From 71a648fec855944fa8c3bf3dfcfdefba42d56d95 Mon Sep 17 00:00:00 2001 From: DCCONSTRUCTIONS Date: Fri, 25 Sep 2026 16:40:46 +0300 Subject: [PATCH] feat(fleet): preserve operator VESC integration before final driver merge --- .gitattributes | 1 + .gitignore | 7 + .../public/rover-scene/dcd006-v020.glb | 3 + .../public/rover-scene/dcd006-v020.json | 39 + .../public/rover-scene/environment-map.png | Bin 0 -> 256580 bytes apps/control-station/src/App.tsx | 2 +- .../src/components/rover/RoverTelemetry.tsx | 25 + .../src/components/rover/RoverView.tsx | 70 + .../rover/playcanvas/PROVENANCE.json | 16 + .../rover/playcanvas/PlayCanvasViewer.tsx | 2043 +++++++++ .../rover/playcanvas/playcanvasPostFx.ts | 393 ++ .../components/rover/playcanvas/sceneTree.ts | 20 + .../src/components/rover/rover.css | 20 + .../src/composition/devicePlugins.ts | 3 +- .../src/core/fleet/boardLayout.ts | 13 + .../src/core/fleet/roverHoldInput.ts | 66 + .../src/core/fleet/roverInput.ts | 20 + .../src/core/fleet/sensorTransport.ts | 1 + .../src/core/fleet/useRoverControl.ts | 79 + .../src/workspaces/Workspaces.tsx | 2 +- .../src/workspaces/fleet/VehicleSensors.tsx | 8 +- .../workspaces/fleet/VehiclesWorkspace.tsx | 16 +- .../observation/BoardObservationCenter.tsx | 18 +- .../fleet/observation/ObservationDeck.tsx | 4 +- .../control-station/test/boardLayout.test.mjs | 57 + .../test/roverControlFocus.test.mjs | 49 + .../test/roverControlStartup.test.mjs | 49 + .../test/roverHoldInput.test.mjs | 85 + apps/control-station/test/vescUi.test.mjs | 70 + .../internal/node/pairing_transport.go | 4 + .../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 | 122 + apps/node-agent/internal/node/sensors.go | 49 +- .../50-mission-core-device-prepare.rules | 2 +- apps/node-agent/packaging/build.py | 3 +- apps/node-agent/packaging/build_deb.py | 8 +- .../packaging/build_linux_source.py | 9 +- .../packaging/install-owner-release | 2 +- .../packaging/install_owner_release.py | 2 +- apps/node-agent/packaging/linux_build_job.py | 1 + apps/node-agent/packaging/postinst | 4 + apps/node-agent/packaging/preinst | 5 + apps/node-agent/packaging/prerm | 15 + apps/node-agent/ui/src/NodeSensors.tsx | 6 +- ...7_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md | 14 + .../2026-09-23_ROVER_006_VESC_CONTEXT.md | 319 ++ ...9-23_ROVER_006_VESC_IMPLEMENTATION_PLAN.md | 331 ++ docs/node/17_VESC_INSTALLATION_LEDGER.md | 1161 +++++ docs/node/18_VESC_TOOL_NATIVE_BACKEND.md | 176 + docs/node/19_VESC_OPERATOR_CALIBRATION.md | 72 + docs/runbooks/ROVER_006_ENGINEERING_ACCESS.md | 75 + packages/sensor-ui/src/BoardSections.tsx | 23 + packages/sensor-ui/src/SensorWorkspace.tsx | 11 +- packages/sensor-ui/src/boardLayout.ts | 66 + 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 | 363 ++ plugins/vesc/native/offline_main.cpp | 85 + .../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 | 183 + 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 | 47 + plugins/vesc/runtime/foc_calibration.py | 153 + plugins/vesc/runtime/group_test.py | 135 + plugins/vesc/runtime/hall_detection.py | 98 + plugins/vesc/runtime/link_check.py | 79 + plugins/vesc/runtime/motor_test.py | 343 ++ plugins/vesc/runtime/native_link.py | 169 + plugins/vesc/runtime/protocol.py | 153 + 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 | 130 + plugins/vesc/runtime/service.py | 347 ++ plugins/vesc/runtime/speed_hold.py | 52 + plugins/vesc/runtime/temporary_limits.py | 86 + plugins/vesc/tests/test_attachment.py | 50 + plugins/vesc/tests/test_drive_profile.py | 61 + plugins/vesc/tests/test_foc_calibration.py | 180 + plugins/vesc/tests/test_group_test.py | 159 + plugins/vesc/tests/test_link_check.py | 87 + plugins/vesc/tests/test_motor_test.py | 352 ++ plugins/vesc/tests/test_native_link.py | 90 + plugins/vesc/tests/test_reader.py | 178 + 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/board_layout.py | 45 + src/k1link/fleet/registry.py | 47 +- src/k1link/fleet/rover_control.py | 135 + 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 +- src/k1link/web/planning_live_api.py | 25 +- src/k1link/web/rover_api.py | 40 + tests/fleet/test_vesc_archive.py | 74 + 128 files changed, 22390 insertions(+), 59 deletions(-) create mode 100644 apps/control-station/public/rover-scene/dcd006-v020.glb create mode 100644 apps/control-station/public/rover-scene/dcd006-v020.json create mode 100644 apps/control-station/public/rover-scene/environment-map.png create mode 100644 apps/control-station/src/components/rover/RoverTelemetry.tsx create mode 100644 apps/control-station/src/components/rover/RoverView.tsx create mode 100644 apps/control-station/src/components/rover/playcanvas/PROVENANCE.json create mode 100644 apps/control-station/src/components/rover/playcanvas/PlayCanvasViewer.tsx create mode 100644 apps/control-station/src/components/rover/playcanvas/playcanvasPostFx.ts create mode 100644 apps/control-station/src/components/rover/playcanvas/sceneTree.ts create mode 100644 apps/control-station/src/components/rover/rover.css create mode 100644 apps/control-station/src/core/fleet/boardLayout.ts create mode 100644 apps/control-station/src/core/fleet/roverHoldInput.ts create mode 100644 apps/control-station/src/core/fleet/roverInput.ts create mode 100644 apps/control-station/src/core/fleet/useRoverControl.ts create mode 100644 apps/control-station/test/boardLayout.test.mjs create mode 100644 apps/control-station/test/roverControlFocus.test.mjs create mode 100644 apps/control-station/test/roverControlStartup.test.mjs create mode 100644 apps/control-station/test/roverHoldInput.test.mjs create mode 100644 apps/control-station/test/vescUi.test.mjs 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 docs/handoff/2026-09-23_ROVER_006_VESC_CONTEXT.md create mode 100644 docs/handoff/2026-09-23_ROVER_006_VESC_IMPLEMENTATION_PLAN.md create mode 100644 docs/node/17_VESC_INSTALLATION_LEDGER.md create mode 100644 docs/node/18_VESC_TOOL_NATIVE_BACKEND.md create mode 100644 docs/node/19_VESC_OPERATOR_CALIBRATION.md create mode 100644 docs/runbooks/ROVER_006_ENGINEERING_ACCESS.md create mode 100644 packages/sensor-ui/src/BoardSections.tsx create mode 100644 packages/sensor-ui/src/boardLayout.ts 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/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/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_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_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 src/k1link/fleet/board_layout.py create mode 100644 src/k1link/fleet/rover_control.py create mode 100644 src/k1link/web/rover_api.py create mode 100644 tests/fleet/test_vesc_archive.py diff --git a/.gitattributes b/.gitattributes index ced284c..939b625 100644 --- a/.gitattributes +++ b/.gitattributes @@ -11,3 +11,4 @@ *.lcc binary apps/control-station/vendor/rerun-web-viewer-0.34.1/re_viewer_bg.nodedc.wasm filter=lfs diff=lfs merge=lfs -text apps/control-station/vendor/rerun-web-viewer-0.36.3/re_viewer_bg.nodedc.wasm filter=lfs diff=lfs merge=lfs -text +apps/control-station/public/rover-scene/*.glb filter=lfs diff=lfs merge=lfs -text diff --git a/.gitignore b/.gitignore index 307135a..f443432 100644 --- a/.gitignore +++ b/.gitignore @@ -49,3 +49,10 @@ mqtt.summary.json # Small synthetic/redacted fixtures under tests/fixtures are allowed. !tests/fixtures/**/*.pcap !tests/fixtures/**/*.pcapng + +# Dependency caches may be links into an existing local checkout. +.venv +node_modules + +# Private experiment evidence and generated build 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z9(j#cS8%^(odV8~JbsM@S2fx`-%C16s@H-8f!h?gA8nbzO|a|c`YgLiQL$ZFKEQ~|f5eYwe}+Bahjx!ZUL zI$?ftpU3NpZn#5yoeFFl8w7fBOw-~||AoW3&(6tvfLiQ>;t@CQ&t3cZm6ikIs|?*F z{qMt-KY`oCQiPkO#S=|axkJ{P=jQ=G;X|vQf6l7up8v<*vJ-k=ys55j9Z^ATwc-JP yX2hZdR3Vo!-zD$-XJG$K^Kz#C|8}rgctIza63iK`9nb?HUJuoD9+cj8}g4HhH- literal 0 HcmV?d00001 diff --git a/apps/control-station/src/App.tsx b/apps/control-station/src/App.tsx index f0ab8ca..de9e409 100644 --- a/apps/control-station/src/App.tsx +++ b/apps/control-station/src/App.tsx @@ -822,7 +822,7 @@ export default function App() { /> ) : activeDefinition.kind === "missions" ? (

- ) : activeDefinition.kind === "vehicles" ? null : activeDefinition.kind === "simulations" ? null : activeDefinition.kind === "datasets" ? ( + ) : activeDefinition.kind === "vehicles" ?
