nDe68QqkQh3J +M6ruAYDaW0bOhpElpzASRHgm/ETdqIv/bwY25JnMNdtuf9h8u1I8La8/3vydlSwPbXYiKOYipdwK27DA +6Ie6tE0fJ4KHhNBP5f3X8MF6Ek3lKkiiqtrHPAydeEzo4u7Bz0VEY9mvF86nCXy/gZRZFei6TiNzcJlB +T2CPxrzpyrMK1OfCPJEaDj5G2twqri/qJOlqUHxwTz1e1stVZJfDc7SgqFb/ZismKCQFerHpLsBp/AXb +smDKdgkMuoZkW3j0dTkO5v3puT+7Yk7OEmU/p0iXVtF8PqFb9tFsX0pWnotNYk0XSRq55jLLWhJKlAtV +/yg8GNLMr0scrxPFOtW/3drJ55LJeaJSt+ESaKLzxGDrrO4UPSuQ7inBNQiZsQu0QiH8UOu+3J/b0kxu +Fv0rpVYK6XCN6JSj4qZ0J/7WxL0PJ5I9xzBV2IULMg7y0S6FkKm416swVAhZAhf41HMF0Fswn2iqz4rm +uZcUbgDOJDfiyLAAyI2q1LI0yIEI5YQFXtYPBpmixm/H18kmNSuWWTeAZEMRfJswHW4XgT/+wK4dvzux +5PCx1tE8OYa3Q0Kmp3nc5J/Jp5KnBGayGvlVGp7bVqxR4yHcyJWQ8I9vWK6jnqtXKltXO3yu6vF6HfXS +XwiKvtiPZD/AIJd2vAkwtKnAAAAAElFTkSuQmCC" width="25" height="25" /> </p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Sample data the next time the motor starts moving. This can be useful to analyze the startup behaviour in real time.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">There are also options to apply filters to the sampled data and/or to plot a FFT of all samples if desired.</p></body></html> + + + + App ADC Information + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The cruise control button will maintain the current speed while pressed when current control is used and no throttle is given. The reverse button is used to reverse the throttle when one of the corresponding control modes is used.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">When only the ADC app is used, the TX pin is used for the cruise control button and the RX pin is used for the reverse button. When the ADC and UART apps are used at the same time, the servo input will be used as the button. In this case it will be used for the reverse button when a control mode with button is selected, otherwise it will be used for the cruise control button.</span></p></body></html> + + + + Chuk Info + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This app has been tested with the wireless Nyko Kama nunchuk. The receiver can be connected directly to the I2C port on the ESC. The y-axis on the joystick is used for acceleration/braking. The buttons have the following functions:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">C-Button:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cruise control. If the C-button is pressed, the ESC will maintail the current speed with a PID control loop. The joystick can still be used to accelerate and brake, but as soon as it is returned to the center position the new speed will be maintained, as long as the C-button remains pressed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Z-Button:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The Z-button is used to change the direction of the motor if reverse is activated. Without reverse, Z has no effect.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">There is also a safety function. If nothing received from the nunchuk (including the accelerometers) changes for longer than the timeout value in the <span style=" font-style:italic;">APP General</span> page, the timeout function will be activated and either release the motor or brake with the current specified next to the timeout value.</p></body></html> + + + + PPM Pulselength Mapping + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">PPM pulselength mapping is used to map the minimum and maximum throttle values from the PPM remote to the minimum and maximum throttle values of the VESC. The following procedure can be used:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ol style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate the PPM app and reboot the VESC.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the PPM control mode to disabled to avoid motor movement and write the configuration.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Connect the remote.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate app realtime data streaming in the main toolbar. The input display should show the decoded input value and pulse length if the remote is connected and on.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Move the throttle between the minimum and maximum values to get them sampled.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Apply the result.</li></ol> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Input mapping should also be usable for those oneshot pulselengths that are popular for some multirotor flight controllers that don't have support for proper ESC communication such as CAN-bus or UART.</span></p></body></html> + + + + ADC Voltage Mapping + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">ADC voltage mapping is used to map the minimum and maximum throttle values from the analog throttle to the minimum and maximum throttle values of the VESC. The following procedure can be used:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ol style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate the ADC app and write the app configuration to the VESC.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Set the ADC control mode to disabled to avoid motor movement and write the configuration.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Connect the throttle(s).</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Activate realtime <span style=" font-weight:600;">app</span> data streaming in the main toolbar. The input displays should show the decoded input value and voltage if the throttle is connected.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Move the throttle between the minimum and maximum values to get them sampled.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Apply the result.</li></ol> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p></body></html> + + + + Welcome to VESC® Tool + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Welcome to <span style=" font-weight:600;">VESC</span> <span style=" font-weight:600;">Tool</span>. Since this is the first time you start this version of VESC Tool, the introduction is shown. Please read all instructions carefully for your own safety.</p></body></html> + + + + Usage + 3 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif'; font-weight:600;">VESC® Tool</span><span style=" font-family:'arial,helvetica,sans-serif';"> and the </span><span style=" font-family:'arial,helvetica,sans-serif'; font-weight:600;">VESC® firmware</span><span style=" font-family:'arial,helvetica,sans-serif';"> are experimental software designed to develop and test electrical systems incorporating electric motors or actuators. Electrical systems can cause danger to humans, property and nature; therefore precautions shall be taken to avoid any risk. Under no circumstances shall the software be used where humans or property are put to risk without </span><span style=" font-family:'arial,helvetica,sans-serif';">thoroughly</span><span style=" font-family:'arial,helvetica,sans-serif';"> validating and testing the whole system. Software and hardware interact in various ways, and software developers cannot foresee all possible combinations of hardware used together with their software, nor problems that can occur in these different combinations.</span> </p> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">Things that can happen, even when using the correct settings, are</span></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">electrical failure</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">fire</span></li> +<li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">electric shock</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">hazardous smoke</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">overheating motors and actuators</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">overstrained power sources, causing fire or explosions (e.g. Lithium Ion Batteries)</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">motors or actuators stopping from spinning/moving</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">motors or actuators locking in, acting like a brake (full stop)</span></li> +<li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">motors or actuators losing control over torque production (uncontrolled acceleration or braking)</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">interferences with other systems</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">other non-intended or unforeseeable behavior of the system</span></li></ul> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">VESC Tool and the VESC firmware are developer tools that for safety reasons may only be used</span></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'arial,helvetica,sans-serif';" style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">by experts and experienced users, knowing exactly what they do.</li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">following safety standards applicable in the area of usage.</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">under safe conditions where software or hardware malfunction will not lead to death, injuries or severe property damage.</span></li> +<li style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'arial,helvetica,sans-serif';">keeping in mind that software and hardware failures can happen. Although we design our products to minimize such issues, you should always operate with the understanding that a failure can occur at any point of time and without warning. As such, you shall take the appropriate precautions to minimize danger in case of failure.</span> </li></ul></body></html> + + Important usage information + + + Warranty + 3 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">LIMITED WARRANTY STATEMENT </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1. Warranty</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.1 THERE IS NO WARRANTY FOR THE VESC® SOFTWARE (VESC TOOL AND THE VESC FIRMWARE - PROGRAM FOR SHORT) TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM AS IS WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.2 Benjamin Vedder and contributors (the publisher(s) for short) shall not be liable for any defects that are caused by neglect, misuse or mistreatment by the Customer, including improper installation or testing, or for any products that have been altered or modified in any way by the Customer. Moreover, the publisher(s) shall not be liable for any defects that result from the Customers design, specifications or instructions for such products. Testing and other quality control techniques are used to the extent the publisher(s) deems necessary. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.3 The Customer agrees that prior to using any systems that include Open Source VESC® Software, the Customer will test such systems and the functionality of the products as used in such systems. The publisher(s) may provide technical, applications or design advice, quality characterization, reliability data or other services. The Customer acknowledges and agrees that providing these services shall not expand or otherwise alter the publisher(s) warranties, as set forth above, and that no additional obligations or liabilities shall arise from the publisher(s) providing such services. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.4 VESC® software products are not authorized for use in safety-critical applications where a failure of the Open Source VESC® software would reasonably be expected to cause severe personal injury or death. Safety-critical applications include, without limitation, life support devices and systems, equipment or systems for the operation of nuclear facilities and weapons systems. Open Source VESC® software is neither designed nor intended for use in military or aerospace applications or environments, nor for automotive applications or the automotive environment. The Customer acknowledges and agrees that any such use of VESC® software is solely at the Customer's risk, and that the Customer is solely responsible for compliance with all legal and regulatory requirements in connection with such use. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">1.5 The Customer acknowledges and agrees that the Customer is solely responsible for compliance with all legal, regulatory and safety-related requirements concerning the products and any use of the publisher(s) softwrae products in the Customer's applications, not withstanding any applications-related information or support that may be provided by the publisher(s). </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">2. Limitation of Liability </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED THROUGH THE GNU GENERAL PUBLIC LICENSE (GNU GPL), BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">This section will survive the termination of the warranty period. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">3. Consequential Damages Waiver.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">In no event shall the publisher(s) be liable to the Customer or any third parties for any special, collateral, indirect, punitive, incidental, consequential or exemplary damages in connection with or arising out of the products provided hereunder, regardless of whether the publisher(s) has been advised of the possibility of such damages. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">This section will survive the termination of the warranty period. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">4. Changes to Specifications.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">The publisher(s) may make changes to specifications and product descriptions at any time, without notice. The Customer must not rely on the absence or characteristics of any features or instructions marked, reserved or undefined. The publisher(s) reserves these for future definition and shall have no responsibility whatsoever for conflicts or incompatibilities arising from future changes to them. The product information on the Web Site or Materials is subject to change without notice. Do not finalize a design with this information. </span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">5. Statutory laws. *</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">(i) some countries, regions, states or provinces do not allow the exclusion or limitation of remedies or of incidental, punitive, or consequential damages, or the applicable time periods, so the above limitations or exclusions may not apply.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">(ii) except to the extent lawfully permitted, this limited warranty does not exclude, restrict or modify statutory rights applicable to where the product is sold but, rather, is in addition to these rights.</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">(*) European Consumer Centres provide information on EU-wide consumer laws as well as consumer laws for specific countries: http://ec.europa.eu/consumers/ecc/contact_en.htm </span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Times New Roman,serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">The LIMITED WARRANTY STATEMENT is released as Creative Commons Attribution ShareAlike 3.0. </span></p> +<p style=" margin-top:0px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Times New Roman,serif';">This means you can use it on your own derived works, in part or completely, as long as you also adopt the same license. You find the complete text of the license at https://creativecommons.org/licenses/by-sa/3.0/legalcode</span></p></body></html> + + LIMITED WARRANTY STATEMENT + + + Conclusion + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">You are now ready to start using VESC Tool. If you have any questions, visit </span></p> +<p style=" margin-top:12px; margin-bottom:12px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><a href="http://vesc-project.com/forum"><span style=" font-family:'Roboto'; text-decoration: underline; color:#5555ff;">http://vesc-project.com/forum</span></a></p></body></html> + + + + License + 0 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">GNU GENERAL PUBLIC LICENSE</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Version 3, 29 June 2007</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Copyright © 2007 Free Software Foundation, Inc. &lt;</span><a href="https://fsf.org/"><span style=" font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;">https://fsf.org/</span></a><span style=" font-family:'Helvetica, serif';">&gt;</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Everyone is permitted to copy and distribute verbatim copies of this license document, but changing it is not allowed.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">Preamble</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The GNU General Public License is a free, copyleft license for software and other kinds of works.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The licenses for most software and other practical works are designed to take away your freedom to share and change the works. By contrast, the GNU General Public License is intended to guarantee your freedom to share and change all versions of a program--to make sure it remains free software for all its users. We, the Free Software Foundation, use the GNU General Public License for most of our software; it applies also to any other work released this way by its authors. You can apply it to your programs, too.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">When we speak of free software, we are referring to freedom, not price. Our General Public Licenses are designed to make sure that you have the freedom to distribute copies of free software (and charge for them if you wish), that you receive source code or can get it if you want it, that you can change the software or use pieces of it in new free programs, and that you know you can do these things.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To protect your rights, we need to prevent others from denying you these rights or asking you to surrender the rights. Therefore, you have certain responsibilities if you distribute copies of the software, or if you modify it: responsibilities to respect the freedom of others.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">For example, if you distribute copies of such a program, whether gratis or for a fee, you must pass on to the recipients the same freedoms that you received. You must make sure that they, too, receive or can get the source code. And you must show them these terms so they know their rights.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Developers that use the GNU GPL protect your rights with two steps: (1) assert copyright on the software, and (2) offer you this License giving you legal permission to copy, distribute and/or modify it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">For the developers' and authors' protection, the GPL clearly explains that there is no warranty for this free software. For both users' and authors' sake, the GPL requires that modified versions be marked as changed, so that their problems will not be attributed erroneously to authors of previous versions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Some devices are designed to deny users access to install or run modified versions of the software inside them, although the manufacturer can do so. This is fundamentally incompatible with the aim of protecting users' freedom to change the software. The systematic pattern of such abuse occurs in the area of products for individuals to use, which is precisely where it is most unacceptable. Therefore, we have designed this version of the GPL to prohibit the practice for those products. If such problems arise substantially in other domains, we stand ready to extend this provision to those domains in future versions of the GPL, as needed to protect the freedom of users.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Finally, every program is threatened constantly by software patents. States should not allow patents to restrict development and use of software on general-purpose computers, but in those that do, we wish to avoid the special danger that patents applied to a free program could make it effectively proprietary. To prevent this, the GPL assures that patents cannot be used to render the program non-free.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The precise terms and conditions for copying, distribution and modification follow.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">TERMS AND CONDITIONS</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">0. Definitions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">This License” refers to version 3 of the GNU General Public License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">Copyright” also means copyright-like laws that apply to other kinds of works, such as semiconductor masks.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">The Program” refers to any copyrightable work licensed under this License. Each licensee is addressed as “you”. “Licensees” and “recipients” may be individuals or organizations.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To “modify” a work means to copy from or adapt all or part of the work in a fashion requiring copyright permission, other than the making of an exact copy. The resulting work is called a “modified version” of the earlier work or a work “based on” the earlier work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “covered work” means either the unmodified Program or a work based on the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To “propagate” a work means to do anything with it that, without permission, would make you directly or secondarily liable for infringement under applicable copyright law, except executing it on a computer or modifying a private copy. Propagation includes copying, distribution (with or without modification), making available to the public, and in some countries other activities as well.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To “convey” a work means any kind of propagation that enables other parties to make or receive copies. Mere interaction with a user through a computer network, with no transfer of a copy, is not conveying.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">An interactive user interface displays “Appropriate Legal Notices” to the extent that it includes a convenient and prominently visible feature that (1) displays an appropriate copyright notice, and (2) tells the user that there is no warranty for the work (except to the extent that warranties are provided), that licensees may convey the work under this License, and how to view a copy of this License. If the interface presents a list of user commands or options, such as a menu, a prominent item in the list meets this criterion.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">1. Source Code.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The “source code” for a work means the preferred form of the work for making modifications to it. “Object code” means any non-source form of a work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “Standard Interface” means an interface that either is an official standard defined by a recognized standards body, or, in the case of interfaces specified for a particular programming language, one that is widely used among developers working in that language.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The “System Libraries” of an executable work include anything, other than the work as a whole, that (a) is included in the normal form of packaging a Major Component, but which is not part of that Major Component, and (b) serves only to enable use of the work with that Major Component, or to implement a Standard Interface for which an implementation is available to the public in source code form. A “Major Component”, in this context, means a major essential component (kernel, window system, and so on) of the specific operating system (if any) on which the executable work runs, or a compiler used to produce the work, or an object code interpreter used to run it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The “Corresponding Source” for a work in object code form means all the source code needed to generate, install, and (for an executable work) run the object code and to modify the work, including scripts to control those activities. However, it does not include the work's System Libraries, or general-purpose tools or generally available free programs which are used unmodified in performing those activities but which are not part of the work. For example, Corresponding Source includes interface definition files associated with source files for the work, and the source code for shared libraries and dynamically linked subprograms that the work is specifically designed to require, such as by intimate data communication or control flow between those subprograms and other parts of the work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The Corresponding Source need not include anything that users can regenerate automatically from other parts of the Corresponding Source.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The Corresponding Source for a work in source code form is that same work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">2. Basic Permissions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">All rights granted under this License are granted for the term of copyright on the Program, and are irrevocable provided the stated conditions are met. This License explicitly affirms your unlimited permission to run the unmodified Program. The output from running a covered work is covered by this License only if the output, given its content, constitutes a covered work. This License acknowledges your rights of fair use or other equivalent, as provided by copyright law.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may make, run and propagate covered works that you do not convey, without conditions so long as your license otherwise remains in force. You may convey covered works to others for the sole purpose of having them make modifications exclusively for you, or provide you with facilities for running those works, provided that you comply with the terms of this License in conveying all material for which you do not control copyright. Those thus making or running the covered works for you must do so exclusively on your behalf, under your direction and control, on terms that prohibit them from making any copies of your copyrighted material outside their relationship with you.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Conveying under any other circumstances is permitted solely under the conditions stated below. Sublicensing is not allowed; section 10 makes it unnecessary.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">3. Protecting Users' Legal Rights From Anti-Circumvention Law.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">No covered work shall be deemed part of an effective technological measure under any applicable law fulfilling obligations under article 11 of the WIPO copyright treaty adopted on 20 December 1996, or similar laws prohibiting or restricting circumvention of such measures.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">When you convey a covered work, you waive any legal power to forbid circumvention of technological measures to the extent such circumvention is effected by exercising rights under this License with respect to the covered work, and you disclaim any intention to limit operation or modification of the work as a means of enforcing, against the work's users, your or third parties' legal rights to forbid circumvention of technological measures.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">4. Conveying Verbatim Copies.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may convey verbatim copies of the Program's source code as you receive it, in any medium, provided that you conspicuously and appropriately publish on each copy an appropriate copyright notice; keep intact all notices stating that this License and any non-permissive terms added in accord with section 7 apply to the code; keep intact all notices of the absence of any warranty; and give all recipients a copy of this License along with the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may charge any price or no price for each copy that you convey, and you may offer support or warranty protection for a fee.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">5. Conveying Modified Source Versions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may convey a work based on the Program, or the modifications to produce it from the Program, in the form of source code under the terms of section 4, provided that you also meet all of these conditions:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> a) The work must carry prominent notices stating that you modified it, and giving a relevant date.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> b) The work must carry prominent notices stating that it is released under this License and any conditions added under section 7. This requirement modifies the requirement in section 4 to “keep intact all notices”.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> c) You must license the entire work, as a whole, under this License to anyone who comes into possession of a copy. This License will therefore apply, along with any applicable section 7 additional terms, to the whole of the work, and all its parts, regardless of how they are packaged. This License gives no permission to license the work in any other way, but it does not invalidate such permission if you have separately received it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> d) If the work has interactive user interfaces, each must display Appropriate Legal Notices; however, if the Program has interactive interfaces that do not display Appropriate Legal Notices, your work need not make them do so.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A compilation of a covered work with other separate and independent works, which are not by their nature extensions of the covered work, and which are not combined with it such as to form a larger program, in or on a volume of a storage or distribution medium, is called an “aggregate” if the compilation and its resulting copyright are not used to limit the access or legal rights of the compilation's users beyond what the individual works permit. Inclusion of a covered work in an aggregate does not cause this License to apply to the other parts of the aggregate.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">6. Conveying Non-Source Forms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may convey a covered work in object code form under the terms of sections 4 and 5, provided that you also convey the machine-readable Corresponding Source under the terms of this License, in one of these ways:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> a) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by the Corresponding Source fixed on a durable physical medium customarily used for software interchange.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> b) Convey the object code in, or embodied in, a physical product (including a physical distribution medium), accompanied by a written offer, valid for at least three years and valid for as long as you offer spare parts or customer support for that product model, to give anyone who possesses the object code either (1) a copy of the Corresponding Source for all the software in the product that is covered by this License, on a durable physical medium customarily used for software interchange, for a price no more than your reasonable cost of physically performing this conveying of source, or (2) access to copy the Corresponding Source from a network server at no charge.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> c) Convey individual copies of the object code with a copy of the written offer to provide the Corresponding Source. This alternative is allowed only occasionally and noncommercially, and only if you received the object code with such an offer, in accord with subsection 6b.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> d) Convey the object code by offering access from a designated place (gratis or for a charge), and offer equivalent access to the Corresponding Source in the same way through the same place at no further charge. You need not require recipients to copy the Corresponding Source along with the object code. If the place to copy the object code is a network server, the Corresponding Source may be on a different server (operated by you or a third party) that supports equivalent copying facilities, provided you maintain clear directions next to the object code saying where to find the Corresponding Source. Regardless of what server hosts the Corresponding Source, you remain obligated to ensure that it is available for as long as needed to satisfy these requirements.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> e) Convey the object code using peer-to-peer transmission, provided you inform other peers where the object code and Corresponding Source of the work are being offered to the general public at no charge under subsection 6d.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A separable portion of the object code, whose source code is excluded from the Corresponding Source as a System Library, need not be included in conveying the object code work.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “User Product” is either (1) a “consumer product”, which means any tangible personal property which is normally used for personal, family, or household purposes, or (2) anything designed or sold for incorporation into a dwelling. In determining whether a product is a consumer product, doubtful cases shall be resolved in favor of coverage. For a particular product received by a particular user, “normally used” refers to a typical or common use of that class of product, regardless of the status of the particular user or of the way in which the particular user actually uses, or expects or is expected to use, the product. A product is a consumer product regardless of whether the product has substantial commercial, industrial or non-consumer uses, unless such uses represent the only significant mode of use of the product.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">Installation Information” for a User Product means any methods, procedures, authorization keys, or other information required to install and execute modified versions of a covered work in that User Product from a modified version of its Corresponding Source. The information must suffice to ensure that the continued functioning of the modified object code is in no case prevented or interfered with solely because modification has been made.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you convey an object code work under this section in, or with, or specifically for use in, a User Product, and the conveying occurs as part of a transaction in which the right of possession and use of the User Product is transferred to the recipient in perpetuity or for a fixed term (regardless of how the transaction is characterized), the Corresponding Source conveyed under this section must be accompanied by the Installation Information. But this requirement does not apply if neither you nor any third party retains the ability to install modified object code on the User Product (for example, the work has been installed in ROM).</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The requirement to provide Installation Information does not include a requirement to continue to provide support service, warranty, or updates for a work that has been modified or installed by the recipient, or for the User Product in which it has been modified or installed. Access to a network may be denied when the modification itself materially and adversely affects the operation of the network or violates the rules and protocols for communication across the network.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Corresponding Source conveyed, and Installation Information provided, in accord with this section must be in a format that is publicly documented (and with an implementation available to the public in source code form), and must require no special password or key for unpacking, reading or copying.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">7. Additional Terms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">“<span style=" font-family:'Helvetica, serif';">Additional permissions” are terms that supplement the terms of this License by making exceptions from one or more of its conditions. Additional permissions that are applicable to the entire Program shall be treated as though they were included in this License, to the extent that they are valid under applicable law. If additional permissions apply only to part of the Program, that part may be used separately under those permissions, but the entire Program remains governed by this License without regard to the additional permissions.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">When you convey a copy of a covered work, you may at your option remove any additional permissions from that copy, or from any part of it. (Additional permissions may be written to require their own removal in certain cases when you modify the work.) You may place additional permissions on material, added by you to a covered work, for which you have or can give appropriate copyright permission.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Notwithstanding any other provision of this License, for material you add to a covered work, you may (if authorized by the copyright holders of that material) supplement the terms of this License with terms:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> a) Disclaiming warranty or limiting liability differently from the terms of sections 15 and 16 of this License; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> b) Requiring preservation of specified reasonable legal notices or author attributions in that material or in the Appropriate Legal Notices displayed by works containing it; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> c) Prohibiting misrepresentation of the origin of that material, or requiring that modified versions of such material be marked in reasonable ways as different from the original version; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> d) Limiting the use for publicity purposes of names of licensors or authors of the material; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> e) Declining to grant rights under trademark law for use of some trade names, trademarks, or service marks; or</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;">•<span style=" font-family:'Helvetica, serif';"> f) Requiring indemnification of licensors and authors of that material by anyone who conveys the material (or modified versions of it) with contractual assumptions of liability to the recipient, for any liability that these contractual assumptions directly impose on those licensors and authors.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">All other non-permissive additional terms are considered “further restrictions” within the meaning of section 10. If the Program as you received it, or any part of it, contains a notice stating that it is governed by this License along with a term that is a further restriction, you may remove that term. If a license document contains a further restriction but permits relicensing or conveying under this License, you may add to a covered work material governed by the terms of that license document, provided that the further restriction does not survive such relicensing or conveying.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you add terms to a covered work in accord with this section, you must place, in the relevant source files, a statement of the additional terms that apply to those files, or a notice indicating where to find the applicable terms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Additional terms, permissive or non-permissive, may be stated in the form of a separately written license, or stated as exceptions; the above requirements apply either way.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">8. Termination.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may not propagate or modify a covered work except as expressly provided under this License. Any attempt otherwise to propagate or modify it is void, and will automatically terminate your rights under this License (including any patent licenses granted under the third paragraph of section 11).</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">However, if you cease all violation of this License, then your license from a particular copyright holder is reinstated (a) provisionally, unless and until the copyright holder explicitly and finally terminates your license, and (b) permanently, if the copyright holder fails to notify you of the violation by some reasonable means prior to 60 days after the cessation.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Moreover, your license from a particular copyright holder is reinstated permanently if the copyright holder notifies you of the violation by some reasonable means, this is the first time you have received notice of violation of this License (for any work) from that copyright holder, and you cure the violation prior to 30 days after your receipt of the notice.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Termination of your rights under this section does not terminate the licenses of parties who have received copies or rights from you under this License. If your rights have been terminated and not permanently reinstated, you do not qualify to receive new licenses for the same material under section 10.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">9. Acceptance Not Required for Having Copies.