: activeDefinition.kind === "simulations" ? null : activeDefinition.kind === "datasets" ? ( Offline evaluation ) : activeDefinition.kind === "lab-archive" ? ( laboratoryAnnotation.control diff --git a/apps/control-station/src/components/rover/RoverTelemetry.tsx b/apps/control-station/src/components/rover/RoverTelemetry.tsx new file mode 100644 index 0000000..482630d --- /dev/null +++ b/apps/control-station/src/components/rover/RoverTelemetry.tsx @@ -0,0 +1,25 @@ +import type {RoverState} from '../../core/fleet/useRoverControl'; +import {drivePositions} from '../../../../../plugins/vesc/frontend/src/model'; +const number=(v:number|undefined,digits=1)=>typeof v==='number'&&Number.isFinite(v)?v.toLocaleString('ru-RU',{maximumFractionDigits:digits}):'—'; +export function RoverTelemetry({state}:{state:RoverState}){ + const devices=state.snapshot.devices??[],profile=state.snapshot.profile; + const positions=drivePositions(profile?.layout??null); + const assigned=Object.entries(profile?.bindings??{}).map(([slot,binding])=>({ + id:binding.device_id,uuid:binding.uuid,label:positions[slot]??slot, + reading:devices.find(d=>d.id===binding.device_id&&d.uuid===binding.uuid), + })); + const readings=[...assigned,...devices.filter(d=>!assigned.some(a=>a.id===d.id&&a.uuid===d.uuid)).map(d=>({...d,reading:d}))]; + return
+ {!state.fresh?

Нет свежих показаний VESC.

:!readings.length?

Получение показаний VESC…

:readings.map(d=>{ + const fresh=!!d.reading&&d.reading.age_ms<1000,v=fresh?d.reading?.values:undefined; + return
{d.label}VESC {d.uuid.slice(0,6).toUpperCase()}{!d.reading?' · Нет связи':!fresh?' · Нет свежих данных':''} +
Ток мотора
{number(v?.motor_current_a)} А
+
Ток батареи
{number(v?.input_current_a)} А
+
Напряжение
{number(v?.input_voltage_v)} В
+
Обороты, ERPM
{number(v?.erpm,0)}
+
Контроллер
{number(v?.mos_temperature_c)} °C
+
Ошибка VESC
{v?v.fault_code===0?'Нет':String(v.fault_code):'—'}
+
; + })} +
; +} diff --git a/apps/control-station/src/components/rover/RoverView.tsx b/apps/control-station/src/components/rover/RoverView.tsx new file mode 100644 index 0000000..7759f4d --- /dev/null +++ b/apps/control-station/src/components/rover/RoverView.tsx @@ -0,0 +1,70 @@ +import {lazy,Suspense,useCallback,useEffect,useRef,useState} from 'react'; +import {createPortal} from 'react-dom'; +import {Button,Icon,IconButton,KeyButton,LoadingRegion,Select,StatusBadge,Switch,TextField,ToastStack,Window} from '@nodedc/ui-react'; +import {keysFor,roverSettings,type RoverMode} from '../../core/fleet/roverInput'; +import {bindRoverHoldInput} from '../../core/fleet/roverHoldInput'; +import type {RoverController} from '../../core/fleet/useRoverControl'; +import type {ObservationHeaderTargets} from '../../../../../packages/sensor-ui/src/observation'; +import './rover.css'; +const Scene=lazy(()=>import('./playcanvas/PlayCanvasViewer')); +const labels:Record={observing:'Наблюдение',preparing:'Подготовка управления',ready:'Управление включено',driving:'Команда движения',receiver:'Управление с пульта',stopping:'Остановка',stopped:'Управление выключено',fault:'Управление остановлено'}; + +export function RoverView({vehicleID,controller:c,header,active}:{vehicleID:string;controller:RoverController;header:ObservationHeaderTargets;active:boolean}){ + const storage=`missioncore.rover-view.v1:${vehicleID}`; + const [settings,setSettings]=useState(()=>{try{return roverSettings(JSON.parse(localStorage.getItem(storage)??'null'));}catch{return roverSettings(null);}}); + const [open,setOpen]=useState(false),[confirmed,setConfirmed]=useState(false),[held,setHeld]=useState>(new Set()); + const [modelState,setModelState]=useState<'loading'|'ready'|'error'>('loading'); + const stage=useRef(null),input=useRef|null>(null); + const stop=useCallback(()=>{input.current?.dispose();input.current=null;c.setInputGuard(null);setHeld(new Set());c.stop();setConfirmed(false);},[c.stop,c.setInputGuard]); + useEffect(()=>{try{localStorage.setItem(storage,JSON.stringify(settings));}catch{}},[storage,settings]); + useEffect(()=>{if(!active)stop();},[active,stop]); + useEffect(()=>{ + if(!c.ready||!active||open||!stage.current)return; + const binding=bindRoverHoldInput(stage.current,settings.mode,{held:setHeld,demand:c.setDemand,pause:c.pauseInput,stop}); + input.current=binding;c.setInputGuard(binding.valid); + return()=>{c.setInputGuard(null);binding.dispose();if(input.current===binding)input.current=null;}; + },[c.ready,active,open,settings.mode,c.setDemand,c.setInputGuard,c.pauseInput,stop]); + const showSettings=()=>{stop();setOpen(true);}; + const preparing=c.pending||(c.armed&&!c.ready); + const availability=c.connecting?'Синхронизация с бортом':!c.state.fresh?'Нет свежих данных с борта':!c.state.snapshot.supported?'Управление на борту недоступно':c.state.controlling&&!c.armed?'Управление уже включено':!c.canArm&&!c.armed?'Завершение предыдущего управления':null; + const tone=preparing||availability?'warning':c.ready?'success':c.state.snapshot.state==='fault'?'warning':'neutral'; + const status=preparing?'Подготовка управления':availability??(labels[c.state.snapshot.state??'']??'Наблюдение'); + return <> + {createPortal(,header.actionsTarget)} + {createPortal(,header.statusTarget)} +
{if(c.armed&&!e.currentTarget.contains(e.relatedTarget as Node|null))c.pauseInput();}}> + {settings.model==='dcd006-v020'? + + {modelState==='error'&&

Не удалось загрузить модель ровера.

} + :

Выберите модель аппарата.

} +
{status}
+ {c.ready&&
+
+ {keysFor(settings.mode).map(code=>{if(!c.ready||!e.isTrusted||e.button!==0)return;e.preventDefault();e.currentTarget.setPointerCapture(e.pointerId);stage.current?.focus();input.current?.pointerDown(e.pointerId,code);}} + onPointerUp={e=>input.current?.pointerUp(e.pointerId)} + onPointerCancel={e=>input.current?.pointerCancel(e.pointerId)} + onLostPointerCapture={e=>input.current?.pointerCancel(e.pointerId)}>{code.slice(3)})} +
+ {settings.mode==='arcade'?'Аркадный':'Танковый'} · пробел — стоп +
} +
+ {c.armed||c.pending?:} +
+
+ setOpen(false)} title="Управление ровером" size="md">
+ setSettings(v=>({...v,model}))}/> + setSettings(v=>({...v,currentA:Number(e.target.value)}))}/> + setSettings(v=>({...v,maxErpm:Number(e.target.value)}))}/> + + {availability&&{availability}} +

Движение — только при удержании клавиш или кнопок. При уходе из окна команда снимается. Команда с пульта прекращает удалённое управление.

+ +
+ + ; +} diff --git a/apps/control-station/src/components/rover/playcanvas/PROVENANCE.json b/apps/control-station/src/components/rover/playcanvas/PROVENANCE.json new file mode 100644 index 0000000..53ba8be --- /dev/null +++ b/apps/control-station/src/components/rover/playcanvas/PROVENANCE.json @@ -0,0 +1,16 @@ +{ + "source": "NodeDC ThreeDAssetNode / PlayCanvasViewer", + "files": { + "PlayCanvasViewer.tsx": "34cd6df2e47a7714288aeb5afb2859b1058eb91dc1819abbf296c6a8937a1533", + "playcanvasPostFx.ts": "91cfb7f8ba821fef14681c6c25a61f430ce25aae65b0f181d359f38e37ccd014", + "sceneTree.ts": "eead378c2402f69e2c68cd1fc2a5ec9028555dced53858c600c599f613dda516", + "environment-map.png": "793f72dce207c1a4d2bdb262610f688bd655a79066298b672b642f228cf7d230" + }, + "adaptations": [ + "Domain asset URL and error/loading callbacks", + "No fallback to a different vehicle", + "Removed unused node-editor type helper; rendering settings unchanged", + "Observe the host pane on resize; preserve responsive canvas CSS sizing", + "Frame the complete rover using the donor 28-degree FOV and current viewport aspect" + ] +} diff --git a/apps/control-station/src/components/rover/playcanvas/PlayCanvasViewer.tsx b/apps/control-station/src/components/rover/playcanvas/PlayCanvasViewer.tsx new file mode 100644 index 0000000..dc639ae --- /dev/null +++ b/apps/control-station/src/components/rover/playcanvas/PlayCanvasViewer.tsx @@ -0,0 +1,2043 @@ +import React, { useCallback, useEffect, useMemo, useRef, useState } from 'react' +import * as pc from 'playcanvas' +import { buildSceneTree } from './sceneTree' +import { mergePostFxDefaults, type PostFxSettings } from './playcanvasPostFx' + +const DEFAULT_MODEL_URL = '' +const PIXELFORMAT_RGBA8 = (pc as any).PIXELFORMAT_RGBA8 ?? 7 +const PIXELFORMAT_111110F = (pc as any).PIXELFORMAT_111110F ?? 18 +const PIXELFORMAT_RGBA16F = (pc as any).PIXELFORMAT_RGBA16F ?? 12 +const PIXELFORMAT_RGBA32F = (pc as any).PIXELFORMAT_RGBA32F ?? 14 + +export type PlayCanvasViewerProps = { + modelUrl: string | null + postFx?: Partial | null + viewportSize?: { width: number; height: number } + onSceneReady?: (api: { app: pc.Application; camera: pc.Entity; modelRoot: pc.Entity }) => void + onSelectionChanged?: (selectedIds: string[]) => void + onSceneGraph?: (tree: ReturnType | null, map?: Map) => void + exposeSceneGraph?: boolean + cameraState?: CameraState | null + cameraResetToken?: number | null + cameraZoomStrength?: number | null + cameraInertiaFactor?: number | null + cameraInertiaTime?: number | null + cameraAutoRotate?: boolean | null + onCameraChange?: (state: CameraState, commit?: boolean) => void + onModelState?: (state: "loading" | "ready" | "error") => void + muteLogs?: boolean +} + +export type CameraState = { + pivot: { x: number; y: number; z: number } + distance: number + azimuthDeg: number + elevationDeg: number +} + +// ------------------------------------------------------------ +// Fallback texture handler +class SimpleTextureHandler { + private gd: pc.GraphicsDevice + constructor(gd: pc.GraphicsDevice) { + this.gd = gd + } + load(url: string, callback: (err: any, data?: any) => void) { + ;(async () => { + const res = await fetch(url) + if (!res.ok) throw new Error(`Failed to fetch texture: ${url} (${res.status})`) + const blob = await res.blob() + const bmp = await createImageBitmap(blob) + callback(null, bmp) + })().catch((e) => callback(e)) + } + open(_url: string, data: ImageBitmap) { + const tex = new pc.Texture(this.gd, { + mipmaps: true, + } as any) + // ImageBitmap is supported by the pinned PlayCanvas runtime. + tex.setSource(data as unknown as HTMLImageElement) + return tex + } + patch() {} +} + +function ensureTextureHandler(app: pc.Application) { + try { + if (!app?.graphicsDevice) return + + const fallback = new SimpleTextureHandler(app.graphicsDevice) + const textureCtor = (pc as any).TextureHandler + const buildNative = () => { + if (!textureCtor) return null + try { return new textureCtor(app.graphicsDevice, (app as any).assets) } catch {} + try { return new textureCtor(app.graphicsDevice) } catch {} + try { return new textureCtor(app) } catch {} + return null + } + const nativeHandler = buildNative() + const handler = nativeHandler || fallback + const candidates: any[] = [] + if ((app as any)?.loader) candidates.push((app as any).loader) + if ((app as any)?.assets?.loader) candidates.push((app as any).assets.loader) + if ((app as any)?.assets?._loader) candidates.push((app as any).assets._loader) + if ((app as any)?.assets) candidates.push((app as any).assets) + + for (const loader of candidates) { + if (!loader) continue + + const hasGet = typeof loader.getHandler === 'function' + const hasAdd = typeof loader.addHandler === 'function' + + if (!hasGet || !hasAdd) { + if (loader._handlers && !loader._handlers.texture) { + loader._handlers.texture = handler + } + continue + } + + if (!loader.getHandler('texture')) { + try { loader.addHandler('texture', handler) } catch {} + } + if (loader._handlers && !loader._handlers.texture) { + loader._handlers.texture = handler + } + } + } catch (e) { + console.warn('[PlayCanvasViewer] Failed to register fallback texture handler', e) + } +} + +// ------------------------------------------------------------ +// Environment / HDR helpers +function destroyTexture(texture: pc.Texture | null) { + if (!texture) return + try { texture.destroy?.() } catch {} +} + +function createGradientEquirectTexture( + app: pc.Application, + colorA: string, + colorB: string, + size = 256 +): pc.Texture | null { + try { + const gd: any = (app as any).graphicsDevice ?? (app as any).device + if (!gd || !(pc as any).Texture) return null + + const width = size * 2 + const height = size + const canvas = document.createElement('canvas') + canvas.width = width + canvas.height = height + const ctx = canvas.getContext('2d') + if (!ctx) return null + + const grad = ctx.createLinearGradient(0, 0, width, 0) + grad.addColorStop(0, colorA) + grad.addColorStop(1, colorB) + ctx.fillStyle = grad + ctx.fillRect(0, 0, width, height) + + const tex = new pc.Texture(gd, { + width, + height, + mipmaps: true, + format: (pc as any).PIXELFORMAT_RGBA8 ?? undefined, + addressU: pc.ADDRESS_CLAMP_TO_EDGE, + addressV: pc.ADDRESS_CLAMP_TO_EDGE, + } as any) + + if ((pc as any).TEXTUREPROJECTION_EQUIRECT) { + ;(tex as any).projection = (pc as any).TEXTUREPROJECTION_EQUIRECT + } + + tex.setSource(canvas) + return tex + } catch (e) { + console.warn('[PlayCanvasViewer] Failed to create gradient equirect texture', e) + return null + } +} + +function generateSkyboxResources( + app: pc.Application, + colorA: string, + colorB: string +): { + source: pc.Texture | null + lightingSource: pc.Texture | null + cubemap: pc.Texture | null + atlas: pc.Texture | null +} { + const source = createGradientEquirectTexture(app, colorA, colorB) + if (!source) return { source: null, lightingSource: null, cubemap: null, atlas: null } + + try { + const env: any = (pc as any).EnvLighting + if (!env?.generateLightingSource || !env?.generateAtlas) { + return { source, lightingSource: null, cubemap: null, atlas: null } + } + + const lightingSource = env.generateLightingSource(source, { size: 128 }) + const atlas = env.generateAtlas(lightingSource) + const cubemap = env.generateSkyboxCubemap + ? env.generateSkyboxCubemap(source, 128) + : lightingSource + + return { source, lightingSource, cubemap, atlas } + } catch (e) { + console.warn('[PlayCanvasViewer] Failed to generate skybox resources', e) + return { source, lightingSource: null, cubemap: null, atlas: null } + } +} + +function applySceneEnvironment( + app: pc.Application, + opts: { + envAtlas: pc.Texture | null + skybox: pc.Texture | null + intensity: number + mip: number + rotationDeg: number + } +) { + const scene: any = app.scene + if (!scene) return + + scene.envAtlas = opts.envAtlas || null + scene.skybox = opts.skybox || null + if (typeof scene.skyboxIntensity === 'number') scene.skyboxIntensity = opts.intensity + if (typeof scene.skyboxMip === 'number') scene.skyboxMip = opts.mip + + const rotRad = (opts.rotationDeg * Math.PI) / 180 + try { + if (scene.skyboxRotation && (pc as any).Quat) { + const q = new (pc as any).Quat() + q.setFromEulerAngles(0, opts.rotationDeg, 0) + scene.skyboxRotation = q + } else if (typeof scene.setSkyboxRotation === 'function') { + scene.setSkyboxRotation(0, rotRad, 0) + } + } catch {} +} + +function clamp01(v: number) { + return Math.max(0, Math.min(1, v)) +} + +function toneMapColor(x: number, mode: number) { + const v = Math.max(0, x) + switch (mode) { + case 1: { + const A = 0.15 + const B = 0.50 + const C = 0.10 + const D = 0.20 + const E = 0.02 + const F = 0.30 + const num = v * (A * v + C * B) + D * E + const den = v * (A * v + B) + D * F + return clamp01(num / den - E / F) + } + case 2: { + const t = Math.max(0, v - 0.004) + return clamp01((t * (6.2 * t + 0.5)) / (t * (6.2 * t + 1.7) + 0.06)) + } + case 3: + case 4: { + return clamp01((v * (2.51 * v + 0.03)) / (v * (2.43 * v + 0.59) + 0.14)) + } + case 5: { + return clamp01(v / (1 + v)) + } + case 0: + default: + return clamp01(v) + } +} + +function applyMaterialEnvOverride( + app: pc.Application, + opts: { + enabled: boolean + envAtlas: pc.Texture | null + cubeMap: pc.Texture | null + useSkybox?: boolean + reflectivityScale?: number | null + } +) { + const anyApp = app as any + const store: WeakMap = + anyApp.__ENV_OVERRIDE_STORE__ ?? + (anyApp.__ENV_OVERRIDE_STORE__ = new WeakMap()) + + const setMat = (mat: any) => { + if (!mat || typeof mat !== 'object') return + + if (!store.has(mat)) { + store.set(mat, { + envAtlas: mat.envAtlas ?? null, + cubeMap: mat.cubeMap ?? null, + useSkybox: typeof mat.useSkybox === 'boolean' ? mat.useSkybox : undefined, + reflectivity: typeof mat.reflectivity === 'number' ? mat.reflectivity : undefined, + }) + } + + if (!opts.enabled) { + const prev = store.get(mat) + if (prev) { + mat.envAtlas = prev.envAtlas ?? null + mat.cubeMap = prev.cubeMap ?? null + if (typeof prev.useSkybox === 'boolean') mat.useSkybox = prev.useSkybox + if (typeof prev.reflectivity === 'number') mat.reflectivity = prev.reflectivity + mat.update?.() + } + return + } + + mat.envAtlas = opts.envAtlas ?? null + mat.cubeMap = opts.cubeMap ?? null + if (typeof opts.useSkybox === 'boolean') mat.useSkybox = opts.useSkybox + if (typeof opts.reflectivityScale === 'number') { + const base = store.get(mat)?.reflectivity + if (typeof base === 'number') { + mat.reflectivity = Math.max(0, Math.min(1, base * opts.reflectivityScale)) + } + } + mat.update?.