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You are not required to accept this License in order to receive or run a copy of the Program. Ancillary propagation of a covered work occurring solely as a consequence of using peer-to-peer transmission to receive a copy likewise does not require acceptance. However, nothing other than this License grants you permission to propagate or modify any covered work. These actions infringe copyright if you do not accept this License. Therefore, by modifying or propagating a covered work, you indicate your acceptance of this License to do so.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">10. Automatic Licensing of Downstream Recipients.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Each time you convey a covered work, the recipient automatically receives a license from the original licensors, to run, modify and propagate that work, subject to this License. You are not responsible for enforcing compliance by third parties with this License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">An “entity transaction” is a transaction transferring control of an organization, or substantially all assets of one, or subdividing an organization, or merging organizations. If propagation of a covered work results from an entity transaction, each party to that transaction who receives a copy of the work also receives whatever licenses to the work the party's predecessor in interest had or could give under the previous paragraph, plus a right to possession of the Corresponding Source of the work from the predecessor in interest, if the predecessor has it or can get it with reasonable efforts.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You may not impose any further restrictions on the exercise of the rights granted or affirmed under this License. For example, you may not impose a license fee, royalty, or other charge for exercise of rights granted under this License, and you may not initiate litigation (including a cross-claim or counterclaim in a lawsuit) alleging that any patent claim is infringed by making, using, selling, offering for sale, or importing the Program or any portion of it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">11. Patents.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A “contributor” is a copyright holder who authorizes use under this License of the Program or a work on which the Program is based. The work thus licensed is called the contributor's “contributor version”.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A contributor's “essential patent claims” are all patent claims owned or controlled by the contributor, whether already acquired or hereafter acquired, that would be infringed by some manner, permitted by this License, of making, using, or selling its contributor version, but do not include claims that would be infringed only as a consequence of further modification of the contributor version. For purposes of this definition, “control” includes the right to grant patent sublicenses in a manner consistent with the requirements of this License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Each contributor grants you a non-exclusive, worldwide, royalty-free patent license under the contributor's essential patent claims, to make, use, sell, offer for sale, import and otherwise run, modify and propagate the contents of its contributor version.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">In the following three paragraphs, a “patent license” is any express agreement or commitment, however denominated, not to enforce a patent (such as an express permission to practice a patent or covenant not to sue for patent infringement). To “grant” such a patent license to a party means to make such an agreement or commitment not to enforce a patent against the party.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you convey a covered work, knowingly relying on a patent license, and the Corresponding Source of the work is not available for anyone to copy, free of charge and under the terms of this License, through a publicly available network server or other readily accessible means, then you must either (1) cause the Corresponding Source to be so available, or (2) arrange to deprive yourself of the benefit of the patent license for this particular work, or (3) arrange, in a manner consistent with the requirements of this License, to extend the patent license to downstream recipients. “Knowingly relying” means you have actual knowledge that, but for the patent license, your conveying the covered work in a country, or your recipient's use of the covered work in a country, would infringe one or more identifiable patents in that country that you have reason to believe are valid.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If, pursuant to or in connection with a single transaction or arrangement, you convey, or propagate by procuring conveyance of, a covered work, and grant a patent license to some of the parties receiving the covered work authorizing them to use, propagate, modify or convey a specific copy of the covered work, then the patent license you grant is automatically extended to all recipients of the covered work and works based on it.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">A patent license is “discriminatory” if it does not include within the scope of its coverage, prohibits the exercise of, or is conditioned on the non-exercise of one or more of the rights that are specifically granted under this License. You may not convey a covered work if you are a party to an arrangement with a third party that is in the business of distributing software, under which you make payment to the third party based on the extent of your activity of conveying the work, and under which the third party grants, to any of the parties who would receive the covered work from you, a discriminatory patent license (a) in connection with copies of the covered work conveyed by you (or copies made from those copies), or (b) primarily for and in connection with specific products or compilations that contain the covered work, unless you entered into that arrangement, or that patent license was granted, prior to 28 March 2007.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Nothing in this License shall be construed as excluding or limiting any implied license or other defenses to infringement that may otherwise be available to you under applicable patent law.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">12. No Surrender of Others' Freedom.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If conditions are imposed on you (whether by court order, agreement or otherwise) that contradict the conditions of this License, they do not excuse you from the conditions of this License. If you cannot convey a covered work so as to satisfy simultaneously your obligations under this License and any other pertinent obligations, then as a consequence you may not convey it at all. For example, if you agree to terms that obligate you to collect a royalty for further conveying from those to whom you convey the Program, the only way you could satisfy both those terms and this License would be to refrain entirely from conveying the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">13. Use with the GNU Affero General Public License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Notwithstanding any other provision of this License, you have permission to link or combine any covered work with a work licensed under version 3 of the GNU Affero General Public License into a single combined work, and to convey the resulting work. The terms of this License will continue to apply to the part which is the covered work, but the special requirements of the GNU Affero General Public License, section 13, concerning interaction through a network will apply to the combination as such.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">14. Revised Versions of this License.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The Free Software Foundation may publish revised and/or new versions of the GNU General Public License from time to time. Such new versions will be similar in spirit to the present version, but may differ in detail to address new problems or concerns.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Each version is given a distinguishing version number. If the Program specifies that a certain numbered version of the GNU General Public License “or any later version” applies to it, you have the option of following the terms and conditions either of that numbered version or of any later version published by the Free Software Foundation. If the Program does not specify a version number of the GNU General Public License, you may choose any version ever published by the Free Software Foundation.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If the Program specifies that a proxy can decide which future versions of the GNU General Public License can be used, that proxy's public statement of acceptance of a version permanently authorizes you to choose that version for the Program.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Later license versions may give you additional or different permissions. However, no additional obligations are imposed on any author or copyright holder as a result of your choosing to follow a later version.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">15. Disclaimer of Warranty.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">THERE IS NO WARRANTY FOR THE PROGRAM, TO THE EXTENT PERMITTED BY APPLICABLE LAW. EXCEPT WHEN OTHERWISE STATED IN WRITING THE COPYRIGHT HOLDERS AND/OR OTHER PARTIES PROVIDE THE PROGRAM “AS IS” WITHOUT WARRANTY OF ANY KIND, EITHER EXPRESSED OR IMPLIED, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE. THE ENTIRE RISK AS TO THE QUALITY AND PERFORMANCE OF THE PROGRAM IS WITH YOU. SHOULD THE PROGRAM PROVE DEFECTIVE, YOU ASSUME THE COST OF ALL NECESSARY SERVICING, REPAIR OR CORRECTION.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">16. Limitation of Liability.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">IN NO EVENT UNLESS REQUIRED BY APPLICABLE LAW OR AGREED TO IN WRITING WILL ANY COPYRIGHT HOLDER, OR ANY OTHER PARTY WHO MODIFIES AND/OR CONVEYS THE PROGRAM AS PERMITTED ABOVE, BE LIABLE TO YOU FOR DAMAGES, INCLUDING ANY GENERAL, SPECIAL, INCIDENTAL OR CONSEQUENTIAL DAMAGES ARISING OUT OF THE USE OR INABILITY TO USE THE PROGRAM (INCLUDING BUT NOT LIMITED TO LOSS OF DATA OR DATA BEING RENDERED INACCURATE OR LOSSES SUSTAINED BY YOU OR THIRD PARTIES OR A FAILURE OF THE PROGRAM TO OPERATE WITH ANY OTHER PROGRAMS), EVEN IF SUCH HOLDER OR OTHER PARTY HAS BEEN ADVISED OF THE POSSIBILITY OF SUCH DAMAGES.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">17. Interpretation of Sections 15 and 16.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If the disclaimer of warranty and limitation of liability provided above cannot be given local legal effect according to their terms, reviewing courts shall apply local law that most closely approximates an absolute waiver of all civil liability in connection with the Program, unless a warranty or assumption of liability accompanies a copy of the Program in return for a fee.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">END OF TERMS AND CONDITIONS</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif'; font-weight:600;">How to Apply These Terms to Your New Programs</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If you develop a new program, and you want it to be of the greatest possible use to the public, the best way to achieve this is to make it free software which everyone can redistribute and change under these terms.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">To do so, attach the following notices to the program. It is safest to attach them to the start of each source file to most effectively state the exclusion of warranty; and each file should have at least the “copyright” line and a pointer to where the full notice is found.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Courier, serif';">&lt;one line to give the program's name and a brief idea of what it does.&gt;</span><br /><span style=" font-family:'Courier, serif';">Copyright (C) &lt;year&gt; &lt;name of author&gt;</span><br /><br /><span style=" font-family:'Courier, serif';">This program is free software: you can redistribute it and/or modify</span><br /><span style=" font-family:'Courier, serif';">it under the terms of the GNU General Public License as published by</span><br /><span style=" font-family:'Courier, serif';">the Free Software Foundation, either version 3 of the License, or</span><br /><span style=" font-family:'Courier, serif';">(at your option) any later version.</span><br /><br /><span style=" font-family:'Courier, serif';">This program is distributed in the hope that it will be useful,</span><br /><span style=" font-family:'Courier, serif';">but WITHOUT ANY WARRANTY; without even the implied warranty of</span><br /><span style=" font-family:'Courier, serif';">MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the</span><br /><span style=" font-family:'Courier, serif';">GNU General Public License for more details.</span><br /><br /><span style=" font-family:'Courier, serif';">You should have received a copy of the GNU General Public License</span><br /><span style=" font-family:'Courier, serif';">along with this program. If not, see &lt;https://www.gnu.org/licenses/&gt;.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">Also add information on how to contact you by electronic and paper mail.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">If the program does terminal interaction, make it output a short notice like this when it starts in an interactive mode:</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Courier, serif';">&lt;program&gt; Copyright (C) &lt;year&gt; &lt;name of author&gt;</span><br /><span style=" font-family:'Courier, serif';">This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.</span><br /><span style=" font-family:'Courier, serif';">This is free software, and you are welcome to redistribute it</span><br /><span style=" font-family:'Courier, serif';">under certain conditions; type `show c' for details.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The hypothetical commands `show w' and `show c' should show the appropriate parts of the General Public License. Of course, your program's commands might be different; for a GUI interface, you would use an “about box”.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">You should also get your employer (if you work as a programmer) or school, if any, to sign a “copyright disclaimer” for the program, if necessary. For more information on this, and how to apply and follow the GNU GPL, see &lt;</span><a href="https://www.gnu.org/licenses/"><span style=" font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;">https://www.gnu.org/licenses/</span></a><span style=" font-family:'Helvetica, serif';">&gt;.</span></p> +<p style=" margin-top:12px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; line-height:100%;"><span style=" font-family:'Helvetica, serif';">The GNU General Public License does not permit incorporating your program into proprietary programs. If your program is a subroutine library, you may consider it more useful to permit linking proprietary applications with the library. If this is what you want to do, use the GNU Lesser General Public License instead of this License. But first, please read &lt;</span><a href="https://www.gnu.org/licenses/why-not-lgpl.html"><span style=" font-family:'Helvetica, serif'; text-decoration: underline; color:#0000ff;">https://www.gnu.org/licenses/why-not-lgpl.html</span></a><span style=" font-family:'Helvetica, serif';">&gt;.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + + + + + diff --git a/plugins/vesc/runtime/schemas/5.02/parameters_appconf.xml b/plugins/vesc/runtime/schemas/5.02/parameters_appconf.xml new file mode 100644 index 0000000..96277ea --- /dev/null +++ b/plugins/vesc/runtime/schemas/5.02/parameters_appconf.xml @@ -0,0 +1,3626 @@ + + + + + VESC ID + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">VESC ID. Used to identify this VESC on the CAN-bus.</span></p></body></html> + APPCONF_CONTROLLER_ID + 1 + 0 + 255 + 0 + 0 + 1 + 74 + + 1 + + + Timeout + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Switch off the motor when no input has beed received for this amount of time. Notice that VESC Tool will send alive packets while connected, so the timeout won't occur before you disconnect VESC Tool even if the input gets disconnected.</p></body></html> + APPCONF_TIMEOUT_MSEC + 1 + 0 + 30000000 + 0 + 0 + 1 + 1000 + ms + 5 + + + Timeout Brake Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Apply brake with this amount of current after a timeout.</p></body></html> + APPCONF_TIMEOUT_BRAKE_CURRENT + 2 + 1 + 0 + 500 + 0 + 0 + 1 + 0 + 1000 + A + 9 + + + Can Status Message Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Send a status message on the CAN bus with a periodic interval. Useful for letting other VESCs know which VESCs are on the CAN-bus. This is required by some apps to function with multiple VESCs. The master VESC of the app does not need this option checked.</span></p></body></html> + APPCONF_SEND_CAN_STATUS + 0 + CAN_STATUS_DISABLED + CAN_STATUS_1 + CAN_STATUS_1_2 + CAN_STATUS_1_2_3 + CAN_STATUS_1_2_3_4 + CAN_STATUS_1_2_3_4_5 + + + Can Status Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Rate at which CAN status messages are sent on the CAN-bus.</span></p></body></html> + APPCONF_SEND_CAN_STATUS_RATE_HZ + 1 + 0 + 10000 + 0 + 0 + 1 + 50 + Hz + 3 + + + CAN Baud Rate + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The baud rate of the CAN-Bus. Note that all devices on the bus must have the same baud rate.</span></p></body></html> + APPCONF_CAN_BAUD_RATE + 2 + CAN_BAUD_125K + CAN_BAUD_250K + CAN_BAUD_500K + CAN_BAUD_1M + CAN_BAUD_10K + CAN_BAUD_20K + CAN_BAUD_50K + CAN_BAUD_75K + CAN_BAUD_100K + + + Pairing Done + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Pairing done flag. If this flag is set, a bluetooth connection can only be made if the VESC Tool instance making the connection has been paired to this VESC. The pairing is done by storing the UUID of the VESC in the pairing list.</span></p></body></html> + APPCONF_PAIRING_DONE + 0 + + + Enable Permanent UART + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Enable the permanent UART port (if the hardware has one). This port can be connected to e.g. the NRF51 for providing a BLE link. You may want to disable this to prevent access to your VESC over BLE.</span></p></body></html> + APPCONF_PERMANENT_UART_ENABLED + 1 + + + Shutdown Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Shutdown mode for hardware that supports it (such as the VESC HD). Determines how the VESC shuts itself off, which eliminates the need for an external switch.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">NOTE:</span> Most VESCs with this feature also support push to start, which means that the VESC will switch on as soon as the motor is turned at a minimum speed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The available modes are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">ALWAYS_OFF</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The VESC power is only determined by the inverted state of the shutdown input.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">ALWAYS_ON</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The VESC always stays on after being powered.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">TOGGLE_BUTTON_ONLY</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A normally closed (NC) momentary button can be connected to the shutdown input to toggle the power on or off. The VESC will sample the button and determine whether it is pressed, which can be used to shut down after the button is released.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">OFF_AFTER_x</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Same as the TOGGLE_BUTTON_ONLY mode, but the VESC will shut down after X time of inactivity. This mode is useful for setups without any switch at all if the hardware supports push to start, such as the VESC HD.</p></body></html> + APPCONF_SHUTDOWN_MODE + 7 + ALWAYS_OFF + ALWAYS_ON + TOGGLE_BUTTON_ONLY + OFF_AFTER_10S + OFF_AFTER_1M + OFF_AFTER_5M + OFF_AFTER_10M + OFF_AFTER_30M + OFF_AFTER_1H + OFF_AFTER_5H + + + CAN Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">CAN-bus mode.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">VESC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Default VESC CAN-bus. Required for CAN forwarding and configuring multiple VESCs using VESC Tool.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">UAVCAN</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Basic implementation of UAVCAN. Currently needs some work.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Comm Brigde</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Bridge CAN-bus to commands. Useful for using the VESC as a generic CAN interface.</span></p></body></html> + APPCONF_CAN_MODE + 0 + VESC + UAVCAN + Comm Bridge + + + UAVCAN ESC Index + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">ESC index in UAVCAN messages.</span></p></body></html> + APPCONF_UAVCAN_ESC_INDEX + 1 + 0 + 255 + 0 + 0 + 1 + 0 + + 1 + + + UAVCAN Raw Throttle Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Drive mode for the raw throttle command in UAVCAN.</span></p></body></html> + APPCONF_UAVCAN_RAW_MODE + 0 + Current Control + Current No Reverse Brake + Duty Cycle Control + + + APP to Use + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The APP to use. With multiple VESC connected over CAN only the master needs to have an app to use set up. Notice that using the NRF nunchuk needs the NRF app.</span></p></body></html> + APPCONF_APP_TO_USE + 3 + No App + PPM + ADC + UART + PPM and UART + ADC and UART + Nunchuk (I2C, Nyko Kama) + NRF + Custom User App + Balance + PAS + ADC and PAS + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The output is switched off regardless of the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the input is at minimum.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current No Reverse With Brake</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Duty Cycle</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Duty Cycle No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Duty cycle control. The output is off when the input is at minimum.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">PID Speed Control</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">PID speed control. The output is off when the input is centered. Input less than center gives negative set speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">PID Speed Control No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Duty cycle control. The output is off when the input is at minimum.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current Hyst Reverse With Brake</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current Hyst Reverse With Brake. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it starts in the reverse direction, but if Max dir switch ERPM is enabled it will stop the reverse when it reaches the Max ERPM for direction switch.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current Smart Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Similar to the </span><span style=" font-family:'Roboto'; font-weight:600;">Current No Reverse With Brake </span><span style=" font-family:'Roboto';">mode, but</span><span style=" font-family:'Roboto';"> holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced. This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto'; font-weight:600;"><br /></p></body></html> + APPCONF_PPM_CTRL_TYPE + 0 + Off + Current + Current No Reverse + Current No Reverse With Brake + Duty Cycle + Duty Cycle No Reverse + PID Speed Control + PID Speed Control No Reverse + Current Hyst Reverse With Brake + Current Smart Reverse + + + PID Max ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM setpoint corresponding to max input when using PID Speed Control.</p></body></html> + APPCONF_PPM_PID_MAX_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 15000 + 1000 + + 9 + + + Input Deadband + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; ;">Deadband region for the input.</span></p></body></html> + APPCONF_PPM_HYST + 0 + 100 + 0 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + Pulselength Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The shortest pulse length for the PPM input </span><span style=" font-family:'Roboto';">in milliseconds</span><span style=" font-family:'Roboto';">. Can be checked by enabling display and giving the minimum input.</span></p></body></html> + APPCONF_PPM_PULSE_START + 4 + 1 + 0 + 100 + 0 + 0 + 0.1 + 1 + 1000 + ms + 9 + + + Pulselength End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The longest pulse length for the PPM input </span><span style=" font-family:'Roboto';">in milliseconds</span><span style=" font-family:'Roboto';">. Can be checked by enabling display and giving the maximum input.</span></p></body></html> + APPCONF_PPM_PULSE_END + 4 + 1 + 0 + 100 + 0 + 0 + 0.1 + 2 + 1000 + ms + 9 + + + Pulselength Center + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The PPM input in milliseconds at which the throttle is centered. Can be checked by enabling display and leaving the throttle centered. This setting has no effect in control modes where the output is not off when the stick is centered.</span></p></body></html> + APPCONF_PPM_PULSE_CENTER + 4 + 1 + 0 + 100 + 0 + 0 + 0.1 + 1.5 + 1000 + ms + 9 + + + Median Filter + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use a median filter on the decoded pulses. Will delay the signal slightly, but rejects outliers caused by noise.</p></body></html> + APPCONF_PPM_MEDIAN_FILTER + 1 + + + Safe Start + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only allow the motor to start if the commanded power has been zero for several cycles after boot, after faults and after configuration updates.</p></body></html> + APPCONF_PPM_SAFE_START + 1 + + + Throttle Expo + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_PPM_THROTTLE_EXP + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_PPM_THROTTLE_EXP_BRAKE + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The throttle curve mode.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Exponential</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x^(1 + c)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Natural</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = (e^(cx) - 1) / (e^c - 1)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Polynomial</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x / (1 + c(1 - x))</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">where</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">y:</span> output</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">x:</span> input</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">c:</span> curve</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The curve parameter, offsets and signs are mapped accordingly for each mode.</p></body></html> + APPCONF_PPM_THROTTLE_EXP_MODE + 2 + Exponential + Natural + Polynomial + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.</span></p></body></html> + APPCONF_PPM_RAMP_TIME_POS + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.4 + 1000 + s + 9 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.</span></p></body></html> + APPCONF_PPM_RAMP_TIME_NEG + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.2 + 1000 + s + 9 + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_PPM_MULTI_ESC + 1 + + + Traction Control + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.</p></body></html> + APPCONF_PPM_TC + 0 + + + TC Max ERPM Difference + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.</p></body></html> + APPCONF_PPM_TC_MAX_DIFF + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 3000 + 1000 + + 9 + + + Max ERPM for direction switch + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The Max ERPM where the direction can be switched to reverse by braking 2 times.</span></p></body></html> + APPCONF_PPM_MAX_ERPM_FOR_DIR + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 4000 + 1000 + + 9 + + + Smart Reverse Max Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Maximum duty cycle to use in smart reverse mode.</span></p></body></html> + APPCONF_PPM_SMART_REV_MAX_DUTY + 3 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.07 + 1000 + + 9 + + + Smart Reverse Ramp Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Time to ramp to maximum duty cycle in smart reverse mode.</span></p></body></html> + APPCONF_PPM_SMART_REV_RAMP_TIME + 2 + 1 + 0 + 100 + 0 + 0 + 0.1 + 3 + 1000 + s + 9 + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The output is switched off regardless of the input.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current Reverse Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, at which point it it starts in the reverse direction.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current Reverse Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for reversing the throttle. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current Reverse Button Brake ADC2</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for reversing the throttle. The output is off when the input is at minimum. The second ADC channel acs as a brake.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">ADC_CTRL_TYPE_CURRENT_REV_BUTTON_BRAKE_CENTER</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for reversing throttle. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current No Reverse Brake Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is centered. Input less than center brakes until the motor stops, but not further.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current No Reverse Brake Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with a button for turning the throttle into a brake. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Current No Reverse Brake ADC2</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control with one separate throttle connected to ADC2 for braking.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Duty Cycle</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle control. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Duty Cycle Reverse Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Current control. The output is off when the input is centered. Input less than center gives negative duty cycle.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Duty Cycle Reverse Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle control with a button on UART RX for inverting the throttle. The output is off when the input is at minimum.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">PID Speed</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID speed control. The speed setpoint is mapped between 0 and the configured maximum motor speed limit.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">PID Speed Reverse Center</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID speed control. The output is mapped between the minimum and maximum motor speed limits. Throttle center corresponds to 0 speed.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">PID Speed Reverse Button</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">PID speed control with a button for reversing the throttle. The speed setpoint is mapped between 0 and the configured maximum motor speed limit, or between 0 and the minimum motor speed limit when the UART RX input is high.</p></body></html> + APPCONF_ADC_CTRL_TYPE + 8 + Off + Current + Current Reverse Center + Current Reverse Button + Current Reverse ADC2 Brake Button + Current Reverse Button Brake Center + Current No Reverse Brake Center + Current No Reverse Brake Button + Current No Reverse Brake ADC2 + Duty Cycle + Duty Cycle Reverse Center + Duty Cycle Reverse Button + PID Speed + PID Speed Reverse Center + PID Speed Reverse Button + + + Input Deadband + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Deadband region for the input.</span></p></body></html> + APPCONF_ADC_HYST + 0 + 100 + 0 + 1 + 0 + 1 + 1 + 0.05 + 1000 + % + 9 + + + ADC1 Min Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" ;">Input voltage at the start of the throttle range for ADC1. Can be checked by enabling display and giving the minimum input. If </span><span style=" ; font-weight:600;">Control Type</span><span style=" ;"> is set to off while doing that the motor won't turn.</span></p></body></html> + APPCONF_ADC_VOLTAGE_START + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0.6 + 1000 + V + 9 + + + ADC1 Max Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" ;">Input voltage at the end of the throttle range for ADC1. Can be checked by enabling display and giving the maximum input. If </span><span style=" ; font-weight:600;">Control Type</span><span style=" ;"> is set to off while doing that the motor won't turn.</span></p></body></html> + APPCONF_ADC_VOLTAGE_END + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 2.54 + 1000 + V + 9 + + + ADC1 Center Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Input voltage at the center of the throttle range for ADC1. Can be checked by enabling display and centering the input. If <span style=" font-weight:600;">Control Type</span> is set to off while doing that the motor won't turn.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that this parameter only is used for the contered control types. For the other types the voltage will always be mapped linearly between start and end.</p></body></html> + APPCONF_ADC_VOLTAGE_CENTER + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0.6 + 1000 + V + 9 + + + ADC2 Min Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Input voltage at the start of the throttle range for ADC2. Can be checked by enabling display and giving the minimum input. If <span style=" font-weight:600;">Control Type</span> is set to off while doing that the motor won't turn.</p></body></html> + APPCONF_ADC_VOLTAGE2_START + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 0 + 1000 + V + 9 + + + ADC2 Max Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Input voltage at the end of the throttle range for ADC2. Can be checked by enabling display and giving the maximum input. If <span style=" font-weight:600;">Control Type</span> is set to off while doing that the motor won't turn.</p></body></html> + APPCONF_ADC_VOLTAGE2_END + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.01 + 2 + 1000 + V + 9 + + + Use Filter + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use a median filter to reject noise. This will introduce a slight delay.</p></body></html> + APPCONF_ADC_USE_FILTER + 1 + + + Safe Start + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only allow the motor to start if the commanded power has been zero for several cycles after boot, after faults and after configuration updates.</p></body></html> + APPCONF_ADC_SAFE_START + 1 + + + Invert Cruise Control Button + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Invert the cruise control button. For supporting both normally-closed and normally-open buttons.</p></body></html> + APPCONF_ADC_CC_BUTTON_INVERTED + 1 + + + Invert Reverse Button + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Invert the reverse button. For supporting both normally-closed and normally-open buttons.</p></body></html> + APPCONF_ADC_REV_BUTTON_INVERTED + 0 + + + Invert ADC1 Voltage + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Invert the voltage from ADC1.</span></p></body></html> + APPCONF_ADC_VOLTAGE_INVERTED + 0 + + + Invert ADC2 Voltage + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Invert the voltage from ADC2.</span></p></body></html> + APPCONF_ADC_VOLTAGE2_INVERTED + 1 + + + Throttle Expo + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_ADC_THROTTLE_EXP + 2 + 1 + 1 + 5 + -5 + 1 + 1 + -0.5 + 1 + + 9 + + + Throttle Expo Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_ADC_THROTTLE_EXP_BRAKE + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The throttle curve mode.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Exponential</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x^(1 + c)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Natural</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = (e^(cx) - 1) / (e^c - 1)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Polynomial</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x / (1 + c(1 - x))</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">where</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">y:</span> output</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">x:</span> input</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">c:</span> curve</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The curve parameter, offsets and signs are mapped accordingly for each mode.</p></body></html> + APPCONF_ADC_THROTTLE_EXP_MODE + 2 + Exponential + Natural + Polynomial + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Positive ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.</span></p></body></html> + APPCONF_ADC_RAMP_TIME_POS + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.3 + 1000 + s + 9 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Negative ramping time constant. This filters the input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.</span></p></body></html> + APPCONF_ADC_RAMP_TIME_NEG + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.1 + 1000 + s + 9 + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_ADC_MULTI_ESC + 1 + + + Traction Control + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.</p></body></html> + APPCONF_ADC_TC + 0 + + + TC Max ERPM Difference + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.</p></body></html> + APPCONF_ADC_TC_MAX_DIFF + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 3000 + 1000 + + 9 + + + Update Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Rate at which the input is sampled.</p></body></html> + APPCONF_ADC_UPDATE_RATE_HZ + 1 + 0 + 100000 + 0 + 0 + 10 + 500 + Hz + 3 + + + Baudrate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">UART Baudrate.</p></body></html> + APPCONF_UART_BAUDRATE + 1 + 0 + 20000000 + 0 + 0 + 1 + 115200 + bps + 5 + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The output is switched off regardless of the input.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. To go reverse the Z button can be used to toggle direction.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current No Reverse</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the joystick is centered. Positive input gives acceleration and negative input braking. The reverse function of the Z button is disabled.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Current Bidirectional</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current control. The output is off when the joystick is centered. Positive input always gives forward current and negative current always gives reverse current. This means that when current is applied through 0 speed, the motor will accelerate in the other direction.</span></p></body></html> + APPCONF_CHUK_CTRL_TYPE + 1 + Off + Current + Current No Reverse + Current Bidirectional + + + Input Deadband + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Deadband region for the input.</span></p></body></html> + APPCONF_CHUK_HYST + 0 + 100 + 0 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Positive ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from zero to full output.</p></body></html> + APPCONF_CHUK_RAMP_TIME_POS + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.4 + 1000 + s + 9 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Negative ramping time constant. This filters the joystick input with ramping. This constant represents the amount of secods it takes to ramp from full output (acceleration or braking) back to zero.</p></body></html> + APPCONF_CHUK_RAMP_TIME_NEG + 2 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 0.2 + 1000 + s + 9 + + + ERPM Per Second Cruise Control + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The amount of ERPM per second the setpoint changes when giving full joystick input with criuse control activated.</p></body></html> + APPCONF_STICK_ERPM_PER_S_IN_CC + 2 + 1 + 0 + 1e+06 + 0 + 0 + 500 + 3000 + 1000 + + 9 + + + Throttle Expo + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_CHUK_THROTTLE_EXP + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Exponential gain for the throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Zero (0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Linear throttle</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Negative (&lt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle is softer close to 0 and increases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Positive (&gt;0)</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The throttle reacts fast around 0 and decreases exponentially towards full throttle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Increasing the magnitude of this value will increase the exponential effect. The full throttle curve can be seen in the throttle curve plot.</span></p></body></html> + APPCONF_CHUK_THROTTLE_EXP_BRAKE + 2 + 1 + 1 + 5 + -5 + 1 + 1 + 0 + 1 + + 9 + + + Throttle Expo Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The throttle curve mode.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Exponential</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x^(1 + c)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Natural</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = (e^(cx) - 1) / (e^c - 1)</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Polynomial</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">y = x / (1 + c(1 - x))</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">where</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">y:</span> output</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">x:</span> input</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">c:</span> curve</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The curve parameter, offsets and signs are mapped accordingly for each mode.