() + } + + const traverse = (e: pc.Entity) => { + const r = (e as any).render + if (r?.meshInstances?.length) { + for (const mi of r.meshInstances) setMat(mi.material) + } + + const m = (e as any).model + if (m?.meshInstances?.length) { + for (const mi of m.meshInstances) setMat(mi.material) + } + + for (const c of e.children ?? []) if (c instanceof pc.Entity) traverse(c) + } + + const modelRoot = app.root.findByName('ModelRoot') as pc.Entity | null + traverse(modelRoot ?? app.root) +} + +function resolveShadowType(type: string) { + const anyPc: any = pc + switch (type) { + case 'vsm32': + return anyPc.SHADOW_VSM_32F ?? anyPc.SHADOW_VSM32 ?? anyPc.SHADOW_VSM_16F ?? pc.SHADOW_VSM_16F + case 'pcf1': + return anyPc.SHADOW_PCF1 ?? pc.SHADOW_PCF1 + case 'pcf3': + return anyPc.SHADOW_PCF3 ?? pc.SHADOW_PCF3 + case 'vsm16': + default: + return anyPc.SHADOW_VSM_16F ?? anyPc.SHADOW_VSM16 ?? pc.SHADOW_VSM_16F + } +} + +function applyLightAngles(entity: pc.Entity | null, azimuthDeg: number, elevationDeg: number) { + if (!entity) return + entity.setLocalEulerAngles(elevationDeg, azimuthDeg, 0) +} + +type ColorInput = string | { r: number; g: number; b: number; a?: number } | pc.Color | null | undefined + +function toColor(value: ColorInput, fallback?: pc.Color): pc.Color { + if (value instanceof pc.Color) { + return new pc.Color(value.r, value.g, value.b, value.a) + } + if (value && typeof value === 'object') { + const r = Number((value as any).r) + const g = Number((value as any).g) + const b = Number((value as any).b) + const a = Number.isFinite((value as any).a) ? Number((value as any).a) : 1 + if (Number.isFinite(r) && Number.isFinite(g) && Number.isFinite(b)) { + return new pc.Color( + Math.max(0, Math.min(1, r)), + Math.max(0, Math.min(1, g)), + Math.max(0, Math.min(1, b)), + Math.max(0, Math.min(1, a)) + ) + } + } + if (typeof value === 'string') { + const hex = value.trim() + const full = /^#?([0-9a-f]{6})$/i.exec(hex) + const short = /^#?([0-9a-f]{3})$/i.exec(hex) + if (full) { + const n = parseInt(full[1], 16) + const r = ((n >> 16) & 255) / 255 + const g = ((n >> 8) & 255) / 255 + const b = (n & 255) / 255 + return new pc.Color(r, g, b) + } + if (short) { + const s = short[1] + const n = parseInt(`${s[0]}${s[0]}${s[1]}${s[1]}${s[2]}${s[2]}`, 16) + const r = ((n >> 16) & 255) / 255 + const g = ((n >> 8) & 255) / 255 + const b = (n & 255) / 255 + return new pc.Color(r, g, b) + } + } + return fallback ? new pc.Color(fallback.r, fallback.g, fallback.b, fallback.a) : new pc.Color(0, 0, 0) +} + +function setWireframeForScene(app: pc.Application, enabled: boolean) { + const renders = app.root.findComponents('render') as any[] + for (const r of renders) { + const meshInstances = r?.meshInstances ?? [] + for (const mi of meshInstances) { + const mat = mi.material as any + if (mat && 'wireframe' in mat) { + mat.wireframe = enabled + mat.update?.() + } + } + } +} + +function collectMeshInstances(entity: pc.Entity | null, out: any[] = []): any[] { + if (!entity) return out + const render = (entity as any).render + const model = (entity as any).model + if (render?.meshInstances?.length) out.push(...render.meshInstances) + if (model?.meshInstances?.length) out.push(...model.meshInstances) + for (const child of entity.children ?? []) collectMeshInstances(child as any, out) + return out +} + +function disableInvalidMeshes(root: pc.Entity | null) { + if (!root) return + const meshInstances = collectMeshInstances(root) + meshInstances.forEach((mi: any) => { + const mesh = mi?.mesh + const vb = mesh?.vertexBuffer + const numVertices = vb?.numVertices ?? 0 + if (!mesh || !numVertices) return + const hasIndex = Array.isArray(mesh.indexBuffer) ? mesh.indexBuffer.length > 0 : !!mesh.indexBuffer + if (!hasIndex) return + try { + const indices: number[] = [] + const count = mesh.getIndices(indices) + if (!count || !indices.length) return + let maxIndex = -1 + for (let i = 0; i < count; i += 1) { + const v = indices[i] ?? -1 + if (v > maxIndex) maxIndex = v + } + if (maxIndex >= numVertices) { + mi.visible = false + // eslint-disable-next-line no-console + console.warn('[PlayCanvasViewer] Disabled mesh with invalid indices', { + numVertices, + maxIndex, + mesh: mesh?.name, + }) + } + } catch {} + }) +} + +function computeAabb(entity: pc.Entity): pc.BoundingBox | null { + const renders = entity.findComponents('render') as any[] + if (!renders?.length) return null + + let out: pc.BoundingBox | null = null + for (const r of renders) { + const meshInstances = r?.meshInstances ?? [] + for (const mi of meshInstances) { + const aabb = mi?.aabb as pc.BoundingBox | undefined + if (!aabb) continue + if (!out) out = aabb.clone() + else out.add(aabb) + } + } + return out +} + +type OrbitOptions = { + pivot: pc.Vec3 + distance: number + minDistance: number + maxDistance: number + zoomStrength?: number + minElevationDeg?: number + maxElevationDeg?: number + inertiaFactor?: number + inertiaTime?: number + initialAzimuthDeg?: number + initialElevationDeg?: number + autoRotate?: boolean + autoRotateSpeed?: number + autoRotateDelay?: number + autoRotateFade?: number + autoRotatePitchSpeed?: number + autoRotatePitchAmount?: number + onChange?: (state: CameraState, commit: boolean) => void +} + +type OrbitController = { + setPivot(v: pc.Vec3): void + setDistance(d: number): void + setZoomStrength(value?: number | null): void + setInertiaFactor(value?: number | null): void + setInertiaTime(value?: number | null): void + setAutoRotate(value?: boolean | null): void + setState(state: CameraState): void + getState(): CameraState + destroy(): void +} + +function makeOrbitController(app: pc.Application, cameraEntity: pc.Entity, opts: OrbitOptions): OrbitController { + const canvas = app.graphicsDevice.canvas as HTMLCanvasElement + + let pivot = opts.pivot.clone() + let distance = opts.distance + let azimuth = ((opts.initialAzimuthDeg ?? 45) * Math.PI) / 180 + let elevation = ((opts.initialElevationDeg ?? 25) * Math.PI) / 180 + + let targetAzimuth = azimuth + let targetElevation = elevation + let targetDistance = distance + + const minEl = ((opts.minElevationDeg ?? 5) * Math.PI) / 180 + const maxEl = ((opts.maxElevationDeg ?? 89) * Math.PI) / 180 + + let dragging = false + let panning = false + let lastX = 0 + let lastY = 0 + let idleTime = 0 + let wheelCommitTimer: number | null = null + + const toDeg = (rad: number) => (rad * 180) / Math.PI + const toRad = (deg: number) => (deg * Math.PI) / 180 + const clampZoom = (value?: number | null) => { + const n = Number(value) + if (!Number.isFinite(n)) return 0.04 + return Math.max(0.001, Math.min(0.5, n)) + } + const clampInertia = (value?: number | null) => { + const n = Number(value) + if (!Number.isFinite(n)) return 0 + return Math.max(0, Math.min(1, n)) + } + const clampInertiaTime = (value?: number | null) => { + const n = Number(value) + if (!Number.isFinite(n)) return 0.05 + return Math.max(0.02, Math.min(10, n)) + } + let zoomStrength = clampZoom(opts.zoomStrength) + let inertia = clampInertia(opts.inertiaFactor) + let inertiaTime = clampInertiaTime(opts.inertiaTime) + let autoRotate = opts.autoRotate !== false + + const snapshot = (useTarget = true): CameraState => ({ + pivot: { x: pivot.x, y: pivot.y, z: pivot.z }, + distance: useTarget ? targetDistance : distance, + azimuthDeg: toDeg(useTarget ? targetAzimuth : azimuth), + elevationDeg: toDeg(useTarget ? targetElevation : elevation), + }) + + const emitChange = (commit: boolean) => { + if (!opts.onChange) return + opts.onChange(snapshot(true), commit) + } + + const updateCamera = (dt = 0) => { + if (autoRotate && !dragging && !panning) { + idleTime += dt + const delay = Math.max(0, opts.autoRotateDelay ?? 0) + if (idleTime > delay) { + const t = idleTime - delay + const fadeTime = Math.max(0.001, opts.autoRotateFade ?? 0.001) + const x = t / fadeTime + const fade = x <= 0 ? 0 : x >= 1 ? 1 : 0.5 * Math.sin((x - 0.5) * Math.PI) + 0.5 + const speed = ((opts.autoRotateSpeed ?? 0) * Math.PI) / 180 + const pitchSpeed = Number(opts.autoRotatePitchSpeed ?? 0) + const pitchAmount = ((opts.autoRotatePitchAmount ?? 0) * Math.PI) / 180 + targetAzimuth += speed * fade * dt + if (pitchSpeed && pitchAmount) { + targetElevation += Math.sin(t * pitchSpeed) * fade * dt * pitchAmount + } + } + } + + targetElevation = Math.max(minEl, Math.min(maxEl, targetElevation)) + targetDistance = Math.max(opts.minDistance, Math.min(opts.maxDistance, targetDistance)) + + const step = dt > 0 ? dt : 1 / 60 + const timeFactor = inertiaTime > 0 ? 1 - Math.exp(-step / inertiaTime) : 1 + const smooth = inertia <= 0 ? 1 : (1 - inertia) + inertia * timeFactor + + azimuth += (targetAzimuth - azimuth) * smooth + elevation += (targetElevation - elevation) * smooth + distance += (targetDistance - distance) * smooth + + const x = pivot.x + distance * Math.cos(elevation) * Math.sin(azimuth) + const y = pivot.y + distance * Math.sin(elevation) + const z = pivot.z + distance * Math.cos(elevation) * Math.cos(azimuth) + + cameraEntity.setPosition(x, y, z) + cameraEntity.lookAt(pivot) + } + + const onMouseDown = (e: MouseEvent) => { + if (e.button === 0) dragging = true + if (e.button === 2) panning = true + lastX = e.clientX + lastY = e.clientY + idleTime = 0 + } + + const onMouseMove = (e: MouseEvent) => { + if (!dragging && !panning) return + const dx = e.clientX - lastX + const dy = e.clientY - lastY + lastX = e.clientX + lastY = e.clientY + idleTime = 0 + + if (dragging) { + targetAzimuth -= dx * 0.005 + targetElevation -= dy * 0.005 + } else if (panning) { + const s = distance * 0.0018 + const right = cameraEntity.right.clone().mulScalar(-dx * s) + const up = cameraEntity.up.clone().mulScalar(dy * s) + pivot = pivot.add(right).add(up) + } + updateCamera(0) + emitChange(false) + } + + const onMouseUp = () => { + dragging = false + panning = false + idleTime = 0 + emitChange(true) + } + + const onWheel = (e: WheelEvent) => { + idleTime = 0 + const dir = Math.sign(e.deltaY) + if (dir) targetDistance *= 1 + dir * zoomStrength + updateCamera(0) + emitChange(false) + if (wheelCommitTimer) window.clearTimeout(wheelCommitTimer) + wheelCommitTimer = window.setTimeout(() => { + wheelCommitTimer = null + emitChange(true) + }, 180) + } + + const onContextMenu = (e: Event) => e.preventDefault() + + canvas.addEventListener('mousedown', onMouseDown) + window.addEventListener('mousemove', onMouseMove) + window.addEventListener('mouseup', onMouseUp) + canvas.addEventListener('wheel', onWheel, { passive: true }) + canvas.addEventListener('contextmenu', onContextMenu) + + app.on('update', updateCamera as any) + updateCamera(0) + + const api: OrbitController = { + setPivot(v: pc.Vec3) { + pivot = v.clone() + updateCamera() + }, + setDistance(d: number) { + targetDistance = d + updateCamera() + }, + setZoomStrength(value?: number | null) { + zoomStrength = clampZoom(value) + }, + setInertiaFactor(value?: number | null) { + inertia = clampInertia(value) + }, + setInertiaTime(value?: number | null) { + inertiaTime = clampInertiaTime(value) + }, + setAutoRotate(value?: boolean | null) { + autoRotate = value !== false + if (!autoRotate) idleTime = 0 + }, + setState(state: CameraState) { + if (!state) return + const nextPivot = state.pivot || { x: 0, y: 0, z: 0 } + pivot = new pc.Vec3( + Number(nextPivot.x) || 0, + Number(nextPivot.y) || 0, + Number(nextPivot.z) || 0, + ) + const nextAz = toRad(Number(state.azimuthDeg) || 0) + const nextEl = toRad(Number(state.elevationDeg) || 0) + azimuth = nextAz + elevation = nextEl + targetAzimuth = nextAz + targetElevation = nextEl + const nextDistance = Number(state.distance) || distance + distance = nextDistance + targetDistance = nextDistance + updateCamera(0) + }, + getState() { + return snapshot(true) + }, + destroy() { + canvas.removeEventListener('mousedown', onMouseDown) + window.removeEventListener('mousemove', onMouseMove) + window.removeEventListener('mouseup', onMouseUp) + canvas.removeEventListener('wheel', onWheel as any) + canvas.removeEventListener('contextmenu', onContextMenu) + app.off('update', updateCamera) + if (wheelCommitTimer) window.clearTimeout(wheelCommitTimer) + }, + } + + ;(app as any).__orbit = api + return api +} + +type RenderOverrides = { renderFormats: number[]; samples: number } + +function resolveRenderOverrides(fx: PostFxSettings, device: pc.GraphicsDevice | null): RenderOverrides { + const maxSamples = Number.isFinite((device as any)?.maxSamples) ? Number((device as any).maxSamples) : 1 + const rawSamples = Number(fx.rendering.samples) + let samples = Number.isFinite(rawSamples) ? Math.round(rawSamples) : 1 + samples = Math.max(1, samples || 1) + samples = Math.min(samples, Math.max(1, maxSamples)) + const originalSamples = samples + const forceSingleSample = samples > 1 + if (forceSingleSample) samples = 1 + + const primary = Number(fx.rendering.renderFormat) + if (primary === PIXELFORMAT_RGBA8) { + return { renderFormats: [PIXELFORMAT_RGBA8], samples } + } + + const candidates = [ + primary, + fx.rendering.renderFormatFallback0, + fx.rendering.renderFormatFallback1, + ] + + const canUseFormat = (fmt: number, sampleCount: number) => { + if (!device) return fmt !== PIXELFORMAT_RGBA8 + if (fmt === PIXELFORMAT_111110F) return !!(device as any).textureRG11B10Renderable + if (fmt === PIXELFORMAT_RGBA16F) return !!(device as any).textureHalfFloatRenderable + if (fmt === PIXELFORMAT_RGBA32F) { + const floatRenderable = !!(device as any).textureFloatRenderable + const floatFilterable = (device as any).textureFloatFilterable !== false + if (!floatRenderable || !floatFilterable) return false + if ((device as any).isWebGPU && sampleCount > 1) return false + return true + } + return fmt !== PIXELFORMAT_RGBA8 + } + + const buildFormats = (sampleCount: number) => { + const list: number[] = [] + for (const candidate of candidates) { + const fmt = Number(candidate) + if (!Number.isFinite(fmt)) continue + if (!canUseFormat(fmt, sampleCount)) continue + if (!list.includes(fmt)) list.push(fmt) + } + return list + } + + let renderFormats = buildFormats(samples) + if (!renderFormats.length && samples > 1) { + const singleSampleFormats = buildFormats(1) + if (singleSampleFormats.length) { + samples = 1 + renderFormats = singleSampleFormats + } + } + if (samples > 1 && renderFormats.length > 0) { + samples = 1 + } + if (!renderFormats.length) { + samples = forceSingleSample ? 1 : originalSamples + renderFormats = [PIXELFORMAT_RGBA8] + } + + return { renderFormats, samples } +} + +function applyPostFx( + frame: any, + fx: PostFxSettings, + lutTexture: pc.Texture | null, + overrides?: RenderOverrides +) { + if (!frame) return + + if (frame.rendering) { + if (Array.isArray(frame.rendering.renderFormats)) { + const formats = Array.isArray(overrides?.renderFormats) ? overrides?.renderFormats : (() => { + const list: number[] = [] + if (Number.isFinite(fx.rendering.renderFormat)) list.push(fx.rendering.renderFormat) + if (Number.isFinite(fx.rendering.renderFormatFallback0)) list.push(fx.rendering.renderFormatFallback0) + if (Number.isFinite(fx.rendering.renderFormatFallback1)) list.push(fx.rendering.renderFormatFallback1) + return list + })() + if (formats.length) { + frame.rendering.renderFormats.length = 0 + frame.rendering.renderFormats.push(...formats) + } + } else if (Array.isArray(overrides?.renderFormats) && overrides?.renderFormats.length) { + const fmt = overrides.renderFormats[0] + if (Number.isFinite(fmt)) frame.rendering.renderFormat = fmt + } + if (typeof frame.rendering.stencil === 'boolean') { + frame.rendering.stencil = !!fx.rendering.stencil + } + frame.rendering.renderTargetScale = fx.rendering.renderTargetScale + frame.rendering.samples = Number.isFinite(overrides?.samples) ? Number(overrides?.samples) : fx.rendering.samples + frame.rendering.sceneColorMap = true + frame.rendering.sceneDepthMap = !!fx.rendering.sceneDepthMap + frame.rendering.toneMapping = fx.rendering.toneMapping + frame.rendering.sharpness = fx.rendering.sharpness + } + + if (frame.ssao) { + frame.ssao.type = fx.ssao.type + frame.ssao.blurEnabled = !!fx.ssao.blurEnabled + if (fx.ssao.type !== 'none') { + frame.ssao.intensity = fx.ssao.intensity + frame.ssao.radius = fx.ssao.radius + frame.ssao.samples = fx.ssao.samples + frame.ssao.power = fx.ssao.power + frame.ssao.minAngle = fx.ssao.minAngle + frame.ssao.scale = fx.ssao.scale + } + } + + if (frame.bloom) { + const enabled = !!fx.bloom.enabled + frame.bloom.enabled = enabled + frame.bloom.intensity = enabled ? fx.bloom.intensity : 0 + if (enabled) { + const blurLevel = + Number.isFinite((fx.bloom as any).lastMipLevel) + ? Number((fx.bloom as any).lastMipLevel) + : Number((fx.bloom as any).blurLevel) + if (Number.isFinite(blurLevel)) frame.bloom.blurLevel = blurLevel + } + } + + if (frame.grading) { + frame.grading.enabled = !!fx.grading.enabled + if (fx.grading.enabled) { + frame.grading.brightness = fx.grading.brightness + frame.grading.contrast = fx.grading.contrast + frame.grading.saturation = fx.grading.saturation + const c = toColor(fx.grading.tint) + frame.grading.tint?.copy?.(c) ?? (frame.grading.tint = c) + } + } + + if (frame.colorLUT) { + frame.colorLUT.texture = lutTexture || null + frame.colorLUT.intensity = fx.lut.intensity + } + + if (frame.vignette) { + const enabled = !!fx.vignette.enabled + frame.vignette.enabled = enabled + frame.vignette.intensity = enabled ? fx.vignette.intensity : 0 + if (enabled) { + frame.vignette.inner = fx.vignette.inner + frame.vignette.outer = fx.vignette.outer + frame.vignette.curvature = fx.vignette.curvature + const c = toColor(fx.vignette.color) + frame.vignette.color?.copy?.(c) ?? (frame.vignette.color = c) + } + } + + if (frame.taa) { + frame.taa.enabled = !!fx.taa.enabled + if (fx.taa.enabled) frame.taa.jitter = fx.taa.jitter + } + + if (frame.fringing) { + const enabled = !!fx.chromaticAberration.enabled + frame.fringing.enabled = enabled + frame.fringing.intensity = enabled ? fx.chromaticAberration.intensity : 0 + } + + frame.update?.