</p></body></html> + APPCONF_CHUK_THROTTLE_EXP_MODE + 2 + Exponential + Natural + Polynomial + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_CHUK_MULTI_ESC + 1 + + + Traction Control + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Enable traction control between multiple VESCs connected over CAN-bus. This is only is only used for current control modes.</p></body></html> + APPCONF_CHUK_TC + 0 + + + TC Max ERPM Difference + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM difference at which the fastest motor gets swtiched off completely. If the difference in ERPM is lower than that the current to faster motors is scaled down proportionally to the difference.</p></body></html> + APPCONF_CHUK_TC_MAX_DIFF + 2 + 1 + 0 + 100000 + 0 + 0 + 100 + 3000 + 1000 + + 9 + + + Use Smart Reverse + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Use smart reverse function. If enabled, holding full brake will switch to duty cycle mode in the reverse direction when the speed is so low that not enough brake torque can be produced.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This is useful when trying to stop downhill where you normally would roll forwards slowly even at full brake. Instead, the board will start to go reverse slowly in duty cycle mode if this mode is activated.</span></p></body></html> + APPCONF_CHUK_USE_SMART_REV + 1 + + + Smart Reverse Max Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Maximum duty cycle to use in smart reverse mode.</span></p></body></html> + APPCONF_CHUK_SMART_REV_MAX_DUTY + 3 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.07 + 1000 + + 9 + + + Smart Reverse Ramp Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Time to ramp to maximum duty cycle in smart reverse mode.</span></p></body></html> + APPCONF_CHUK_SMART_REV_RAMP_TIME + 2 + 1 + 0 + 100 + 0 + 0 + 0.1 + 3 + 1000 + s + 9 + + + Speed + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The air bit rate.</p></body></html> + APPCONF_NRF_SPEED + 1 + 250 Kbit/s + 1 MBit/s + 2 MBit/s + + + TX Power + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Transmit power or power off setting.</p></body></html> + APPCONF_NRF_POWER + 3 + -18 dBm + -12 dBm + -6 dBm + 0 dBm + OFF + + + CRC + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">CRC checksum type.</p></body></html> + APPCONF_NRF_CRC + 1 + Disabled + 1 Byte + 2 Byte + + + Retry Delay + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Delay between retries when no ack is received. If the speed is lower than 2MBit, at least 500 µS should be used.</span></p></body></html> + APPCONF_NRF_RETR_DELAY + 0 + 250 µS + 500 µS + 750 µS + 1000 µS + 1250 µS + 1500 µS + 1750 µS + 2000 µS + 2250 µS + 2500 µS + 2750 µS + 3000 µS + 3250 µS + 3500 µS + 3750 µS + 4000 µS + + + Retries + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum number of retries when no ack is received before giving up on the current packet.</p></body></html> + APPCONF_NRF_RETRIES + 1 + 0 + 15 + 0 + 0 + 1 + 3 + + 2 + + + Radio Channel + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Radio channel.</p></body></html> + APPCONF_NRF_CHANNEL + 1 + 0 + 125 + 0 + 0 + 1 + 76 + + 2 + + + Address 0 + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Address byte 0.</p></body></html> + APPCONF_NRF_ADDR_B0 + 1 + 0 + 255 + 0 + 0 + 1 + 198 + + 1 + + + Address 1 + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Address byte 1.</p></body></html> + APPCONF_NRF_ADDR_B1 + 1 + 0 + 255 + 0 + 0 + 1 + 199 + + 1 + + + Address 2 + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Address byte 2.</p></body></html> + APPCONF_NRF_ADDR_B2 + 1 + 0 + 255 + 0 + 0 + 1 + 0 + + 1 + + + Send ACK + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Send ACK when valid packets are received.</p></body></html> + APPCONF_NRF_SEND_CRC_ACK + 1 + + + P + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for the PID balance loop.</p></body></html> + APPCONF_BALANCE_KP + 4 + 1 + 0 + 1e+06 + 0 + 0 + 0.1 + 0 + 1000 + + 9 + + + I + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for the PID balance loop.</p></body></html> + APPCONF_BALANCE_KI + 4 + 1 + 0 + 1e+06 + 0 + 0 + 0.1 + 0 + 1000 + + 9 + + + D + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for the PID balance loop.</p></body></html> + APPCONF_BALANCE_KD + 4 + 1 + 0 + 1e+06 + 0 + 0 + 0.1 + 0 + 1000 + + 9 + + + Loop Hertz + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Loop Hertz.</p></body></html> + APPCONF_BALANCE_HERTZ + 1 + 0 + 4000 + 50 + 0 + 100 + 1000 + Hz + 3 + + + Pitch Axis Fault Cutoff + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle to turn off driving (on the pitch axis).</span></p></body></html> + APPCONF_BALANCE_FAULT_PITCH + 1 + 1 + 0 + 180 + -180 + 0 + 1 + 20 + 1000 + ° + 9 + + + Roll Axis Fault Cutoff + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle to turn off driving (on the roll axis).</span></p></body></html> + APPCONF_BALANCE_FAULT_ROLL + 1 + 1 + 0 + 180 + -180 + 0 + 1 + 45 + 1000 + ° + 9 + + + Duty Cycle Fault Cutoff + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Duty cycle value to trigger a safety cutoff 0-1% (This cutoff will lock the app untill another fault occurs).</span></p></body></html> + APPCONF_BALANCE_FAULT_DUTY + 2 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.9 + 1000 + + 9 + + + ADC1 Switch Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!</span></p></body></html> + APPCONF_BALANCE_FAULT_ADC1 + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.1 + 0 + 1000 + V + 9 + + + ADC2 Switch Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Voltage below this value will trigger a fault. To disable this switch set this value to 0. Hint: consider a pulldown resisitor!</span></p></body></html> + APPCONF_BALANCE_FAULT_ADC2 + 2 + 1 + 0 + 3.3 + 0 + 1 + 0.1 + 0 + 1000 + V + 9 + + + Pitch Fault Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pitch fault cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_FAULT_DELAY_PITCH + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + Roll Fault Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll fault cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_FAULT_DELAY_ROLL + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + Duty Fault Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_FAULT_DELAY_DUTY + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + Half Switch Fault Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Half switch cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_FAULT_DELAY_SWITCH_HALF + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + Full Switch Fault Delay + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Full switch cutoff time delay in ms.</p></body></html> + APPCONF_BALANCE_FAULT_DELAY_SWITCH_FULL + 1 + 0 + 10000 + 0 + 0 + 10 + 0 + ms + 3 + + + ADC Half State Fault ERPM + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM (absoulte value) below which a half state on the ADC switches will be considered a fault.</p></body></html> + APPCONF_BALANCE_FAULT_ADC_HALF_ERPM + 1 + 0 + 100000 + 0 + 0 + 10 + 1000 + ERPM + 3 + + + Tiltback Angle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle of rise for tiltback.</p></body></html> + APPCONF_BALANCE_TILTBACK_ANGLE + 1 + 1 + 0 + 45 + 0 + 0 + 0.1 + 15 + 1000 + ° + 9 + + + Tiltback Speed + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which tiltback is applied (High speed tiltback can be dangerous!).</p></body></html> + APPCONF_BALANCE_TILTBACK_SPEED + 1 + 1 + 0 + 100 + 0 + 0 + 0.1 + 5 + 1000 + °/s + 9 + + + Duty Cycle Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Duty cycle value to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html> + APPCONF_BALANCE_TILTBACK_DUTY + 2 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.75 + 1000 + + 9 + + + High Voltage Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">High voltage value to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html> + APPCONF_BALANCE_TILTBACK_HIGH_V + 2 + 1 + 0 + 700 + 0 + 0 + 0.01 + 100 + 1000 + V + 9 + + + Low Voltage Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low voltage value to trigger a safety tiltback (Tiltback raises the nose of the vehicle informing you to slow down).</p></body></html> + APPCONF_BALANCE_TILTBACK_LOW_V + 2 + 1 + 0 + 700 + 0 + 0 + 0.01 + 0 + 1000 + V + 9 + + + Constant Tiltback + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Tiltback that will be applied above 3% duty cycle. AKA nose angle adjustment, can be downwards too.</p></body></html> + APPCONF_BALANCE_TILTBACK_CONSTANT + 2 + 1 + 0 + 80 + -80 + 0 + 1 + 0 + 1 + ° + 9 + + + Constant Tiltback ERPM + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; APPCONF_BALANCE_FAULT_ADC_HALF_ERPMmargin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM (absoulte value) above which constant tiltback will be applied.</p></body></html> + APPCONF_BALANCE_TILTBACK_CONSTANT_ERPM + 1 + 0 + 100000 + 200 + 0 + 100 + 500 + ERPM + 3 + + + Startup Pitch Axis Angle Tolerance + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle at which balancing will start (on the main axis). Measured in degrees from upright (0).</span></p></body></html> + APPCONF_BALANCE_STARTUP_PITCH_TOLERANCE + 1 + 1 + 0 + 80 + 0 + 0 + 0.1 + 20 + 1000 + ° + 9 + + + Startup Roll Axis Angle Tolerance + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Angle at which balancing will start (on the cross axis). Measured in degrees from upright (0).</span></p></body></html> + APPCONF_BALANCE_STARTUP_ROLL_TOLERANCE + 1 + 1 + 0 + 80 + 0 + 0 + 0.1 + 8 + 1000 + ° + 9 + + + Startup Centering Speed + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed at which wheel will center itself on startup.</p></body></html> + APPCONF_BALANCE_STARTUP_SPEED + 1 + 1 + 0 + 100 + 0 + 0 + 0.1 + 30 + 1000 + °/s + 9 + + + Deadzone + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Deadzone disables balancing at center.</p></body></html> + APPCONF_BALANCE_DEADZONE + 2 + 1 + 0 + 5 + 0 + 0 + 0.01 + 0 + 1000 + ° + 9 + + + Current Boost + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">All non-zero current output values will be boosted.</p></body></html> + APPCONF_BALANCE_CURRENT_BOOST + 2 + 1 + 0 + 10 + 0 + 0 + 0.01 + 0 + 1000 + A + 9 + + + Multiple VESCs Over CAN + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Listen for other VESCs on the CAN-bus and send the same control commands to them. Notice that the application only has to be set up on the master VESC.</p></body></html> + APPCONF_BALANCE_MULTI_ESC + 0 + + + Yaw P + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">P value for yaw PID stabilization.</p></body></html> + APPCONF_BALANCE_YAW_KP + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Yaw I + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">I value for yaw PID stabilization.</p></body></html> + APPCONF_BALANCE_YAW_KI + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Yaw D + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D value for yaw PID stabilization.</p></body></html> + APPCONF_BALANCE_YAW_KD + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Roll Steer KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll angle to yaw setpoint adjustment proportion. This is a constant turning speed regardless of forward travel speed. It will turn tighter at low speeds</p></body></html> + APPCONF_BALANCE_ROLL_STEER_KP + 3 + 1 + 0 + 10000 + -10000 + 0 + 0.01 + 0 + 1000 + + 9 + + + Roll Steer ERPM KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll angle multiplied by ERPM to yaw setpoint adjustment proportion. Scaling turn speed by erpm will give a constant turning radius at all speeds, like a normal vehicle.</p></body></html> + APPCONF_BALANCE_ROLL_STEER_ERPM_KP + 5 + 1 + 0 + 10000 + -10000 + 0 + 0.0001 + 0 + 1000 + + 9 + + + Brake Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Breaking current to be applied when balance app is not actively balancing.</p></body></html> + APPCONF_BALANCE_BRAKE_CURRENT + 2 + 1 + 0 + 100 + 0 + 0 + 0.01 + 0 + 1000 + A + 9 + + + Yaw Current Clamp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum current to be applied to yaw motions. This lets you overpower the pid traction.</p></body></html> + APPCONF_BALANCE_YAW_CURRENT_CLAMP + 2 + 1 + 0 + 100 + 0 + 0 + 0.01 + 0 + 1000 + A + 9 + + + Setpoint Pitch Low Pass Filter + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low pass filter that combines the pitch angle with the desired balanceing angle. 0 = 100% setpoint, 1 = 100% current pitch angle.</p></body></html> + APPCONF_BALANCE_SETPOINT_PITCH_FILTER + 5 + 1 + 0 + 1 + 0 + 0 + 0.0001 + 0 + 1000 + + 9 + + + Setpoint Target Low Pass Filter + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Low pass filter that combines the desired setpoint (0 or tiltback) with the current setpoint (modified by the setpoint pitch filter). 0 = 100% current setpoint angle, 1 = 100% desired setpoint. Non 1 values will effect your tiltback speed</p></body></html> + APPCONF_BALANCE_SETPOINT_TARGET_FILTER + 5 + 1 + 0 + 1 + 0 + 0 + 0.0001 + 1 + 1000 + + 9 + + + Setpoint Filter Clamp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum angle (absolute value) the setpoint can travel to. There will be no filtering past this angle.</p></body></html> + APPCONF_BALANCE_SETPOINT_FILTER_CLAMP + 2 + 1 + 0 + 80 + 0 + 0 + 1 + 8 + 1 + ° + 9 + + + D term PT1 Filter + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">D term filter above this frequency. 0 = Disabled.</p></body></html> + APPCONF_BALANCE_KD_PT1_FREQUENCY + 1 + 0 + 4000 + 0 + 0 + 10 + 0 + Hz + 3 + + + Control Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Off</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The output is switched off regardless of the input.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Cadence</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cadence control. The output is proportional to the pedalling speed, off when there is no pedalling.</p></body></html> + APPCONF_PAS_CTRL_TYPE + 1 + Off + Cadence + + + Sensor Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Quadrature</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This interface provides 2 signals that can be decoded to know the pedalling direction (forward of backwards).</p></body></html> + APPCONF_PAS_SENSOR_TYPE + 0 + Quadrature + + + Pedal RPM Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pedal RPM at which the assist starts. Below this value the output current is zero.</p></body></html> + APPCONF_PAS_PEDAL_RPM_START + 1 + 1 + 0 + 200 + 1 + 0 + 1 + 10 + 10 + + 7 + + + Pedal RPM End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pedal RPM at which the assist stops increasing. Above this pedal speed the assist output will stay at its maximum.</p></body></html> + APPCONF_PAS_PEDAL_RPM_END + 1 + 1 + 0 + 300 + 1 + 0 + 1 + 120 + 10 + + 7 + + + Invert Pedal Direction + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Inverts pedal direction</p></body></html> + APPCONF_PAS_INVERT_PEDAL_DIRECTION + 0 + + + Sensor Magnets + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">How many magnets the PAS sensor assembly has. 24 magnets would provide 24 pulses per pedal revolution.</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">12 and 24 magnet setups are typical.</p></body></html> + APPCONF_PAS_MAGNETS + 1 + 0 + 128 + 6 + 0 + 6 + 24 + + 3 + + + Use Filter + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use a low pass filter in the PAS input signal</p></body></html> + APPCONF_PAS_USE_FILTER + 1 + + + PAS Max Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum PAS output current will be limited to this percentage of the global output current.</p></body></html> + APPCONF_PAS_CURRENT_SCALING + 2 + 1 + 1 + 1 + 0 + 1 + 0.05 + 0.08 + 1000 + + 7 + + + Positive Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Positive ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from zero to full output.</span></p></body></html> + APPCONF_PAS_RAMP_TIME_POS + 2 + 1 + 0 + 5 + 0.2 + 0 + 0.05 + 0.3 + 100 + s + 7 + + + Negative Ramping Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Negative ramping time constant. This filters the PAS input with ramping and represents the amount of secods it takes to ramp from full to zero output.</span></p></body></html> + APPCONF_PAS_RAMP_TIME_NEG + 2 + 1 + 0 + 5 + 0.2 + 0 + 0.05 + 0.2 + 100 + s + 7 + + + Update Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Frequency at which the PAS control loop is executed</span></p></body></html> + APPCONF_PAS_UPDATE_RATE_HZ + 1 + 0 + 1000 + 10 + 0 + 10 + 500 + Hz + 3 + + + IMU Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">IMU type. The internal IMU is only available if the hardware supports it. External IMUs can be connected to the SDA and SCL pins. If using an external IMU, make sure that no app that uses the same pins is selected.</p></body></html> + APPCONF_IMU_TYPE + 1 + IMU_TYPE_OFF + IMU_TYPE_INTERNAL + IMU_TYPE_EXTERNAL_MPU9X50 + IMU_TYPE_EXTERNAL_ICM20948 + IMU_TYPE_EXTERNAL_BMI160 + IMU_TYPE_EXTERNAL_LSM6DS3 + + + IMU AHRS Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use the Madgwick or Mahony AHRS filter.</p></body></html> + APPCONF_IMU_AHRS_MODE + 0 + AHRS_MODE_MADGWICK + AHRS_MODE_MAHONY + + + Sample Rate + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">IMU sample rate. Higher sample rates use more CPU cycles, but perform better.</p></body></html> + APPCONF_IMU_SAMPLE_RATE_HZ + 1 + 0 + 1000 + 1 + 0 + 10 + 200 + Hz + 3 + + + Accelerometer Confidence Decay + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This factor sets how fast the accelerometer confidence will be decreased if the acceleration vector differs from 1.0.</p></body></html> + APPCONF_IMU_ACCEL_CONFIDENCE_DECAY + 3 + 1 + 0 + 999 + 0 + 0 + 0.1 + 1 + 1 + + 9 + + + Mahony KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">KP for Mahony filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.</p></body></html> + APPCONF_IMU_MAHONY_KP + 3 + 1 + 0 + 999 + 0 + 0 + 0.1 + 0.3 + 1 + + 9 + + + Mahony KI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">KI for Mahony filter. Integrates gyro offsets over time.</p></body></html> + APPCONF_IMU_MAHONY_KI + 3 + 1 + 0 + 999 + 0 + 0 + 0.1 + 0 + 1 + + 9 + + + Madgwick Beta + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beta for Madgwick filter. Decides how much the accelerometer is used for attitude estimation. Increasing this value helps against gyro offsets, but makes the output noisier.</p></body></html> + APPCONF_IMU_MADGWICK_BETA + 3 + 1 + 0 + 999 + 0 + 0 + 0.01 + 0.1 + 1 + + 9 + + + Imu Rotation Roll + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Roll rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.</p></body></html> + APPCONF_IMU_ROT_ROLL + 3 + 1 + 0 + 360 + -360 + 0 + 1 + 0 + 1 + ° + 9 + + + Imu Rotation Pitch + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Pitch rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.</p></body></html> + APPCONF_IMU_ROT_PITCH + 3 + 1 + 0 + 360 + -360 + 0 + 1 + 0 + 1 + ° + 9 + + + Imu Rotation Yaw + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Yaw rotation of IMU. Can be adjusted if the IMU is not aligned with the vehicle.</p></body></html> + APPCONF_IMU_ROT_YAW + 3 + 1 + 0 + 360 + -360 + 0 + 1 + 0 + 1 + ° + 9 + + + Accel Offset X + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Accelerometer offset X.</p></body></html> + APPCONF_IMU_A_OFFSET_0 + 3 + 1 + 0 + 16 + -16 + 0 + 0.01 + 0 + 1 + G + 9 + + + Accel Offset Y + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Accelerometer offset Y.</p></body></html> + APPCONF_IMU_A_OFFSET_1 + 3 + 1 + 0 + 16 + -16 + 0 + 0.01 + 0 + 1 + G + 9 + + + Accel Offset Z + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Accelerometer offset Z.</p></body></html> + APPCONF_IMU_A_OFFSET_2 + 3 + 1 + 0 + 16 + -16 + 0 + 0.01 + 0 + 1 + G + 9 + + + Gyro Offset X + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset (drift) X.</p></body></html> + APPCONF_IMU_G_OFFSET_0 + 3 + 1 + 0 + 1000 + -1000 + 0 + 0.01 + 0 + 1 + °/s + 9 + + + Gyro Offset Y + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset (drift) Y.</p></body></html> + APPCONF_IMU_G_OFFSET_1 + 3 + 1 + 0 + 1000 + -1000 + 0 + 0.01 + 0 + 1 + °/s + 9 + + + Gyro Offset Z + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset (drift) Z.</p></body></html> + APPCONF_IMU_G_OFFSET_2 + 3 + 1 + 0 + 1000 + -1000 + 0 + 0.01 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp X + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation for X axis. Setting this value to a positive number will integrate the gyro offset towards the current gyro value with this rate. This is useful in order to remove gyro bias on axes that do not rotate on average, such as roll and pitch on most applications.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_FACT_0 + 4 + 1 + 0 + 1 + 0 + 0 + 0.001 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp Y + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation for Y axis. Setting this value to a positive number will integrate the gyro offset towards the current gyro value with this rate. This is useful in order to remove gyro bias on axes that do not rotate on average, such as roll and pitch on most applications.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_FACT_1 + 4 + 1 + 0 + 1 + 0 + 0 + 0.001 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp Z + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation for Z axis. Setting this value to a positive number will integrate the gyro offset towards the current gyro value with this rate. This is useful in order to remove gyro bias on axes that do not rotate on average, such as roll and pitch on most applications.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_FACT_2 + 4 + 1 + 0 + 1 + 0 + 0 + 0.001 + 0 + 1 + °/s + 9 + + + Gyro Offset Comp Clamp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gyro offset compensation clamping. This value clamps the integrated gyro offsets.</p></body></html> + APPCONF_IMU_G_OFFSET_COMP_CLAMP + 3 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 5 + 1 + °/s + 9 + + + + controller_id + timeout_msec + timeout_brake_current + send_can_status + send_can_status_rate_hz + can_baud_rate + pairing_done + permanent_uart_enabled + shutdown_mode + can_mode + uavcan_esc_index + uavcan_raw_mode + app_to_use + app_ppm_conf.ctrl_type + app_ppm_conf.pid_max_erpm + app_ppm_conf.hyst + app_ppm_conf.pulse_start + app_ppm_conf.pulse_end + app_ppm_conf.pulse_center + app_ppm_conf.median_filter + app_ppm_conf.safe_start + app_ppm_conf.throttle_exp + app_ppm_conf.throttle_exp_brake + app_ppm_conf.throttle_exp_mode + app_ppm_conf.ramp_time_pos + app_ppm_conf.ramp_time_neg + app_ppm_conf.multi_esc + app_ppm_conf.tc + app_ppm_conf.tc_max_diff + app_ppm_conf.max_erpm_for_dir + app_ppm_conf.smart_rev_max_duty + app_ppm_conf.smart_rev_ramp_time + app_adc_conf.ctrl_type + app_adc_conf.hyst + app_adc_conf.voltage_start + app_adc_conf.voltage_end + app_adc_conf.voltage_center + app_adc_conf.voltage2_start + app_adc_conf.voltage2_end + app_adc_conf.use_filter + app_adc_conf.safe_start + app_adc_conf.cc_button_inverted + app_adc_conf.rev_button_inverted + app_adc_conf.voltage_inverted + app_adc_conf.voltage2_inverted + app_adc_conf.throttle_exp + app_adc_conf.throttle_exp_brake + app_adc_conf.throttle_exp_mode + app_adc_conf.ramp_time_pos + app_adc_conf.ramp_time_neg + app_adc_conf.multi_esc + app_adc_conf.tc + app_adc_conf.tc_max_diff + app_adc_conf.update_rate_hz + app_uart_baudrate + app_chuk_conf.ctrl_type + app_chuk_conf.hyst + app_chuk_conf.ramp_time_pos + app_chuk_conf.ramp_time_neg + app_chuk_conf.stick_erpm_per_s_in_cc + app_chuk_conf.throttle_exp + app_chuk_conf.throttle_exp_brake + app_chuk_conf.throttle_exp_mode + app_chuk_conf.multi_esc + app_chuk_conf.tc + app_chuk_conf.tc_max_diff + app_chuk_conf.use_smart_rev + app_chuk_conf.smart_rev_max_duty + app_chuk_conf.smart_rev_ramp_time + app_nrf_conf.speed + app_nrf_conf.power + app_nrf_conf.crc_type + app_nrf_conf.retry_delay + app_nrf_conf.retries + app_nrf_conf.channel + app_nrf_conf.address__0 + app_nrf_conf.address__1 + app_nrf_conf.address__2 + app_nrf_conf.send_crc_ack + app_balance_conf.kp + app_balance_conf.ki + app_balance_conf.kd + app_balance_conf.hertz + app_balance_conf.fault_pitch + app_balance_conf.fault_roll + app_balance_conf.fault_duty + app_balance_conf.fault_adc1 + app_balance_conf.fault_adc2 + app_balance_conf.fault_delay_pitch + app_balance_conf.fault_delay_roll + app_balance_conf.fault_delay_duty + app_balance_conf.fault_delay_switch_half + app_balance_conf.fault_delay_switch_full + app_balance_conf.fault_adc_half_erpm + app_balance_conf.tiltback_angle + app_balance_conf.tiltback_speed + app_balance_conf.tiltback_duty + app_balance_conf.tiltback_high_voltage + app_balance_conf.tiltback_low_voltage + app_balance_conf.tiltback_constant + app_balance_conf.tiltback_constant_erpm + app_balance_conf.startup_pitch_tolerance + app_balance_conf.startup_roll_tolerance + app_balance_conf.startup_speed + app_balance_conf.deadzone + app_balance_conf.current_boost + app_balance_conf.multi_esc + app_balance_conf.yaw_kp + app_balance_conf.yaw_ki + app_balance_conf.yaw_kd + app_balance_conf.roll_steer_kp + app_balance_conf.roll_steer_erpm_kp + app_balance_conf.brake_current + app_balance_conf.yaw_current_clamp + app_balance_conf.setpoint_pitch_filter + app_balance_conf.setpoint_target_filter + app_balance_conf.setpoint_filter_clamp + app_balance_conf.kd_pt1_frequency + app_pas_conf.ctrl_type + app_pas_conf.sensor_type + app_pas_conf.current_scaling + app_pas_conf.pedal_rpm_start + app_pas_conf.pedal_rpm_end + app_pas_conf.invert_pedal_direction + app_pas_conf.magnets + app_pas_conf.use_filter + app_pas_conf.ramp_time_pos + app_pas_conf.ramp_time_neg + app_pas_conf.update_rate_hz + imu_conf.type + imu_conf.mode + imu_conf.sample_rate_hz + imu_conf.accel_confidence_decay + imu_conf.mahony_kp + imu_conf.mahony_ki + imu_conf.madgwick_beta + imu_conf.rot_roll + imu_conf.rot_pitch + imu_conf.rot_yaw + imu_conf.accel_offsets__0 + imu_conf.accel_offsets__1 + imu_conf.accel_offsets__2 + imu_conf.gyro_offsets__0 + imu_conf.gyro_offsets__1 + imu_conf.gyro_offsets__2 + imu_conf.gyro_offset_comp_fact__0 + imu_conf.gyro_offset_comp_fact__1 + imu_conf.gyro_offset_comp_fact__2 + imu_conf.gyro_offset_comp_clamp + + + + General + + General + + app_to_use + controller_id + timeout_msec + timeout_brake_current + send_can_status + send_can_status_rate_hz + can_baud_rate + pairing_done + permanent_uart_enabled + shutdown_mode + can_mode + uavcan_esc_index + uavcan_raw_mode + + + + + PPM + + General + + app_ppm_conf.ctrl_type + app_ppm_conf.median_filter + app_ppm_conf.safe_start + app_ppm_conf.pid_max_erpm + app_ppm_conf.ramp_time_pos + app_ppm_conf.ramp_time_neg + app_ppm_conf.max_erpm_for_dir + app_ppm_conf.smart_rev_max_duty + app_ppm_conf.smart_rev_ramp_time + ::sep::Multiple VESCs over CAN + app_ppm_conf.multi_esc + app_ppm_conf.tc + app_ppm_conf.tc_max_diff + + + + Mapping + + app_ppm_conf.pulse_start + app_ppm_conf.pulse_end + app_ppm_conf.pulse_center + app_ppm_conf.hyst + + + + Throttle Curve + + app_ppm_conf.throttle_exp + app_ppm_conf.throttle_exp_brake + app_ppm_conf.throttle_exp_mode + + + + + ADC + + General + + app_adc_conf.ctrl_type + app_adc_conf.use_filter + app_adc_conf.safe_start + app_adc_conf.cc_button_inverted + app_adc_conf.rev_button_inverted + app_adc_conf.update_rate_hz + app_adc_conf.ramp_time_pos + app_adc_conf.ramp_time_neg + ::sep::Multiple VESCs over CAN-bus + app_adc_conf.multi_esc + app_adc_conf.tc + app_adc_conf.tc_max_diff + + + + Mapping + + app_adc_conf.hyst + ::sep::ADC 1 + app_adc_conf.voltage_start + app_adc_conf.voltage_end + app_adc_conf.voltage_center + app_adc_conf.voltage_inverted + ::sep::ADC 2 + app_adc_conf.voltage2_start + app_adc_conf.voltage2_end + app_adc_conf.voltage2_inverted + + + + Throttle Curve + + app_adc_conf.throttle_exp + app_adc_conf.throttle_exp_brake + app_adc_conf.throttle_exp_mode + + + + + UART + + General + + app_uart_baudrate + + + + + VESC Remote + + General + + app_chuk_conf.ctrl_type + app_chuk_conf.ramp_time_pos + app_chuk_conf.ramp_time_neg + app_chuk_conf.stick_erpm_per_s_in_cc + app_chuk_conf.hyst + app_chuk_conf.use_smart_rev + app_chuk_conf.smart_rev_max_duty + app_chuk_conf.smart_rev_ramp_time + ::sep::Multiple VESCs over CAN-bus + app_chuk_conf.multi_esc + app_chuk_conf.tc + app_chuk_conf.tc_max_diff + + + + Throttle Curve + + app_chuk_conf.throttle_exp + app_chuk_conf.throttle_exp_brake + app_chuk_conf.throttle_exp_mode + + + + + NRF + + General + + ::sep::Radio + app_nrf_conf.power + app_nrf_conf.speed + app_nrf_conf.channel + ::sep::Integrity + app_nrf_conf.crc_type + app_nrf_conf.send_crc_ack + app_nrf_conf.retry_delay + app_nrf_conf.retries + ::sep::Address + app_nrf_conf.address__0 + app_nrf_conf.address__1 + app_nrf_conf.address__2 + + + + + Balance + + Tune + + ::sep::PID + app_balance_conf.kp + app_balance_conf.ki + app_balance_conf.kd + ::sep::Main Loop + app_balance_conf.hertz + ::sep::Balance Filtering + app_balance_conf.setpoint_pitch_filter + app_balance_conf.setpoint_target_filter + app_balance_conf.setpoint_filter_clamp + app_balance_conf.kd_pt1_frequency + ::sep::Experimental + app_balance_conf.deadzone + app_balance_conf.current_boost + + + + Startup + + ::sep::Tolerances + app_balance_conf.startup_pitch_tolerance + app_balance_conf.startup_roll_tolerance + ::sep::Centering + app_balance_conf.startup_speed + ::sep::Holding + app_balance_conf.brake_current + + + + Tiltback + + ::sep::Tiltback Config + app_balance_conf.tiltback_angle + app_balance_conf.tiltback_speed + ::sep::Tiltbacks + app_balance_conf.tiltback_duty + app_balance_conf.tiltback_high_voltage + app_balance_conf.tiltback_low_voltage + ::sep::Angling + app_balance_conf.tiltback_constant + app_balance_conf.tiltback_constant_erpm + + + + Fault + + ::sep::Angle Faults + app_balance_conf.fault_pitch + app_balance_conf.fault_delay_pitch + app_balance_conf.fault_roll + app_balance_conf.fault_delay_roll + ::sep::Speed Faults + app_balance_conf.fault_duty + app_balance_conf.fault_delay_duty + ::sep::Switches + app_balance_conf.fault_adc1 + app_balance_conf.fault_adc2 + app_balance_conf.fault_delay_switch_half + app_balance_conf.fault_delay_switch_full + app_balance_conf.fault_adc_half_erpm + + + + Multi ESC + + ::sep::Multi ESC + app_balance_conf.multi_esc + ::sep::Stabilization PID + app_balance_conf.yaw_kp + app_balance_conf.yaw_ki + app_balance_conf.yaw_kd + ::sep::Steering + app_balance_conf.roll_steer_kp + app_balance_conf.roll_steer_erpm_kp + app_balance_conf.yaw_current_clamp + + + + + IMU + + General + + imu_conf.type + imu_conf.sample_rate_hz + ::sep::Filters + imu_conf.mode + imu_conf.accel_confidence_decay + imu_conf.mahony_kp + imu_conf.mahony_ki + imu_conf.madgwick_beta + ::sep::Rotation + imu_conf.rot_roll + imu_conf.rot_pitch + imu_conf.rot_yaw + ::sep::Offsets + imu_conf.accel_offsets__0 + imu_conf.accel_offsets__1 + imu_conf.accel_offsets__2 + imu_conf.gyro_offsets__0 + imu_conf.gyro_offsets__1 + imu_conf.gyro_offsets__2 + imu_conf.gyro_offset_comp_fact__0 + imu_conf.gyro_offset_comp_fact__1 + imu_conf.gyro_offset_comp_fact__2 + imu_conf.gyro_offset_comp_clamp + + + + + PAS + + General + + app_pas_conf.ctrl_type + app_pas_conf.sensor_type + app_pas_conf.pedal_rpm_start + app_pas_conf.pedal_rpm_end + app_pas_conf.invert_pedal_direction + app_pas_conf.magnets + app_pas_conf.use_filter + app_pas_conf.current_scaling + app_pas_conf.ramp_time_pos + app_pas_conf.ramp_time_neg + app_pas_conf.update_rate_hz + + + + + diff --git a/plugins/vesc/runtime/schemas/5.02/parameters_mcconf.xml b/plugins/vesc/runtime/schemas/5.02/parameters_mcconf.xml new file mode 100644 index 0000000..866e27a --- /dev/null +++ b/plugins/vesc/runtime/schemas/5.02/parameters_mcconf.xml @@ -0,0 +1,3911 @@ + + + + + PWM Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The PWM mode to use for BLDC motors. Synchronous is the most tested and recommended mode. The others are likely to cause problems.</p></body></html> + MCCONF_PWM_MODE + 1 + Nonsynchronous HISW + Synchronous + Bipolar + + + Commutation Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Delay</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This is what most cheap hobby ESCs use, which is detecting a BEMF zero crossing and adding a delay</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Integrate</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The back-EMF is sampled continuously after a zero crossing and the area under it is integrated. This is more robust and works better at low speed. For this mode the BEMF coupling and integration limit has to be know. The detect function can be used to measure these parameters.</p></body></html> + MCCONF_COMM_MODE + 0 + Integrate + Delay + + + Motor Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">BLDC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Trapezoidal commutation mode for PMSM motors.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">DC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">DC motor. A DC motor is connected to phase 1 and phase 3.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">FOC</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Field Oriented Control (FOC) for PMSM (or BLDC) motors. The motor is commutated with sine waves instead of a trapezoidal waveform as is the case for BLDC commutation. FOC runs the motors more quietly (especially at low speed and high load), is slightly more efficient and provides automatic optimal timing.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">GPD</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">General Purpose Drive between phase 1 and 3. Should be used with a custom application on the VESC, or on the computer with the VESC Tool backend providing samples.</span></p></body></html> + MCCONF_DEFAULT_MOTOR_TYPE + 2 + BLDC + DC + FOC + GPD + + + Sensor Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Sensor mode for BLDC commutation. Hybrid means that sensors will be used at low speed and sensorless at high speed.</p></body></html> + MCCONF_SENSOR_MODE + 0 + Sensorless + Sensored + Hybrid + + + Motor Current Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Maximum motor current.</span></p></body></html> + MCCONF_L_CURRENT_MAX + 2 + 1 + 0 + 1000 + 0 + 0 + 1 + 60 + 1000 + A + 9 + + + Motor Current Max Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Maximum (braking) motor current. The is the maximum current that will be fed back to the VESC and when braking, thus negative. The energy from the braking current will be fed back to the battery.</span></p></body></html> + MCCONF_L_CURRENT_MIN + 2 + 1 + 0 + 0 + -1000 + 0 + 1 + -60 + 1000 + A + 9 + + + Battery Current Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The maximum current that can be drawn from the battery. The battery current is always lower than or equal to the motor current.</span></p></body></html> + MCCONF_L_IN_CURRENT_MAX + 2 + 1 + 0 + 1000 + 0 + 0 + 1 + 99 + 1000 + A + 9 + + + Battery Current Max Regen + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The maximum regenerative current that can be fed to the battery (thus negative). The battery current is always lower than or equal to the motor current.</span></p></body></html> + MCCONF_L_IN_CURRENT_MIN + 2 + 1 + 0 + 0 + -1000 + 0 + 1 + -60 + 1000 + A + 9 + + + Absolute Maximum Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The current magnitute above which all output will be switched off and a fault code thrown. Usually the current control loops take care of limiting the current, but in some conditions short current spikes can appear very quickly. The system can handle them quite well in most cased, so this value can be set relatively high compared to the other current values to avoid cutouts.</span></p></body></html> + MCCONF_L_MAX_ABS_CURRENT + 2 + 1 + 0 + 1000 + 0 + 0 + 1 + 150 + 1000 + A + 9 + + + Max ERPM Reverse + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum reverse electrical RPM.</p></body></html> + MCCONF_L_RPM_MIN + 2 + 1 + 0 + 0 + -1e+06 + 0 + 100 + -100000 + 1000 + + 9 + + + Max ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum electrical RPM.</p></body></html> + MCCONF_L_RPM_MAX + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 100000 + 1000 + + 9 + + + ERPM Limit Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Start to reduce the current at this fraction of the ERPM limit. Lowering this number will make the ERPM limit softer.</span></p></body></html> + MCCONF_L_RPM_START + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.8 + 1e+06 + + 9 + + + Max ERPM Full Brake + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum ERPM at which a full brake is allowed (BLDC Only).</p></body></html> + MCCONF_L_CURR_MAX_RPM_FBRAKE + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 300 + 1000 + + 9 + + + Max ERPM Full Brake Current Control + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM below which a direction change is allowed in current control (BLDC Only).</p></body></html> + MCCONF_L_CURR_MAX_RPM_FBRAKE_CC + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 1500 + 1000 + + 9 + + + Minimum Input Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage below which a fault code is thrown.</p></body></html> + MCCONF_L_MIN_VOLTAGE + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 8 + 1000 + V + 9 + + + Maximum Input Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage above which a fault code is thrown.</p></body></html> + MCCONF_L_MAX_VOLTAGE + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 57 + 1000 + V + 9 + + + Battery Voltage Cutoff Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage where current starts to get reduced. There is still full braking current available as braking only charges the battery.</p></body></html> + MCCONF_L_BATTERY_CUT_START + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 10 + 1000 + V + 9 + + + Battery Voltage Cutoff End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The input voltage below which current draw is not allowed anymore. There is still full braking current available as braking only charges the battery.</p></body></html> + MCCONF_L_BATTERY_CUT_END + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 8 + 1000 + V + 9 + + + Slow ABS Current Limit + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use the filtered current for the ABS max fault code. Will not trigger as easily on very short spikes.</p></body></html> + MCCONF_L_SLOW_ABS_OVERCURRENT + 1 + + + MOSFET Temp Cutoff Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The MOSFET temperature at which motor current starts to get reduced.</p></body></html> + MCCONF_L_LIM_TEMP_FET_START + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 85 + 1000 + °C + 9 + + + MOSFET Temp Cutoff End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The MOSFET temperature above which motor current is not allowed and a fault is thrown.</p></body></html> + MCCONF_L_LIM_TEMP_FET_END + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 100 + 1000 + °C + 9 + + + Motor Temp Cutoff Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor temperature at which motor current starts to get reduced.</p></body></html> + MCCONF_L_LIM_TEMP_MOTOR_START + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 85 + 1000 + °C + 9 + + + Motor Temp Cutoff End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor temperature above which motor current is not allowed and a fault is thrown.</p></body></html> + MCCONF_L_LIM_TEMP_MOTOR_END + 1 + 1 + 0 + 120 + 0 + 1 + 1 + 100 + 1000 + °C + 9 + + + Acceleration Temperature Decrease + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Decrease the motor and MOSFET temperature limits by this amount during acceleration. This is useful to still have braking torque left when the components get warm. A decrease of 0 % means that the acceleration temperature limits are the same as the braking temperature limits, and a decrease of 100 % meanse that the acceleration temperature limits are at 25 °C.</span></p></body></html> + MCCONF_L_LIM_TEMP_ACCEL_DEC + 0 + 100 + 1 + 1 + 0 + 1 + 1 + 0.15 + 1000 + % + 9 + + + Minimum Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Minimum allowed duty cycle.</span></p></body></html> + MCCONF_L_MIN_DUTY + 1 + 100 + 0 + 1 + 0 + 1 + 0.5 + 0.005 + 1e+06 + % + 9 + + + Maximum Duty Cycle + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Maximum allowed duty cycle.</span></p></body></html> + MCCONF_L_MAX_DUTY + 1 + 100 + 0 + 1 + 0 + 1 + 0.5 + 0.95 + 1e+06 + % + 9 + + + Maximum Wattage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum allowed wattage output. If your region has laws that only allow a limited wattage, this parameter can be useful. However, keep in mind that limiting the wattage does not make much sense in practise since torque, heat losses, mechanical wear and component load are all current dependent.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.</p></body></html> + MCCONF_L_WATT_MAX + 1 + 1 + 0 + 2e+06 + 0 + 0 + 1 + 1.5e+06 + 1 + W + 9 + + + Maximum Braking Wattage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum allowed braking wattage (thus negative). There usuallt aren't any laws limiting how much braking is allowed, and limiting the wattage does not make much sense in general, so this parameter is present mostly for the sake of completeness. There might be some applications where limiting the braking wattage is useful though.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Notice that setting this parameter to a very high value essentially disables it, which is why the default value is high. The other limits will still apply.</p></body></html> + MCCONF_L_WATT_MIN + 1 + 1 + 0 + 0 + -2e+06 + 0 + 1 + -1.5e+06 + 1 + W + 9 + + + Max Current Scale + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Maximum current scale. This value is multiplied with the maximum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.