() +} + +export default function PlayCanvasViewer({ + modelUrl, + postFx, + viewportSize, + onSceneReady, + onSelectionChanged, + onSceneGraph, + exposeSceneGraph = false, + cameraState, + cameraResetToken, + cameraZoomStrength, + cameraInertiaFactor, + cameraInertiaTime, + cameraAutoRotate, + onCameraChange, + muteLogs = false, + onModelState, +}: PlayCanvasViewerProps) { + const canvasRef = useRef(null) + const appRef = useRef(null) + const cameraEntityRef = useRef(null) + const cameraFrameRef = useRef(null) + const modelAssetRef = useRef(null) + const envAtlasRef = useRef(null) + const envAtlasImageRef = useRef(null) + const envAtlasAdjustKeyRef = useRef(null) + const skyboxSourceRef = useRef(null) + const skyboxLightingSourceRef = useRef(null) + const skyboxCubemapRef = useRef(null) + const skyboxAtlasRef = useRef(null) + const lutTextureRef = useRef(null) + const directionalLightRef = useRef(null) + const shadowCatcherRef = useRef(null) + const shadowCatcherLightRef = useRef(null) + const shadowCatcherPlaneRef = useRef(null) + const gridEntityRef = useRef(null) + const gridMaterialRef = useRef(null) + const sceneMapRef = useRef>(new Map()) + const loadTokenRef = useRef(0) + const cameraStateRef = useRef(null) + const onCameraChangeRef = useRef(null) + const logWarn = useCallback((...args: any[]) => { if (!muteLogs) console.warn(...args) }, [muteLogs]) + const logError = useCallback((...args: any[]) => { if (!muteLogs) console.error(...args) }, [muteLogs]) + const [appReady, setAppReady] = useState(false) + const [envAtlasVersion, setEnvAtlasVersion] = useState(0) + const [skyboxVersion, setSkyboxVersion] = useState(0) + const [modelVersion, setModelVersion] = useState(0) + + const fx = useMemo(() => mergePostFxDefaults(postFx), [postFx]) + + useEffect(() => { + cameraStateRef.current = cameraState ?? null + }, [cameraState]) + + useEffect(() => { + onCameraChangeRef.current = onCameraChange ?? null + }, [onCameraChange]) + + const resizeCanvas = React.useCallback((width?: number, height?: number) => { + const canvas = canvasRef.current + const inst = appRef.current + if (!canvas || !inst) return + const w = Math.max(1, Math.round(width ?? canvas.parentElement?.clientWidth ?? canvas.clientWidth)) + const h = Math.max(1, Math.round(height ?? canvas.parentElement?.clientHeight ?? canvas.clientHeight)) + if (canvas.width !== w) canvas.width = w + if (canvas.height !== h) canvas.height = h + try { + if (inst.resizeCanvas.length >= 2) { + inst.resizeCanvas(w, h) + } else { + inst.resizeCanvas() + } + } catch {} + // PlayCanvas writes fixed pixel CSS sizes; the hosted pane remains fluid. + canvas.style.width = '100%' + canvas.style.height = '100%' + const model = inst.root.findByName('Model') as pc.Entity | null + const bounds = model ? computeAabb(model) : null + const orbit = (inst as any).__orbit as OrbitController | undefined + if (bounds && orbit) { + const vertical = (cameraEntityRef.current?.camera?.fov ?? 28) * Math.PI / 360 + const horizontal = Math.atan(Math.tan(vertical) * w / h) + orbit.setDistance(Math.max(1.8, bounds.halfExtents.length() / Math.sin(Math.min(vertical, horizontal)) * 1.1)) + } + }, []) + + useEffect(() => { + const canvas = canvasRef.current + if (!canvas) return + + const app = new pc.Application(canvas, { + mouse: new pc.Mouse(canvas), + touch: new pc.TouchDevice(canvas), + keyboard: new pc.Keyboard(window), + }) + + appRef.current = app + + app.setCanvasFillMode((pc as any).FILLMODE_NONE ?? pc.FILLMODE_NONE) + app.setCanvasResolution(pc.RESOLUTION_AUTO) + app.scene.exposure = 1.0 + const renderOverrides = resolveRenderOverrides(fx, (app as any).graphicsDevice ?? (app as any).device ?? null) + + const ensureHandler = (type: string, Ctor: any) => { + const loaderAny: any = (app as any).loader + if (!loaderAny || !Ctor) return + + try { + if (typeof loaderAny.getHandler === 'function' && loaderAny.getHandler(type)) return + } catch {} + + const tryCreate = () => { + try { return new Ctor((app as any).graphicsDevice ?? (app as any).device ?? app) } catch {} + try { return new Ctor(app) } catch {} + try { return new Ctor((app as any).graphicsDevice, (app as any).assets) } catch {} + try { return new Ctor((app as any).graphicsDevice, (app as any).assets, (app as any).loader) } catch {} + return null + } + + const handler = tryCreate() + if (!handler) return + + try { + loaderAny.addHandler(type, handler) + } catch (e) { + logWarn(`[PlayCanvasViewer] Failed to register handler ${type}`, e) + } + } + + ensureHandler('texture', (pc as any).TextureHandler) + ensureHandler('container', (pc as any).ContainerHandler) + ensureTextureHandler(app) + + const modelRoot = new pc.Entity('ModelRoot') + app.root.addChild(modelRoot) + + app.scene.ambientLight = new pc.Color(0, 0, 0) + + const camera = new pc.Entity('Camera') + camera.addComponent('camera', { + clearColor: toColor(fx.rendering.backgroundColor), + fov: 28, + farClip: 500, + nearClip: 0.05, + }) + app.root.addChild(camera) + cameraEntityRef.current = camera + + try { + const CameraFrameCtor: any = (pc as any).CameraFrame + if (CameraFrameCtor) { + const cf = new CameraFrameCtor(app, camera.camera) + cameraFrameRef.current = cf + applyPostFx(cf, fx, lutTextureRef.current, renderOverrides) + try { cf.update?.() } catch {} + } + } catch (e) { + logWarn('[PlayCanvasViewer] CameraFrame init failed:', e) + cameraFrameRef.current = null + } + + const cam = camera.camera! + ;(cam as any).gammaCorrection = pc.GAMMA_SRGB + ;(cam as any).toneMapping = fx.rendering.toneMapping + + if (typeof (cam as any).requestSceneColorMap === 'function') { + ;(cam as any).requestSceneColorMap(true) + } + if (typeof (cam as any).requestSceneDepthMap === 'function') { + ;(cam as any).requestSceneDepthMap(true) + } + if (Array.isArray((cam as any).layers) && !(cam as any).layers.includes(pc.LAYERID_DEPTH)) { + ;(cam as any).layers = [...(cam as any).layers, pc.LAYERID_DEPTH] + } + + const initialCamera = cameraStateRef.current + const orbit = makeOrbitController(app, camera, { + pivot: initialCamera + ? new pc.Vec3( + Number(initialCamera.pivot?.x) || 0, + Number(initialCamera.pivot?.y) || 0, + Number(initialCamera.pivot?.z) || 0, + ) + : new pc.Vec3(0, 0, 0), + distance: Number(initialCamera?.distance) || 6, + minDistance: 0.05, + maxDistance: 500, + minElevationDeg: 5, + maxElevationDeg: 90, + initialAzimuthDeg: Number.isFinite(initialCamera?.azimuthDeg) ? Number(initialCamera?.azimuthDeg) : 45, + initialElevationDeg: Number.isFinite(initialCamera?.elevationDeg) ? Number(initialCamera?.elevationDeg) : 10, + autoRotate: cameraAutoRotate !== false, + autoRotateSpeed: 4, + autoRotateDelay: 4, + autoRotateFade: 5, + autoRotatePitchSpeed: 0, + autoRotatePitchAmount: 1, + zoomStrength: cameraZoomStrength ?? undefined, + inertiaFactor: cameraInertiaFactor ?? undefined, + inertiaTime: cameraInertiaTime ?? undefined, + onChange: (state, commit) => { + onCameraChangeRef.current?.(state, commit) + }, + }) + + const directionalLight = new pc.Entity('DirectionalLight') + directionalLight.addComponent('light', { + type: 'directional', + }) + app.root.addChild(directionalLight) + directionalLightRef.current = directionalLight + + const gridEntity = new pc.Entity('Grid') + gridEntity.addComponent('render', { castShadows: false }) + const gridMaterial = new pc.ShaderMaterial({ + uniqueName: 'grid-shader', + vertexGLSL: ` + attribute vec3 vertex_position; + attribute vec2 aUv0; + + uniform mat4 matrix_model; + uniform mat4 matrix_viewProjection; + + varying vec2 uv0; + + void main(void) { + gl_Position = matrix_viewProjection * matrix_model * vec4(vertex_position, 1.0); + uv0 = aUv0; + } +`, + fragmentGLSL: ` + uniform vec2 uHalfExtents; + uniform vec3 uColorX; + uniform vec3 uColorZ; + uniform vec3 uColorMain; + uniform float uAlphaX; + uniform float uAlphaZ; + uniform float uAlphaMain; + uniform int uResolution; + uniform vec3 uDotColor; + uniform float uDotAlpha; + uniform float uDotSize; + uniform vec3 uCrossColor; + uniform float uCrossAlpha; + uniform float uCrossLength; + uniform float uCrossWidth; + uniform float uFadeStart; + uniform float uFadeEnd; + + varying vec2 uv0; + + // https://bgolus.medium.com/the-best-darn-grid-shader-yet-727f9278b9d8#1e7c + float pristineGrid(in vec2 uv, in vec2 ddx, in vec2 ddy, vec2 lineWidth) { + vec2 uvDeriv = vec2(length(vec2(ddx.x, ddy.x)), length(vec2(ddx.y, ddy.y))); + bvec2 invertLine = bvec2(lineWidth.x > 0.5, lineWidth.y > 0.5); + vec2 targetWidth = vec2( + invertLine.x ? 1.0 - lineWidth.x : lineWidth.x, + invertLine.y ? 1.0 - lineWidth.y : lineWidth.y + ); + vec2 drawWidth = clamp(targetWidth, uvDeriv, vec2(0.5)); + vec2 lineAA = uvDeriv * 1.5; + vec2 gridUV = abs(fract(uv) * 2.0 - 1.0); + gridUV.x = invertLine.x ? gridUV.x : 1.0 - gridUV.x; + gridUV.y = invertLine.y ? gridUV.y : 1.0 - gridUV.y; + vec2 grid2 = smoothstep(drawWidth + lineAA, drawWidth - lineAA, gridUV); + + grid2 *= clamp(targetWidth / drawWidth, 0.0, 1.0); + grid2 = mix(grid2, targetWidth, clamp(uvDeriv * 2.0 - 1.0, 0.0, 1.0)); + grid2.x = invertLine.x ? 1.0 - grid2.x : grid2.x; + grid2.y = invertLine.y ? 1.0 - grid2.y : grid2.y; + + return mix(grid2.x, 1.0, grid2.y); + } + + float dotMask(vec2 levelPos, float radius) { + if (radius <= 0.0) { + return 0.0; + } + vec2 dist = min(fract(levelPos), 1.0 - fract(levelPos)); + float d = length(dist); + float aa = max(fwidth(levelPos.x), fwidth(levelPos.y)); + return 1.0 - smoothstep(radius - aa, radius + aa, d); + } + + float crossMask(vec2 levelPos, float halfLen, float halfWidth) { + if (halfLen <= 0.0 || halfWidth <= 0.0) { + return 0.0; + } + vec2 dist = min(fract(levelPos), 1.0 - fract(levelPos)); + float dx = dist.x; + float dy = dist.y; + float aa = max(fwidth(levelPos.x), fwidth(levelPos.y)); + float hor = (1.0 - smoothstep(halfWidth - aa, halfWidth + aa, dy)) * + (1.0 - smoothstep(halfLen - aa, halfLen + aa, dx)); + float ver = (1.0 - smoothstep(halfWidth - aa, halfWidth + aa, dx)) * + (1.0 - smoothstep(halfLen - aa, halfLen + aa, dy)); + return max(hor, ver); + } + + void main(void) { + vec2 uv = uv0; + + vec2 pos = (uv * 2.0 - 1.0) * uHalfExtents; + vec2 ddx = dFdx(pos); + vec2 ddy = dFdy(pos); + + float epsilon = 1.0 / 255.0; + float res = float(uResolution); + + vec2 levelPos; + float levelSize; + float levelAlpha; + vec3 baseColor = vec3(0.0); + float baseAlpha = 0.0; + float hasBase = 0.0; + + levelPos = pos * 0.1; + levelSize = 2.0 / 1000.0; + levelAlpha = pristineGrid(levelPos, ddx * 0.1, ddy * 0.1, vec2(levelSize)); + if (levelAlpha > epsilon) { + vec3 color; + float alphaMul = uAlphaMain; + if (abs(levelPos.x) < levelSize) { + if (abs(levelPos.y) < levelSize) { + color = vec3(1.0); + } else { + color = uColorZ; + alphaMul = uAlphaZ; + } + } else if (abs(levelPos.y) < levelSize) { + color = uColorX; + alphaMul = uAlphaX; + } else { + color = uColorMain; + } + baseColor = color; + baseAlpha = levelAlpha * alphaMul; + hasBase = 1.0; + } + + if (hasBase < 0.5 && res >= 1.0) { + levelPos = pos; + levelSize = 1.0 / 100.0; + levelAlpha = pristineGrid(levelPos, ddx, ddy, vec2(levelSize)); + if (levelAlpha > epsilon) { + baseColor = uColorMain; + baseAlpha = levelAlpha * uAlphaMain; + hasBase = 1.0; + } + } + + if (hasBase < 0.5 && res >= 2.0) { + levelPos = pos * 10.0; + levelSize = 1.0 / 100.0; + levelAlpha = pristineGrid(levelPos, ddx * 10.0, ddy * 10.0, vec2(levelSize)); + if (levelAlpha > epsilon) { + baseColor = uColorMain; + baseAlpha = levelAlpha * uAlphaMain; + hasBase = 1.0; + } + } + + float dotRadius = max(0.0, uDotSize) * 0.5; + float crossHalfLen = max(0.0, uCrossLength) * 0.5; + float crossHalfWidth = max(0.0, uCrossWidth) * 0.5; + float dotMaskAll = 0.0; + float crossMaskAll = 0.0; + + if (res >= 1.0) { + levelPos = pos; + dotMaskAll = dotMask(levelPos, dotRadius); + crossMaskAll = crossMask(levelPos, crossHalfLen, crossHalfWidth); + } + + vec3 outColor = baseColor; + float outAlpha = baseAlpha; + float dotAlpha = clamp(uDotAlpha, 0.0, 1.0) * dotMaskAll; + float crossAlpha = clamp(uCrossAlpha, 0.0, 1.0) * crossMaskAll; + float fadeStart = max(0.0, uFadeStart); + float fadeEnd = max(0.0, uFadeEnd); + float fade = 1.0; + if (fadeEnd > fadeStart && fadeEnd > 0.0) { + float d = length(pos); + fade = 1.0 - smoothstep(fadeStart, fadeEnd, d); + } + outAlpha *= fade; + dotAlpha *= fade; + crossAlpha *= fade; + if (dotAlpha > 0.0) { + outColor = mix(outColor, uDotColor, dotAlpha); + outAlpha = max(outAlpha, dotAlpha); + } + if (crossAlpha > 0.0) { + outColor = mix(outColor, uCrossColor, crossAlpha); + outAlpha = max(outAlpha, crossAlpha); + } + + if (outAlpha <= epsilon) { + discard; + } + gl_FragColor = vec4(outColor, outAlpha); + } +`, + attributes: { + vertex_position: (pc as any).SEMANTIC_POSITION ?? pc.SEMANTIC_POSITION, + aUv0: (pc as any).SEMANTIC_TEXCOORD0 ?? pc.SEMANTIC_TEXCOORD0, + }, + }) + gridMaterial.blendType = pc.BLEND_NORMAL + gridMaterial.cull = pc.CULLFACE_NONE + gridMaterial.update() + const gridMesh = pc.Mesh.fromGeometry(app.graphicsDevice, new pc.PlaneGeometry()) + const gridMeshInstance = new pc.MeshInstance(gridMesh, gridMaterial) + gridEntity.render!.meshInstances = [gridMeshInstance] + gridEntity.setLocalScale(1000, 1, 1000) + gridEntity.setLocalPosition(0, 0, 0) + gridMaterial.setParameter('uColorX', [1, 0.3, 0.3]) + gridMaterial.setParameter('uColorZ', [0.3, 0.3, 1]) + gridMaterial.setParameter('uColorMain', [0.9, 0.9, 0.9]) + gridMaterial.setParameter('uAlphaX', 1) + gridMaterial.setParameter('uAlphaZ', 1) + gridMaterial.setParameter('uAlphaMain', 1) + gridMaterial.setParameter('uDotColor', [1, 1, 1]) + gridMaterial.setParameter('uDotAlpha', 0) + gridMaterial.setParameter('uDotSize', 0) + gridMaterial.setParameter('uCrossColor', [1, 1, 1]) + gridMaterial.setParameter('uCrossAlpha', 0) + gridMaterial.setParameter('uCrossLength', 0) + gridMaterial.setParameter('uCrossWidth', 0) + gridMaterial.setParameter('uFadeStart', 0) + gridMaterial.setParameter('uFadeEnd', 0) + gridMaterial.setParameter('uResolution', 2) + const gridHalfExtents = new pc.Vec2(500, 500) + gridMaterial.setParameter('uHalfExtents', [gridHalfExtents.x, gridHalfExtents.y]) + gridMaterial.update() + app.root.addChild(gridEntity) + gridEntityRef.current = gridEntity + gridMaterialRef.current = gridMaterial + + const updateGridHalfExtents = () => { + const scale = gridEntity.getLocalScale() + const half = new pc.Vec2(scale.x / 2, scale.z / 2) + if (gridHalfExtents.distance(half) > 0.001) { + gridHalfExtents.copy(half) + gridMaterial.setParameter('uHalfExtents', [gridHalfExtents.x, gridHalfExtents.y]) + gridMaterial.update() + } + } + app.on('prerender', updateGridHalfExtents) + + const shadowCatcher = new pc.Entity('ShadowCatcher') + shadowCatcherRef.current = shadowCatcher + shadowCatcher.setLocalPosition(0, fx.shadowCatcher.yOffset, 0) + + const shadowLight = new pc.Entity('ShadowCatcherLight') + shadowLight.addComponent('light', { + type: 'directional', + castShadows: true, + shadowUpdateMode: pc.SHADOWUPDATE_REALTIME, + }) + shadowCatcherLightRef.current = shadowLight + shadowCatcher.addChild(shadowLight) + + const shadowPlane = new pc.Entity('ShadowCatcherGeometry') + const shadowMat = new pc.StandardMaterial() + shadowMat.blendType = pc.BLEND_MULTIPLICATIVE + shadowMat.shadowCatcher = true + shadowMat.useSkybox = false + shadowMat.depthWrite = false + shadowMat.diffuse.set(0, 0, 0) + shadowMat.specular.set(0, 0, 0) + shadowMat.update() + shadowPlane.addComponent('render', { type: 'plane', castShadows: false, material: shadowMat }) + shadowPlane.setLocalScale(fx.shadowCatcher.size, 1, fx.shadowCatcher.size) + shadowCatcherPlaneRef.current = shadowPlane + shadowPlane.render?.meshInstances?.forEach((mi: any) => { + mi.drawOrder = -1 + mi.material = shadowMat + }) + shadowCatcher.addChild(shadowPlane) + app.root.addChild(shadowCatcher) + + let started = false + try { + app.start() + started = true + } catch (err) { + logError('[PlayCanvasViewer] App start failed:', err) + } + + if (!started) { + try { app.destroy() } catch {} + appRef.current = null + return () => {} + } + + setAppReady(true) + + try { + const atlasUrl = '/rover-scene/environment-map.png' + const asset = new pc.Asset( + 'envAtlas_default', + 'texture', + { url: atlasUrl }, + { + type: 'rgbp', + addressu: 'clamp', + addressv: 'clamp', + mipmaps: false, + } as any + ) + app.assets.add(asset) + app.assets.load(asset) + + asset.ready(() => { + envAtlasRef.current = asset.resource as any + ;(async () => { + try { + const res = await fetch(atlasUrl) + if (!res.ok) throw new Error(`Failed to fetch ${atlasUrl} (${res.status})`) + const blob = await res.blob() + const bmp = await createImageBitmap(blob) + envAtlasImageRef.current = bmp + } catch (err) { + try { + const img = new Image() + img.src = atlasUrl + await new Promise((resolve, reject) => { + img.onload = () => resolve() + img.onerror = () => reject(new Error('Failed to load env atlas image')) + }) + envAtlasImageRef.current = img + } catch (fallbackErr) { + logWarn('[PlayCanvasViewer] Failed to load env atlas image', fallbackErr) + } + } finally { + setEnvAtlasVersion((v) => v + 1) + } + })() + }) + } catch (e) { + logWarn('[PlayCanvasViewer] Failed to init default environment-map.png', e) + } + + onSceneReady?.({ app, camera, modelRoot }) + + const ro = new ResizeObserver(() => resizeCanvas()) + ro.observe(canvas.parentElement ?? canvas) + resizeCanvas() + + return () => { + try { ro.disconnect() } catch {} + orbit.destroy() + cameraEntityRef.current = null + directionalLightRef.current = null + shadowCatcherRef.current = null + shadowCatcherLightRef.current = null + shadowCatcherPlaneRef.current = null + try { cameraFrameRef.current?.destroy?.() } catch {} + try { lutTextureRef.current?.destroy?.() } catch {} + destroyTexture(envAtlasRef.current) + destroyTexture(skyboxSourceRef.current) + destroyTexture(skyboxLightingSourceRef.current) + destroyTexture(skyboxCubemapRef.current) + destroyTexture(skyboxAtlasRef.current) + envAtlasImageRef.current = null + try { app.off('prerender', updateGridHalfExtents) } catch {} + try { gridMaterial.destroy?.() } catch {} + try { shadowMat.destroy?.