</span></p></body></html> + MCCONF_L_CURRENT_MAX_SCALE + 2 + 1 + 1 + 1 + 0 + 1 + 0.05 + 1 + 1000 + + 9 + + + Min Current Scale + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Minimum current scale. This value is multiplied with the minimum current. It is a convenient method to scale the current limits without forgetting the actual maximum value.</span></p></body></html> + MCCONF_L_CURRENT_MIN_SCALE + 2 + 1 + 1 + 1 + 0 + 1 + 0.05 + 1 + 1000 + + 9 + + + Duty Cycle Current Limit Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Start to reduce the current at this duty cycle. Lowering this number will make the motor limit the torque softly when reaching max speed, however, it will also decrease the top speed a bit.</span></p></body></html> + MCCONF_L_DUTY_START + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 1 + 1e+06 + + 9 + + + Minimum ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum sensorless ERPM (BLDC Only). Run the motor in open loop when the estimated ERPM is below this value.</p></body></html> + MCCONF_SL_MIN_RPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 150 + 1000 + + 9 + + + Minimum ERPM Integrator + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The minimum ERPM for which the integrator limit is calculated. Setting this too low will make the coupling compensation too large at low speed resulting in bad startup.</span></p></body></html> + MCCONF_SL_MIN_ERPM_CYCLE_INT_LIMIT + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 1100 + 1000 + + 9 + + + Max Brake Current at Direction Change + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Only allow motor direction change below this current.</p></body></html> + MCCONF_SL_MAX_FB_CURR_DIR_CHANGE + 2 + 1 + 0 + 500 + 0 + 0 + 1 + 10 + 1000 + A + 9 + + + Cycle Integrator Limit + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cycle ingegrator limit. This is how much area will be integrated under the back EMF after a zero crossing before doing a commutation. A too low value will cause a too early commutation, and a too high value will cause a too late commutation. A too late commutation will cause more problems than too early commutations.</p></body></html> + MCCONF_SL_CYCLE_INT_LIMIT + 2 + 1 + 0 + 5000 + 0 + 0 + 1 + 62 + 1000 + + 9 + + + Phase Advance at BR ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Phase (timing) advance at the BR ERPM value. Below that value the advance will be less proportional to the current ERPM.</p></body></html> + MCCONF_SL_PHASE_ADVANCE_AT_BR + 2 + 1 + 0 + 1 + 0 + 0 + 0.05 + 0.8 + 1000 + + 9 + + + BR ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The ERPM at which phase advance (timing) is the maximum.</p></body></html> + MCCONF_SL_CYCLE_INT_BR + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 80000 + 1000 + + 9 + + + BEMF Coupling + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">BEMF coupling. Roughly describes how much of the input voltage is seen on the BEMF at low modulation. Compensating for that at low speed helps the startup a lot.</p></body></html> + MCCONF_SL_BEMF_COUPLING_K + 2 + 1 + 0 + 5000 + 0 + 0 + 1 + 600 + 1000 + + 9 + + + Hall Table [0] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 0.</p></body></html> + MCCONF_HALL_TAB_0 + 1 + 0 + 6 + -1 + 0 + 1 + -1 + + 2 + + + Hall Table [1] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 1.</p></body></html> + MCCONF_HALL_TAB_1 + 1 + 0 + 6 + -1 + 0 + 1 + 1 + + 2 + + + Hall Table [2] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 2.</p></body></html> + MCCONF_HALL_TAB_2 + 1 + 0 + 6 + -1 + 0 + 1 + 3 + + 2 + + + Hall Table [3] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 3.</p></body></html> + MCCONF_HALL_TAB_3 + 1 + 0 + 6 + -1 + 0 + 1 + 2 + + 2 + + + Hall Table [4] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 4.</p></body></html> + MCCONF_HALL_TAB_4 + 1 + 0 + 6 + -1 + 0 + 1 + 5 + + 2 + + + Hall Table [5] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 5.</p></body></html> + MCCONF_HALL_TAB_5 + 1 + 0 + 6 + -1 + 0 + 1 + 6 + + 2 + + + Hall Table [6] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 6.</p></body></html> + MCCONF_HALL_TAB_6 + 1 + 0 + 6 + -1 + 0 + 1 + 4 + + 2 + + + Hall Table [7] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 7.</p></body></html> + MCCONF_HALL_TAB_7 + 1 + 0 + 6 + -1 + 0 + 1 + -1 + + 2 + + + Sensorless ERPM Hybrid + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM above which sensorless commutation is used in hybrid mode.</p></body></html> + MCCONF_HALL_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 2000 + 1000 + + 9 + + + Current KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current controller proportional gain.</span></p></body></html> + MCCONF_FOC_CURRENT_KP + 4 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 0.03 + 100000 + + 9 + + + Current KI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current controller integral gain.</span></p></body></html> + MCCONF_FOC_CURRENT_KI + 2 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 50 + 100000 + + 9 + + + Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The switching frequency. The controllers and estimators will run at half of this frequency.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If the option </span><span style=" font-family:'Roboto'; font-weight:600;">Sample in V0 and V7</span><span style=" font-family:'Roboto';"> is active the controllers and estimators will run at the full switching frequency, but this option is only available on hardware with phase shunts.</span></p></body></html> + MCCONF_FOC_F_SW + 1 + 0.001 + 0 + 150000 + 0 + 0 + 1 + 25000 + 1000 + kHz + 9 + + + Dead Time Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Compensation for dead time distortion. Makes some difference at low speed.</p></body></html> + MCCONF_FOC_DT_US + 3 + 1 + 0 + 1000 + 0 + 0 + 0.01 + 0.12 + 1e+06 + µS + 9 + + + Encoder Inverted + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The encoder is inverted if it counts backwards while the motor is turning forwards.</p></body></html> + MCCONF_FOC_ENCODER_INVERTED + 0 + + + Encoder Offset + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Offset between the encoder zero and motor zero points.</p></body></html> + MCCONF_FOC_ENCODER_OFFSET + 2 + 1 + 0 + 360 + 0 + 0 + 1 + 180 + 1000 + + 9 + + + Encoder Ratio + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Ratio between encoder and motor. E.g. a 14 pole motor with a directly attached encoder has ratio 7.</p></body></html> + MCCONF_FOC_ENCODER_RATIO + 2 + 1 + 0 + 10000 + 0 + 0 + 1 + 7 + 1000 + + 9 + + + Sin/Cos Sine Gain Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sin/Cos Encoder Sine gain compensation to reduce nonlinearity errors in the signal path.</span></p></body></html> + MCCONF_FOC_ENCODER_SIN_GAIN + 2 + 1 + 0 + 2 + 0 + 0 + 0.01 + 1 + 1000 + + 9 + + + Sin/Cos Cosine Gain Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sin/Cos Encoder Cosine gain compensation to reduce nonlinearity errors in the signal path.</span></p></body></html> + MCCONF_FOC_ENCODER_COS_GAIN + 2 + 1 + 0 + 2 + 0 + 0 + 0.01 + 1 + 1000 + + 9 + + + Sin/Cos Sine Offset + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sin/Cos Encoder Sine Offset.</span></p></body></html> + MCCONF_FOC_ENCODER_SIN_OFFSET + 2 + 1 + 0 + 3.3 + 0 + 0 + 0.01 + 1.65 + 1000 + + 9 + + + Sin/Cos Cosine Offset + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sin/Cos Encoder Sine Offset.</span></p></body></html> + MCCONF_FOC_ENCODER_COS_OFFSET + 2 + 1 + 0 + 3.3 + 0 + 0 + 0.01 + 1.65 + 1000 + + 9 + + + Sin/Cos Filter Constant + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sin/Cos Encoder low pass filter constant. </span><span style=" font-family:'Roboto';">Will affect the ratio between lag and noise on the encoder position feedback. Range 0 to 1, where 0 has the lowest noise and most phase lag, and 1 has no lag and unfiltered noise.</span></p></body></html> + MCCONF_FOC_ENCODER_SINCOS_FILTER + 2 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.5 + 1000 + + 9 + + + Sensor Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sensor mode for the motor.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Sensorless</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Don't use any position sensor on the motor and only rely on the observer and starting algorithm. Works well for most applications (not position control), but the start can be a bit delayed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Use an encoder on the motor shaft. Works well for position control applications such as CNC mills.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Hall Sensors</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Use hall sensors with 60 or 120 degree spacing in the motor. Gives starts without any delay at all, but does not work that well for most position control applications.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">HFI</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">High Frequency Injection. Track the position down to 0 speed by injecting voltage pulses and analyzing the response of the motor. Works on most motors that have enough difference in D-axis and Q-axis inductance.</span></p></body></html> + MCCONF_FOC_SENSOR_MODE + 0 + Sensorless + Encoder + Hall Sensors + HFI + + + Speed Tracker Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed tracker proportional gain. The speed tracker estimates the motor speed by tracking the phase angle.</p></body></html> + MCCONF_FOC_PLL_KP + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 2000 + 1000 + + 9 + + + Speed Tracker Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Speed tracker integral gain. The speed tracker estimates the motor speed by tracking the phase angle.</p></body></html> + MCCONF_FOC_PLL_KI + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 30000 + 1000 + + 9 + + + Motor Inductance (L) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The average of LD and LQ inductance.</p></body></html> + MCCONF_FOC_MOTOR_L + 2 + 1e+06 + 0 + 10 + 0 + 0 + 0.1 + 7e-06 + 1e+08 + µH + 9 + + + Motor Inductance Difference (Ld - Lq) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The difference between Ld and Lq inductance. It represents the motor saliency. This can be measured using the </span><span style=" font-family:'Roboto'; font-style:italic;">measure_ind</span><span style=" font-family:'Roboto';"> terminal command, but the regular detection interface does not print it yet.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">A value different than zero will enable the Maximum Torque Per Amp (MTPA) algorithm that injects a negative id current to follow the optimum torque trajectory. This is specially valuable on Interior Permanent Magnet (IPM) motors because they have large saliency and can yield a substantial torque increase.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Note:</span><span style=" font-family:'Roboto';"> Only enable this feature if you know very well what you are doing. IPM motors are not popular and injecting negative id current can increase the motor speed. If id current suddenly collapses (under a fault condition for example) the DC Bus voltage can increase well beyond the powerstage rating causing a fire and maximum braking power at the motor shaft.</span></p></body></html> + MCCONF_FOC_MOTOR_LD_LQ_DIFF + 2 + 1e+06 + 0 + 10 + 0 + 0 + 0.1 + 0 + 1e+08 + µH + 9 + + + Motor Resistance (R) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The motor winding resistance. Should be half of what is measured between two motor wires.</span></p></body></html> + MCCONF_FOC_MOTOR_R + 1 + 1000 + 0 + 1000 + 0 + 0 + 0.1 + 0.015 + 100000 + mΩ + 9 + + + Motor Flux Linkage (λ) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The flux linkage of the motor (λ) [mWb]</span></p></body></html> + MCCONF_FOC_MOTOR_FLUX_LINKAGE + 3 + 1000 + 0 + 1000 + 0 + 0 + 0.01 + 0.00245 + 100000 + mWb + 9 + + + Observer Gain (x1M) + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The observer gain. If the motor does not run smoothly with the calculated value, this value can be tweaked. Try with doubling or halving it in that case.</span></p></body></html> + MCCONF_FOC_OBSERVER_GAIN + 2 + 1e-06 + 0 + 2e+10 + 0 + 0 + 1 + 9e+07 + 0.01 + + 9 + + + Observer Gain At Minimum Duty + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The observer gain scaled at minimum duty cycle. Decreasing this parameter will make observer gain lower at lower modulation, which can help tracking the motor. Setting this parameter to 1 will make the observer gain constant at all modulations.</span></p></body></html> + MCCONF_FOC_OBSERVER_GAIN_SLOW + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.05 + 0.01 + + 9 + + + Duty Downramp Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The proportional gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.</p></body></html> + MCCONF_FOC_DUTY_DOWNRAMP_KP + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 10 + 1000 + + 9 + + + Duty Downramp Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The integral gain for the duty downramp controller. This controller is used in duty cycle mode when the duty cycle is decreased. Since this is done by limiting the modulation, very large current spikes can be caused. By using a controller these current spikes can be limited.</p></body></html> + MCCONF_FOC_DUTY_DOWNRAMP_KI + 2 + 1 + 0 + 1e+06 + 0 + 0 + 1 + 200 + 1000 + + 9 + + + Openloop ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM below which openloop commutation is used when running sensorless. Can be tweaked for the best startup depending on e.g. the load inertia.</p></body></html> + MCCONF_FOC_OPENLOOP_RPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 400 + 1000 + + 9 + + + Openloop ERPM at Min Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The openloop ERPM is scaled with the set motor current. This is the fraction of Openloop ERPM at the minimum current.</span></p></body></html> + MCCONF_FOC_OPENLOOP_RPM_LOW + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.1 + 1000 + + 7 + + + D Axis Gain Scaling Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Start decreasing the D axis current controller gain at this modulation.</span></p></body></html> + MCCONF_FOC_D_GAIN_SCALE_START + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.9 + 1000 + + 9 + + + D Axis Gain Scaling at Max Mod + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">D axis current controller gain at maximum modulation.</span></p></body></html> + MCCONF_FOC_D_GAIN_SCALE_MAX_MOD + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.2 + 1000 + + 9 + + + Openloop Hysteresis + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Go to openloop mode if the ERPM has been below the openloop RPM for this amount of time.</span></p></body></html> + MCCONF_FOC_SL_OPENLOOP_HYST + 2 + 1 + 0 + 100 + 0 + 0 + 0.05 + 0.1 + 100 + S + 7 + + + Openloop Lock Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Lock motor for this amount of time in the beginning of the open loop sequence.</span></p></body></html> + MCCONF_FOC_SL_OPENLOOP_T_LOCK + 2 + 1 + 0 + 100 + 0 + 0 + 0.05 + 0 + 100 + S + 7 + + + Openloop Ramp Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Ramp up the openloop speed in the openloop sequence for this amount of time.</span></p></body></html> + MCCONF_FOC_SL_OPENLOOP_T_RAMP + 2 + 1 + 0 + 100 + 0 + 0 + 0.05 + 0 + 100 + S + 7 + + + Openloop Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Stay in openloop for this amount of time after finishing the ramp.</span></p></body></html> + MCCONF_FOC_SL_OPENLOOP_TIME + 2 + 1 + 0 + 100 + 0 + 0 + 0.05 + 0.1 + 100 + S + 7 + + + Hall Table [0] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 0.</p></body></html> + MCCONF_FOC_HALL_TAB_0 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [1] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 1.</p></body></html> + MCCONF_FOC_HALL_TAB_1 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [2] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 2.</p></body></html> + MCCONF_FOC_HALL_TAB_2 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [3] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 3.</p></body></html> + MCCONF_FOC_HALL_TAB_3 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [4] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 4.</p></body></html> + MCCONF_FOC_HALL_TAB_4 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [5] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 5.</p></body></html> + MCCONF_FOC_HALL_TAB_5 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [6] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 6.</p></body></html> + MCCONF_FOC_HALL_TAB_6 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Table [7] + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Hall sensor table entry for sensor output 7.</p></body></html> + MCCONF_FOC_HALL_TAB_7 + 1 + 0 + 255 + 0 + 0 + 1 + 255 + + 1 + + + Hall Interpolation ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">ERPM above which hall sensors are interpolated.</span></p></body></html> + MCCONF_FOC_HALL_INTERP_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 10 + 500 + 1 + + 9 + + + Sensorless ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM above which sensorless commutation is used in sensored modes.</p></body></html> + MCCONF_FOC_SL_ERPM + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 2500 + 1000 + + 9 + + + Sample in V0 and V7 + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Sample currents and voltages in both V0 and V7 of the space vector modulation, and run the control loop at twice the rate. Can be useful for high speed motors at limited switching frequency, or in order to decrease the modulation noise. Notice that this option will require twice the amount of computational power for a given switching frequency.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Note</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This option is only valid for hardware with phase shunts, such as the VESC Six. For other shunt configurations it is ignored.</span></p></body></html> + MCCONF_FOC_SAMPLE_V0_V7 + 0 + + + High Current Sampling Mode + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Choose the lowest currents during sampling to derive the highest current. Since the motor currents are balanced and sum to 0, two of the phase currents can be used to derive the third one. Enabling this option will make the current measurement compare all motor currents and derive the highest one from the two lower currents. This way higher currents can be measured than the ADC gain allows by a factor of 2 / sqrt(3), or roughly 1.15. For example, for the VESC6 this increases the current measurement capability from 165A to roughly 190A.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Note</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This option is only valid for hardware with three shunts, such as the VESC Six. For other shunt configurations it is ignored.</span></p></body></html> + MCCONF_FOC_SAMPLE_HIGH_CURRENT + 0 + + + Stator Saturation Compensation + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Stator saturation compensation.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">When using high currents the stator of the motor can get saturated. This will change the motor parameters, making it difficult for the sensorless observer to track the rotor position. The effect is most noticeable when running the motor with high current at low speed - it will get stuck and then &quot;cog&quot; when open loop operation tries to restart the motor. If you observe this behavior you can try to increase this parameter. This parameter attempts to compensate for effects of stator saturation, making it possible to run motors sensorlessly even at high current and low speed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Reasonable values for this parameters are 15 % or less. If going higher than that gives good results something else is most likely wrong in your configuration.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Consider the following:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<ul style="margin-top: 0px; margin-bottom: 0px; margin-left: 0px; margin-right: 0px; -qt-list-indent: 1;"><li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motors that run at low speed and high torque tend to get saturated, such as e-bike direct drive hub motors.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Coreless motors should in theory never get saturated.</li> +<li style=" font-family:'Roboto';" style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The effect of this parameter is proportional to the maximum motor current limit, meaning that this parameter has no effect at zero current and full effect at full current. If you change the maximum motor current limit you have to adapt this parameter accordingly.</li></ul></body></html> + MCCONF_FOC_SAT_COMP + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0 + 1000 + + 7 + + + Temp Comp + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Use temperature compensation for the motor resistance used by the observer. Should help at low speed when the motor temperature is far away from the temperature at which the resistance was measured.</p></body></html> + MCCONF_FOC_TEMP_COMP + 0 + + + Temp Comp Base Temp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor temperature at which the motor resistance was measured.</span></p></body></html> + MCCONF_FOC_TEMP_COMP_BASE_TEMP + 1 + 1 + 0 + 120 + -120 + 0 + 1 + 25 + 100 + °C + 7 + + + Current Filter Constant + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Constant for the filtered current in the FOC implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.</span></p></body></html> + MCCONF_FOC_CURRENT_FILTER_CONST + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.1 + 1 + + 9 + + + Current Controller Decoupling + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">FOC current controller decoupling using feed forward. This will make the current controller perform better during transient conditions; it may also introduce some noise. The available modes are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_DISABLED</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Decoupling is disabled</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_CROSS</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Cross decoupling between the D and Q axes is enabled.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_BEMF</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Back EMF decoupling on the Q axis is enabled. This improves perfomance significantly if the motor speed changes rapidly, but makes the current controller depend on the speed tracker.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_CC_DECOUPLING_CROSS_BEMF</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Both options above are enabled.</p></body></html> + MCCONF_FOC_CC_DECOUPLING + 2 + FOC_CC_DECOUPLING_DISABLED + FOC_CC_DECOUPLING_CROSS + FOC_CC_DECOUPLING_BEMF + FOC_CC_DECOUPLING_CROSS_BEMF + + + Observer Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Type of rotor position observer for field oriented control (FOC). The options are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_OBSERVER_ORTEGA_ORIGINAL</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The observer described here:</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><a href="http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf"><span style=" text-decoration: underline; color:#0000ff;">http://cas.ensmp.fr/~praly/Telechargement/Journaux/2010-IEEE_TPEL-Lee-Hong-Nam-Ortega-Praly-Astolfi.pdf</span></a></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">FOC_OBSERVER_ORTEGA_ITERATIVE</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Same as above, but with some iterations to make it track better when the ERPM is high relative to the switching frequency. It seems to make things worse for most regular speed motors though (e.g. &lt; 120k ERPM @ 25 kHz).</p></body></html> + MCCONF_FOC_OBSERVER_TYPE + 0 + FOC_OBSERVER_ORTEGA_ORIGINAL + FOC_OBSERVER_ORTEGA_ITERATIVE + + + HFI Start Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">HFI voltage at start to resolve ambiguity. This voltage has to cause a current that is high enough to see signs of saturation in the motor.</span></p></body></html> + MCCONF_FOC_HFI_VOLTAGE_START + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 20 + 1000 + V + 9 + + + HFI Run Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">HFI voltage during operation, after ambiguity has been resolved.</span></p></body></html> + MCCONF_FOC_HFI_VOLTAGE_RUN + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 4 + 1000 + V + 9 + + + HFI Max Voltage + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">HFI voltage during operation, at maximum current. Increasing the voltage at higher currents helps with tracking. A higher voltage makes HFI noisier and wastes more power, which is why this option allows increasing it at high motor currents when it is needed.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The HFI voltage is mapped between voltage_run and voltage_max, relative to the motor current.</span></p></body></html> + MCCONF_FOC_HFI_VOLTAGE_MAX + 2 + 1 + 0 + 700 + 0 + 0 + 1 + 10 + 1000 + V + 9 + + + Sensorless ERPM HFI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">ERPM below which HFI is used.</span></p></body></html> + MCCONF_FOC_SL_ERPM_HFI + 2 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 2000 + 1000 + + 9 + + + HFI Start Samples + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Number of HFI samples to resolve ambiguity at start. Every sample takes a bit more than 0.5 ms, and no throttle can be applied during this time. The default value is barely noticeable.</p></body></html> + MCCONF_FOC_HFI_START_SAMPLES + 1 + 0 + 60000 + 2 + 0 + 1 + 65 + + 3 + + + HFI Observer Override Time + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Override HFI position with observer position for this amount of time after dropping below the HFI ERPM threshold. This can prevent oscillating between the two at a transition. Settings this value too high can make HFI catch the motor 180 electrical degrees off, as the observer position might degrade too much.</p></body></html> + MCCONF_FOC_HFI_OBS_OVR_SEC + 1 + 1000 + 0 + 5000 + 0 + 0 + 1 + 0.001 + 1000 + ms + 9 + + + HFI Samples + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Number of HFI samples for each motor revolution. This can't be an arbitrary number as the size of fourier transforms and sine tables depends on it.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Fewer samples will give noisier measurements, but allows estimating the position at a higher rate. The noise can be reduced by increasing the HFI voltage.</p></body></html> + MCCONF_FOC_HFI_SAMPLES + 1 + 8 + 16 + 32 + + + Buffer Notification Length + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Send notification when the sample fifo buffer has less than this amount of samples left.</p></body></html> + MCCONF_GPD_BUFFER_NOTIFY_LEFT + 1 + 0 + 2048 + 0 + 0 + 10 + 200 + + 4 + + + Buffer Sampling Interpolation + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Interpolate buffer samples, meaning that they are used for several pwm cycles. This number defines for how many samples a sample is reused. 0 means that a new sample is picked every cycle, 1 means that one sample is used twice etc.</p></body></html> + MCCONF_GPD_BUFFER_INTERPOL + 1 + 0 + 2048 + 0 + 0 + 1 + 0 + + 4 + + + Current Filter Constant + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Constant for the filtered current in the GPD implementation. Will affect how fast the slow abs max current fault triggers. Range 0 to 1, where 0 is the slowest and 1 is no filtering.</span></p></body></html> + MCCONF_GPD_CURRENT_FILTER_CONST + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.1 + 1 + + 9 + + + Current KP + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current controller proportional gain.</span></p></body></html> + MCCONF_GPD_CURRENT_KP + 4 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 0.03 + 100000 + + 9 + + + Current KI + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Current controller integral gain.</span></p></body></html> + MCCONF_GPD_CURRENT_KI + 2 + 1 + 0 + 100000 + 0 + 0 + 0.01 + 50 + 100000 + + 9 + + + Speed PID Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Proportional gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.</p></body></html> + MCCONF_S_PID_KP + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.004 + 1e+06 + + 9 + + + Speed PID Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Integral gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.</p></body></html> + MCCONF_S_PID_KI + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.004 + 1e+06 + + 9 + + + Speed PID Kd + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Derivative gain for the speed controller. FOC and BLDC need different parameters because their speed controllers differ.</p></body></html> + MCCONF_S_PID_KD + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.0001 + 1e+06 + + 9 + + + Speed PID Kd Filer + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Filter on derivative term for speed controller. </span><span style=" font-family:'Roboto';">The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.</span></p></body></html> + MCCONF_S_PID_KD_FILTER + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.2 + 1e+06 + + 9 + + + Minimum ERPM + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">ERPM below which the speed controller is disabled.</p></body></html> + MCCONF_S_PID_MIN_RPM + 1 + 1 + 0 + 1e+06 + 0 + 0 + 100 + 900 + 1000 + + 9 + + + Allow Braking + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Allow the speed controller to to apply braking current. In general this option should be enabled, but for some applications it might make sense to disable braking during speed control.</p></body></html> + MCCONF_S_PID_ALLOW_BRAKING + 1 + + + Ramp eRPMs per second + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This allows to control how fast the input of the speed command is allowed to increase each second. If user does not want to use this ramp, just apply a negative value such as -1.0. Only positive values are considered.</span></p></body></html> + MCCONF_S_PID_RAMP_ERPMS_S + 2 + 1 + 0 + 100000 + -1 + 0 + 1 + -1 + 1000 + + 9 + + + Position PID Kp + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Proportional gain for the position controller.</p></body></html> + MCCONF_P_PID_KP + 5 + 1 + 0 + 10000 + 0 + 0 + 0.001 + 0.03 + 1e+06 + + 9 + + + Position PID Ki + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Integral gain for the position controller.</p></body></html> + MCCONF_P_PID_KI + 5 + 1 + 0 + 10000 + 0 + 0 + 0.001 + 0 + 1e+06 + + 9 + + + Position PID Kd + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Derivative gain for the position controller.</p></body></html> + MCCONF_P_PID_KD + 5 + 1 + 0 + 10000 + 0 + 0 + 0.0001 + 0.0004 + 1e+06 + + 9 + + + Position PID Kd Filer + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Filter on derivative term for position controller. The range is 0 to 1, where 0 is the maximum amount of filtering (infinite) and 1 is no filtering.</span></p></body></html> + MCCONF_P_PID_KD_FILTER + 3 + 1 + 0 + 1 + 0 + 0 + 0.01 + 0.2 + 1e+06 + + 9 + + + Position Angle Division + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Angle division for the position controller. Can be used to map one control rotation to several motor rotations.</p></body></html> + MCCONF_P_PID_ANG_DIV + 3 + 1 + 0 + 10000 + 0 + 0 + 1 + 1 + 100000 + + 9 + + + Startup boost + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Startup boost in current control. Essentially defines the lowest duty cycle to be used in current control mode, to give a bit more punch when starting.</p></body></html> + MCCONF_CC_STARTUP_BOOST_DUTY + 3 + 1 + 0 + 1 + 0 + 0 + 0.005 + 0.01 + 1e+06 + + 9 + + + Minimum Current + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Minimum current used by the current controller. Commanded currents below this value will release the motor.</p></body></html> + MCCONF_CC_MIN_CURRENT + 2 + 1 + 0 + 500 + 0 + 0 + 1 + 0.05 + 1000 + A + 9 + + + Current Controller Gain + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gain for the BLDC and DC current controller. Should be lower for low inductance motors.</p></body></html> + MCCONF_CC_GAIN + 5 + 1 + 0 + 5 + 0 + 0 + 0.0005 + 0.0046 + 1e+06 + + 9 + + + Current Control Ramp Step Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum duty cycle ramp step in current control mode for DC and BLDC motors.</p></body></html> + MCCONF_CC_RAMP_STEP + 4 + 1 + 0 + 1 + 0 + 0 + 0.005 + 0.04 + 1e+06 + + 9 + + + Fault Stop Time + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Amount of time to leave the motor disabled after a fault code.</p></body></html> + MCCONF_M_FAULT_STOP_TIME + 1 + 0 + 30000000 + -1 + 0 + 500 + 500 + ms + 6 + + + Duty Ramp Step Max + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Maximum duty cycle ramp step for DC and BLDC motors.</p></body></html> + MCCONF_M_RAMP_STEP + 4 + 1 + 0 + 1 + 0 + 0 + 0.005 + 0.02 + 1e+06 + + 9 + + + Current Backoff Gain + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gain for the BLDC and DC current backoff. Used to limit the current in duty cycle mode.</p></body></html> + MCCONF_M_CURRENT_BACKOFF_GAIN + 4 + 1 + 0 + 50 + 0 + 0 + 0.01 + 0.5 + 1e+06 + + 9 + + + ABI Encoder Counts + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Number of counts for the A-B-Index encoder. This usually is the encoder resolution times 4, since every edge in the quadrature signal is counted. This setting only matters when using an ABI encoder.</p></body></html> + MCCONF_M_ENCODER_COUNTS + 1 + 0 + 30000000 + 0 + 0 + 1 + 8192 + + 5 + + + Sensor Port Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Mode for the sensor port. Can be changed for compatibility with different rotor position sensors. Notice that this setting does not have any impact when running sensorless. </span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The modes are:</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">Hall Sensors</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The motor has hall sensors built in which give a position resolution of 120 degrees.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">ABI Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">A rotary encoder with A-B-Index output. Notice that this encoder does not help until the index pulse is found, so when running FOC open loop mode will be used for up to one mechanical revolution to find the index position when trying to run a motor for the first time after a power cycle.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Notice that you also have to set the number of encoder counts in order to use this type of encoder. This usually is the number of pulses per revolution times 4, since every edge of both pulse trains is counted.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">AS5047 Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">An AS5047 magnetic encoder connected over SPI. This one provides absolute positions from start, but tends to have a bit of nonlinearity.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">SIN/COS Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">A Sin/Cos encoder is a position feedback device similar to a quadrature encoder, except instead of outputting digital pulses, it outputs analog voltages with sinusoidal shapes offset by 90°. Provides absolute positions from the start, but its sensitive to EMI and requires special filtering, transient protections and shielded wiring.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">TS5700N8501 Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This encoder uses RS485, so it has to be connected to the COMM port. A RS485-transceiver such as the </span><span style=" font-family:'sans-serif';">ADM485 is required, where RX and TX are used as the data lines. ADC1 is used to trigger between RX and TX, which is needed as the communication is half duplex. To use this encoder, you have to make sure that no app uses UART or ADC1.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">TS5700N8501 Encoder Multiturn</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Same as above, but uses the multiturn function. The angle is divided by 10000, thus can be used for up to 10000 revolutions. The position PID parameters need to be increased by a factor of around 10000 for this to work similarly to the single turn mode. Note that this is not a good implementation and needs improvement in the future. 180 degrees PID setpoint corresponds to multiturn position 0.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'sans-serif';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto'; font-weight:600;">MT6816 Encoder</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">A magnetic encoder using a high speed SPI communication. Provides absolute position from start. It has to be connected to a hardware-based SPI peripheral.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p></body></html> + MCCONF_M_SENSOR_PORT_MODE + 0 + Hall Sensors + ABI Encoder + AS5047 Encoder + AD2S1205 Resolver + Sin/Cos Encoder + TS5700N8501 Encoder + TS5700N8501 Encoder (Multiturn) + MT6816 Encoder (SPI) + + + Invert Motor Direction + 5 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Invert the motor direction. This option can be used to make the motor turn in the opposite direction. All state and control commands in <span style=" font-weight:600;">mc_interface</span> will respect this setting, so it should work as well as swithcing two motor cables for all applications.</p></body></html> + MCCONF_M_INVERT_DIRECTION + 0 + + + DRV8301 OC Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The mode for the over current protection feature of the DRV8301. The over current protection in the DRV8301 works by measuring the voltage drop across the MOSFETs and shuts them off of it exceeds a configurable limit.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Notice</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This setting only has impact on hardware with the DRV8301</p></body></html> + MCCONF_M_DRV8301_OC_MODE + 0 + Current Limit + OC Latch Shutdown + Report Only + Disabled + + + DRV8301 OC Adjustment + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The threshold for the over current protection feature of the DRV8301. Lower values correspond to lower currents. See the datasheet for more imformation about this setting.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">Notice</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">This setting only has impact on hardware with the DRV8301</p></body></html> + MCCONF_M_DRV8301_OC_ADJ + 1 + 0 + 31 + 0 + 0 + 1 + 16 + + 1 + + + Minimum Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The minimum switching frequency in BLDC mode.</p></body></html> + MCCONF_M_BLDC_F_SW_MIN + 2 + 0.001 + 0 + 40000 + 3000 + 0 + 1 + 3000 + 1 + kHz + 9 + + + Maximum Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The maximum switching frequency in BLDC mode.</p></body></html> + MCCONF_M_BLDC_F_SW_MAX + 2 + 0.001 + 0 + 40000 + 3000 + 0 + 1 + 35000 + 1 + kHz + 9 + + + Switching Frequency + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The switching frequency in DC mode.</p></body></html> + MCCONF_M_DC_F_SW + 2 + 0.001 + 0 + 25000 + 3000 + 0 + 1 + 25000 + 1 + kHz + 9 + + + Beta Value for Motor Thermistor + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Beta Value for Motor Thermistor.</p></body></html> + MCCONF_M_NTC_MOTOR_BETA + 1 + 1 + 0 + 100000 + 100 + 0 + 1 + 3380 + 1 + K + 9 + + + Auxiliary Output Mode + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Auxiliary output mode. Can be used to e.g. activate a relay after a certain delay for bus capacitor precharging.</span></p></body></html> + MCCONF_M_OUT_AUX_MODE + 0 + Off + On after 2 seconds + On after 5 seconds + On after 10 seconds + Unused + + + Motor Temperature Sensor Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motor temperature sensor type. Most small hobby motors have a 10K NTC thermistor, whereas some larger motors have 1K PTC thermistors (such as the KTY84).</p></body></html> + MCCONF_M_MOTOR_TEMP_SENS_TYPE + 0 + NTC 10K at 25°C + PTC 1K at 100 °C + KTY83/122 + NTC 100K at 25°C + + + Coefficient for PTC Motor Thermistor + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Coefficient for PTC Motor Thermistor. Unit: %/K</span></p></body></html> + MCCONF_M_PTC_MOTOR_COEFF + 3 + 1 + 0 + 100 + 0.05 + 0 + 0.01 + 0.61 + 1 + %/K + 9 + + + Hall Sensor Extra Samples + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Read the hall sensor port this many extra samples and use a median filter. Increasing this number will reduce noise on the hall sensor readings, but makes the motor control interrupt take longer and thus limits the maximum switching frequency.</p></body></html> + MCCONF_M_HALL_EXTRA_SAMPLES + 1 + 0 + 99 + 0 + 0 + 1 + 1 + + 1 + + + Motor Poles + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Motor pole count. Most outrunners have 14 poles. Inrunners usually have 2 or 4 poles. The motor pole count is required for speed and travel distance calculation.</p></body></html> + MCCONF_SI_MOTOR_POLES + 1 + 0 + 254 + 2 + 0 + 2 + 14 + + 1 + + + Gear Ratio + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Gear ratio. For example, if the motor has a 12 tooth pulley and the wheel has a 36 tooth pulley, the gear ratio is:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">36 / 12 = <span style=" font-weight:600;">3.0</span></p></body></html> + MCCONF_SI_GEAR_RATIO + 3 + 1 + 0 + 9999 + 0 + 0 + 0.1 + 3 + 1 + + 9 + + + Wheel Diameter + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Wheel diameter, in mm.</p></body></html> + MCCONF_SI_WHEEL_DIAMETER + 2 + 1000 + 0 + 9999 + 0 + 0 + 1 + 0.083 + 1 + mm + 9 + + + Battery Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Battery Type</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">BATTERY_TYPE_LIION_3_0__4_2</span>,</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lithoium ion, voltage range: 3.0 to 4.2</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">BATTERY_TYPE_LIIRON_2_6__3_6</span>,</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lithoium iron phosphate, voltage range: 2.6 to 3.6</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">BATTERY_TYPE_LEAD_ACID</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Lead Acic, voltage range: 2.1 to 2.36</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + MCCONF_SI_BATTERY_TYPE + 0 + BATTERY_TYPE_LIION_3_0__4_2 + BATTERY_TYPE_LIIRON_2_6__3_6 + BATTERY_TYPE_LEAD_ACID + + + Battery Cells Series + 2 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Battery cells in series.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + MCCONF_SI_BATTERY_CELLS + 1 + 0 + 255 + 1 + 0 + 1 + 3 + + 1 + + + Battery Capacity + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Battery capacity in ampere hours.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p></body></html> + MCCONF_SI_BATTERY_AH + 3 + 1 + 0 + 1000 + 0 + 0 + 0.1 + 6 + 1 + Ah + 9 + + + Motor Brand + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor brand, e.g. Turnigy.</p></body></html> + + Unnamed + + + Motor Model + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The motor model, e.g. 6374 168KV.</p></body></html> + + Not Specified + + + Motor Weight + 1 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The weight of the motor in grams.</span></p></body></html> + + 2 + 1 + 0 + 500000 + 0 + 0 + 1 + 0 + 1 + g + 9 + + + Motor Poles + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The number of motor poles. This is always a multiple of two.</span></p></body></html> + + 1 + 0 + 100 + 2 + 0 + 2 + 14 + + 1 + + + Position Sensor + 4 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Does this motor come with some kind of position sensor?</p></body></html> + + 0 + No sensor + Hall Sensors + ABI Encoder + AS5047 Encoder + Other Sensor + + + Motor Description + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">This is an editor where a description can be stored for your motor configuration. Images can also be inserted. Notice that this information is not written to the VESC, so it has to be stored in an XML file.</span></p></body></html> + + A motor description can be edited here. + + + Motor Loss Torque + 1 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The motor loss torque in nm.</span></p></body></html> + + 2 + 1 + 0 + 99 + 0 + 0 + 0.01 + 0.03 + 1 + nm + 9 + + + Bearing Quality + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor bearing quality. 0 is neutral/unknown, negative is bad and positive is good.</span></p></body></html> + + 1 + 0 + 5 + -5 + 1 + 1 + 0 + + 2 + + + Magnet Quality + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor magnet quality. 0 is neutral/unknown, negative is bad and positive is good.</span></p></body></html> + + 1 + 0 + 5 + -5 + 1 + 1 + 0 + + 2 + + + Construction Quality + 2 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">Motor construction quality. 0 is neutral/unknown, negative is bad and positive is good.</span></p></body></html> + + 1 + 0 + 5 + -5 + 1 + 1 + 0 + + 2 + + + Quality Description + 3 + 0 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">A text summary of the motor quality.</p></body></html> + + Some comments about the motor quality. Images can be added as well. + + + BMS Type + 4 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">Type of BMS. This determines how BMS-related messages on the CAN-bus are interpreted. Options are:</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">None</span>:</p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">No BMS is used. All messages on the CAN-bus are ignored by the BMS module.</p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-weight:600;">VESC BMS:</span></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;">The VESC BMS is used.</p></body></html> + MCCONF_BMS_TYPE + 1 + None + VESC BMS + + + Temperature Limit Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The battery temperature above which battery current starts to get reduced.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.</span></p></body></html> + MCCONF_BMS_T_LIMIT_START + 1 + 1 + 0 + 99 + 0 + 1 + 1 + 45 + 100 + °C + 7 + + + Temperature Limit End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The battery temperature above which battery current is not allowed and a fault is thrown.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If there is more than one BMS on the CAN-bus, the one with the highest value will be ued.</span></p></body></html> + MCCONF_BMS_T_LIMIT_END + 1 + 1 + 0 + 99 + 0 + 1 + 1 + 65 + 100 + °C + 7 + + + SOC Limit Start + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The battery state of charge (SOC) below which battery current starts to get reduced.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.</span></p></body></html> + MCCONF_BMS_SOC_LIMIT_START + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0.05 + 1000 + + 7 + + + SOC Limit End + 1 + 1 + <!DOCTYPE HTML PUBLIC "-//W3C//DTD HTML 4.0//EN" "http://www.w3.org/TR/REC-html40/strict.dtd"> +<html><head><meta name="qrichtext" content="1" /><style type="text/css"> +p, li { white-space: pre-wrap; } +</style></head><body style=" font-family:'Roboto'; ; font-weight:400; font-style:normal;"> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">The battery state of charge (SOC) below which battery current is not allowed anymore.</span></p> +<p style="-qt-paragraph-type:empty; margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px; font-family:'Roboto';"><br /></p> +<p style=" margin-top:0px; margin-bottom:0px; margin-left:0px; margin-right:0px; -qt-block-indent:0; text-indent:0px;"><span style=" font-family:'Roboto';">If there is more than one BMS on the CAN-bus, the one with the lowest value will be ued.</span></p></body></html> + MCCONF_BMS_SOC_LIMIT_END + 2 + 1 + 1 + 1 + 0 + 1 + 0.01 + 0 + 1000 + + 7 + + + + pwm_mode + comm_mode + motor_type + sensor_mode + l_current_max + l_current_min + l_in_current_max + l_in_current_min + l_abs_current_max + l_min_erpm + l_max_erpm + l_erpm_start + l_max_erpm_fbrake + l_max_erpm_fbrake_cc + l_min_vin + l_max_vin + l_battery_cut_start + l_battery_cut_end + l_slow_abs_current + l_temp_fet_start + l_temp_fet_end + l_temp_motor_start + l_temp_motor_end + l_temp_accel_dec + l_min_duty + l_max_duty + l_watt_max + l_watt_min + l_current_max_scale + l_current_min_scale + l_duty_start + sl_min_erpm + sl_min_erpm_cycle_int_limit + sl_max_fullbreak_current_dir_change + sl_cycle_int_limit + sl_phase_advance_at_br + sl_cycle_int_rpm_br + sl_bemf_coupling_k + hall_table__0 + hall_table__1 + hall_table__2 + hall_table__3 + hall_table__4 + hall_table__5 + hall_table__6 + hall_table__7 + hall_sl_erpm + foc_current_kp + foc_current_ki + foc_f_sw + foc_dt_us + foc_encoder_inverted + foc_encoder_offset + foc_encoder_ratio + foc_encoder_sin_gain + foc_encoder_cos_gain + foc_encoder_sin_offset + foc_encoder_cos_offset + foc_encoder_sincos_filter_constant + foc_sensor_mode + foc_pll_kp + foc_pll_ki + foc_motor_l + foc_motor_ld_lq_diff + foc_motor_r + foc_motor_flux_linkage + foc_observer_gain + foc_observer_gain_slow + foc_duty_dowmramp_kp + foc_duty_dowmramp_ki + foc_openloop_rpm + foc_openloop_rpm_low + foc_d_gain_scale_start + foc_d_gain_scale_max_mod + foc_sl_openloop_hyst + foc_sl_openloop_time_lock + foc_sl_openloop_time_ramp + foc_sl_openloop_time + foc_hall_table__0 + foc_hall_table__1 + foc_hall_table__2 + foc_hall_table__3 + foc_hall_table__4 + foc_hall_table__5 + foc_hall_table__6 + foc_hall_table__7 + foc_hall_interp_erpm + foc_sl_erpm + foc_sample_v0_v7 + foc_sample_high_current + foc_sat_comp + foc_temp_comp + foc_temp_comp_base_temp + foc_current_filter_const + foc_cc_decoupling + foc_observer_type + foc_hfi_voltage_start + foc_hfi_voltage_run + foc_hfi_voltage_max + foc_sl_erpm_hfi + foc_hfi_start_samples + foc_hfi_obs_ovr_sec + foc_hfi_samples + gpd_buffer_notify_left + gpd_buffer_interpol + gpd_current_filter_const + gpd_current_kp + gpd_current_ki + s_pid_kp + s_pid_ki + s_pid_kd + s_pid_kd_filter + s_pid_min_erpm + s_pid_allow_braking + s_pid_ramp_erpms_s + p_pid_kp + p_pid_ki + p_pid_kd + p_pid_kd_filter + p_pid_ang_div + cc_startup_boost_duty + cc_min_current + cc_gain + cc_ramp_step_max + m_fault_stop_time_ms + m_duty_ramp_step + m_current_backoff_gain + m_encoder_counts + m_sensor_port_mode + m_invert_direction + m_drv8301_oc_mode + m_drv8301_oc_adj + m_bldc_f_sw_min + m_bldc_f_sw_max + m_dc_f_sw + m_ntc_motor_beta + m_out_aux_mode + m_motor_temp_sens_type + m_ptc_motor_coeff + m_hall_extra_samples + si_motor_poles + si_gear_ratio + si_wheel_diameter + si_battery_type + si_battery_cells + si_battery_ah + bms.type + bms.t_limit_start + bms.t_limit_end + bms.soc_limit_start + bms.soc_limit_end + + + + General + + General + + motor_type + m_invert_direction + m_sensor_port_mode + m_encoder_counts + + + + Current + + ::sep::Motor + l_current_max + l_current_min + l_abs_current_max + l_slow_abs_current + l_current_max_scale + l_current_min_scale + ::sep::Battery + l_in_current_max + l_in_current_min + ::sep::DRV8301 + m_drv8301_oc_mode + m_drv8301_oc_adj + + + + Voltage + + l_battery_cut_start + l_battery_cut_end + + + + RPM + + l_max_erpm + l_min_erpm + l_erpm_start + + + + Wattage + + l_watt_max + l_watt_min + + + + Temperature + + ::sep::General + l_temp_accel_dec + ::sep::MOSFET + l_temp_fet_start + l_temp_fet_end + ::sep::Motor + l_temp_motor_start + l_temp_motor_end + + + + BMS + + bms.type + bms.t_limit_start + bms.t_limit_end + bms.soc_limit_start + bms.soc_limit_end + + + + Advanced + + l_min_vin + l_max_vin + l_min_duty + l_max_duty + cc_min_current + m_fault_stop_time_ms + m_out_aux_mode + m_motor_temp_sens_type + m_ntc_motor_beta + m_ptc_motor_coeff + l_duty_start + m_hall_extra_samples + + + + + BLDC + + General + + sensor_mode + comm_mode + cc_startup_boost_duty + + + + Sensorless + + sl_cycle_int_limit + sl_min_erpm + sl_min_erpm_cycle_int_limit + sl_bemf_coupling_k + + + + Sensors + + hall_sl_erpm + hall_table__0 + hall_table__1 + hall_table__2 + hall_table__3 + hall_table__4 + hall_table__5 + hall_table__6 + hall_table__7 + + + + Advanced + + sl_phase_advance_at_br + sl_cycle_int_rpm_br + l_max_erpm_fbrake + pwm_mode + cc_gain + cc_ramp_step_max + m_duty_ramp_step + m_current_backoff_gain + m_bldc_f_sw_min + m_bldc_f_sw_max + + + + + DC + + General + + cc_gain + cc_ramp_step_max + m_duty_ramp_step + m_current_backoff_gain + m_dc_f_sw + + + + + FOC + + General + + foc_sensor_mode + foc_motor_r + foc_motor_l + foc_motor_flux_linkage + foc_current_kp + foc_current_ki + foc_observer_gain + + + + Sensorless + + foc_openloop_rpm + foc_openloop_rpm_low + foc_sl_openloop_hyst + foc_sl_openloop_time_lock + foc_sl_openloop_time_ramp + foc_sl_openloop_time + foc_sat_comp + foc_temp_comp + foc_temp_comp_base_temp + + + + Hall Sensors + + foc_sl_erpm + foc_hall_interp_erpm + foc_hall_table__0 + foc_hall_table__1 + foc_hall_table__2 + foc_hall_table__3 + foc_hall_table__4 + foc_hall_table__5 + foc_hall_table__6 + foc_hall_table__7 + m_hall_extra_samples + + + + Encoder + + foc_sl_erpm + foc_encoder_offset + foc_encoder_ratio + foc_encoder_inverted + foc_encoder_sin_gain + foc_encoder_sin_offset + foc_encoder_cos_gain + foc_encoder_cos_offset + foc_encoder_sincos_filter_constant + + + + HFI + + foc_hfi_samples + foc_hfi_voltage_start + foc_hfi_voltage_run + foc_hfi_voltage_max + foc_sl_erpm_hfi + foc_hfi_start_samples + foc_hfi_obs_ovr_sec + + + + Advanced + + foc_f_sw + foc_dt_us + foc_pll_kp + foc_pll_ki + foc_duty_dowmramp_kp + foc_duty_dowmramp_ki + foc_sample_v0_v7 + foc_sample_high_current + foc_observer_gain_slow + foc_current_filter_const + foc_cc_decoupling + foc_observer_type + foc_motor_ld_lq_diff + foc_d_gain_scale_start + foc_d_gain_scale_max_mod + + + + + GPD + + General + + pwm_mode + gpd_buffer_notify_left + gpd_buffer_interpol + gpd_current_filter_const + gpd_current_kp + gpd_current_ki + + + + + PID Controllers + + General + + ::sep::Speed Controller + s_pid_kp + s_pid_ki + s_pid_kd + s_pid_kd_filter + s_pid_min_erpm + s_pid_allow_braking + s_pid_ramp_erpms_s + ::sep::Position Controller + p_pid_kp + p_pid_ki + p_pid_kd + p_pid_kd_filter + p_pid_ang_div + + + + + Additional Info + + Setup + + si_motor_poles + si_gear_ratio + si_wheel_diameter + si_battery_type + si_battery_cells + si_battery_ah + + + + General + + motor_brand + motor_model + motor_weight + motor_poles + motor_sensor_type + motor_loss_torque + + + + Quality + + motor_quality_bearings + motor_quality_magnets + motor_quality_construction + + + + + diff --git a/plugins/vesc/runtime/schemas/NOTICE b/plugins/vesc/runtime/schemas/NOTICE new file mode 100644 index 0000000..90faf71 --- /dev/null +++ b/plugins/vesc/runtime/schemas/NOTICE @@ -0,0 +1 @@ +Firmware 5.02 configuration definitions from official vedderb/vesc_tool commit 01d5f10901116c311e3fb84d5a1541f663d3ce20, res/config/5.02. Copyright Benjamin Vedder and contributors; see VESC_TOOL_LICENSE. Definitions are unchanged. diff --git a/plugins/vesc/runtime/schemas/VESC_TOOL_LICENSE b/plugins/vesc/runtime/schemas/VESC_TOOL_LICENSE new file mode 100644 index 0000000..f288702 --- /dev/null +++ b/plugins/vesc/runtime/schemas/VESC_TOOL_LICENSE @@ -0,0 +1,674 @@ + GNU GENERAL PUBLIC LICENSE + Version 3, 29 June 2007 + + Copyright (C) 2007 Free Software Foundation, Inc. + Everyone is permitted to copy and distribute verbatim copies + of this license document, but changing it is not allowed. + + Preamble + + The GNU General Public License is a free, copyleft license for +software and other kinds of works. + + The licenses for most software and other practical works are designed +to take away your freedom to share and change the works. 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If your program is a subroutine library, you +may consider it more useful to permit linking proprietary applications with +the library. If this is what you want to do, use the GNU Lesser General +Public License instead of this License. But first, please read +. diff --git a/plugins/vesc/runtime/serial.py b/plugins/vesc/runtime/serial.py new file mode 100644 index 0000000..2cd5da1 --- /dev/null +++ b/plugins/vesc/runtime/serial.py @@ -0,0 +1,163 @@ +"""Exclusive serial ownership and OS attachment generation checks.""" + +import fcntl +import hashlib +import os +from pathlib import Path +import re +import select +import stat +import termios +import time +from dataclasses import dataclass + +from .protocol import Decoder, request, test_packet, current_packet, speed_packet, hall_packet + + +def device_id(value): + return "vesc_" + hashlib.sha256(value.encode()).hexdigest()[:32] + + +@dataclass(frozen=True) +class Attachment: + usb: str + address: str + tty: str + speed: str + + @property + def binding(self): + return self.usb + ":" + self.address + + @property + def id(self): + return device_id("provisional:" + self.binding) + + +def attachment_at(path): + """Read one physical USB generation; never walk sibling devices or drivers.""" + if not re.fullmatch(r"[0-9]+-[0-9]+(?:\.[0-9]+)*", path.name): return None + try: + if ((path / "idVendor").read_text().strip() != "0483" + or (path / "idProduct").read_text().strip() != "5740" + or (path / "product").read_text().strip() != "ChibiOS/RT Virtual COM Port"): + return None + address = (path / "devnum").read_text().strip() + tty = [p.name for p in path.glob(path.name + ":*/tty/ttyACM*") + if re.fullmatch(r"ttyACM[0-9]+", p.name)] + speed = (path / "speed").read_text().strip() + " Мбит/с" + if len(tty) != 1 or address != (path / "devnum").read_text().strip(): return None + return Attachment(path.name, address, tty[0], speed) + except (OSError, ValueError): return None + + +def check_attachment(attachment, root=Path("/sys/bus/usb/devices")): + if (not re.fullmatch(r"[0-9]+-[0-9]+(?:\.[0-9]+)*", attachment.usb) + or attachment_at(root / attachment.usb) != attachment): + raise OSError("USB attachment changed") + + +def discover(root=Path("/sys/bus/usb/devices")): + found = [attachment_at(path) for path in sorted(root.iterdir())] + return [item for item in found if item is not None][:128] + + +class Link: + def __init__(self, attachment): + self.attachment = attachment + self.fd = -1 + self.decoder = Decoder() + self.hall_result = None + self.hall_pending = False + self.check() + fd = os.open("/dev/" + attachment.tty, os.O_RDWR | os.O_NOCTTY | os.O_NONBLOCK | os.O_NOFOLLOW) + try: + info = os.fstat(fd) + if not stat.S_ISCHR(info.st_mode) or os.major(info.st_rdev) != 166: + raise ValueError("Not a CDC ACM device") + fcntl.flock(fd, fcntl.LOCK_EX | fcntl.LOCK_NB) + fcntl.ioctl(fd, termios.TIOCEXCL) + settings = termios.tcgetattr(fd) + settings[0] = settings[1] = settings[3] = 0 + settings[2] = termios.CLOCAL | termios.CREAD | termios.CS8 + settings[4] = settings[5] = termios.B115200 + settings[6][termios.VMIN] = settings[6][termios.VTIME] = 0 + termios.tcsetattr(fd, termios.TCSANOW, settings) + self.check() + self.fd = fd + except BaseException: + os.close(fd) + raise + + def check(self): + check_attachment(self.attachment) + + def close(self): + if self.fd >= 0: + os.close(self.fd) + self.fd = -1 + + def query(self, command, timeout=2): + return self._exchange(request(command), command, timeout) + + def _exchange(self, payload, command, timeout): + self.check() + if not self.hall_pending: + self.decoder = Decoder() + termios.tcflush(self.fd, termios.TCIFLUSH) + deadline = time.monotonic() + min(timeout, 8 if command == 62 else 2) + sent = 0 + while sent < len(payload): + if not select.select([], [self.fd], [], max(0, deadline - time.monotonic()))[1]: + raise TimeoutError("Serial write timeout") + sent += os.write(self.fd, payload[sent:]) + total = 0 + while time.monotonic() < deadline: + if not select.select([self.fd], [], [], max(0, deadline - time.monotonic()))[0]: + break + raw = os.read(self.fd, 4096) + if not raw: + raise OSError("Serial device disconnected") + total += len(raw) + if total > 32768: + raise ValueError("Unexpected serial traffic") + answer = None + for packet in self.decoder.feed(raw): + if self.hall_pending and packet[0] == 28: + self.hall_result = packet + if packet[0] == command: + answer = packet + if answer is not None: + self.check() + return answer + raise TimeoutError("Controller did not reply") + + def test_command(self, action): + self._test_write(test_packet(action)) + + def test_current(self, current_a): + self._test_write(current_packet(current_a)) + + def test_speed(self, erpm): + self._test_write(speed_packet(erpm)) + + def set_temporary_limits(self, config): + from .temporary_limits import packet + if self._exchange(packet(config), 48, 2) != bytes([48]): + raise ValueError("Invalid volatile limits ACK") + + def detect_hall(self): + if self.hall_pending: raise ValueError("Hall detection already started") + self.decoder = Decoder() + self.hall_result = None + self.hall_pending = True + self._test_write(hall_packet()) + + def _test_write(self, payload): + self.check() + deadline = time.monotonic() + 0.04 + sent = 0 + while sent < len(payload): + if not select.select([], [self.fd], [], max(0, deadline - time.monotonic()))[1]: + raise TimeoutError("Test command write timeout") + sent += os.write(self.fd, payload[sent:]) diff --git a/plugins/vesc/runtime/server.py b/plugins/vesc/runtime/server.py new file mode 100644 index 0000000..25bb2e5 --- /dev/null +++ b/plugins/vesc/runtime/server.py @@ -0,0 +1,139 @@ +"""Private Unix socket endpoint; peer UID must be the installed Node service.""" + +import json +import os +from pathlib import Path +import pwd +import re +import socket +import socketserver +import struct +import threading +from http.server import BaseHTTPRequestHandler +from urllib.parse import urlsplit, parse_qs + +from .service import Service +from .remote_control import RemoteControl + + +class Handler(BaseHTTPRequestHandler): + def log_message(self, *_): + pass + + def do_GET(self): + self.dispatch() + + def do_POST(self): + self.dispatch() + + def dispatch(self): + self.connection.settimeout(10) + status = 200 + try: + node = self.headers.get("X-Node-Id", "") + if not re.fullmatch(r"[a-zA-Z0-9_.:-]{1,128}", node) or self.headers.get("Transfer-Encoding"): + raise ValueError("Invalid request") + if self.command == "GET" and self.path == "/inventory": + result = self.server.service.inventory(node) + elif self.command == "GET" and self.path.startswith("/archives/"): + url = urlsplit(self.path) + parts = url.path.split("/") + if len(parts) not in (3, 4) or not re.fullmatch(r"vesc_[0-9a-f]{32}", parts[2]): + raise ValueError("Invalid archive target") + archive = self.server.service.archive + if len(parts) == 4: + result = archive.read("local", parts[2], parts[3]) + else: + before = int(parse_qs(url.query).get("before", ["0"])[0]) + result = archive.listing("local", parts[2], before) + elif self.command == "GET" and self.path.startswith("/archive-export?"): + after = int(parse_qs(urlsplit(self.path).query).get("after", ["0"])[0]) + result = self.server.service.archive.export("local", after) + elif self.command == "POST" and self.path in ("/operation", "/remote"): + size = int(self.headers.get("Content-Length", "0")) + if not 0 < size <= 65536 or self.headers.get("Content-Type") != "application/json": + raise ValueError("Invalid command") + raw = self.rfile.read(size) + if len(raw) != size: + raise ValueError("Truncated command") + result = (self.server.service.execute(json.loads(raw)) if self.path == "/operation" + else self.server.service.remote.feed(json.loads(raw))) + else: + raise ValueError("Unknown route") + except (ValueError, KeyError, TypeError, OSError): + status, result = 400, {"error": "Запрос VESC отклонён. Обновите сведения об устройстве."} + data = json.dumps(result, ensure_ascii=False, allow_nan=False).encode() + self.send_response(status) + self.send_header("Content-Type", "application/json") + self.send_header("Content-Length", str(len(data))) + self.send_header("Connection", "close") + self.end_headers() + self.wfile.write(data) + + +class Server(socketserver.ThreadingMixIn, socketserver.UnixStreamServer): + daemon_threads = True + + def __init__(self, path, handler): + self.slots = threading.BoundedSemaphore(8) + super().__init__(path, handler) + + def process_request(self, request, address): + if not self.slots.acquire(blocking=False): + self.shutdown_request(request) + return + try: + super().process_request(request, address) + except BaseException: + self.slots.release() + raise + + def process_request_thread(self, request, address): + try: + super().process_request_thread(request, address) + finally: + self.slots.release() + + def verify_request(self, request, address): + _, uid, _ = struct.unpack("3i", request.getsockopt(socket.SOL_SOCKET, socket.SO_PEERCRED, 12)) + return uid == self.node_uid + + +def main(): + if os.geteuid() == 0: + raise RuntimeError("VESC must run as its own unprivileged user") + os.umask(0o007) + service = Service("/var/lib/mission-core-vesc") + service.remote = RemoteControl(service) + stop = threading.Event() + + def scan(): + while not stop.is_set(): + try: + service.scan() + except OSError: + # A transient sysfs race must not silently kill discovery. + pass + stop.wait(2) + + def observe(): + while not stop.is_set(): + service.remote.observe() + stop.wait(.2) + + path = Path("/run/mission-core-vesc/driver.sock") + path.unlink(missing_ok=True) + with Server(str(path), Handler) as server: + server.node_uid = pwd.getpwnam("mission-core-node").pw_uid + server.service = service + thread = threading.Thread(target=scan, daemon=True) + thread.start() + threading.Thread(target=observe, daemon=True, name="vesc-observer").start() + try: + server.serve_forever() + finally: + stop.set() + + +if __name__ == "__main__": + main() diff --git a/plugins/vesc/runtime/service.py b/plugins/vesc/runtime/service.py new file mode 100644 index 0000000..3774ade --- /dev/null +++ b/plugins/vesc/runtime/service.py @@ -0,0 +1,364 @@ +"""One onboard owner; both operator surfaces consume the same bounded device operations.""" + +import base64 +import hashlib +import json +import os +from pathlib import Path +import re +import tempfile +import threading +import time +import uuid +from datetime import datetime, timezone + +from . import MODEL, SCHEMA, VERSION +from .protocol import firmware, values, ppm, TEST_LIMITS, SPEED_LIMITS +from .motor_test import MotorTest, Rejected +from .drive_profile import DriveProfile, slot_label, validate as validate_drive +from .serial import device_id, discover +from .native_link import NativeLink +try: + from .archive import Archive +except ImportError: # Source checkout; packaging copies this exact shared file. + from k1link.device_plugins.vesc.archive import Archive + +ACTIONS = frozenset({"verify", "details", "vesc.link.check", "vesc.telemetry.read", "vesc.limits.read", "vesc.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.unassign", "vesc.drive.layout", "vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.motor.stop", "vesc.control.release"}) + + +def utc(): + return datetime.now(timezone.utc).isoformat() + + +def atomic(path, value): + fd, name = tempfile.mkstemp(prefix=".vesc-", dir=path.parent) + try: + with os.fdopen(fd, "w") as stream: + os.fchmod(stream.fileno(), 0o600) + json.dump(value, stream, ensure_ascii=False, allow_nan=False) + stream.flush() + os.fsync(stream.fileno()) + os.replace(name, path) + fd = os.open(path.parent, os.O_RDONLY) + try: + os.fsync(fd) + finally: + os.close(fd) + finally: + if os.path.exists(name): + os.unlink(name) + + +class Device: + def __init__(self, attachment): + self.attachment = attachment + self.id = attachment.id + self.session = "vesc_" + uuid.uuid4().hex + self.opened = utc() + self.link = None + self.identity = None + self.error = None + self.telemetry = None + self.backup = None + self.lock = threading.Lock() + self.retry_at = 0 + + @property + def readable(self): + identity = self.identity + return self.readable_identity(identity) + + @staticmethod + def readable_identity(identity): + return bool(identity and identity["major"] in (5, 6, 7) + and identity["hardware_type"] in (None, 0)) + + def connect(self, factory): + with self.lock: + try: + self.session = "vesc_" + uuid.uuid4().hex + self.link = factory(self.attachment) + identity = firmware(self.link.query(0)) + self.identity = identity + self.id = device_id("uuid:" + identity["uuid"]) + self.error = None + except (OSError, ValueError, TimeoutError): + if self.link: + self.link.close() + self.link = None + self.error = "Контроллер не ответил. Проверьте питание, USB и доступность порта." + self.retry_at = time.monotonic() + 15 + + def close(self): + with self.lock: + if self.link: + self.link.close() + self.link = None + + +class Service: + def __init__(self, root, discover_fn=discover, link_factory=NativeLink): + self.root = Path(root) + self.root.mkdir(mode=0o700, parents=True, exist_ok=True) + self.archive = Archive(self.root / "archive") + for path in sorted(self.root.glob("backup_op_*.json")): + self.archive.add("local", json.loads(path.read_text())) + self.discover_fn, self.link_factory = discover_fn, link_factory + self.devices = {} + self.lock = threading.RLock() + self.operation_lock = threading.Lock() + self.journal_lock = threading.Lock() + self.motor = MotorTest(self, atomic, utc) + self.drive = DriveProfile(self.root, atomic) + self.instance = "vesc_" + uuid.uuid4().hex + self.revision = 0 + + def scan(self): + attachments = {item.binding: item for item in self.discover_fn()} + with self.lock: + removed = [self.devices.pop(k) for k, d in list(self.devices.items()) + if attachments.get(k) != d.attachment] + for key, item in attachments.items(): + if key not in self.devices: + self.devices[key] = Device(item) + devices = list(self.devices.values()) + for device in removed: + device.close() + for device in devices: + if device.link is not None and not getattr(device.link, "alive", True): + device.close() + if device.link is None and time.monotonic() >= device.retry_at: + device.connect(self.link_factory) + if self.operation_lock.acquire(blocking=False): + try: + for device in devices: + if device.link is not None and self.motor.limits.pending(device): + with device.lock: + try: + self.motor.limits.restore(device) + device.error = None + except (OSError, ValueError, TimeoutError): + device.error = "Прежние токовые пределы ещё не восстановлены. Новые проверки заблокированы." + finally: + self.operation_lock.release() + with self.lock: + self.revision += 1 + + def inventory(self, node_id): + with self.lock: + # Copy each generation before counting identities. Serial I/O never + # holds the inventory lock; it can complete during this projection. + devices = [d.__dict__.copy() for d in self.devices.values()] + keys = [device_id("uuid:" + d["identity"]["uuid"]) if d["identity"] and d["link"] else d["attachment"].id for d in devices] + items = [] + for d, key in zip(devices, keys): + identity, attachment = d["identity"], d["attachment"] + unique = keys.count(key) == 1 and identity is not None and d["link"] is not None + identifier = key if unique else attachment.id + message = d["error"] if keys.count(key) == 1 else "Контроллеры сообщили одинаковый UUID. Настройка недоступна." + items.append({"id": identifier, "attachment_id": attachment.id, + "name": "VESC " + (identity["uuid"][:6].upper() if unique else "· USB " + attachment.usb), + "model": identity["hardware"] if unique else "VESC · USB", "kind": MODEL, + "firmware": identity["version"] if unique else None, + "initializable": True, "prepared": True, "configured": unique, "verified": unique, + "preparation_safe": True, "online": True, "usb": attachment.speed, + "connection_label": "USB " + attachment.usb + next((" · " + slot_label(self.drive.value["layout"], slot) for slot, binding in self.drive.value["bindings"].items() if binding["device_id"] == identifier), ""), "layers": [], + "vesc_status": {"identity": identity if unique else None, "readable": unique and Device.readable_identity(identity), + "engine": getattr(d["link"], "engine", None), "message": message, "telemetry": d["telemetry"], "backup": d["backup"], "board_settings_supported": True, "group_test_supported": True, "link_check_supported": True, "test_supported": unique and identity["version"] == "5.02" and identity["hardware"] == "75_300_R2", "drive_profile": self.drive.value, "test_limits": TEST_LIMITS, "speed_limits": SPEED_LIMITS, "hall_measurement": {"current_a": 5, "interruptible": False, "standstill_confirmation_required": True}, "foc_calibration": {"min_power_loss_w": 10, "max_power_loss_w": 150, "interruptible": False}, "test_mode": self.motor.mode, "test_active": self.motor.active, "rc_latched": self.motor.latched}, + "snapshot": {"context": {"session_id": d["session"], + "device": {"device_id": identifier, "model": {"plugin_id": "missioncore.vesc", + "plugin_version": VERSION, "model_id": MODEL}, + "stability": "stable" if unique else "provisional", + "basis": "hardware-identifier" if unique else "transport-local"}, + "execution": {"node_id": node_id, "agent_instance_id": self.instance, "platform": "linux"}, + "opened_at": d["opened"]}, "revision": self.revision, "observed_at": utc(), + "enrollment": "enrolled" if unique else "empty", "acquisition": "idle", + "connectivity": "connected" if unique else "degraded", "message": message}}) + return {"items": items} + + def validate(self, command): + if not isinstance(command, dict) or command.get("api_version") != SCHEMA or command.get("kind") != "OperationRequest": + raise ValueError("Invalid contract") + identifier = command.get("operation_id", "") + if not re.fullmatch(r"op_[0-9a-f]{32}", identifier) or command.get("idempotency_key") != identifier: + raise ValueError("Invalid operation identity") + action, params = command.get("action_id"), command.get("parameters") + if action not in ACTIONS or not isinstance(params, dict): + raise ValueError("Unsupported operation") + if action in ("vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.control.release"): + keys = {"sessions", "rig_clear", "duration_s", "current_a"} | ({"standstill_confirmed"} if action != "vesc.motor.pulse" else set()) | ({"erpm"} if action in ("vesc.motor.run", "vesc.drive.run") else set()) | ({"profile_revision", "device_ids"} if action == "vesc.drive.run" else set()) + if (set(params) != keys or params["rig_clear"] is not True + or not isinstance(params["sessions"], dict) or not 1 <= len(params["sessions"]) <= 128 + or type(params["current_a"]) not in (int, float) or not TEST_LIMITS["min_current_a"] <= params["current_a"] <= TEST_LIMITS["max_current_a"] + or type(params["duration_s"]) not in (int, float) or not TEST_LIMITS["min_duration_s"] <= params["duration_s"] <= TEST_LIMITS["max_duration_s"]): + raise ValueError("Explicit raised-rig confirmation, duration and controller sessions required") + if action != "vesc.motor.pulse" and params["standstill_confirmed"] is not True: + raise ValueError("Explicit observation of all motors at standstill required") + if action in ("vesc.motor.run", "vesc.drive.run") and (type(params["erpm"]) not in (int, float) or not SPEED_LIMITS["min_erpm"] <= abs(params["erpm"]) <= SPEED_LIMITS["max_erpm"]): + raise ValueError("Speed is outside the supported range") + if action == "vesc.drive.run" and (type(params["profile_revision"]) is not int or params["profile_revision"] < 0 + or not isinstance(params["device_ids"], list) or not 2 <= len(params["device_ids"]) <= 128 + or any(not isinstance(v, str) for v in params["device_ids"]) + or len(set(params["device_ids"])) != len(params["device_ids"])): + raise ValueError("Explicit complete drive profile required") + elif action in ("vesc.hall.measure", "vesc.foc.calibrate"): + extra = {"max_power_loss_w"} if action == "vesc.foc.calibrate" else {"standstill_confirmed"} + if (set(params) != ({"sessions", "rig_clear", "native_cycle_confirmed"} | extra) + or params["rig_clear"] is not True or params["native_cycle_confirmed"] is not True + or not isinstance(params["sessions"], dict) or not 1 <= len(params["sessions"]) <= 128): + raise ValueError("Native procedure and rig confirmation required") + if action == "vesc.hall.measure" and params["standstill_confirmed"] is not True: + raise ValueError("Explicit observation of all motors at standstill required") + if action == "vesc.foc.calibrate" and (type(params["max_power_loss_w"]) not in (int,float) or not 10 <= params["max_power_loss_w"] <= 150): + raise ValueError("Heating budget must be between 10 and 150 W") + elif action == "vesc.link.check": + if set(params) != {"sessions"} or not isinstance(params["sessions"], dict) or not 1 <= len(params["sessions"]) <= 128: + raise ValueError("Controller sessions required") + elif action in ("vesc.drive.assign", "vesc.drive.unassign", "vesc.drive.layout"): + validate_drive(action, params) + elif params != {}: + raise ValueError("This operation has no parameters") + start = datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00")) + end = datetime.fromisoformat(command["deadline_at"].replace("Z", "+00:00")) + if start.tzinfo is None or end.tzinfo is None or not 0 < (end - start).total_seconds() <= 360: + raise ValueError("Invalid operation deadline") + return end + + def execute(self, command): + deadline = self.validate(command) + path = self.root / (command["operation_id"] + ".json") + digest = hashlib.sha256(json.dumps(command, sort_keys=True).encode()).hexdigest() + if command["action_id"] == "vesc.motor.stop": + with self.journal_lock: + if path.exists(): + previous = json.loads(path.read_text()) + if previous["digest"] != digest: raise ValueError("Operation identity conflict") + return previous["receipt"] + if deadline <= datetime.now(timezone.utc): raise ValueError("Operation expired") + self.motor.cancel() + result = {"state": "complete", "result": {"stop_requested": True, "interruptible": self.motor.mode not in ("hall", "foc"), "drive_profile": self.drive.value, "test_limits": TEST_LIMITS, "test_active": self.motor.active}} + atomic(path, {"digest": digest, "receipt": result}) + return result + if not self.operation_lock.acquire(blocking=False): + raise ValueError("Another VESC operation is running") + try: + if path.exists(): + previous = json.loads(path.read_text()) + if previous["digest"] != digest: + raise ValueError("Operation identity conflict") + return previous["receipt"] + if deadline <= datetime.now(timezone.utc): + raise ValueError("Operation expired") + with self.lock: + matches = [d for d in self.devices.values() if d.id == command["session"]["device_id"]] + if len(matches) != 1 or matches[0].session != command["session"]["session_id"]: + raise ValueError("Device session changed") + device = matches[0] + # Keep backups and receipts bounded without deleting evidence automatically. + if sum(p.stat().st_size for p in self.root.glob("*.json")) > 32 * 1024 * 1024: + raise ValueError("Read journal is full") + record = {"digest": digest, "receipt": {"state": "unknown", "error": "Чтение не подтверждено. Обновите состояние."}} + with self.journal_lock: + if path.exists(): raise ValueError("Operation identity already reserved") + atomic(path, record) + try: + if command["action_id"] == "vesc.link.check": + from .link_check import measure + with self.lock: devices = list(self.devices.values()) + result = measure(self, command, devices) + record["receipt"] = {"state": "complete", "result": result} + atomic(path, record) + return record["receipt"] + if command["action_id"] in ("vesc.drive.assign", "vesc.drive.unassign", "vesc.drive.layout"): + if device.identity is None: raise Rejected("Сначала подтвердите личность VESC.") + try: + result = self.drive.update(command["action_id"], command["parameters"], device) + except ValueError as error: + raise Rejected(str(error)) from error + record["receipt"] = {"state": "complete", "result": result} + atomic(path, record) + return record["receipt"] + if command["action_id"] in ("vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.control.release"): + with self.lock: + devices = list(self.devices.values()) + actual = {d.id: d.session for d in devices} + if len(actual) != len(devices) or actual != command["parameters"]["sessions"]: + raise Rejected("Состав или сеансы VESC изменились. Обновите устройства.") + run_command = command + if command["action_id"] == "vesc.hall.measure": + run_command = {**command, "parameters": {**command["parameters"], "current_a": 5, "duration_s": 30}} + if command["action_id"] == "vesc.foc.calibrate": + run_command = {**command, "parameters": {**command["parameters"], "current_a": 5, "duration_s": 225}} + result = self.motor.run(run_command, devices, device, command["action_id"] == "vesc.control.release") + record["receipt"] = {"state": "complete", "result": result} + atomic(path, record) + return record["receipt"] + with device.lock: + if device.link is None: + raise OSError("Device disconnected") + remaining = (deadline - datetime.now(timezone.utc)).total_seconds() + if remaining < 8: + raise TimeoutError("Insufficient time for bounded read") + actual = firmware(device.link.query(0)) + if actual != device.identity: + device.link.close() + device.link = None + device.identity = None + device.session = "vesc_" + uuid.uuid4().hex + raise ValueError("Controller identity changed") + result = {"identity": actual, "device_id": device.id, "observed_at": utc()} + action = command["action_id"] + if action in {"vesc.telemetry.read", "vesc.limits.read", "vesc.config.backup"} and not device.readable: + raise ValueError("Firmware read layout is unsupported") + if action == "vesc.telemetry.read": + result.update(values=values(device.link.query(4)), monotonic_at=time.monotonic()) + device.telemetry = result + elif action == "vesc.limits.read": + from .limits_view import read_limits + result.update(parameters=read_limits(device.link)) + if firmware(device.link.query(0)) != actual: + raise ValueError("Controller changed during configuration read") + elif action == "vesc.input.read": + if actual["version"] != "5.02": raise ValueError("Input layout unsupported") + result["input"] = ppm(device.link.query(31)) + elif action == "vesc.can.read": + if actual["version"] != "5.02": raise ValueError("CAN layout unsupported") + started = time.monotonic() + reply = device.link.query(62, timeout=8) + if not reply or reply[0] != 62: raise ValueError("Invalid CAN reply") + result.update(can_ids=list(reply[1:]), elapsed_s=time.monotonic()-started) + elif action == "vesc.config.backup": + configs = {} + for name, code in (("motor", 14), ("application", 17)): + raw = device.link.query(code) + if not 5 <= len(raw) <= 10000: + raise ValueError("Incomplete configuration") + configs[name] = {"encoding": "base64", "payload": base64.b64encode(raw).decode(), + "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(), + "signature_hex": raw[1:5].hex()} + # Identity is checked on the same exclusively held attachment at both ends. + if firmware(device.link.query(0)) != actual: + raise ValueError("Controller changed during backup") + result.update(schema="missioncore.vesc.config-backup/v1", configs=configs, + decoded=False, operation_id=command["operation_id"], monotonic_at=time.monotonic()) + backup_path = self.root / ("backup_" + command["operation_id"] + ".json") + atomic(backup_path, result) + self.archive.add("local", result) + device.backup = {"observed_at": result["observed_at"], "operation_id": command["operation_id"], + "configs": {k: {"bytes": v["bytes"], "sha256": v["sha256"]} for k, v in configs.items()}} + record["receipt"] = {"state": "complete", "result": result} + except (OSError, ValueError, TimeoutError) as error: + record["receipt"] = {"state": "error", "error": str(error) if isinstance(error, Rejected) else "Операция не выполнена. Проверьте связь и совместимость контроллера."} + if getattr(error, "native_rpc", None) is not None: + # Keep transport evidence in the receipt, not product copy. + # This covers ordinary reads and preflight before a motor + # procedure has its own result/failure envelope. + record["receipt"]["result"] = {"failure": { + "type": type(error).__name__, "native_rpc": error.native_rpc, + "native_history": getattr(error, "native_history", []), + }} + atomic(path, record) + return record["receipt"] + + finally: + self.operation_lock.release() diff --git a/plugins/vesc/runtime/speed_hold.py b/plugins/vesc/runtime/speed_hold.py new file mode 100644 index 0000000..9251609 --- /dev/null +++ b/plugins/vesc/runtime/speed_hold.py @@ -0,0 +1,52 @@ +"""Speed acquisition and measured hold time; never infers motion from a command.""" +from .protocol import SPEED_LIMITS + + +class SpeedHold: + def __init__(self, erpm, duration, started): + self.erpm, self.duration, self.started = erpm, duration, started + self.previous = started + self.tachometer = None + self.motion_at = None + self.stable_at = None + self.hold_started = None + self.lost_at = None + self.rotation_s = 0.0 + self.phase = "accelerating" + self.previous_good = False + + def update(self, now, value): + delta = now - self.previous + self.previous = now + if self.tachometer is not None and value["tachometer"] != self.tachometer: + self.motion_at = now + self.tachometer = value["tachometer"] + good = (abs(value["erpm"] - self.erpm) <= abs(self.erpm) * SPEED_LIMITS["speed_tolerance"] + and self.motion_at is not None and now - self.motion_at <= 0.25) + error = None + if self.hold_started is None: + if good: + if self.stable_at is None: self.stable_at = now + if now - self.stable_at >= SPEED_LIMITS["settle_s"]: + self.hold_started = now + self.phase = "holding" + else: + self.stable_at = None + if self.hold_started is None and now - self.started >= SPEED_LIMITS["startup_timeout_s"]: + error = "Мотор не вышел на заданную скорость за 15 секунд. Отсчёт вращения не начался." + else: + if good: + # Both endpoints must be observed in band. Do not count a gap, + # USB delay, stationary tachometer or an unobserved last interval. + if self.previous_good and delta <= 0.25: self.rotation_s += delta + self.lost_at = None + else: + if self.lost_at is None: self.lost_at = now + if now - self.lost_at >= SPEED_LIMITS["lost_speed_timeout_s"]: + error = "Мотор перестал удерживать заданную скорость. Проверка завершена досрочно." + self.previous_good = good + if now - self.started > SPEED_LIMITS["startup_timeout_s"] + self.duration + 5: + error = "Истёк общий срок проверки; заданное время вращения не набрано." + done = self.rotation_s >= self.duration + setpoint = (1 if self.erpm > 0 else -1) * min(abs(self.erpm), max(1, (now - self.started) * SPEED_LIMITS["ramp_erpm_per_s"])) + return setpoint, done, error diff --git a/plugins/vesc/runtime/temporary_limits.py b/plugins/vesc/runtime/temporary_limits.py new file mode 100644 index 0000000..322f190 --- /dev/null +++ b/plugins/vesc/runtime/temporary_limits.py @@ -0,0 +1,88 @@ +"""FW 5.02 volatile limits with durable, identity-bound restoration. + +COMM_SET_MCCONF_TEMP (48): store=false, forward=false, ack=true, divide=false. +Reference: pinned bldc 3f670137 commands.c. No flash write, no app changes. +""" +import base64 +import json +import math +import struct + +from .configuration import decode +from .protocol import frame, firmware, values, ppm + +FIELDS = ("l_current_min_scale", "l_current_max_scale", "l_min_erpm", "l_max_erpm", + "l_min_duty", "l_max_duty", "l_watt_min", "l_watt_max", + "l_in_current_min", "l_in_current_max") + + +def packet(config): + numbers = [config[key] for key in FIELDS] + if not all(math.isfinite(v) for v in numbers): raise ValueError("Invalid volatile limits") + return frame(bytes([48, 0, 0, 1, 0]) + struct.pack(">10f", *numbers)) + + +class TemporaryLimits: + def __init__(self, service, atomic): + self.service, self.atomic = service, atomic + + def path(self, device): + return self.service.root / ("limits_" + device.id + ".json") + + def pending(self, device): + return self.path(device).exists() + + def apply(self, device, raw, current_a): + if self.pending(device): raise ValueError("Previous limits restoration is pending") + old = decode(raw, "motor") + if not (old["l_current_min"] < 0 < old["l_current_max"] + and 0 < old["l_current_min_scale"] <= 1 and 0 < old["l_current_max_scale"] <= 1): + raise ValueError("Unsupported motor current limits") + changed = dict(old) + changed["l_current_max_scale"] = min(old["l_current_max_scale"], current_a / old["l_current_max"]) + changed["l_current_min_scale"] = min(old["l_current_min_scale"], current_a / -old["l_current_min"]) + # Persist BEFORE sending: a lost ACK or killed process must be recoverable. + record = {"identity": device.identity, "original": base64.b64encode(raw).decode(), + "applied": {key: changed[key] for key in FIELDS}} + self.atomic(self.path(device), record) + device.link.set_temporary_limits(changed) + actual = decode(device.link.query(14), "motor") + if any(actual[k] != old[k] for k in old if k not in FIELDS): + raise ValueError("Unexpected configuration change") + if (actual["l_current_max"] * actual["l_current_max_scale"] > current_a + 0.001 + or -actual["l_current_min"] * actual["l_current_min_scale"] > current_a + 0.001): + raise ValueError("Current limit readback failed") + if any(not math.isclose(actual[k], changed[k], rel_tol=1e-6, abs_tol=1e-8) for k in FIELDS): + raise ValueError("Volatile limits readback differs") + return actual + + def restore(self, device): + path = self.path(device) + if not path.exists(): return True + record = json.loads(path.read_text()) + if firmware(device.link.query(0)) != record["identity"]: raise ValueError("Restoration identity changed") + raw = base64.b64decode(record["original"], validate=True) + old = decode(raw, "motor") + actual_raw = device.link.query(14) + actual = decode(actual_raw, "motor") + # An independently changed configuration is never overwritten. + if any(actual[k] != old[k] for k in old if k not in FIELDS): + raise ValueError("Configuration changed outside this operation; restoration pending") + if any(not (math.isclose(actual[k], old[k], rel_tol=1e-6, abs_tol=1e-8) + or math.isclose(actual[k], record["applied"][k], rel_tol=1e-6, abs_tol=1e-8)) for k in FIELDS): + raise ValueError("Limits changed outside this operation; restoration pending") + if actual_raw != raw: + state = values(device.link.query(4)) + from .receiver import active, neutral_band + application = decode(device.link.query(17), "application") + if abs(state["motor_current_a"]) > 1 or active(ppm(device.link.query(31))["level"], neutral_band(application)): + raise ValueError("Wait for zero current and neutral before restoring limits") + device.link.set_temporary_limits(old) + if device.link.query(14) != raw: raise ValueError("Original configuration readback failed") + path.unlink() + # atomic() fsyncs the directory on writes; persist removal as well. + import os + fd = os.open(path.parent, os.O_RDONLY) + try: os.fsync(fd) + finally: os.close(fd) + return True diff --git a/plugins/vesc/tests/test_attachment.py b/plugins/vesc/tests/test_attachment.py new file mode 100644 index 0000000..a24dafb --- /dev/null +++ b/plugins/vesc/tests/test_attachment.py @@ -0,0 +1,50 @@ +"""Targeted attachment checks preserve generation and topology rejection.""" +from pathlib import Path +import sys,tempfile,unittest +from unittest.mock import patch +sys.path.insert(0,str(Path(__file__).resolve().parents[1])) +from runtime.serial import Attachment, attachment_at, check_attachment, discover + +class AttachmentTests(unittest.TestCase): + def setUp(self): + self.temp=tempfile.TemporaryDirectory();self.addCleanup(self.temp.cleanup) + self.root=Path(self.temp.name);self.device=self.root/'1-2.3';self.device.mkdir() + for name,value in {'idVendor':'0483','idProduct':'5740','product':'ChibiOS/RT Virtual COM Port','devnum':'17','speed':'12'}.items(): + (self.device/name).write_text(value) + (self.device/'1-2.3:1.0/tty/ttyACM2').mkdir(parents=True) + self.expected=Attachment('1-2.3','17','ttyACM2','12 Мбит/с') + + def test_target_check_never_enumerates_siblings(self): + original=Path.iterdir + def entries(path): + if path==self.root:raise AssertionError('full bus scan in per-request check') + return original(path) + with patch.object(Path,'iterdir',entries):check_attachment(self.expected,self.root) + self.assertEqual(discover(self.root),[self.expected]) + + def test_generation_change_or_removed_port_invalidates_old_owner(self): + (self.device/'devnum').write_text('18') + with self.assertRaises(OSError):check_attachment(self.expected,self.root) + (self.device/'devnum').write_text('17') + (self.device/'1-2.3:1.0/tty/ttyACM2').rmdir() + with self.assertRaises(OSError):check_attachment(self.expected,self.root) + + def test_ambiguous_tty_or_other_vendor_rejected(self): + extra=self.device/'1-2.3:1.1/tty/ttyACM3';extra.mkdir(parents=True) + self.assertIsNone(attachment_at(self.device)) + extra.rmdir();(self.device/'idVendor').write_text('1234') + self.assertIsNone(attachment_at(self.device)) + + def test_driver_sibling_tty_cannot_be_mistaken_for_device_interface(self): + (self.device/'driver/tty/ttyACM9').mkdir(parents=True) + self.assertEqual(attachment_at(self.device),self.expected) + with self.assertRaises(OSError):check_attachment(Attachment('../1-2.3','17','ttyACM2','12 Мбит/с'),self.root) + + def test_generation_change_during_read_is_rejected(self): + original=Path.read_text;reads=0 + def read(path,*args,**kwargs): + nonlocal reads + if path==self.device/'devnum': + reads+=1;return '17' if reads==1 else '18' + return original(path,*args,**kwargs) + with patch.object(Path,'read_text',read):self.assertIsNone(attachment_at(self.device)) diff --git a/plugins/vesc/tests/test_drive_profile.py b/plugins/vesc/tests/test_drive_profile.py new file mode 100644 index 0000000..759bb77 --- /dev/null +++ b/plugins/vesc/tests/test_drive_profile.py @@ -0,0 +1,74 @@ +"""User-assigned drive layout, persistence and conflict tests; no motor I/O.""" +from pathlib import Path +import sys +sys.path.insert(0,str(Path(__file__).resolve().parents[1])) +import test_reader + + +class DriveTests(test_reader.ServiceTests): + def test_change_layout_keeps_assignments_without_motor_commands(self): + left, right = list(self.service.devices.values()) + self.assign(left, 'left.1') + self.assign(right, 'right.1') + command = self.command(action='vesc.drive.layout') + command['parameters'] = {'layout': '2x2', 'revision': 2} + result = self.service.execute(command) + self.assertEqual(result['state'], 'complete') + self.assertEqual(result['result']['layout'], '2x2') + self.assertEqual(result['result']['bindings']['left.1']['device_id'], left.id) + self.assertEqual(len(result['result']['bindings']), 2) + self.assertTrue(all(link.commands == [0] for link in test_reader.FakeLink.instances)) + + def assign(self, device, slot, layout='1x1', revision=None): + item=next(i for i in self.service.inventory('node_synthetic')['items'] if i['id']==device.id) + command=self.command(item,action='vesc.drive.assign') + command['parameters']={'layout':layout,'slot':slot,'revision':self.service.drive.value['revision'] if revision is None else revision} + return self.service.execute(command) + + def test_assign_is_user_metadata_without_serial_commands_and_survives_restart(self): + left,right=list(self.service.devices.values()) + self.assertEqual(self.assign(left,'left.1')['state'],'complete') + self.assertEqual(self.assign(right,'right.1')['state'],'complete') + self.assertTrue(all(link.commands==[0] for link in test_reader.FakeLink.instances)) + from runtime.drive_profile import DriveProfile + restored=DriveProfile(self.service.root,self.service.drive.atomic) + self.assertEqual(restored.value,self.service.drive.value) + self.assertEqual(restored.value['layout'],'1x1') + self.assertEqual(restored.value['bindings']['left.1']['device_id'],left.id) + self.assertEqual(self.service.drive.path.stat().st_mode & 0o777,0o600) + + def test_duplicate_slot_and_stale_revision_never_replace_an_assignment(self): + left,right=list(self.service.devices.values()) + self.assign(left,'left.1') + self.assertEqual(self.assign(right,'left.1')['state'],'error') + self.assertEqual(self.assign(right,'right.1',revision=0)['state'],'error') + self.assertEqual(list(self.service.drive.value['bindings']),['left.1']) + + def test_layout_shrink_requires_explicit_unassign_of_removed_slots(self): + left,right=list(self.service.devices.values()) + self.assign(left,'left.2','2x2') + self.assign(right,'right.1','2x2') + self.assertEqual(self.assign(right,'right.1','1x1')['state'],'error') + command=self.command(action='vesc.drive.unassign') + command['parameters']={'slot':'left.2','revision':self.service.drive.value['revision']} + self.assertEqual(self.service.execute(command)['state'],'complete') + self.assertEqual(self.assign(right,'right.1','1x1')['state'],'complete') + self.assertEqual(list(self.service.drive.value['bindings']),['right.1']) + + def test_reassign_moves_one_controller_and_replay_does_not_repeat(self): + device=next(iter(self.service.devices.values())) + self.assign(device,'left.1') + command=self.command(action='vesc.drive.assign') + command['parameters']={'layout':'2x2','slot':'right.2','revision':1} + result=self.service.execute(command) + self.assertEqual(result['state'],'complete') + self.assertEqual(list(result['result']['bindings']),['right.2']) + self.assertEqual(self.service.execute(command),result) + self.assertEqual(self.service.drive.value['revision'],2) + + test_two_attachments_promote_independently = None + test_uuid_collision_never_aliases_a_controller = None + test_reconnect_invalidates_old_session_but_retains_uuid = None + test_receipt_replay_never_repeats_serial_query = None + test_backup_is_raw_hashed_and_bound_to_identity = None + test_arbitrary_writes_parameters_and_expired_requests_rejected = None diff --git a/plugins/vesc/tests/test_foc_calibration.py b/plugins/vesc/tests/test_foc_calibration.py new file mode 100644 index 0000000..724a7e3 --- /dev/null +++ b/plugins/vesc/tests/test_foc_calibration.py @@ -0,0 +1,180 @@ +"""Fault injection at the native calibration transaction boundary; no hardware.""" +from datetime import datetime, timedelta +import unittest +import struct + +import test_motor_test +from test_motor_test import configuration +from runtime.configuration import decode + + +class CalibrationTests(unittest.TestCase): + def setUp(self): + self.case = test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters') + self.case.setUp() + self.addCleanup(self.case.tearDown) + c = self.case + self.original = configuration('motor', {**decode(c.motor, 'motor'), + 'l_current_min': -60, 'l_in_current_min': -55, 'foc_openloop_rpm': 600, 'foc_sl_erpm': 2000}) + self.configs = {d.id: self.original for d in c.devices} + self.starts = [] + self.finished = False + for device in c.devices: + previous = device.link.query + def query(code, timeout=2, previous=previous, device=device): + if code == 14: return self.configs[device.id] + if code == 62: return bytes([62]) + return previous(code, timeout) + device.link.query = query + def start(loss, device=device): + self.starts.append((device.id, loss)) + self.configs[device.id] = configuration('motor', {**decode(self.original, 'motor'), + 'foc_motor_r': 0.08, 'foc_motor_l': 0.00003, 'foc_motor_flux_linkage': 0.009, 'foc_sensor_mode': 0}) + device.link.calibrate_foc = start + def result(): + if not self.finished: + self.finished = True + return {'running': True} + return {'running': False, 'uncertain': False, 'result': { + 'kind': 'foc', 'completed': True, 'success': True, 'validated': True, 'code': 0, 'sensor_mode': 0}} + device.link.procedure_result = result + + def command(self): + c = self.case.command(action='vesc.foc.calibrate') + c['deadline_at'] = (datetime.fromisoformat(c['requested_at']) + timedelta(seconds=300)).isoformat() + c['parameters'] = {'rig_clear': True, 'native_cycle_confirmed': True, 'max_power_loss_w': 50, + 'sessions': {d.id: d.session for d in self.case.devices}} + return c + + def test_native_success_archives_both_versions_and_never_sends_host_torque(self): + command = self.command() + receipt = self.case.service.execute(command) + result = receipt['result'] + self.assertTrue(result['success'], receipt) + self.assertEqual(result['native']['sensor_mode'], 0) + self.assertEqual(self.starts, [(self.case.devices[0].id, 50)]) + self.assertEqual(len(result['backups']), 2) + self.assertEqual(len(result['after_backups']), 2) + self.assertEqual(self.case.currents, []) + self.assertTrue(all(action == 'release' for _, action in self.case.sent)) + self.assertFalse((self.case.service.root/'calibration-pending.json').exists()) + self.assertEqual(self.case.service.execute(command), receipt) + self.assertEqual(len(self.starts), 1) + + def test_unknown_completion_persists_across_service_restart_and_blocks_new_motion(self): + target = self.case.devices[0] + target.link.procedure_result = lambda: {'running': False, 'uncertain': True, 'result': {}} + result = self.case.service.execute(self.command())['result'] + self.assertFalse(result['completed']) + self.assertFalse(result['success']) + self.assertTrue((self.case.service.root/'calibration-pending.json').exists()) + self.assertTrue(self.case.service.motor.latched) + from runtime.service import Service + restarted = Service(self.case.service.root, discover_fn=self.case.service.discover_fn) + self.assertTrue(restarted.motor.latched) + self.assertEqual(self.case.service.execute(self.case.command_for_pulse())['state'], 'error') + self.assertEqual(len(self.starts), 1) + + def test_peer_configuration_change_is_archived_and_blocks_further_movement(self): + start = self.case.devices[0].link.calibrate_foc + def mutate(loss): + start(loss) + self.configs[self.case.devices[1].id] = configuration('motor', {**decode(self.original, 'motor'), 'foc_motor_r': 1}) + self.case.devices[0].link.calibrate_foc = mutate + result = self.case.service.execute(self.command())['result'] + self.assertFalse(result['success']) + self.assertFalse(result['configuration_verified']) + self.assertEqual(len(result['after_backups']), 2) + self.assertTrue(self.case.service.motor.latched) + + def test_known_can_peers_still_block_upstream_broadcast_side_effect(self): + target = self.case.devices[0] + query = target.link.query + target.link.query = lambda code, timeout=2: bytes([62, 11]) if code == 62 else query(code, timeout) + result = self.case.service.execute(self.command()) + self.assertEqual(result['state'], 'error') + self.assertEqual(self.starts, []) + + def test_confirmed_failed_cycle_restores_and_can_be_retried_explicitly(self): + target = self.case.devices[0] + target.link.calibrate_foc = lambda loss: self.starts.append((target.id, loss)) + target.link.procedure_result = lambda: {'running': False, 'uncertain': False, 'result': { + 'completed': True, 'success': False, 'validated': True, 'code': -10}} + result = self.case.service.execute(self.command())['result'] + self.assertTrue(result['completed']) + self.assertFalse(result['success']) + self.assertTrue(result['configuration_verified']) + self.assertFalse((self.case.service.root/'calibration-pending.json').exists()) + + def test_missing_native_write_ack_never_accepts_calibration(self): + target = self.case.devices[0] + target.link.procedure_result = lambda: {'running': False, 'uncertain': True, 'result': { + 'completed': True, 'success': False, 'validated': False, 'code': 0, 'error': 'ACK missing'}} + result = self.case.service.execute(self.command())['result'] + self.assertFalse(result['success']) + self.assertTrue((self.case.service.root/'calibration-pending.json').exists()) + + def test_calibration_heating_budget_is_finite_and_explicit(self): + for loss in (True, float('nan'), float('inf'), 0, 151): + command = self.command(); command['parameters']['max_power_loss_w'] = loss + with self.assertRaises(ValueError): self.case.service.execute(command) + self.assertEqual(self.starts, []) + + def averaged_current(self, transient=True): + target = self.case.devices[0] + query = target.link.query + reads = [] + def read(code, timeout=2): + raw = query(code, timeout) + if code == 4 and self.starts: + reads.append(1) + if not transient or len(reads) == 1: + return raw[:5] + struct.pack('>i', 367) + raw[9:] + return raw + target.link.query = read + return query, reads + + def test_cycle_average_is_drained_before_verifying_released_current(self): + _, reads = self.averaged_current() + result = self.case.service.execute(self.command())['result'] + self.assertTrue(result['success'], result) + self.assertTrue(result['release_confirmed']) + self.assertGreaterEqual(len(reads), 2) + self.assertEqual(result['after'][self.case.devices[0].id]['motor_current_a'], 0) + + def test_explicit_neutral_recovery_after_verified_cycle_never_recalibrates(self): + query, _ = self.averaged_current(transient=False) + command = self.command() + receipt = self.case.service.execute(command) + self.assertFalse(receipt['result']['release_confirmed']) + self.assertTrue(receipt['result']['configuration_verified']) + self.case.devices[0].link.query = query + release = self.case.command_for_pulse(); release['action_id'] = 'vesc.control.release'; release['parameters']['standstill_confirmed'] = True + result = self.case.service.execute(release)['result'] + self.assertEqual(result['authority'], 'ready') + self.assertFalse(result['calibration_recovered']['calibration_replayed']) + self.assertEqual(len(self.starts), 1) + self.assertEqual(self.case.service.execute(command), receipt) + self.assertFalse((self.case.service.root/'calibration-pending.json').exists()) + self.assertEqual(self.case.currents, []) + + def test_recovery_rejects_new_configuration_and_does_not_overwrite_it(self): + query, _ = self.averaged_current(transient=False) + self.case.service.execute(self.command()) + self.case.devices[0].link.query = query + key = self.case.devices[0].id + self.configs[key] = configuration('motor', {**decode(self.configs[key], 'motor'), 'foc_motor_r': .5}) + before = self.configs[key] + release = self.case.command_for_pulse(); release['action_id'] = 'vesc.control.release'; release['parameters']['standstill_confirmed'] = True + receipt = self.case.service.execute(release) + self.assertEqual(receipt['state'], 'error') + self.assertEqual(self.configs[key], before) + self.assertTrue((self.case.service.root/'calibration-pending.json').exists()) + self.assertEqual(len(self.starts), 1) + + def test_unknown_completion_cannot_be_cleared_by_neutral_return(self): + self.case.devices[0].link.procedure_result = lambda: {'running': False, 'uncertain': True, 'result': {}} + self.case.service.execute(self.command()) + release = self.case.command_for_pulse(); release['action_id'] = 'vesc.control.release'; release['parameters']['standstill_confirmed'] = True + self.assertEqual(self.case.service.execute(release)['state'], 'error') + self.assertTrue((self.case.service.root/'calibration-pending.json').exists()) diff --git a/plugins/vesc/tests/test_group_test.py b/plugins/vesc/tests/test_group_test.py new file mode 100644 index 0000000..e77ce13 --- /dev/null +++ b/plugins/vesc/tests/test_group_test.py @@ -0,0 +1,159 @@ +"""Synthetic complete-profile motion, shared timing and all-peer failure tests.""" +import struct +import unittest +from datetime import datetime, timedelta + +import test_motor_test +import test_reader +from test_motor_test import configuration +from runtime.configuration import decode +from runtime.drive_profile import LAYOUTS +from runtime.temporary_limits import FIELDS + + +class GroupTests(unittest.TestCase): + def setUp(self): + self.case = test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters') + self.case.setUp() + self.addCleanup(self.case.tearDown) + self.configure(2) + + def configure(self, count): + c = self.case + if len(c.devices) != count: + c.attachments = [test_reader.Attachment(f'2-{i+1}', str(i+1), f'ttyACM{i}', '12') for i in range(count)] + c.service.scan(); c.configure_controllers() + self.configs, self.speeds, self.commands, self.tacho, self.sets = {}, {}, [], {}, [] + self.motion = lambda device: True + for device in c.devices: + self.configs[device.id] = configuration('motor', {**decode(c.motor, 'motor'), + 'l_current_min': -60, 'l_current_min_scale': 1, 'l_current_max_scale': 1}) + original = device.link.query + def query(code, timeout=2, original=original, device=device): + if code == 14: return self.configs[device.id] + raw = original(code, timeout) + if code == 4 and device.id in self.speeds and self.motion(device): + self.tacho[device.id] = self.tacho.get(device.id, 0)+6 + raw = raw[:23]+struct.pack('>i', round(self.speeds[device.id]))+raw[27:] + raw = raw[:45]+struct.pack('>ii', self.tacho[device.id], self.tacho[device.id])+raw[53:] + return raw + device.link.query = query + def limits(config, device=device): + self.sets.append(device.id) + self.configs[device.id] = configuration('motor', {**decode(self.configs[device.id], 'motor'), + **{k: config[k] for k in FIELDS}}) + device.link.set_temporary_limits = limits + def speed(value, device=device): + self.speeds[device.id] = value + self.commands.append((device.id, value)) + device.link.test_speed = speed + self.originals = dict(self.configs) + layout = '1x1' if count == 2 else '2x2' + c.service.drive.value = {'layout': layout, 'revision': 4, + 'bindings': {slot: {'device_id': d.id, 'uuid': d.identity['uuid']} + for slot, d in zip(LAYOUTS[layout], c.devices)}} + + def command(self): + command = self.case.command_for_pulse() + command['action_id'] = 'vesc.drive.run' + command['parameters'].update(erpm=2000, current_a=30, duration_s=3, profile_revision=4, standstill_confirmed=True, + device_ids=[d.id for d in self.case.devices]) + command['deadline_at'] = (datetime.fromisoformat(command['requested_at'])+timedelta(seconds=120)).isoformat() + return command + + def test_pair_and_four_motors_run_one_common_interval_and_restore(self): + for count in (2, 4): + with self.subTest(count=count): + self.configure(count) + command = self.command() + receipt = self.case.service.execute(command) + result = receipt['result'] + self.assertEqual(result['outcome'], 'duration', result) + self.assertGreaterEqual(result['rotation_s'], 3) + self.assertLess(result['rotation_s'], 3.2) + self.assertEqual(set(self.speeds), {d.id for d in self.case.devices}) + self.assertTrue(result['release_confirmed']) + self.assertTrue(result['limits_restored']) + self.assertEqual(self.configs, self.originals) + before = list(self.commands) + self.assertEqual(self.case.service.execute(command), receipt) + self.assertEqual(before, self.commands) + + def test_count_starts_only_after_slower_motor_reaches_speed(self): + self.motion = lambda d: d is self.case.devices[0] or self.case.clock.now >= 8 + result = self.case.service.execute(self.command())['result'] + self.assertEqual(result['outcome'], 'duration') + first = next(s['at'] for s in result['samples'] if s['rotation_s'] > 0) + self.assertGreater(first, 7.5) + self.assertGreaterEqual(result['rotation_s'], 3) + + def test_stationary_peer_never_counts_single_motor_as_joint_rotation(self): + self.motion = lambda d: d is self.case.devices[0] + result = self.case.service.execute(self.command())['result'] + self.assertEqual(result['rotation_s'], 0) + self.assertIn('не вышел', result['outcome']) + self.assertEqual(set(result['release']), {d.id for d in self.case.devices}) + self.assertEqual(self.configs, self.originals) + + def test_rc_preemption_releases_every_motor_and_latches(self): + original = self.case.devices[0].link.test_speed + def speed(value): + original(value); self.case.changed = True + self.case.devices[0].link.test_speed = speed + result = self.case.service.execute(self.command())['result'] + self.assertEqual(result['rotation_s'], 0) + self.assertTrue(self.case.service.motor.latched) + self.assertTrue(result['release_confirmed']) + self.assertFalse(result['limits_restored']) + self.assertTrue(list(self.case.service.root.glob('limits_*.json'))) + self.case.changed = False + self.case.service.scan() + self.assertEqual(self.configs, self.originals) + + def test_losing_one_motor_stops_joint_timer_and_releases_pair(self): + self.motion = lambda d: d is self.case.devices[0] or self.case.clock.now < 7 + result = self.case.service.execute(self.command())['result'] + self.assertLess(result['rotation_s'], 3) + self.assertIn('перестал удерживать', result['outcome']) + self.assertTrue(result['release_confirmed']) + self.assertEqual(self.configs, self.originals) + + def test_failed_peer_lease_never_sends_speed_and_keeps_cause(self): + original = self.case.devices[1].link.test_command + def send(action): + if action == 'claim': raise TimeoutError('synthetic lease timeout') + original(action) + self.case.devices[1].link.test_command = send + result = self.case.service.execute(self.command())['result'] + self.assertEqual(self.commands, []) + self.assertEqual(result['failure']['message'], 'synthetic lease timeout') + self.assertEqual(set(result['release']), {d.id for d in self.case.devices}) + self.assertEqual(self.configs, self.originals) + + def test_second_limit_ack_failure_restores_both_without_motion(self): + original = self.case.devices[1].link.set_temporary_limits + def apply(config): + original(config) + if len(self.sets) == 2: raise TimeoutError('lost second ACK') + self.case.devices[1].link.set_temporary_limits = apply + result = self.case.service.execute(self.command())['result'] + self.assertEqual(self.commands, []) + self.assertTrue(result['limits_restored']) + self.assertEqual(self.configs, self.originals) + + def test_stale_incomplete_duplicate_or_changed_profile_never_runs(self): + command = self.command(); command['parameters']['profile_revision'] -= 1 + self.assertEqual(self.case.service.execute(command)['state'], 'error') + command = self.command(); command['parameters']['device_ids'] *= 2 + with self.assertRaises(ValueError): self.case.service.execute(command) + self.case.service.drive.value['bindings'].pop('right.1') + self.assertEqual(self.case.service.execute(self.command())['state'], 'error') + self.assertEqual(self.commands, []) + self.assertEqual(self.sets, []) + + def test_current_bound_is_checked_for_every_motor(self): + device = self.case.devices[1] + self.configs[device.id] = configuration('motor', {**decode(self.configs[device.id], 'motor'), 'l_current_max': 10}) + self.assertEqual(self.case.service.execute(self.command())['state'], 'error') + self.assertEqual(self.commands, []) + self.assertEqual(self.sets, []) diff --git a/plugins/vesc/tests/test_hall_standstill.py b/plugins/vesc/tests/test_hall_standstill.py new file mode 100644 index 0000000..f261f07 --- /dev/null +++ b/plugins/vesc/tests/test_hall_standstill.py @@ -0,0 +1,108 @@ +"""Sensorless idle drift must not become a general motion-check bypass.""" +import math +import struct +import unittest + +import test_speed_and_hall +from test_motor_test import configuration +from runtime.configuration import decode +from runtime.motor_test import check_values, LimitExceeded +from runtime.protocol import values + + +class HallStandstillTests(unittest.TestCase): + def setUp(self): + self.rig = test_speed_and_hall.RunTests('test_native_hall_returns_measured_table_without_applying_it') + self.rig.setUp() + self.addCleanup(self.rig.doCleanups) + self.case = self.rig.case + + def command(self): + command = self.case.command(action='vesc.hall.measure') + command['parameters'] = {'rig_clear': True, 'native_cycle_confirmed': True, + 'standstill_confirmed': True, 'sessions': {d.id:d.session for d in self.case.devices}} + return command + + def drift(self, device, mode=0, late_duty=False): + config = decode(self.rig.configs[device.id], 'motor') + self.rig.configs[device.id] = configuration('motor', {**config, 'foc_sensor_mode':mode}) + query = device.link.query + reads = 0 + def read(code, timeout=2): + nonlocal reads + raw = query(code, timeout) + if code == 4: + reads += 1 + raw = raw[:23] + struct.pack('>i', -160) + raw[27:] + if late_duty and reads >= 6: + raw = raw[:21] + struct.pack('>h', 2) + raw[23:] + return raw + device.link.query = read + + def test_sensorless_peer_can_drift_but_raw_evidence_is_retained(self): + self.drift(self.case.devices[1]) + result = self.case.service.execute(self.command())['result'] + self.assertTrue(result['completed']) + self.assertTrue(result['configuration_restored']) + self.assertTrue(result['preflight']['standstill_confirmed']) + samples = result['preflight']['samples'] + self.assertEqual(len(samples), 20) + peer = [s for s in samples if s['device_id'] == self.case.devices[1].id] + self.assertTrue(all(s['values']['erpm'] == -160 for s in peer)) + self.assertGreaterEqual(peer[-1]['at'] - peer[0]['at'], 0.89) + + def test_sensored_speed_still_blocks_before_any_write(self): + self.drift(self.case.devices[1], mode=2) + self.assertEqual(self.case.service.execute(self.command())['state'], 'error') + self.assertIsNone(self.rig.hall_started) + self.assertEqual(self.case.sent, []) + + def test_modulation_above_one_wire_quantum_blocks_before_any_write(self): + self.drift(self.case.devices[1], late_duty=True) + self.assertEqual(self.case.service.execute(self.command())['state'], 'error') + self.assertIsNone(self.rig.hall_started) + self.assertEqual(self.case.sent, []) + + def test_missing_false_and_nonboolean_observation_rejected(self): + for confirmation in (None, False, 1, 'true'): + command = self.command() + if confirmation is None: del command['parameters']['standstill_confirmed'] + else: command['parameters']['standstill_confirmed'] = confirmation + with self.assertRaises(ValueError): self.case.service.execute(command) + self.assertEqual(self.case.sent, []) + + def test_sensorless_drift_does_not_bypass_ordinary_motor_test(self): + self.drift(self.case.devices[1]) + self.assertEqual(self.case.service.execute(self.case.command_for_pulse())['state'], 'error') + self.assertEqual(self.case.sent, []) + + def test_rc_still_blocks_hall_before_any_write(self): + self.drift(self.case.devices[1]) + self.case.changed = True + self.assertEqual(self.case.service.execute(self.command())['state'], 'error') + self.assertTrue(self.case.service.motor.latched) + self.assertEqual(self.case.sent, []) + + def test_electrical_and_finite_guards_cannot_be_replaced_by_observation(self): + device = self.case.devices[0] + sample = values(device.link.query(4)) + motor = decode(self.rig.configs[device.id], 'motor') + for field, value in (('erpm', math.nan), ('motor_current_a', 1.01), + ('input_current_a', -1.01), ('duty', .002), + ('fault_code', 1), ('mos_temperature_c', 66), + ('input_voltage_v', 61)): + with self.subTest(field=field), self.assertRaises(LimitExceeded): + check_values({**sample, 'erpm':-160, field:value}, motor=motor, + standstill_confirmed=True) + + def test_one_quantized_idle_modulation_step_requires_observed_standstill(self): + device = self.case.devices[0] + sample = values(device.link.query(4)) + motor = {**decode(self.rig.configs[device.id], 'motor'), 'foc_sensor_mode':0} + for duty in (-.001, 0, .001): + idle = {**sample, 'erpm':-160, 'duty':duty} + check_values(idle, motor=motor, standstill_confirmed=True) + with self.assertRaises(LimitExceeded): + check_values(idle, motor=motor) + with self.assertRaises(LimitExceeded): + check_values({**sample, 'duty':-.002}, motor=motor, standstill_confirmed=True) diff --git a/plugins/vesc/tests/test_limits_view.py b/plugins/vesc/tests/test_limits_view.py new file mode 100644 index 0000000..647481e --- /dev/null +++ b/plugins/vesc/tests/test_limits_view.py @@ -0,0 +1,34 @@ +"""Native configuration reads never acquire motor control or change settings.""" +from pathlib import Path +import sys +import unittest +from unittest.mock import patch +sys.path.insert(0, str(Path(__file__).resolve().parents[1])) +import test_reader +from runtime.limits_view import FIELDS, read_limits + + +class LimitsTests(unittest.TestCase): + def test_native_export_only_and_missing_or_nonfinite_values_rejected(self): + class Link: + def configuration(self): + return {"motor": {"parameters": [{"name": key, "value": 1.0} for key in FIELDS]}} + self.assertEqual(set(read_limits(Link())), FIELDS) + for bad in (float('nan'), True, '300'): + with patch.object(Link, 'configuration', return_value={"motor":{"parameters":[{"name":key,"value":bad} for key in FIELDS]}}): + with self.assertRaises(ValueError): read_limits(Link()) + + def test_service_read_is_bound_to_uuid_and_cannot_write(self): + fixture = test_reader.ServiceTests() + fixture.setUp() + try: + service = fixture.service + with patch.object(test_reader.FakeLink, 'configuration', create=True, return_value={"motor":{"parameters":[{"name":key,"value":1.0} for key in FIELDS]}}) as native: + response = service.execute(fixture.command(action='vesc.limits.read')) + self.assertEqual(response['state'], 'complete') + self.assertEqual(set(response['result']['parameters']), FIELDS) + native.assert_called_once() + self.assertTrue(all(set(link.commands) == {0} for link in test_reader.FakeLink.instances)) + self.assertEqual(service.drive.value['revision'], 0) + finally: + fixture.tearDown() diff --git a/plugins/vesc/tests/test_link_check.py b/plugins/vesc/tests/test_link_check.py new file mode 100644 index 0000000..2db5919 --- /dev/null +++ b/plugins/vesc/tests/test_link_check.py @@ -0,0 +1,107 @@ +"""No-power read measurements and failure attribution; no USB hardware.""" +from unittest.mock import patch +import unittest +import struct +import test_motor_test +from runtime.link_check import measure, summary + + +class LinkCheckTests(unittest.TestCase): + def setUp(self): + self.case=test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters') + self.case.setUp(); self.addCleanup(self.case.tearDown) + self.reads=[] + for device in self.case.devices: + original=device.link.query + def query(code,timeout=2,original=original,device=device): + self.reads.append((device.id,code,timeout)) + return original(code,timeout) + device.link.query=query + + def command(self): + c=self.case.command_for_pulse();c['action_id']='vesc.link.check' + c['parameters']={'sessions':c['parameters']['sessions']} + return c + + def run_check(self): + return measure(self.case.service,self.command(),self.case.devices, + sleep=self.case.clock.sleep,monotonic=lambda:self.case.clock.now) + + def test_reads_pair_at_group_cadence_without_any_motor_commands(self): + result=self.run_check() + self.assertEqual(result['outcome'],'complete') + self.assertFalse(result['motor_commands_sent']) + self.assertEqual(len(self.reads),402) + self.assertEqual({r[1] for r in self.reads},{17,31,4}) + self.assertTrue(all(r[2]==.5 for r in self.reads if r[1]!=17)) + self.assertEqual(self.case.sent,[]) + self.assertTrue(all(v['summary']['replies']==200 for v in result['devices'].values())) + self.assertGreaterEqual(result['duration_s'],9.9) + + def test_late_replies_are_measured_without_relaxing_motor_budget(self): + result=summary([{'elapsed_ms':x} for x in [20,30,55,80,120]]) + self.assertEqual(result['over_60_ms'],2) + self.assertEqual(result['p50_ms'],55) + self.assertEqual(result['max_ms'],120) + + def test_no_response_keeps_peer_command_and_native_cause(self): + device=self.case.devices[1] + original=device.link.query + def query(code,timeout=2): + if code==17:return original(code,timeout) + error=OSError('native read timeout');error.native_rpc={'command':code,'process_alive':True,'attachment_present':True} + raise error + device.link.query=query + result=self.run_check() + self.assertEqual(result['outcome'],'read_failed') + self.assertEqual(result['failure'][0]['device_id'],device.id) + self.assertEqual(result['failure'][0]['command'],31) + self.assertTrue(result['failure'][0]['native_rpc']['attachment_present']) + self.assertEqual(self.case.sent,[]) + + def test_active_receiver_stops_measurement_without_claiming_control(self): + self.case.changed=True + result=self.run_check() + self.assertEqual(result['outcome'],'not_idle') + self.assertEqual(self.case.sent,[]) + self.assertEqual({r[1] for r in self.reads},{17,31}) + + def test_receiver_offset_inside_configured_deadband_is_idle(self): + for device in self.case.devices: + original=device.link.query + device.link.query=lambda code,timeout=2,original=original: bytes([31])+struct.pack('>ii',-66000,1466000) if code==31 else original(code,timeout) + result=self.run_check() + self.assertEqual(result['outcome'],'complete') + self.assertTrue(all(abs(d['neutral_band']-.15)<1e-6 for d in result['devices'].values())) + self.assertEqual(self.case.sent,[]) + + def test_config_failure_is_reported_before_ppm_or_motor_commands(self): + self.case.devices[0].link.query=lambda *args,**kwargs: b'bad config' + result=self.run_check() + self.assertEqual(result['outcome'],'read_failed') + self.assertEqual(result['failure'][0]['command'],17) + self.assertEqual(self.case.sent,[]) + self.assertFalse(any(r[1] in (31,4) for r in self.reads)) + + def test_service_keeps_idempotent_receipt_and_excludes_other_operations(self): + command=self.command() + original=measure + def fast(*args):return original(*args,sleep=self.case.clock.sleep,monotonic=lambda:self.case.clock.now) + with patch('runtime.link_check.measure',side_effect=fast): + result=self.case.service.execute(command) + self.assertEqual(result['state'],'complete') + self.assertEqual(self.case.service.execute(command),result) + self.assertEqual(len(self.reads),402) + self.case.service.operation_lock.acquire() + try: + with self.assertRaises(ValueError):self.case.service.execute(self.command()) + finally:self.case.service.operation_lock.release() + + def test_changed_sessions_rejected_before_reads_and_stop_is_respected(self): + command=self.command();command['parameters']['sessions']={} + with self.assertRaises(ValueError): measure(self.case.service,command,self.case.devices) + self.assertEqual(self.reads,[]) + command=self.command();self.case.service.motor.cancel() + result=measure(self.case.service,command,self.case.devices) + self.assertEqual(result['outcome'],'stopped') + self.assertEqual(self.reads,[]) diff --git a/plugins/vesc/tests/test_motor_test.py b/plugins/vesc/tests/test_motor_test.py new file mode 100644 index 0000000..3e0d992 --- /dev/null +++ b/plugins/vesc/tests/test_motor_test.py @@ -0,0 +1,352 @@ +"""Synthetic fault-injection tests. No real ports, private config or motors.""" +import math +from pathlib import Path +import struct +import sys +import unittest +from unittest.mock import patch +import xml.etree.ElementTree as ET + +sys.path.insert(0, str(Path(__file__).resolve().parents[1])) +from runtime.configuration import decode, crc32c +from runtime.motor_test import Rejected, LimitExceeded, check_configuration, check_values +from runtime.protocol import Decoder, test_packet, ppm, current_packet +import test_reader +from runtime.protocol import firmware +from test_reader import telemetry + + +def configuration(kind, overrides): + code, name = {"motor": (14, "mcconf"), "application": (17, "appconf")}[kind] + xml = ET.parse(Path(__file__).parents[1] / "runtime/schemas/5.02" / ("parameters_" + name + ".xml")).getroot() + params = {p.tag: p for p in xml.find("Params")}; order = [p.text for p in xml.find("SerOrder")] + sig = ''.join(n + params[n].findtext('type', '0') + params[n].findtext('vTx', '0') + ''.join(x.text or '' for x in params[n].findall('enumNames')) for n in order) + out = bytes([code]) + crc32c(sig.encode()).to_bytes(4, 'big') + for n in order: + p=params[n];typ=int(p.findtext('type'));tx=int(p.findtext('vTx','0'));v=overrides.get(n,0) + if typ in (4,5):fmt='b' + elif typ==6:fmt='B' + elif typ==2:fmt={1:'B',2:'b',3:'H',4:'h',5:'I',6:'i'}[tx] + else: + fmt={7:'h',8:'i',9:'I'}[tx] + if tx==9: + f,e=math.frexp(abs(v));v=0 if v==0 else ((e+126)<<23)|int((f-0.5)*16777216)|(0x80000000 if v<0 else 0) + else:v=round(v*float(p.findtext('vTxDoubleScale','1'))) + out+=struct.pack('>'+fmt,v) + return out + + +class Clock: + def __init__(self):self.now=0 + def monotonic(self):return self.now + def sleep(self,value):self.now+=value + + +class PulseTests(test_reader.ServiceTests): + def setUp(self): + super().setUp() + self.configure_controllers() + + def configure_controllers(self): + self.clock=Clock();self.service.motor.sleep=self.clock.sleep;self.service.motor.monotonic=self.clock.monotonic + self.devices=list(self.service.devices.values());self.changed=False + self.sent=[] + self.currents=[] + self.motor=configuration('motor',{'motor_type':2,'l_current_max':60,'l_in_current_max':55,'l_min_erpm':-60000,'l_max_erpm':60000,'l_max_duty':0.95}) + for i,device in enumerate(self.devices): + raw=b'\0\5\2' + b'75_300_R2\0' + bytes([i+1])*12 + bytes(4) + device.identity=firmware(raw) + app=configuration('application',{'controller_id':i+10,'app_to_use':1,'timeout_msec':1000,'timeout_brake_current':0,'app_ppm_conf.ctrl_type':4,'app_ppm_conf.hyst':0.15}) + def query(code,timeout=2,raw=raw,app=app): + if code==0:return raw + if code==14:return self.motor + if code==17:return app + if code==4:return telemetry()[:1]+struct.pack('>hhiiiihihiiiiiiB',250,-729,0,0,0,0,0,0,500,0,0,0,0,0,0,0) + if code==31:return bytes([31])+struct.pack('>ii',600000 if self.changed else 0,1500000) + if code==62:return bytes([62])+bytes(range(10,10+len(self.devices))) + raise AssertionError(code) + device.link.query=query + device.link.test_command=lambda action,i=i:self.sent.append((i,action)) + def send_current(amps,device=device,i=i): + self.currents.append((i,amps)) + device.link.test_command('current') + device.link.test_current=send_current + + def command_for_pulse(self): + c=self.command(action='vesc.motor.pulse') + c['parameters']={'rig_clear':True,'sessions':{d.id:d.session for d in self.devices},'duration_s':1.5,'current_a':2} + return c + + def test_fixed_wire_commands_no_broadcast_and_no_parameters(self): + self.assertEqual(Decoder().feed(test_packet('claim')),[bytes([63,0])+struct.pack('>i',250)]) + self.assertEqual(Decoder().feed(test_packet('current')),[bytes([6])+struct.pack('>i',2000)]) + self.assertEqual(Decoder().feed(current_packet(5)),[bytes([6])+struct.pack('>i',5000)]) + with self.assertRaises(KeyError):test_packet('arbitrary') + with self.assertRaises(ValueError):ppm(bytes([31])+bytes(7)) + + def test_only_selected_motor_receives_current_and_receipt_never_replays(self): + c=self.command_for_pulse();r=self.service.execute(c) + self.assertEqual(r['state'],'complete',r) + self.assertEqual(r['result']['outcome'],'duration') + self.assertTrue(r['result']['release_confirmed']) + self.assertIn((0,'current'),self.sent);self.assertNotIn((1,'current'),self.sent) + self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')]) + self.assertLessEqual(len([x for x in self.sent if x==(0,'current')]),31) + before=list(self.sent);self.assertEqual(self.service.execute(c),r);self.assertEqual(self.sent,before) + self.assertEqual(len(list(self.service.root.glob('backup_*.json'))),2) + + def test_active_rc_blocks_before_any_command_and_latches(self): + self.changed=True;r=self.service.execute(self.command_for_pulse()) + self.assertEqual(r['state'],'error');self.assertEqual(self.sent,[]);self.assertTrue(self.service.motor.latched) + self.changed=False;self.assertEqual(self.service.execute(self.command_for_pulse())['state'],'error') + + def test_rc_preemption_releases_both_and_blocks_next_click(self): + def send(action): + self.sent.append((0,action)) + if action=='current':self.changed=True + self.devices[0].link.test_command=send + r=self.service.execute(self.command_for_pulse()) + self.assertEqual(r['state'],'complete');self.assertTrue(self.service.motor.latched) + self.assertEqual(len([x for x in self.sent if x==(0,'current')]),1) + self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')]) + + def test_missing_second_lease_and_disconnect_release_first(self): + def send(action): + if action=='claim':raise OSError('Disconnected') + self.sent.append((1,action)) + self.devices[1].link.test_command=send + r=self.service.execute(self.command_for_pulse()) + self.assertNotIn((0,'current'),self.sent);self.assertIn((0,'release'),self.sent) + self.assertNotEqual(r['result']['outcome'],'duration') + + def test_bad_schema_stale_peer_and_no_rig_confirmation_never_write(self): + self.assertRaises(ValueError,decode,self.motor[:-1],'motor') + c=self.command_for_pulse();c['parameters']['sessions'][self.devices[1].id]='stale' + self.assertEqual(self.service.execute(c)['state'],'error') + c=self.command_for_pulse();c['parameters']['rig_clear']=False + with self.assertRaises(ValueError):self.service.execute(c) + self.assertEqual(self.sent,[]) + + def test_stop_received_before_queued_pulse_cannot_be_cleared_by_start(self): + pulse = self.command_for_pulse() + result = self.service.execute(self.command(action='vesc.motor.stop')) + self.assertTrue(result['result']['stop_requested']) + self.assertEqual(self.service.execute(pulse)['state'],'error') + self.assertEqual(self.sent,[]) + self.assertEqual(self.service.execute(self.command_for_pulse())['state'],'complete') + + def test_single_six_and_ten_controllers_target_only_with_durable_backups(self): + for count in (1, 6, 10): + with self.subTest(count=count): + self.attachments = [test_reader.Attachment(f"2-{i+1}", str(i+1), f"ttyACM{i}", "12") for i in range(count)] + self.service.scan(); self.configure_controllers() + command=self.command_for_pulse() + target=self.devices[-1] + command['session']={'device_id':target.id,'session_id':target.session} + command['parameters']['duration_s']=10 + result=self.service.execute(command) + self.assertEqual(result['state'],'complete',result) + self.assertEqual(result['result']['outcome'],'duration') + self.assertEqual(result['result']['duration_limit_s'],10) + self.assertEqual({i for i,action in self.sent if action=='current'},{count-1}) + self.assertTrue(result['result']['release_confirmed']) + self.assertEqual(len(result['result']['backups']),count) + self.assertEqual(len(result['result']['release']),count) + self.assertLessEqual(self.clock.now,11.36) + + def test_new_controller_during_preflight_or_pulse_stops_current(self): + extra=test_reader.Attachment('3-1','3','ttyACM3','12') + self.attachments.append(extra) + self.assertEqual(self.service.execute(self.command_for_pulse())['state'],'error') + self.assertEqual(self.sent,[]) + self.attachments.remove(extra) + def send(action): + self.sent.append((0,action)) + if action=='current':self.attachments.append(extra) + self.devices[0].link.test_command=send + result=self.service.execute(self.command_for_pulse()) + self.assertEqual(result['state'],'complete') + self.assertNotEqual(result['result']['outcome'],'duration') + self.assertEqual(self.sent.count((0,'current')),1) + self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')]) + + def test_unmanaged_can_peer_on_other_controller_blocks_all_current(self): + original=self.devices[1].link.query + self.devices[1].link.query=lambda code,timeout=2:bytes([62,99]) if code==62 else original(code,timeout) + result=self.service.execute(self.command_for_pulse()) + self.assertEqual(result['state'],'error') + self.assertEqual(self.sent,[]) + + def test_slow_multi_controller_cycle_never_sends_torque(self): + original=self.devices[1].link.query + def delayed(code,timeout=2): + if code==31:self.clock.sleep(0.13) + return original(code,timeout) + self.devices[1].link.query=delayed + result=self.service.execute(self.command_for_pulse()) + self.assertNotEqual(result['result']['outcome'],'duration') + self.assertEqual(self.sent,[]) + + def test_duration_is_allowlisted_and_stop_interrupts_ten_second_pulse(self): + for duration in (True,0,30.01,100,'10'): + command=self.command_for_pulse();command['parameters']['duration_s']=duration + with self.assertRaises(ValueError):self.service.execute(command) + def send(action): + self.sent.append((0,action)) + if action=='current':self.service.motor.cancel() + self.devices[0].link.test_command=send + command=self.command_for_pulse();command['parameters']['duration_s']=10 + result=self.service.execute(command) + self.assertEqual(result['result']['outcome'],'stopped') + self.assertEqual(self.sent.count((0,'current')),1) + self.assertLess(self.clock.now,2) + + def test_can_timeout_reports_preflight_failure_without_current(self): + original=self.devices[0].link.query + def query(code,timeout=2): + if code==62: + self.assertEqual(timeout,8) + raise TimeoutError('synthetic CAN timeout') + return original(code,timeout) + self.devices[0].link.query=query + result=self.service.execute(self.command_for_pulse()) + self.assertEqual(result['state'],'error') + self.assertIn('CAN',result['error']) + self.assertEqual(self.sent,[]) + + def test_can_inspection_does_not_claim_or_drive_motors(self): + result=self.service.execute(self.command(action='vesc.can.read')) + self.assertEqual(result['state'],'complete') + self.assertEqual(result['result']['can_ids'],[10,11]) + self.assertEqual(self.sent,[]) + + def test_old_coasting_thresholds_no_longer_interrupt_current(self): + original=self.devices[0].link.query + speeds=iter([0,210,880,1200,3000]) + def query(code,timeout=2): + raw=original(code,timeout) + if code==4: + speed=next(speeds,3000) + raw=raw[:21]+struct.pack('>hi',120 if speed else 0,speed)+raw[27:] + return raw + self.devices[0].link.query=query + command=self.command_for_pulse();command['parameters'].update(current_a=5,duration_s=30) + result=self.service.execute(command)['result'] + self.assertEqual(result['outcome'],'duration') + self.assertEqual(result['duration_limit_s'],30) + self.assertGreater(len(result['samples']),590) + self.assertTrue(all(s['commanded_current_a'] > 0 for s in result['samples'])) + self.assertEqual(self.sent.count((0,'release')),1) + self.assertTrue(result['release_confirmed']) + + def test_current_ramps_from_half_amp_to_entered_ceiling(self): + command=self.command_for_pulse();command['parameters'].update(current_a=5,duration_s=10) + result=self.service.execute(command)['result'] + amps=[value for _,value in self.currents] + self.assertEqual(amps[0],0.5) + self.assertEqual(max(amps),5) + self.assertTrue(all(0<=b-a<=0.10001 for a,b in zip(amps,amps[1:]))) + self.assertEqual(result['outcome'],'duration') + self.assertEqual(result['current_ramp_a_per_s'],2) + + def test_thirty_amp_thirty_second_moving_target_and_bounded_receipt(self): + original=self.devices[0].link.query + tacho=0 + def query(code,timeout=2): + nonlocal tacho + raw=original(code,timeout) + if code==4 and self.currents: + tacho+=4 + raw=raw[:23]+struct.pack('>i',1200)+raw[27:] + raw=raw[:45]+struct.pack('>ii',tacho,tacho)+raw[53:] + return raw + self.devices[0].link.query=query + command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30) + result=self.service.execute(command)['result'] + self.assertEqual(result['outcome'],'duration') + self.assertEqual(max(amps for _,amps in self.currents),30) + self.assertEqual({i for i,_ in self.currents},{0}) + self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')]) + self.assertTrue(result['release_confirmed']) + import json + self.assertLess(len(json.dumps(result).encode()),1024*1024) + + def test_high_current_without_motion_stops_and_does_not_auto_restart(self): + command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30) + result=self.service.execute(command)['result'] + self.assertIn('движение не подтверждается',result['outcome']) + self.assertLess(result['samples'][-1]['at'],5) + self.assertLess(max(amps for _,amps in self.currents),10) + self.assertIsNone(result['samples'][-1]['commanded_current_a']) + self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')]) + self.assertTrue(result['release_confirmed']) + + def test_reported_speed_alone_cannot_reset_stall_without_tachometer_motion(self): + original=self.devices[0].link.query + def query(code,timeout=2): + raw=original(code,timeout) + if code==4 and self.currents:raw=raw[:23]+struct.pack('>i',1200)+raw[27:] + return raw + self.devices[0].link.query=query + command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30) + result=self.service.execute(command)['result'] + self.assertIn('движение не подтверждается',result['outcome']) + self.assertTrue(result['release_confirmed']) + + def test_target_configuration_limits_remain_binding(self): + self.motor=configuration('motor',{'motor_type':2,'l_current_max':10,'l_in_current_max':10,'l_min_erpm':-2000,'l_max_erpm':2000,'l_max_duty':0.1}) + command=self.command_for_pulse();command['parameters'].update(current_a=30,duration_s=30) + result=self.service.execute(command) + self.assertEqual(result['state'],'error') + self.assertIn('настроенный предел',result['error']) + self.assertEqual(self.sent,[]) + limits=decode(self.motor,'motor') + baseline={'fault_code':0,'input_voltage_v':50,'mos_temperature_c':30,'motor_current_a':0,'erpm':0,'duty':0} + for field,value in [('erpm',2001),('duty',0.101),('motor_current_a',10.1)]: + with self.assertRaises(LimitExceeded):check_values({**baseline,field:value},moving=True,current_a=10,motor=limits) + + def test_arbitrary_current_cannot_enter_motor_loop(self): + for amps in (True,0,0.4,30.001,31,100,'5',float('nan'),float('inf')): + command=self.command_for_pulse();command['parameters']['current_a']=amps + with self.assertRaises(ValueError):self.service.execute(command) + self.assertEqual(self.sent,[]) + for amps in (0.5,1.7,3,5,10,30): + self.assertEqual(Decoder().feed(current_packet(amps)),[bytes([6])+struct.pack('>i',round(amps*1000))]) + for amps in (False,-1,0,30.001,float('nan'),float('inf')): + with self.assertRaises(ValueError):current_packet(amps) + + def test_limit_stop_keeps_triggering_sample_and_releases_every_controller(self): + original=self.devices[0].link.query + def query(code,timeout=2): + raw=original(code,timeout) + if code==4 and self.sent.count((0,'current'))==1: + raw=raw[:21]+struct.pack('>h',260)+raw[23:] + return raw + self.devices[0].link.query=query + result=self.service.execute(self.command_for_pulse())['result'] + self.assertIn('заполнение PWM 26 %',result['outcome']) + self.assertEqual(result['limit_violation'],{'field':'duty','value':0.26,'minimum':-0.25,'maximum':0.25}) + self.assertEqual(result['samples'][-1]['devices'][self.devices[0].id]['duty'],0.26) + self.assertIsNone(result['samples'][-1]['commanded_current_a']) + self.assertEqual(self.sent.count((0,'current')),1) + self.assertEqual(self.sent[-2:],[(0,'release'),(1,'release')]) + self.assertTrue(result['release_confirmed']) + + def test_each_telemetry_limit_reports_its_own_measured_value(self): + baseline={'fault_code':0,'input_voltage_v':50,'mos_temperature_c':30,'motor_current_a':0,'erpm':0,'duty':0} + for field,actual in [('fault_code',1),('input_voltage_v',61),('mos_temperature_c',66),('motor_current_a',-8.1),('erpm',6001),('duty',-0.251)]: + with self.subTest(field=field): + with self.assertRaises(LimitExceeded) as raised:check_values({**baseline,field:actual},moving=True,current_a=5) + self.assertEqual(raised.exception.violation['field'],field) + self.assertEqual(raised.exception.violation['value'],actual) + + # Parent ServiceTests use the generic firmware/read-only fake. + test_two_attachments_promote_independently = None + test_uuid_collision_never_aliases_a_controller = None + test_reconnect_invalidates_old_session_but_retains_uuid = None + test_receipt_replay_never_repeats_serial_query = None + test_backup_is_raw_hashed_and_bound_to_identity = None + test_arbitrary_writes_parameters_and_expired_requests_rejected = None + + +if __name__=='__main__':unittest.main() diff --git a/plugins/vesc/tests/test_native_link.py b/plugins/vesc/tests/test_native_link.py new file mode 100644 index 0000000..a5770b9 --- /dev/null +++ b/plugins/vesc/tests/test_native_link.py @@ -0,0 +1,93 @@ +"""Faults at the actual subprocess/RPC boundary, with no serial hardware.""" +import json +from pathlib import Path +import subprocess +import sys +import unittest +from unittest.mock import patch + +sys.path.insert(0, str(Path(__file__).resolve().parents[1])) +from runtime.native_link import NativeLink +from runtime.serial import Attachment + + +class NativeBoundaryTests(unittest.TestCase): + def link(self, handler): + value = object.__new__(NativeLink) + value.attachment = Attachment('2-1', '11', 'ttyACM0', '12') + value.buffer = b""; value.sequence = 0; value.hall_pending = False + value.check = lambda:None + script = 'import sys,json,time\nfor line in sys.stdin:\n r=json.loads(line)\n ' + handler + '\n' + value.process = subprocess.Popen([sys.executable, '-u', '-c', script], + stdin=subprocess.PIPE, stdout=subprocess.PIPE, stderr=subprocess.DEVNULL, bufsize=0) + self.addCleanup(value.close) + return value + + def test_success_returns_upstream_payload_and_keeps_one_process(self): + link = self.link('print(json.dumps({"id":r["id"],"ok":True,"result":{"payload":"BA=="}}),flush=True)') + pid = link.process.pid + self.assertEqual(link.query(4),b'\x04') + self.assertEqual(link.query(4),b'\x04') + self.assertEqual(link.process.pid,pid) + self.assertEqual(link.sequence,2) + trace=link.last_rpc + self.assertEqual(trace["stage"],"complete") + stages=[trace[k] for k in ("attachment_before_ms","request_write_ms","native_response_ms","attachment_after_ms")] + self.assertTrue(all(value>=0 for value in stages)) + self.assertLessEqual(sum(stages),trace["elapsed_ms"]+.1) + + def test_wrong_identity_closes_stream_and_cannot_replay_motor_command(self): + link = self.link('print(json.dumps({"id":r["id"]+1,"ok":True,"result":{}}),flush=True)') + with self.assertRaises(ValueError):link.test_current(5) + self.assertFalse(link.alive) + with self.assertRaises(OSError):link.test_current(5) + + def test_missing_ack_terminates_process_without_automatic_retry(self): + link = self.link('time.sleep(5)') + process = link.process + with self.assertRaises(TimeoutError):link.rpc('lease',timeout=.03) + self.assertFalse(link.alive) + self.assertIsNotNone(process.poll()) + self.assertEqual(link.sequence,1) + + def test_attachment_change_closes_owner_before_sending(self): + link = self.link('print(json.dumps({"id":r["id"],"ok":True,"result":{}}),flush=True)') + link.check = lambda: (_ for _ in ()).throw(OSError('changed attachment')) + with self.assertRaises(OSError):link.rpc('engine') + self.assertFalse(link.alive) + + def test_native_error_and_malformed_result_close_owner(self): + for response in ('{"id":r["id"],"ok":False,"error":"disconnected"}', + '{"id":r["id"],"ok":True,"result":[]}'): + with self.subTest(response=response): + link=self.link('print(json.dumps('+response+'),flush=True)') + with self.assertRaises((OSError,ValueError)):link.rpc('engine') + self.assertFalse(link.alive) + + def test_blocked_pipe_closes_owner(self): + link=self.link('time.sleep(5)') + with patch('runtime.native_link.select.select',return_value=([],[],[])): + with self.assertRaises(TimeoutError):link.rpc('engine') + self.assertFalse(link.alive) + + def test_timeout_retains_command_budget_and_attachment_state(self): + link=self.link('print(json.dumps({"id":r["id"],"ok":False,"error":"Native query timed out or disconnected"}),flush=True)') + with self.assertRaises(OSError) as caught: link.query(31,timeout=.06) + trace=caught.exception.native_rpc + self.assertEqual(trace['command'],31) + self.assertEqual(trace['attachment'], {'usb':'2-1','address':'11','tty':'ttyACM0'}) + self.assertEqual(trace['timeout_ms'],60) + self.assertTrue(trace['process_alive']) + self.assertTrue(trace['attachment_present']) + self.assertGreater(trace['elapsed_ms'],0) + self.assertFalse(link.alive) + + def test_native_packet_diagnostics_survive_fail_closed_boundary(self): + detail = {"request_emitted": True, "packets_sent": 1, "packets_received": 0, + "serial_bytes_written": 6, "port_connected": True, "serial_error": 0, + "events": [{"event": "serial_written", "bytes": 6, "at_ms": 0.2}]} + link = self.link('print(json.dumps({"id":r["id"],"ok":False,"error":"Native query timed out or disconnected","diagnostics":'+repr(detail)+'}),flush=True)') + with self.assertRaises(OSError) as caught: link.query(31, timeout=.06) + self.assertEqual(caught.exception.native_rpc['transport'], detail) + self.assertEqual(link.sequence, 1) + self.assertFalse(link.alive) diff --git a/plugins/vesc/tests/test_reader.py b/plugins/vesc/tests/test_reader.py new file mode 100644 index 0000000..f5abbf2 --- /dev/null +++ b/plugins/vesc/tests/test_reader.py @@ -0,0 +1,178 @@ +"""Synthetic protocol and ownership tests; never opens a real serial port.""" +import base64 +import binascii +from datetime import datetime, timedelta, timezone +import json +from pathlib import Path +import struct +import sys +import tempfile +import unittest +import uuid + +sys.path.insert(0, str(Path(__file__).resolve().parents[1])) +sys.path.insert(0, str(Path(__file__).resolve().parents[3] / "src")) +from runtime import SCHEMA +from runtime.protocol import Decoder, firmware, request, values +from runtime.serial import Attachment +from runtime.service import Service + + +def frame(payload): + header = bytes([2, len(payload)]) if len(payload) < 256 else b"\x03" + len(payload).to_bytes(2, "big") + return header + payload + binascii.crc_hqx(payload, 0).to_bytes(2, "big") + b"\x03" + + +def fw(index=1): + return b"\x00\x06\x06SYNTHETIC\x00" + bytes([index]) * 12 + b"\x00\x00\x00\x00" + + +def telemetry(): + return b"\x04" + struct.pack(">hhiiiihihiiiiiiB", 215, 190, -123, 456, 0, 0, 123, 600, 481, + 100, 0, 200, 0, 30, 30, 0) + + +class ProtocolTests(unittest.TestCase): + def test_transmit_has_no_motor_or_write_escape_hatch(self): + for code in range(256): + if code in (0, 4, 14, 17, 31, 62): + self.assertEqual(Decoder().feed(request(code)), [bytes([code])]) + else: + with self.assertRaises(ValueError): request(code) + for value in (True, b"\0", "0", -1, 256): + with self.assertRaises(ValueError): request(value) + + def test_fragmented_and_combined_frames(self): + samples = [fw(), bytes([14]) + bytes(range(256)) * 4, telemetry()] + decoder = Decoder(); actual = [] + for byte in b"noise" + b"".join(map(frame, samples)): + actual += decoder.feed(bytes([byte])) + self.assertEqual(actual, samples) + + def test_crc_and_bounds(self): + bad = bytearray(frame(fw())); bad[-2] ^= 1 + self.assertEqual(Decoder().feed(bad), []) + self.assertEqual(Decoder().feed(b"\x04\xff\xff\xff" + frame(fw())), [fw()]) + with self.assertRaises(ValueError): Decoder().feed(bytes(30000)) + + def test_identity_requires_uuid_and_bounded_name(self): + self.assertEqual(firmware(fw())["uuid"], "01" * 12) + for data in (b"", fw()[:5], fw()[:20], b"\0\6\6" + b"x" * 150, fw(0)): + with self.assertRaises(ValueError): firmware(data) + + def test_telemetry_scales_signed_values_and_truncation(self): + result = values(telemetry()) + self.assertEqual(result["motor_current_a"], -1.23) + self.assertEqual(result["input_voltage_v"], 48.1) + self.assertEqual(result["erpm"], 600) + self.assertNotIn("timeout", result) + for length in range(54): + with self.assertRaises(ValueError): values(telemetry()[:length]) + + +class FakeLink: + instances = [] + identities = {} + + def __init__(self, attachment): + self.attachment = attachment; self.commands = []; self.closed = False + self.instances.append(self) + + def query(self, code, timeout=2): + request(code) + self.commands.append(code) + if code == 0: return fw(self.identities.get(self.attachment.usb, int(self.attachment.address))) + if code == 4: return telemetry() + return bytes([code]) + b"\x12\x34\x56\x78opaque-config" + + def close(self): + self.closed = True + + +class ServiceTests(unittest.TestCase): + def setUp(self): + self.temp = tempfile.TemporaryDirectory() + self.attachments = [Attachment("1-2", "1", "ttyACM0", "12"), Attachment("1-3", "2", "ttyACM1", "12")] + FakeLink.instances = []; FakeLink.identities = {} + self.service = Service(self.temp.name, lambda: self.attachments, FakeLink) + self.service.scan() + + def tearDown(self): self.temp.cleanup() + + def command(self, item=None, action="vesc.telemetry.read"): + item = item or self.service.inventory("node_synthetic")["items"][0] + now = datetime.now(timezone.utc); identifier = "op_" + uuid.uuid4().hex + return {"api_version": SCHEMA, "kind": "OperationRequest", "operation_id": identifier, + "idempotency_key": identifier, "session": {"session_id": item["snapshot"]["context"]["session_id"], "device_id": item["id"]}, + "requested_at": now.isoformat(), "deadline_at": (now + timedelta(seconds=60)).isoformat(), + "action_id": action, "parameters": {}} + + def test_two_attachments_promote_independently(self): + items = self.service.inventory("node_synthetic")["items"] + self.assertEqual(len({i["id"] for i in items}), 2) + self.assertTrue(all(i["id"] != i["attachment_id"] and i["verified"] for i in items)) + result = self.service.execute(self.command(items[1])) + self.assertEqual(result["state"], "complete") + self.assertEqual(FakeLink.instances[0].commands, [0]) + self.assertEqual(FakeLink.instances[1].commands, [0, 0, 4]) + + def test_uuid_collision_never_aliases_a_controller(self): + FakeLink.identities = {"1-2": 1, "1-3": 1} + for device in self.service.devices.values(): device.close() + self.service.scan() + items = self.service.inventory("node_synthetic")["items"] + self.assertEqual(len({i["id"] for i in items}), 2) + self.assertTrue(all(not i["verified"] for i in items)) + with self.assertRaises(ValueError): self.service.execute(self.command(items[0])) + + def test_reconnect_invalidates_old_session_but_retains_uuid(self): + old = self.service.inventory("node_synthetic")["items"][0]; command = self.command(old) + self.attachments = self.attachments[1:]; self.service.scan() + self.assertTrue(FakeLink.instances[0].closed) + FakeLink.identities["1-2"] = 1 + self.attachments.append(Attachment("1-2", "3", "ttyACM4", "12")); self.service.scan() + current = next(i for i in self.service.inventory("node_synthetic")["items"] if i["id"] == old["id"]) + self.assertNotEqual(current["snapshot"]["context"]["session_id"], old["snapshot"]["context"]["session_id"]) + with self.assertRaises(ValueError): self.service.execute(command) + + def test_receipt_replay_never_repeats_serial_query(self): + command = self.command(); first = self.service.execute(command) + before = list(FakeLink.instances[0].commands) + self.assertEqual(self.service.execute(command), first) + self.assertEqual(FakeLink.instances[0].commands, before) + command["action_id"] = "vesc.config.backup" + with self.assertRaises(ValueError): self.service.execute(command) + + def test_native_process_exit_invalidates_session_before_reconnection(self): + old = self.service.inventory("node_synthetic")["items"][0] + command = self.command(old) + process = FakeLink.instances[0] + process.alive = False + self.service.scan() + current = next(i for i in self.service.inventory("node_synthetic")["items"] if i["id"] == old["id"]) + self.assertTrue(process.closed) + self.assertNotEqual(current["snapshot"]["context"]["session_id"], old["snapshot"]["context"]["session_id"]) + with self.assertRaises(ValueError): self.service.execute(command) + + def test_backup_is_raw_hashed_and_bound_to_identity(self): + result = self.service.execute(self.command(action="vesc.config.backup")) + self.assertEqual(result["state"], "complete") + value = result["result"] + self.assertFalse(value["decoded"]) + self.assertEqual(base64.b64decode(value["configs"]["motor"]["payload"])[0], 14) + backups = list(Path(self.temp.name).glob("backup_*.json")) + self.assertEqual(json.loads(backups[0].read_text()), value) + self.assertEqual(backups[0].stat().st_mode & 0o777, 0o600) + self.assertEqual(FakeLink.instances[0].commands, [0, 0, 14, 17, 0]) + + def test_arbitrary_writes_parameters_and_expired_requests_rejected(self): + for action in ("start", "stop", "settings.apply", "raw", "firmware.write"): + with self.assertRaises(ValueError): self.service.execute(self.command(action=action)) + command = self.command(); command["parameters"] = {"packet": "anything"} + with self.assertRaises(ValueError): self.service.execute(command) + command = self.command(); command["deadline_at"] = command["requested_at"] + with self.assertRaises(ValueError): self.service.execute(command) + self.assertTrue(all(link.commands == [0] for link in FakeLink.instances)) + + +if __name__ == "__main__": unittest.main() diff --git a/plugins/vesc/tests/test_receiver.py b/plugins/vesc/tests/test_receiver.py new file mode 100644 index 0000000..c1c657f --- /dev/null +++ b/plugins/vesc/tests/test_receiver.py @@ -0,0 +1,75 @@ +"""Firmware neutral-band regression and retained native failure evidence.""" +import json +import struct +import unittest + +import test_motor_test +from test_motor_test import configuration +from runtime.configuration import decode +from runtime.receiver import active, neutral_band + + +class ReceiverTests(unittest.TestCase): + def setUp(self): + self.case=test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters') + self.case.setUp(); self.addCleanup(self.case.tearDown) + + def offset(self, device, level, band=None): + original=device.link.query + def query(code,timeout=2): + if code==31:return bytes([31])+struct.pack('>ii',int(level*1e6),1466000) + raw=original(code,timeout) + if code==17 and band is not None: + return configuration('application',{**decode(raw,'application'),'app_ppm_conf.hyst':band}) + return raw + device.link.query=query + + def test_inside_deadband_allows_test_without_changing_ppm_configuration(self): + c=self.case + for device in c.devices:self.offset(device,-.066) + before=[d.link.query(17) for d in c.devices] + result=c.service.execute(c.command_for_pulse()) + self.assertEqual(result['state'],'complete',result) + self.assertEqual(result['result']['outcome'],'duration') + self.assertFalse(c.service.motor.latched) + self.assertEqual(before,[d.link.query(17) for d in c.devices]) + + def test_each_peer_uses_its_own_fresh_band_and_active_input_blocks_motion(self): + c=self.case + for device in c.devices:self.offset(device,-.066) + self.assertEqual(c.service.execute(c.command_for_pulse())['state'],'complete') + c.sent.clear() + self.offset(c.devices[1],-.066,.05) + result=c.service.execute(c.command_for_pulse()) + self.assertEqual(result['state'],'error') + self.assertTrue(c.service.motor.latched) + self.assertEqual(c.sent,[]) + + def test_unknown_band_and_invalid_input_do_not_assume_neutral(self): + with self.assertRaises(ValueError):self.case.service.motor.receiver_active('missing',0) + for level,band in [(float('nan'),.15),(0,float('nan')),(0,0),(0,.8)]: + with self.assertRaises(ValueError):active(level,band) + self.assertFalse(active(.15,.15)) + self.assertTrue(active(-.150001,.15)) + + def test_native_read_and_preflight_failures_keep_transport_diagnostics(self): + c=self.case + for action,code in [('vesc.input.read',31),('vesc.motor.pulse',17)]: + with self.subTest(action=action): + device=c.devices[0]; original=device.link.query + trace={'command':code,'stage':'native_response','transport':{'request_emitted':True,'packets_received':0}} + def query(actual,timeout=2): + if actual==code: + error=OSError('native timeout');error.native_rpc=trace;error.native_history=[trace] + raise error + return original(actual,timeout) + device.link.query=query + command=c.command_for_pulse() if action=='vesc.motor.pulse' else c.command(action=action) + result=c.service.execute(command) + self.assertEqual(result['state'],'error') + self.assertEqual(result['result']['failure']['native_rpc'],trace) + saved=json.loads((c.service.root/(command['operation_id']+'.json')).read_text()) + self.assertEqual(saved['receipt'],result) + self.assertEqual(c.service.execute(command),result) + self.assertEqual(c.sent,[]) + device.link.query=original diff --git a/plugins/vesc/tests/test_remote_control.py b/plugins/vesc/tests/test_remote_control.py new file mode 100644 index 0000000..cb5abe9 --- /dev/null +++ b/plugins/vesc/tests/test_remote_control.py @@ -0,0 +1,307 @@ +import unittest +from runtime.remote_control import InputLease + +def envelope(identifier='a'*32,seq=1,**kw): + return dict(id=identifier,sequence=seq,ttl_ms=300,left=1,right=-1, + settings=dict(standstill_confirmed=True,current_a=30,max_erpm=2000),**kw) + +class LeaseTests(unittest.TestCase): + def setUp(self): + self.now=0 + self.lease=InputLease(lambda:self.now) + + def test_no_duplicate_renewal_no_late_resume(self): + self.assertTrue(self.lease.accept(envelope())) + self.now=.2;self.assertFalse(self.lease.accept(envelope())) + self.now=.301;self.assertFalse(self.lease.live()) + self.assertFalse(self.lease.accept(envelope(seq=2))) + self.assertFalse(self.lease.live()) + + def test_stop_is_terminal_even_with_newer_frames(self): + self.lease.accept(envelope());self.lease.stop() + self.assertFalse(self.lease.accept(envelope(seq=20))) + self.assertEqual(self.lease.demand,(0,0)) + + def test_identity_change_stops_instead_of_stealing(self): + self.lease.accept(envelope()) + self.assertFalse(self.lease.accept(envelope('b'*32))) + self.assertFalse(self.lease.live()) + + def test_invalid_limits_and_nan(self): + for key,value in [('ttl_ms',401),('ttl_ms',0),('left',float('nan')),('right',2),('sequence',True)]: + item=envelope();item[key]=value + with self.subTest(key=key,value=value),self.assertRaises(ValueError):self.lease.accept(item) + +from types import SimpleNamespace +from unittest.mock import patch +import threading +from runtime.remote_control import ControlEnded, RemoteControl + + +class PreparationHandoffTests(unittest.TestCase): + """The observer and control worker share one hardware owner, not a queue.""" + def setUp(self): + self.now = [0.] + self.attempted = threading.Event() + self.operation = threading.Lock() + self.operation.acquire() + case = self + + class ObservedLock: + def acquire(self, *args, **kwargs): + case.attempted.set() + return case.operation.acquire(*args, **kwargs) + + def release(self): + case.operation.release() + + self.calls = [] + + def run(*args, **kwargs): + self.calls.append('prepare') + raise ControlEnded('synthetic completion') + + profile = {'layout': '1x1', 'revision': 1, 'bindings': { + 'left.1': {'device_id': 'left'}, 'right.1': {'device_id': 'right'}}} + service = SimpleNamespace(operation_lock=ObservedLock(), lock=threading.Lock(), + motor=SimpleNamespace(run=run), drive=SimpleNamespace(value=profile), + devices={'left': SimpleNamespace(link=object()), 'right': SimpleNamespace(link=object())}) + self.remote = RemoteControl(service) + self.remote.lease = InputLease(lambda: self.now[0]) + self.relay = 'b' * 32 + self.remote.feed({'watch': True, 'command': None, 'relay_id': self.relay}) + + def start(self): + self.remote.feed({'watch': True, 'command': envelope(), 'relay_id': self.relay}) + self.assertTrue(self.attempted.wait(1)) + + def finish(self): + self.operation.release() + self.remote.thread.join(1) + self.assertFalse(self.remote.thread.is_alive()) + + def tearDown(self): + self.remote.lease.stop() + if self.operation.locked(): + self.operation.release() + if self.remote.thread: + self.remote.thread.join(1) + + def test_existing_read_finishes_before_preparation(self): + self.start() + self.assertEqual(self.remote.state, 'preparing') + self.assertEqual(self.calls, []) + self.finish() + self.assertEqual(self.calls, ['prepare']) + self.assertEqual(self.remote.state, 'stopped') + self.assertFalse(self.operation.locked()) + + def test_stop_while_waiting_never_starts_preparation(self): + self.start() + self.remote.feed({'watch': True, 'command': None, 'relay_id': self.relay}) + self.finish() + self.assertEqual(self.calls, []) + self.assertEqual(self.remote.state, 'stopped') + + def test_expired_input_does_not_start_when_lock_is_released(self): + self.start() + self.now[0] = .301 + self.finish() + self.assertEqual(self.calls, []) + self.assertFalse(self.remote.lease.live()) + + def test_long_operation_does_not_queue_preparation(self): + self.start() + self.remote.thread.join(1) + self.assertFalse(self.remote.thread.is_alive()) + self.assertEqual(self.calls, []) + self.assertEqual(self.remote.state, 'fault') + self.assertTrue(self.operation.locked()) + + def test_observer_yields_to_waiting_control_worker(self): + self.start() + self.attempted.clear() + self.remote.observe() + # The observer does not even try to reacquire ownership. + # Its test devices intentionally have no serial read methods. + self.assertEqual(self.calls, []) + self.finish() + self.assertEqual(self.calls, ['prepare']) + +class DriveBoundaryTests(unittest.TestCase): + """Synthetic two-controller run: verify the actual output loop and cleanup.""" + def run_drive(self, scenario, *, broken_read=False, through_prepare=False, minimum_erpm=900): + now=[0.]; logs=[]; restored=[] + profile={'layout':'1x1','revision':1,'bindings':{ + 'left.1':{'device_id':'left','uuid':'left'}, + 'right.1':{'device_id':'right','uuid':'right'}}} + service=SimpleNamespace(drive=SimpleNamespace(value=profile)) + remote=RemoteControl(service) + remote._publish=lambda *args:None + remote.lease=InputLease(lambda:now[0]); remote.lease.accept(envelope()) + remote.lease.demand=(0,0) + def value():return dict(fault_code=0,input_voltage_v=48,mos_temperature_c=25, + motor_current_a=0,input_current_a=0,erpm=0,duty=0,tachometer=0) + class Link: + def __init__(self,name):self.name=name + def query(self,code,timeout): + if broken_read and self.name=='right' and now[0]>=.2:raise TimeoutError('lost right controller') + if code==4: + result=value() + if scenario=='coasting' and self.name=='right' and .4<=now[0]<.8:result['erpm']=1000 + return result + return {'level':.8 if scenario=='receiver' and .2<=now[0]<.5 else 0} + def test_command(self,name):logs.append((now[0],self.name,name,0)) + def test_speed(self,rpm):logs.append((now[0],self.name,'rpm',rpm)) + devices=[SimpleNamespace(id=name,link=Link(name)) for name in ('left','right')] + owner=SimpleNamespace(stop=threading.Event(),latched=False,active=False,mode=None) + def state(s):owner.latched=s=='rc' + owner.state=state + owner.receiver_active=lambda _,level:abs(level)>.15 + owner.limits=SimpleNamespace(apply=lambda d,*a:dict(l_current_max=35,l_max_erpm=100000,l_min_erpm=-100000,l_max_duty=.95, + s_pid_min_erpm=minimum_erpm[d.id] if isinstance(minimum_erpm,dict) else minimum_erpm),restore=lambda d:restored.append(d.id)) + def sleep(delta): + now[0]+=delta + if now[0]>=2:owner.stop.set() + if remote.lease.live(): + if scenario!='expire': remote.lease.until=now[0]+.4 + remote.lease.demand=((-1,-1) if scenario=='reverse' and now[0]>=.4 else (1,1)) + if scenario=='small': remote.lease.demand=(.2,-.2) + if scenario=='turn': remote.lease.demand=(-1,1) + if scenario=='release' and now[0]>=.4: remote.lease.demand=(0,0) + if scenario in ('turn-forward','coasting'): + remote.lease.demand=(-1,1) if now[0]<.4 else (1,1) + if scenario=='paused-reverse': + remote.lease.demand=(1,1) if now[0]<.4 else (0,0) if now[0]<1.2 else (-1,-1) + if scenario=='cancel-reverse': + remote.lease.demand=(-1,-1) if .4<=now[0]<.6 else (1,1) + owner.sleep=sleep + command={'parameters':{'current_a':30,'erpm':2000}} + originals={d.id:{'motor':b'config'} for d in devices} + service.motor=owner;service.operation_lock=threading.Lock();service.lock=threading.Lock() + service.devices={d.id:d for d in devices} + owner.run=lambda command,devices,target,remote:remote.drive(owner,command,devices,devices,originals,lambda:None) + error=None + with patch('runtime.remote_control.time.monotonic',lambda:now[0]),patch('runtime.remote_control.values',lambda v:v),patch('runtime.remote_control.ppm',lambda v:v): + try: + if through_prepare: remote._prepare(envelope()) + else: remote.drive(owner,command,devices,devices,originals,lambda:None) + except (ValueError,TimeoutError) as e:error=e + return logs,restored,remote,owner,error + + def test_start_enters_each_configured_pid_range_without_dead_ramp(self): + log,_,_,_,error=self.run_drive('forward',minimum_erpm={'left':900,'right':1100.1}) + self.assertIsNone(error) + for name,minimum in [('left',900),('right',1101)]: + commands=[v for v in log if v[1]==name and v[2]=='rpm'] + self.assertLessEqual(commands[0][0],.2) + self.assertEqual(commands[0][3],minimum) + self.assertTrue(all(minimum<=v[3]<=2000 for v in commands)) + for before,after in zip(commands,commands[1:]): + self.assertLessEqual(after[3]-before[3],600*(after[0]-before[0])+1e-6) + + def test_turn_starts_with_opposite_signs_at_pid_threshold(self): + log,_,_,_,error=self.run_drive('turn') + self.assertIsNone(error) + for name,sign in [('left',-1),('right',1)]: + first=next(v for v in log if v[1]==name and v[2]=='rpm') + self.assertEqual(first[3],sign*900) + + def test_subthreshold_request_is_released_never_amplified(self): + log,_,_,_,error=self.run_drive('small') + self.assertIsNone(error) + self.assertFalse(any(v[2]=='rpm' for v in log)) + + def test_release_still_has_no_ramp_or_minimum_speed(self): + log,_,_,_,error=self.run_drive('release') + self.assertIsNone(error) + self.assertTrue(any(v[2]=='rpm' for v in log)) + self.assertFalse(any(v[2]=='rpm' and v[0]>=.4 for v in log)) + + def test_invalid_or_unreachable_pid_threshold_never_claims_output(self): + for minimum in [-1,float('nan'),float('inf'),2000.1]: + with self.subTest(minimum=minimum): + log,_,_,_,error=self.run_drive('forward',minimum_erpm=minimum) + self.assertIsInstance(error,ValueError) + self.assertFalse(any(v[2] in ('rpm','claim') for v in log)) + + def test_turn_to_forward_releases_both_and_restarts_in_same_cycle(self): + log,_,_,_,error=self.run_drive('turn-forward') + self.assertIsNone(error) + restarts={name:next(v[0] for v in log if v[1]==name and v[2]=='rpm' and v[0]>=.4) + for name in ('left','right')} + self.assertEqual(restarts['left'],restarts['right']) + self.assertGreaterEqual(restarts['left'],.9) + self.assertFalse(any(v[2]=='rpm' and .4<=v[0]0 for v in log if v[2]=='rpm' and v[0]>=restarts['left'])) + + def test_shared_reversal_waits_for_every_motor_to_be_quiet(self): + log,_,_,_,error=self.run_drive('coasting') + self.assertIsNone(error) + first=next(v[0] for v in log if v[2]=='rpm' and v[0]>=.4) + self.assertGreaterEqual(first,1.3) + self.assertFalse(any(v[2]=='rpm' and .4<=v[0]<1.3 for v in log)) + + def test_neutral_pause_counts_before_reversal_command(self): + log,_,_,_,error=self.run_drive('paused-reverse') + self.assertIsNone(error) + first=next(v[0] for v in log if v[2]=='rpm' and v[3]<0) + self.assertLess(first,1.4) + + def test_cancelled_reversal_never_emits_old_direction(self): + log,_,_,_,error=self.run_drive('cancel-reverse') + self.assertIsNone(error) + self.assertFalse(any(v[2]=='rpm' and v[3]<0 for v in log)) + self.assertTrue(any(v[2]=='rpm' and v[0]>=.6 for v in log)) + + def test_expired_browser_lease_releases_every_controller(self): + log,restored,remote,owner,error=self.run_drive('expire') + self.assertIsNotNone(error) + self.assertFalse(any(row[2]=='rpm' and row[0]>=.3 for row in log)) + self.assertEqual(set(restored),{'left','right'}) + self.assertTrue(remote.release_confirmed) + self.assertTrue(any(row[2]=='rpm' for row in log)) + for name in ('left','right'):self.assertEqual([v[2] for v in log if v[1]==name][-1],'release') + + def test_terminal_lease_reports_stopped_after_verified_cleanup(self): + log,restored,remote,owner,error=self.run_drive('expire',through_prepare=True) + self.assertIsNone(error) + self.assertEqual(remote.state,'stopped') + self.assertIsNone(remote.message) + self.assertTrue(remote.release_confirmed) + self.assertTrue(any(row[2]=='rpm' for row in log)) + self.assertEqual(set(restored),{'left','right'}) + self.assertFalse(remote.service.operation_lock.locked()) + + def test_session_wrapper_preserves_unconfirmed_release_fault(self): + _,_,remote,owner,error=self.run_drive('lost',broken_read=True,through_prepare=True) + self.assertEqual(remote.state,'fault') + self.assertFalse(remote.release_confirmed) + self.assertIn('не подтверждено',remote.message) + self.assertFalse(remote.service.operation_lock.locked()) + + def test_receiver_first_gesture_holds_zero_until_neutral(self): + log,restored,remote,owner,error=self.run_drive('receiver') + self.assertIsNone(error) + self.assertTrue(any(v[2]=='rpm' for v in log)) + self.assertFalse(any(v[2]=='rpm' and v[0]>=.2 for v in log)) + self.assertTrue(owner.latched) + self.assertEqual(remote.state,'receiver') + self.assertGreaterEqual(max(v[0] for v in log),.9) + + def test_reversal_has_zero_interval(self): + log,_,_,_,error=self.run_drive('reverse') + self.assertIsNone(error) + first_negative=min(v[0] for v in log if v[2]=='rpm' and v[3]<0) + self.assertGreaterEqual(first_negative,.9) + self.assertFalse(any(v[2]=='rpm' and .4<=v[0]<.9 for v in log)) + + def test_one_port_failure_stops_both_and_does_not_claim_confirmed_release(self): + log,restored,remote,owner,error=self.run_drive('lost',broken_read=True) + self.assertIsInstance(error,TimeoutError) + self.assertFalse(any(v[2]=='rpm' and v[0]>=.2 for v in log)) + self.assertFalse(remote.release_confirmed) + self.assertTrue(owner.latched) + self.assertEqual(remote.state,'fault') + self.assertIn('не подтверждено',remote.message) + self.assertEqual(set(restored),{'left','right'}) diff --git a/plugins/vesc/tests/test_reverse_speed.py b/plugins/vesc/tests/test_reverse_speed.py new file mode 100644 index 0000000..1faef0c --- /dev/null +++ b/plugins/vesc/tests/test_reverse_speed.py @@ -0,0 +1,136 @@ +"""Signed upstream speed commands retain timing, preflight and RC interlocks.""" +import struct +import unittest + +import test_speed_and_hall +import test_group_test +from test_motor_test import configuration +from runtime.configuration import decode +from runtime.protocol import Decoder, speed_packet +from runtime.speed_hold import SpeedHold + + +class ReverseTests(unittest.TestCase): + def setUp(self): + self.rig = test_speed_and_hall.RunTests('test_thirty_seconds_excludes_ramp_and_settle_and_restores_limits') + self.rig.setUp() + self.addCleanup(self.rig.doCleanups) + self.case = self.rig.case + + def command(self): + command = self.rig.run_command() + command['parameters']['erpm'] = -3000 + return command + + def test_reverse_holds_thirty_seconds_with_signed_ramp_and_restores(self): + result = self.case.service.execute(self.command())['result'] + self.assertEqual(result['outcome'], 'duration', result) + self.assertGreaterEqual(result['rotation_s'], 30) + self.assertGreater(result['samples'][-1]['at'], 35) + speeds = [v for _, v in self.rig.speeds] + self.assertEqual(speeds[0], -1) + self.assertEqual(speeds[-1], -3000) + self.assertTrue(all(-3000 <= v < 0 for v in speeds)) + self.assertTrue(all(-31 <= b-a <= 0 for a, b in zip(speeds, speeds[1:]))) + self.assertTrue(result['release_confirmed']) + self.assertTrue(result['limits_restored']) + self.assertEqual(self.rig.configs, self.rig.originals) + self.assertEqual(len(result['preflight']['samples']), 20) + + def test_missing_false_or_nonboolean_stop_confirmation_never_writes(self): + for confirmation in (None, False, 1, 'true'): + command = self.command() + if confirmation is None: del command['parameters']['standstill_confirmed'] + else: command['parameters']['standstill_confirmed'] = confirmation + with self.assertRaises(ValueError): self.case.service.execute(command) + self.assertEqual(self.rig.speeds, []) + self.assertEqual(self.case.sent, []) + + def test_unsigned_size_bounds_are_checked_for_both_directions(self): + for erpm in (0, 299, -299, 3001, -3001, True, float('nan'), float('inf')): + command = self.command(); command['parameters']['erpm'] = erpm + with self.assertRaises(ValueError): self.case.service.execute(command) + self.assertEqual(self.rig.speeds, []) + + def test_reverse_respects_configured_negative_limit(self): + target = self.case.devices[0] + motor = decode(self.rig.configs[target.id], 'motor') + self.rig.configs[target.id] = configuration('motor', {**motor, 'l_min_erpm': -1000}) + self.assertEqual(self.case.service.execute(self.command())['state'], 'error') + self.assertEqual(self.rig.speeds, []) + + def test_sensorless_idle_observation_rejects_modulation_above_one_quantum(self): + peer = self.case.devices[1] + motor = decode(self.rig.configs[peer.id], 'motor') + self.rig.configs[peer.id] = configuration('motor', {**motor, 'foc_sensor_mode': 0}) + original = peer.link.query + reads = 0 + def query(code, timeout=2): + nonlocal reads + raw = original(code, timeout) + if code == 4: + reads += 1 + raw = raw[:23] + struct.pack('>i', -160) + raw[27:] + if reads >= 6: raw = raw[:21] + struct.pack('>h', 2) + raw[23:] + return raw + peer.link.query = query + result = self.case.service.execute(self.command()) + self.assertEqual(result['state'], 'error') + self.assertEqual(self.rig.speeds, []) + self.assertEqual(self.rig.sets, []) + + def test_attended_sensorless_peer_drift_allows_test_and_explicit_release(self): + peer = self.case.devices[1] + motor = decode(self.rig.configs[peer.id], 'motor') + self.rig.configs[peer.id] = configuration('motor', {**motor, 'foc_sensor_mode': 0}) + query = peer.link.query + def read(code, timeout=2): + raw = query(code, timeout) + return raw[:23] + struct.pack('>i', -160) + raw[27:] if code == 4 else raw + peer.link.query = read + self.case.service.motor.state('rc') + release = self.case.command_for_pulse() + release['action_id'] = 'vesc.control.release' + release['parameters']['standstill_confirmed'] = True + receipt = self.case.service.execute(release) + self.assertEqual(receipt['state'], 'complete', receipt) + self.assertFalse(self.case.service.motor.latched) + self.assertEqual(self.rig.speeds, []) + result = self.case.service.execute(self.command())['result'] + self.assertEqual(result['outcome'], 'duration', result) + self.assertTrue(any(s['values']['erpm'] == -160 for s in result['preflight']['samples'])) + + def test_reverse_rc_preemption_latches_without_restart(self): + speed = self.case.devices[0].link.test_speed + def send(value): + speed(value) + self.case.changed = True + self.case.devices[0].link.test_speed = send + result = self.case.service.execute(self.command())['result'] + self.assertEqual(len(self.rig.speeds), 1) + self.assertTrue(self.case.service.motor.latched) + self.assertEqual(result['rotation_s'], 0) + self.assertTrue(result['release_confirmed']) + + +class ReverseClockTests(unittest.TestCase): + def test_wrong_direction_never_counts_even_with_changing_tachometer(self): + hold = SpeedHold(-3000, 30, 0) + for i in range(151): _, _, error = hold.update(i/10, {'erpm':3000, 'tachometer':i}) + self.assertEqual(hold.rotation_s, 0) + self.assertIsNone(hold.hold_started) + self.assertIn('не вышел', error) + + def test_signed_wire_is_int32_not_absolute_value(self): + self.assertEqual(Decoder().feed(speed_packet(-3000)), [bytes([8])+struct.pack('>i', -3000)]) + + def test_common_reverse_holds_all_motors_and_restores(self): + rig = test_group_test.GroupTests('test_pair_and_four_motors_run_one_common_interval_and_restore') + rig.setUp(); self.addCleanup(rig.doCleanups) + command = rig.command(); command['parameters']['erpm'] = -3000 + result = rig.case.service.execute(command)['result'] + self.assertEqual(result['outcome'], 'duration', result) + self.assertGreaterEqual(result['rotation_s'], 3) + self.assertTrue(all(-3000 <= v < 0 for _, v in rig.commands)) + self.assertTrue(result['limits_restored']) + self.assertEqual(rig.configs, rig.originals) diff --git a/plugins/vesc/tests/test_speed_and_hall.py b/plugins/vesc/tests/test_speed_and_hall.py new file mode 100644 index 0000000..320b832 --- /dev/null +++ b/plugins/vesc/tests/test_speed_and_hall.py @@ -0,0 +1,206 @@ +"""Fault injection for true hold time, volatile limits and native Hall lifecycle.""" +import struct +import unittest + +import test_motor_test +from test_motor_test import configuration +from runtime.configuration import decode +from runtime.protocol import Decoder, speed_packet, hall_packet +from runtime.temporary_limits import FIELDS, packet +from runtime.speed_hold import SpeedHold +from runtime.hall_detection import parse_result + + +class RunTests(unittest.TestCase): + def setUp(self): + self.case = test_motor_test.PulseTests('test_fixed_wire_commands_no_broadcast_and_no_parameters') + self.case.setUp() + self.addCleanup(self.case.tearDown) + c = self.case + self.configs = {} + self.speeds = [] + self.moving = True + self.tacho = 0 + self.hall_started = None + self.sets = [] + for device in c.devices: + self.configs[device.id] = configuration('motor', {**decode(c.motor,'motor'), + 'l_current_min':-60,'l_current_max_scale':1,'l_current_min_scale':1}) + original = device.link.query + def query(code,timeout=2,original=original,device=device): + if code == 14: return self.configs[device.id] + raw = original(code,timeout) + if code == 4 and device is c.devices[0]: + if self.hall_started is not None and c.clock.now - self.hall_started >= 12: + device.link.hall_result = bytes([28,255,1,34,67,100,134,167,255,0]) + if self.moving and self.speeds: + self.tacho += 6 + rpm = round(self.speeds[-1][1]) + raw = raw[:23]+struct.pack('>i',rpm)+raw[27:] + raw = raw[:45]+struct.pack('>ii',self.tacho,self.tacho)+raw[53:] + return raw + device.link.query = query + def set_limits(config,device=device): + self.sets.append((device.id,config)) + old = decode(self.configs[device.id],'motor') + self.configs[device.id] = configuration('motor',{**old,**{k:config[k] for k in FIELDS}}) + device.link.set_temporary_limits = set_limits + device.link.test_speed = lambda speed,device=device:self.speeds.append((device.id,speed)) + device.link.hall_result = None + device.link.hall_pending = False + def hall(device=device): + self.hall_started = c.clock.now + device.link.hall_pending = True + device.link.detect_hall = hall + self.originals = dict(self.configs) + + def run_command(self): + command = self.case.command_for_pulse() + command['action_id'] = 'vesc.motor.run' + command['parameters'].update(erpm=1200,current_a=30,duration_s=30,standstill_confirmed=True) + from datetime import datetime,timedelta + command['deadline_at']=(datetime.fromisoformat(command['requested_at'])+timedelta(seconds=90)).isoformat() + return command + + def test_thirty_seconds_excludes_ramp_and_settle_and_restores_limits(self): + result=self.case.service.execute(self.run_command())['result'] + self.assertEqual(result['outcome'],'duration',result['outcome']) + self.assertGreaterEqual(result['rotation_s'],30) + self.assertLess(result['rotation_s'],30.1) + self.assertGreater(result['samples'][-1]['at'],32) + self.assertTrue(result['release_confirmed']) + self.assertTrue(result['limits_restored']) + self.assertEqual(self.configs,self.originals) + self.assertEqual({device for device,_ in self.speeds},{self.case.devices[0].id}) + applied=self.sets[0][1] + self.assertAlmostEqual(applied['l_current_max']*applied['l_current_max_scale'],30) + self.assertAlmostEqual(applied['l_current_min']*applied['l_current_min_scale'],-30) + self.assertFalse(list(self.case.service.root.glob('limits_*.json'))) + + def test_stationary_motor_never_counts_command_time_as_rotation(self): + self.moving=False + result=self.case.service.execute(self.run_command())['result'] + self.assertEqual(result['rotation_s'],0) + self.assertIn('не вышел',result['outcome']) + self.assertGreaterEqual(result['samples'][-1]['at'],15) + self.assertTrue(result['limits_restored']) + + def test_lost_ack_after_limit_write_restores_before_any_speed_command(self): + target=self.case.devices[0] + original=target.link.set_temporary_limits + def send(config): + original(config) + if len(self.sets)==1:raise TimeoutError('lost ACK after applying') + target.link.set_temporary_limits=send + result=self.case.service.execute(self.run_command())['result'] + self.assertEqual(self.speeds,[]) + self.assertTrue(result['limits_restored']) + self.assertEqual(self.configs,self.originals) + + def test_pending_limits_recovered_after_interruption_without_motor_command(self): + target=self.case.devices[0] + self.case.service.motor.limits.apply(target,self.originals[target.id],5) + self.assertTrue(self.case.service.motor.limits.pending(target)) + self.case.service.scan() + self.assertEqual(self.configs,self.originals) + self.assertEqual(self.speeds,[]) + self.assertFalse(self.case.service.motor.limits.pending(target)) + + def test_external_configuration_change_never_overwritten_by_recovery(self): + target=self.case.devices[0] + self.case.service.motor.limits.apply(target,self.originals[target.id],5) + self.configs[target.id]=configuration('motor',{**decode(self.configs[target.id],'motor'),'foc_motor_r':0.1}) + before=self.configs[target.id] + self.case.service.scan() + self.assertEqual(before,self.configs[target.id]) + self.assertTrue(self.case.service.motor.limits.pending(target)) + self.assertEqual(self.case.service.execute(self.run_command())['state'],'error') + self.assertEqual(self.speeds,[]) + + def test_native_hall_returns_measured_table_without_applying_it(self): + command=self.case.command(action='vesc.hall.measure') + command['parameters']={'rig_clear':True,'standstill_confirmed':True,'native_cycle_confirmed':True, + 'sessions':{d.id:d.session for d in self.case.devices}} + receipt=self.case.service.execute(command) + self.assertEqual(receipt['state'],'complete',receipt) + result=receipt['result'] + self.assertTrue(result['completed']) + self.assertTrue(result['measurement']['valid_six_states']) + self.assertTrue(result['configuration_restored']) + self.assertTrue(result['release_confirmed']) + self.assertFalse(result['configuration_written']) + self.assertEqual(self.configs,self.originals) + self.assertEqual(self.speeds,[]) + self.assertFalse((self.case.service.root/'hall-pending.json').exists()) + started=self.hall_started + self.assertEqual(self.case.service.execute(command),receipt) + self.assertEqual(started,self.hall_started) + + def test_native_hall_requires_its_own_explicit_confirmation(self): + command=self.case.command(action='vesc.hall.measure') + command['parameters']={'rig_clear':True,'standstill_confirmed':True,'native_cycle_confirmed':False, + 'sessions':{d.id:d.session for d in self.case.devices}} + with self.assertRaises(ValueError):self.case.service.execute(command) + self.assertIsNone(self.hall_started) + + def test_rc_preemption_releases_speed_control_and_restores_limits(self): + original=self.case.devices[0].link.test_speed + def speed(value): + original(value) + self.case.changed=True + self.case.devices[0].link.test_speed=speed + result=self.case.service.execute(self.run_command())['result'] + self.assertEqual(len(self.speeds),1) + self.assertEqual(result['rotation_s'],0) + self.assertTrue(self.case.service.motor.latched) + # Restoring while a receiver actively commands would enlarge RC torque; + # keep the lower limits until neutral, then recover without auto-start. + self.assertFalse(result['limits_restored']) + self.case.changed=False + self.case.service.scan() + self.assertEqual(self.configs,self.originals) + self.assertTrue(self.case.service.motor.latched) + self.assertEqual(len(self.speeds),1) + + def test_hall_result_timeout_latches_and_never_starts_a_second_cycle(self): + self.case.devices[0].link.detect_hall=lambda:None + command=self.case.command(action='vesc.hall.measure') + command['parameters']={'rig_clear':True,'standstill_confirmed':True,'native_cycle_confirmed':True, + 'sessions':{d.id:d.session for d in self.case.devices}} + result=self.case.service.execute(command)['result'] + self.assertFalse(result['completed']) + self.assertTrue((self.case.service.root/'hall-pending.json').exists()) + self.assertTrue(self.case.service.motor.latched) + self.assertEqual(self.case.service.execute(self.run_command())['state'],'error') + + +class HoldClockTests(unittest.TestCase): + def test_interrupted_motion_and_usb_gap_are_excluded(self): + hold=SpeedHold(1200,30,0) + for i in range(40):hold.update(i/10,{'erpm':1200,'tachometer':i}) + before=hold.rotation_s + hold.update(4.5,{'erpm':1200,'tachometer':50}) + self.assertEqual(hold.rotation_s,before) + hold.update(4.6,{'erpm':0,'tachometer':50}) + self.assertEqual(hold.rotation_s,before) + _,_,error=hold.update(6.7,{'erpm':0,'tachometer':50}) + self.assertIn('перестал удерживать',error) + + def test_speed_without_changing_tachometer_never_starts_timer(self): + hold=SpeedHold(1200,30,0) + for i in range(151):_,_,error=hold.update(i/10,{'erpm':1200,'tachometer':0}) + self.assertEqual(hold.rotation_s,0) + self.assertIsNone(hold.hold_started) + self.assertIn('не вышел',error) + + def test_exact_native_wire_no_flash_no_can_and_hall_failure(self): + self.assertEqual(Decoder().feed(speed_packet(1200)),[bytes([8])+struct.pack('>i',1200)]) + self.assertEqual(Decoder().feed(hall_packet()),[bytes([28])+struct.pack('>i',5000)]) + wire=Decoder().feed(packet(dict.fromkeys(FIELDS,1.0)))[0] + self.assertEqual(wire[:5],bytes([48,0,0,1,0])) + self.assertEqual(len(wire),45) + failure=parse_result(bytes([28,255,255,255,100,255,255,255,255,1])) + self.assertFalse(failure['valid_six_states']) + self.assertEqual(failure['observed_states'],[3]) + for value in (float('nan'),float('inf'),-3001,3001,True): + with self.assertRaises(ValueError):speed_packet(value) diff --git a/plugins/vesc/tests/test_upgrade.py b/plugins/vesc/tests/test_upgrade.py new file mode 100644 index 0000000..cc3744a --- /dev/null +++ b/plugins/vesc/tests/test_upgrade.py @@ -0,0 +1,26 @@ +"""Regression for deterministic package mtimes and root-created Python caches.""" +import os +from pathlib import Path +import py_compile +import runpy +import subprocess +import sys +import tempfile +import unittest + + +class UpgradeTests(unittest.TestCase): + def test_same_size_source_with_old_pyc_loads_new_version_after_installer_step(self): + clear = runpy.run_path(str(Path(__file__).parents[1] / "packaging/clear_runtime_cache.py"))["clear"] + with tempfile.TemporaryDirectory() as tmp: + root = Path(tmp); package = root / "runtime"; package.mkdir() + init = package / "__init__.py"; init.write_text('VERSION="0.1.0"\n'); os.utime(init,(0,0)) + py_compile.compile(str(init),doraise=True) + init.write_text('VERSION="0.2.0"\n');os.utime(init,(0,0)) + backup=root/'backup.json';backup.write_text('preserve') + code='import sys;sys.path.insert(0,sys.argv[1]);import runtime;print(runtime.VERSION)' + def version():return subprocess.check_output([sys.executable,'-I','-B','-c',code,str(root)],text=True).strip() + self.assertEqual(version(),'0.1.0') + clear(root);clear(root) + self.assertEqual(version(),'0.2.0') + self.assertEqual(backup.read_text(),'preserve') diff --git a/src/k1link/device_plugins/vesc/__init__.py b/src/k1link/device_plugins/vesc/__init__.py new file mode 100644 index 0000000..378b02a --- /dev/null +++ b/src/k1link/device_plugins/vesc/__init__.py @@ -0,0 +1 @@ +"""VESC configuration storage on Core; serial execution remains on the board.""" diff --git a/src/k1link/device_plugins/vesc/archive.py b/src/k1link/device_plugins/vesc/archive.py new file mode 100644 index 0000000..3ce43e3 --- /dev/null +++ b/src/k1link/device_plugins/vesc/archive.py @@ -0,0 +1,131 @@ +"""Immutable VESC backups, shared by Core and the packaged board plugin. + +Storage has no hardware or restore authority. Versions survive transient +operation receipt cleanup, reboots and controller disconnects. +""" +import base64 +import hashlib +import json +import re +import sqlite3 +from datetime import datetime +from pathlib import Path +from contextlib import contextmanager + + +def validate(value): + if not isinstance(value, dict) or len(json.dumps(value)) > 40000: + raise ValueError("Invalid configuration backup") + if value.get("schema") != "missioncore.vesc.config-backup/v1": + raise ValueError("Unsupported backup format") + if not re.fullmatch(r"op_[0-9a-f]{32}", value.get("operation_id", "")): + raise ValueError("Invalid backup identity") + identity = value["identity"] + uid = identity["uuid"] + if not re.fullmatch(r"[0-9a-f]{24}", uid) or int(uid, 16) == 0: + raise ValueError("Invalid controller identity") + expected = "vesc_" + hashlib.sha256(("uuid:" + uid).encode()).hexdigest()[:32] + if value.get("device_id") != expected: + raise ValueError("Backup controller mismatch") + if datetime.fromisoformat(value["observed_at"].replace("Z", "+00:00")).tzinfo is None: + raise ValueError("Backup time is missing its timezone") + if set(value["configs"]) != {"motor", "application"}: + raise ValueError("Incomplete backup") + for key, command in (("motor", 14), ("application", 17)): + blob = value["configs"][key] + data = base64.b64decode(blob["payload"], validate=True) + if (blob.get("encoding") != "base64" or not 5 <= len(data) <= 10000 + or data[0] != command or blob["bytes"] != len(data) + or blob["sha256"] != hashlib.sha256(data).hexdigest() + or blob["signature_hex"] != data[1:5].hex()): + raise ValueError("Backup integrity check failed") + return value + + +def metadata(sequence, value): + return {"sequence": sequence, "id": value["operation_id"], "device_id": value["device_id"], + "observed_at": value["observed_at"], "firmware": value["identity"]["version"], + "configs": {key: {"sha256": blob["sha256"], "bytes": blob["bytes"]} + for key, blob in value["configs"].items()}} + + +class Archive: + def __init__(self, root): + root = Path(root) + root.mkdir(mode=0o700, parents=True, exist_ok=True) + if root.is_symlink() or root.stat().st_mode & 0o077: + raise ValueError("Configuration archive must be private") + self.path = root / "configurations.sqlite3" + if self.path.is_symlink(): + raise ValueError("Invalid configuration archive path") + with self.connect() as db: + db.execute("CREATE TABLE IF NOT EXISTS versions (seq INTEGER PRIMARY KEY AUTOINCREMENT, " + "node TEXT NOT NULL, device TEXT NOT NULL, operation TEXT NOT NULL, " + "body TEXT NOT NULL, UNIQUE(node,device,operation))") + self.path.chmod(0o600) + + @contextmanager + def connect(self): + db = sqlite3.connect(self.path, timeout=10) + try: + db.execute("PRAGMA synchronous=FULL") + with db: + yield db + finally: + db.close() + + def add(self, node, value): + validate(value) + body = json.dumps(value, ensure_ascii=False, sort_keys=True, separators=(",", ":")) + with self.connect() as db: + existing = db.execute("SELECT body FROM versions WHERE node=? AND device=? AND operation=?", + (node, value["device_id"], value["operation_id"])).fetchone() + if existing: + if existing[0] != body: + raise ValueError("An immutable configuration version changed") + return + db.execute("INSERT INTO versions(node,device,operation,body) VALUES(?,?,?,?)", + (node, value["device_id"], value["operation_id"], body)) + + def listing(self, node, device, before=0): + if type(before) is not int or before < 0: + raise ValueError("Invalid archive cursor") + with self.connect() as db: + rows = db.execute("SELECT seq,body FROM versions WHERE node=? AND device=? " + "AND (?=0 OR seq 50 else None} + + def read(self, node, device, operation): + with self.connect() as db: + row = db.execute("SELECT body FROM versions WHERE node=? AND device=? AND operation=?", + (node, device, operation)).fetchone() + if row is None: + raise ValueError("Configuration version not found") + return json.loads(row[0]) + + def export(self, node, after): + if type(after) is not int or after < 0: + raise ValueError("Invalid archive cursor") + with self.connect() as db: + rows = db.execute("SELECT seq,body FROM versions WHERE node=? AND seq>? ORDER BY seq LIMIT 4", + (node, after)).fetchall() + return {"after": after, "items": [{"sequence": seq, "backup": json.loads(body)} for seq, body in rows], + "next": rows[-1][0] if rows else after} + + def receive(self, node, batch): + if not isinstance(batch, dict) or len(json.dumps(batch)) > 165000: + raise ValueError("Invalid archive batch") + items, last = batch.get("items"), batch.get("after") + if not isinstance(items, list) or len(items) > 4 or type(last) is not int or last < 0: + raise ValueError("Invalid archive batch") + for row in items: + seq = row["sequence"] + if type(seq) is not int or seq <= last: + raise ValueError("Invalid archive sequence") + self.add(node, row["backup"]) + last = seq + if batch.get("next") != last: + raise ValueError("Invalid archive acknowledgement") + return last diff --git a/src/k1link/fleet/registry.py b/src/k1link/fleet/registry.py index ded58d9..f2ee526 100644 --- a/src/k1link/fleet/registry.py +++ b/src/k1link/fleet/registry.py @@ -1,6 +1,7 @@ from __future__ import annotations import json +import logging import secrets import sqlite3 import threading @@ -36,6 +37,8 @@ class FleetRegistry: from .monitor import MonitorReceiver self.monitor = MonitorReceiver(root) + from .rover_control import RoverControl + self.rover_control = RoverControl() self.trust = CoreTrust(root) path = root / "fleet.sqlite3" if path.is_symlink(): @@ -50,6 +53,16 @@ class FleetRegistry: "node_id TEXT UNIQUE NOT NULL, body TEXT NOT NULL)" ) self.db.commit() + from k1link.device_plugins.vesc.archive import Archive + + self.vesc_archive = Archive(root / "vesc-configurations") + # Preserve pre-archive releases' completed backups before the ordinary + # short-lived operation receipts are pruned. + for row in self.rows(): + for receipt in row.get("sensor_commands", {}).values(): + if receipt.get("state") == "complete" and receipt.get("command", {}).get("action_id") == "vesc.config.backup": + with suppress(ValueError, KeyError, TypeError): + self.vesc_archive.add(row["node_id"], receipt["result"]) self.previews: dict[str, dict] = {} self.listeners: dict[str, object] = {} self.stop = threading.Event() @@ -359,7 +372,11 @@ class FleetRegistry: if not isinstance(key, Ed25519PublicKey): return 403, {"error": "Unauthorized Node"} node_id = public_id("node_", key) + entered = time.monotonic() with self.lock: + waited = time.monotonic() - entered + if waited > .025: + logging.getLogger(__name__).warning("fleet timing path=%s lock_ms=%.1f", path, waited*1000) row = next((item for item in self.rows() if item["node_id"] == node_id), None) if ( row is None @@ -390,7 +407,7 @@ class FleetRegistry: ) self.save(row) return 200, {"ok": True} - if path != "/v1/node/heartbeat": + if path not in ("/v1/node/heartbeat", "/v1/node/rover", "/v1/node/rover-stream"): return 404, {"error": "Unknown operation"} # Endpoint revisions prevent an old in-flight heartbeat or lost ack # from reversing a migration. Use the actual listener, not a claimed IP. @@ -411,11 +428,33 @@ class FleetRegistry: row["core_address"] = address row["binding"]["endpoint"] = value["core_endpoint"] row["binding"]["endpoint_revision"] = revision + if path in ("/v1/node/rover", "/v1/node/rover-stream"): + if row["enrollment"] != "paired": + return 410, {"error": "Pairing incomplete"} + if path.endswith("-stream"): + relay = value.get("relay_id") + if not isinstance(relay, str) or len(relay) != 32: + return 400, {"error": "Invalid relay"} + return 200, self.rover_control.stream(node_id, relay) + return 200, self.rover_control.exchange(node_id, value) binding = ExecutionBinding.model_validate(value["execution_binding"]) if binding.node_id != node_id or binding.platform.value != "linux": return 400, {"error": "Invalid Node inventory"} sensor_state = sensors.validate_inventory(value, node_id) sensor_response = sensors.heartbeat(row, value) + archive_ack = None + archive_started = time.monotonic() + try: + if "vesc_configurations" in value: + archive_ack = self.vesc_archive.receive(node_id, value["vesc_configurations"]) + for receipt in row.get("sensor_commands", {}).values(): + if receipt.get("state") == "complete" and receipt.get("command", {}).get("action_id") == "vesc.config.backup": + self.vesc_archive.add(node_id, receipt["result"]) + except (ValueError, KeyError, TypeError, sqlite3.Error, OSError): + # No archive acknowledgement until durable storage succeeds. + # Archive failure must never delay a control/stop response. + archive_ack = None + archive_elapsed = time.monotonic() - archive_started enrollment_response = self.device_enrollment.heartbeat(row, value) host = value.get("host") if ( @@ -441,7 +480,12 @@ class FleetRegistry: "until": time.time() + 3600, } row["binding"]["client_pem"] = self.trust.leaf(node_id, key) + save_started = time.monotonic() self.save(row) + save_elapsed = time.monotonic() - save_started + if archive_elapsed > .025 or save_elapsed > .025: + logging.getLogger(__name__).warning( + "fleet heartbeat timing archive_ms=%.1f save_ms=%.1f", archive_elapsed*1000, save_elapsed*1000) monitor_ack = None try: monitor_ack = self.monitor.submit(node_id, value.get("monitor")) @@ -449,6 +493,7 @@ class FleetRegistry: # Telemetry persistence failure must not block device control. pass return 200, { + "vesc_configurations_ack": archive_ack, "monitor_ack": monitor_ack, "ok": True, "client_pem": row["binding"]["client_pem"], diff --git a/src/k1link/fleet/sensors.py b/src/k1link/fleet/sensors.py index b6a4e7e..0103907 100644 --- a/src/k1link/fleet/sensors.py +++ b/src/k1link/fleet/sensors.py @@ -30,6 +30,8 @@ ACTIONS = { "files.list", "recovery.configure", "power.wake", + "vesc.link.check", "vesc.telemetry.read", "vesc.limits.read", + "vesc.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.layout", "vesc.drive.unassign", "vesc.motor.pulse", "vesc.motor.run", "vesc.drive.run", "vesc.hall.measure", "vesc.foc.calibrate", "vesc.motor.stop", "vesc.control.release", } MAX_INVENTORY_ITEMS = 500 MAX_SENSOR_STATE_BYTES = 3 * 1024 * 1024 diff --git a/src/k1link/fleet/transport.py b/src/k1link/fleet/transport.py index ad51aa0..dd2b00d 100644 --- a/src/k1link/fleet/transport.py +++ b/src/k1link/fleet/transport.py @@ -47,6 +47,9 @@ class NodeChannelServer(ThreadingHTTPServer): class NodeChannelHandler(BaseHTTPRequestHandler): protocol_version = "HTTP/1.1" + # Header and JSON writes must not wait for a delayed ACK on the paired + # command channel. StreamRequestHandler applies TCP_NODELAY to the socket. + disable_nagle_algorithm = True def log_message(self, *_args): pass @@ -74,6 +77,31 @@ class NodeChannelHandler(BaseHTTPRequestHandler): except (ValueError, KeyError, TypeError): self.close_connection = True status, data = 400, {"error": "Invalid request"} + if self.path == "/v1/node/rover-stream" and status == 200: + self.close_connection = True + self.send_response(200) + self.send_header("Content-Type", "application/x-ndjson") + self.send_header("Cache-Control", "no-store") + self.send_header("Connection", "close") + self.end_headers() + try: + while not self.server.registry.stop.is_set(): + self.wfile.write(json.dumps(data, allow_nan=False).encode()+b"\n") + if not data.get("watch"): + break + # Every frame rechecks the same certificate and binding. + # No queued intent and no lease renewal from a keepalive. + self.server.registry.rover_control.wait_for_intent( + value["node_id"], value["relay_id"], data.get("command")) + status, data = self.server.registry.receive( + self.connection.getpeercert(binary_form=True), self.path, + value, address=self.server.address, + ) + if status != 200: + break + except (OSError, ValueError): + pass + return encoded = json.dumps(data).encode() self.send_response(status) self.send_header("Content-Type", "application/json") diff --git a/src/k1link/web/app.py b/src/k1link/web/app.py index 0fbc3ed..5008711 100644 --- a/src/k1link/web/app.py +++ b/src/k1link/web/app.py @@ -112,6 +112,7 @@ from k1link.web.advanced_laboratory_api import build_advanced_laboratory_router from k1link.web.artifact_health_api import build_artifact_health_router from k1link.web.compute_contour_api import build_compute_contour_router from k1link.web.fleet_api import router as fleet_router +from k1link.web.rover_api import router as rover_router from k1link.web.device_plugin_composition import load_installed_device_plugins from k1link.web.e30_engineering_api import build_e30_engineering_router from k1link.web.e30_human_review_api import build_e30_human_review_router @@ -1003,6 +1004,7 @@ app.add_middleware(ResponseCompressionMiddleware, minimum_size=1_024, compressle app.include_router(fleet_router) +app.include_router(rover_router) @app.exception_handler(RequestValidationError) diff --git a/src/k1link/web/fleet_api.py b/src/k1link/web/fleet_api.py index 59c498e..6c353e2 100644 --- a/src/k1link/web/fleet_api.py +++ b/src/k1link/web/fleet_api.py @@ -6,12 +6,12 @@ import asyncio import ipaddress import json from contextlib import suppress -from typing import Annotated +from typing import Annotated, Literal from urllib.parse import urlsplit from fastapi import APIRouter, Depends, HTTPException, Request, Response from fastapi.responses import StreamingResponse -from pydantic import BaseModel, ConfigDict, Field +from pydantic import BaseModel, ConfigDict, Field, StrictBool from k1link.fleet.registry import FleetRegistry from k1link.fleet.trust import PairingError @@ -51,6 +51,42 @@ class AddRequest(BaseModel): router = APIRouter(prefix="/api/v1/fleet", tags=["fleet"]) +class BoardLayoutChange(BaseModel): + model_config = ConfigDict(extra="forbid") + section: Literal["computer", "settings", "devices"] + open: StrictBool + + +@router.get("/{vehicle_id}/board-layout") +def board_layout_read(vehicle_id: str, response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)]): + from k1link.fleet.board_layout import read + response.headers["Cache-Control"] = "no-store" + try: + with fleet.lock: + fleet.find(vehicle_id) + return read(fleet.root, vehicle_id) + except PairingError as error: + raise HTTPException(404, str(error)) from None + except (OSError, ValueError): + raise HTTPException(500, "Не удалось прочитать раскладку аппарата.") from None + + +@router.patch("/{vehicle_id}/board-layout") +def board_layout_patch(vehicle_id: str, body: BoardLayoutChange, response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)]): + from k1link.fleet.board_layout import update + response.headers["Cache-Control"] = "no-store" + try: + with fleet.lock: + fleet.find(vehicle_id) + return update(fleet.root, vehicle_id, body.section, body.open) + except PairingError as error: + raise HTTPException(404, str(error)) from None + except (OSError, ValueError): + raise HTTPException(500, "Не удалось сохранить раскладку аппарата.") from None + + @router.get("/{vehicle_id}/monitor") def board_monitor(vehicle_id: str, response: Response, fleet: Annotated[FleetRegistry, Depends(local_operator)], @@ -141,6 +177,30 @@ def sensor_command( raise HTTPException(409, str(error)) from None +@router.get("/{vehicle_id}/devices/{device_id}/configurations") +def vesc_configurations(vehicle_id: str, device_id: str, response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)], before: int = 0): + response.headers["Cache-Control"] = "no-store" + try: + with fleet.lock: + node = fleet.find(vehicle_id)["node_id"] + return fleet.vesc_archive.listing(node, device_id, before) + except (PairingError, ValueError): + raise HTTPException(404, "История конфигураций недоступна.") from None + + +@router.get("/{vehicle_id}/devices/{device_id}/configurations/{version_id}") +def vesc_configuration(vehicle_id: str, device_id: str, version_id: str, response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)]): + response.headers["Cache-Control"] = "no-store" + try: + with fleet.lock: + node = fleet.find(vehicle_id)["node_id"] + return fleet.vesc_archive.read(node, device_id, version_id) + except (PairingError, ValueError): + raise HTTPException(404, "Версия конфигурации не найдена.") from None + + @router.get("/{vehicle_id}/devices/operations/{operation_id}") def sensor_operation( vehicle_id: str, operation_id: str, fleet: Annotated[FleetRegistry, Depends(local_operator)] diff --git a/tests/fleet/test_pairing.py b/tests/fleet/test_pairing.py index 5e9ea29..3f833d1 100644 --- a/tests/fleet/test_pairing.py +++ b/tests/fleet/test_pairing.py @@ -84,6 +84,25 @@ def cert(row): serialization.Encoding.DER ) +def test_rover_stream_requires_current_pairing_and_binding(setup): + fleet, _, _, _ = setup + public, _ = create(setup) + fleet.advance(public["id"]) + row = fleet.find(public["id"]) + body = {"schema": SCHEMA, "node_id": row["node_id"], + "binding_id": row["binding"]["binding_id"], "relay_id": "a"*32} + certificate = cert(row) + status, result = fleet.receive(certificate, "/v1/node/rover-stream", body) + assert status == 200 + assert result['command'] is None + assert result['control_clock']['instance'] == fleet.rover_control.clock_id + status, _ = fleet.receive(certificate, "/v1/node/rover-stream", {**body, "binding_id": "other"}) + assert status == 410 + row['enrollment'] = 'revoked' + fleet.save(row) + status, _ = fleet.receive(certificate, "/v1/node/rover-stream", body) + assert status == 410 + def test_migrated_heartbeat_preserves_identity_and_old_reply_cannot_reverse(setup): fleet, _, _, _ = setup diff --git a/tests/fleet/test_vesc_archive.py b/tests/fleet/test_vesc_archive.py new file mode 100644 index 0000000..0463b61 --- /dev/null +++ b/tests/fleet/test_vesc_archive.py @@ -0,0 +1,74 @@ +import base64 +import copy +import hashlib +from datetime import UTC, datetime +from uuid import uuid4 + +import pytest + +from k1link.device_plugins.vesc.archive import Archive + + +def backup(): + uid = "01" * 12 + configs = {} + for name, command in (("motor", 14), ("application", 17)): + raw = bytes([command]) + b"test-synthetic-config" + configs[name] = {"encoding": "base64", "payload": base64.b64encode(raw).decode(), + "bytes": len(raw), "sha256": hashlib.sha256(raw).hexdigest(), + "signature_hex": raw[1:5].hex()} + return {"schema": "missioncore.vesc.config-backup/v1", "operation_id": "op_" + uuid4().hex, + "device_id": "vesc_" + hashlib.sha256(("uuid:" + uid).encode()).hexdigest()[:32], + "identity": {"uuid": uid, "version": "6.06"}, "configs": configs, + "observed_at": datetime.now(UTC).isoformat()} + + +def test_immutable_versions_survive_restart_and_do_not_cross_node_scope(tmp_path): + archive = Archive(tmp_path / "archive") + value = backup() + archive.add("node-a", value) + archive.add("node-a", copy.deepcopy(value)) + reopened = Archive(tmp_path / "archive") + assert len(reopened.listing("node-a", value["device_id"])["items"]) == 1 + assert reopened.read("node-a", value["device_id"], value["operation_id"]) == value + assert reopened.listing("node-b", value["device_id"])["items"] == [] + with pytest.raises(ValueError): + reopened.read("node-b", value["device_id"], value["operation_id"]) + changed = copy.deepcopy(value) + changed["observed_at"] = datetime.now(UTC).isoformat() + with pytest.raises(ValueError, match="immutable"): + reopened.add("node-a", changed) + + +def test_corrupt_or_misattributed_payload_is_never_archived(tmp_path): + archive = Archive(tmp_path / "archive") + value = backup() + value["configs"]["motor"]["sha256"] = "0" * 64 + with pytest.raises(ValueError, match="integrity"): + archive.add("a", value) + value = backup() + value["device_id"] = "vesc_" + "0" * 32 + with pytest.raises(ValueError, match="mismatch"): + archive.add("a", value) + assert archive.export("a", 0)["items"] == [] + + +def test_bounded_replication_replays_without_losing_versions_and_paginates(tmp_path): + board, core = Archive(tmp_path / "board"), Archive(tmp_path / "core") + values = [backup() for _ in range(53)] + for value in values: + board.add("local", value) + after = 0 + while True: + batch = board.export("local", after) + assert len(batch["items"]) <= 4 + assert core.receive("paired-node", batch) == batch["next"] + assert core.receive("paired-node", batch) == batch["next"] + if batch["next"] == after: + break + after = batch["next"] + page = core.listing("paired-node", values[0]["device_id"]) + assert len(page["items"]) == 50 and page["next"] + older = core.listing("paired-node", values[0]["device_id"], int(page["next"])) + assert len(older["items"]) == 3 and older["next"] is None + assert len({item["id"] for item in page["items"] + older["items"]}) == 53