() } catch {} + + app.destroy() + appRef.current = null + modelAssetRef.current = null + } + // eslint-disable-next-line react-hooks/exhaustive-deps + }, []) + + useEffect(() => { + if (!viewportSize) return + const w = Math.max(1, Math.round(viewportSize.width)) + const h = Math.max(1, Math.round(viewportSize.height)) + const id = window.requestAnimationFrame(() => resizeCanvas(w, h)) + return () => window.cancelAnimationFrame(id) + }, [viewportSize?.width, viewportSize?.height, resizeCanvas]) + + const resolvedUrl = modelUrl || DEFAULT_MODEL_URL + + useEffect(() => { + const app = appRef.current + if (!app || !resolvedUrl) return + const modelRoot = app.root.findByName('ModelRoot') as pc.Entity | null + if (!modelRoot) return + + let cancelled = false + + const loadGlb = async (url: string) => { + const loadToken = ++loadTokenRef.current + let asset: pc.Asset | null = null + try { + if (!app?.assets) return + + const prevAsset = modelAssetRef.current + const prevChildren = modelRoot.children.slice() + + ensureTextureHandler(app) + + asset = new pc.Asset('model', 'container', { url }) + app.assets.add(asset) + + const loadedAsset = asset + await new Promise((resolve, reject) => { + loadedAsset.ready(() => resolve()) + loadedAsset.on('error', (err: unknown) => reject(err)) + app.assets.load(loadedAsset) + }) + + if (cancelled || loadTokenRef.current !== loadToken) { + try { + if (asset) { + app.assets.remove(asset) + asset.unload?.() + } + } catch {} + return + } + + prevChildren.forEach((c) => c.destroy()) + if (prevAsset) { + try { + app.assets.remove(prevAsset) + prevAsset.unload?.() + } catch {} + } + if (!asset) return + modelAssetRef.current = asset + const resource = asset.resource as any + const entity: pc.Entity = resource.instantiateRenderEntity() + entity.name = 'Model' + modelRoot.addChild(entity) + disableInvalidMeshes(entity) + + const orbit = (app as any).__orbit as OrbitController | undefined + const aabb = computeAabb(entity) + if (orbit && aabb && !cameraStateRef.current) { + orbit.setPivot(aabb.center.clone()) + const cam = cameraEntityRef.current?.camera + const vertical = (cam?.fov ?? 28) * Math.PI / 360 + const horizontal = Math.atan(Math.tan(vertical) * (cam?.aspectRatio ?? 1)) + orbit.setDistance(Math.max(1.8, aabb.halfExtents.length() / Math.sin(Math.min(vertical, horizontal)) * 1.1)) + } + + if (exposeSceneGraph || onSceneGraph) { + const map = new Map() + sceneMapRef.current = map + const graphRoot = modelRoot ?? app.root + const tree = buildSceneTree(graphRoot, map) + onSceneGraph?.(tree, map) + } + setModelVersion((v) => v + 1) + onModelState?.("ready") + } catch (e) { + logError('[PlayCanvasViewer] Failed to load model:', e) + if (!cancelled && asset && app?.assets) { + try { + app.assets.remove(asset) + asset.unload?.() + } catch {} + } + if (!cancelled) onModelState?.("error") + } + } + + onModelState?.("loading") + loadGlb(resolvedUrl) + + return () => { + cancelled = true + } + }, [resolvedUrl, exposeSceneGraph, onSceneGraph]) + + useEffect(() => { + if (!appReady || !cameraState) return + const app = appRef.current + if (!app) return + const orbit = (app as any).__orbit as OrbitController | undefined + if (!orbit) return + orbit.setState(cameraState) + }, [appReady, cameraState]) + + useEffect(() => { + if (!appReady) return + const app = appRef.current + if (!app) return + const orbit = (app as any).__orbit as OrbitController | undefined + if (!orbit) return + orbit.setZoomStrength(cameraZoomStrength ?? undefined) + }, [appReady, cameraZoomStrength]) + + useEffect(() => { + if (!appReady) return + const app = appRef.current + if (!app) return + const orbit = (app as any).__orbit as OrbitController | undefined + if (!orbit) return + orbit.setInertiaFactor(cameraInertiaFactor ?? undefined) + }, [appReady, cameraInertiaFactor]) + + useEffect(() => { + if (!appReady) return + const app = appRef.current + if (!app) return + const orbit = (app as any).__orbit as OrbitController | undefined + if (!orbit) return + orbit.setInertiaTime(cameraInertiaTime ?? undefined) + }, [appReady, cameraInertiaTime]) + + useEffect(() => { + if (!appReady) return + const app = appRef.current + if (!app) return + const orbit = (app as any).__orbit as OrbitController | undefined + if (!orbit) return + orbit.setAutoRotate(cameraAutoRotate ?? undefined) + }, [appReady, cameraAutoRotate]) + useEffect(() => { + if (!appReady || !cameraResetToken) return + const app = appRef.current + if (!app) return + const orbit = (app as any).__orbit as OrbitController | undefined + if (!orbit) return + const modelRoot = app.root.findByName('ModelRoot') as pc.Entity | null + if (!modelRoot) return + const modelEntity = (modelRoot as any).findByName?.('Model') as pc.Entity | null + const aabb = computeAabb(modelEntity || modelRoot) + if (!aabb) return + orbit.setState({ + pivot: { x: aabb.center.x, y: aabb.center.y, z: aabb.center.z }, + distance: Math.max(1.8, aabb.halfExtents.length() * 2.5), + azimuthDeg: 45, + elevationDeg: 10, + }) + }, [appReady, cameraResetToken, modelVersion]) + + useEffect(() => { + const app = appRef.current + if (!app) return + const camEnt = app.root.findByName('Camera') as pc.Entity | null + const cam = camEnt?.camera as any + if (cam) cam.clearColor = toColor(fx.rendering.backgroundColor) + }, [fx.rendering.backgroundColor]) + + useEffect(() => { + const grid = gridEntityRef.current + const mat = gridMaterialRef.current + if (!grid || !mat) return + + const gridVisible = !!fx.grid.enabled || !!fx.grid.dotsEnabled || !!fx.grid.crossEnabled + grid.enabled = gridVisible + const cX = toColor(fx.grid.colorX) + const cZ = toColor(fx.grid.colorZ) + const cMain = toColor(fx.grid.colorMain) + const dotColor = toColor(fx.grid.dotsColor) + const crossColor = toColor(fx.grid.crossColor) + mat.setParameter('uColorX', [cX.r, cX.g, cX.b]) + mat.setParameter('uColorZ', [cZ.r, cZ.g, cZ.b]) + mat.setParameter('uColorMain', [cMain.r, cMain.g, cMain.b]) + const linesEnabled = !!fx.grid.enabled + mat.setParameter('uAlphaX', linesEnabled ? clamp01(fx.grid.alphaX) : 0) + mat.setParameter('uAlphaZ', linesEnabled ? clamp01(fx.grid.alphaZ) : 0) + mat.setParameter('uAlphaMain', linesEnabled ? clamp01(fx.grid.alphaMain) : 0) + mat.setParameter('uDotColor', [dotColor.r, dotColor.g, dotColor.b]) + mat.setParameter('uDotAlpha', fx.grid.dotsEnabled ? clamp01(fx.grid.dotsAlpha) : 0) + mat.setParameter('uDotSize', Math.max(0, Number(fx.grid.dotsDiameter) || 0)) + mat.setParameter('uCrossColor', [crossColor.r, crossColor.g, crossColor.b]) + mat.setParameter('uCrossAlpha', fx.grid.crossEnabled ? clamp01(fx.grid.crossAlpha) : 0) + mat.setParameter('uCrossLength', Math.max(0, Number(fx.grid.crossLength) || 0)) + mat.setParameter('uCrossWidth', Math.max(0, Number(fx.grid.crossWidth) || 0)) + mat.setParameter('uFadeStart', Math.max(0, Number(fx.grid.fadeStart) || 0)) + mat.setParameter('uFadeEnd', Math.max(0, Number(fx.grid.fadeEnd) || 0)) + mat.update() + }, [ + fx.grid.enabled, + fx.grid.colorX, + fx.grid.colorZ, + fx.grid.colorMain, + fx.grid.alphaX, + fx.grid.alphaZ, + fx.grid.alphaMain, + fx.grid.dotsEnabled, + fx.grid.dotsColor, + fx.grid.dotsAlpha, + fx.grid.dotsDiameter, + fx.grid.crossEnabled, + fx.grid.crossColor, + fx.grid.crossAlpha, + fx.grid.crossLength, + fx.grid.crossWidth, + fx.grid.fadeStart, + fx.grid.fadeEnd, + ]) + + useEffect(() => { + const cam = cameraEntityRef.current?.camera as any + if (cam) cam.toneMapping = fx.rendering.toneMapping + }, [fx.rendering.toneMapping]) + + useEffect(() => { + const app = appRef.current + if (!app) return + setWireframeForScene(app, fx.rendering.wireframe) + }, [fx.rendering.wireframe]) + + useEffect(() => { + const frame: any = cameraFrameRef.current + if (!frame) return + const overrides = resolveRenderOverrides(fx, appRef.current?.graphicsDevice ?? null) + applyPostFx(frame, fx, lutTextureRef.current, overrides) + }, [fx]) + + useEffect(() => { + const app = appRef.current + if (!app) return + if (fx.lighting) { + app.scene.exposure = fx.lighting.exposure + } + }, [fx.lighting?.exposure]) + + useEffect(() => { + const app = appRef.current + if (!app) return + + const scene: any = app.scene + const fogType = fx.rendering.fog + const fogValue = + fogType === 'linear' ? pc.FOG_LINEAR : + fogType === 'exp' ? pc.FOG_EXP : + fogType === 'exp2' ? pc.FOG_EXP2 : + pc.FOG_NONE + + const fog = scene?.fog + if (fog && typeof fog === 'object') { + fog.type = fogValue + const fogColor = toColor(fx.rendering.fogColor) + if (fog.color?.copy) fog.color.copy(fogColor) + else fog.color = fogColor + + if (Number.isFinite(fx.rendering.fogDensity)) { + fog.density = fx.rendering.fogDensity + } + + const range = fx.rendering.fogRange + const start = Number.isFinite(fx.rendering.fogStart) ? fx.rendering.fogStart : (Array.isArray(range) ? range[0] : undefined) + const end = Number.isFinite(fx.rendering.fogEnd) ? fx.rendering.fogEnd : (Array.isArray(range) ? range[1] : undefined) + if (Number.isFinite(start)) fog.start = start + if (Number.isFinite(end)) fog.end = end + } else { + scene.fog = fogValue + + const fogColor = toColor(fx.rendering.fogColor) + if (scene.fogColor?.copy) scene.fogColor.copy(fogColor) + else scene.fogColor = fogColor + + if (Number.isFinite(fx.rendering.fogDensity)) { + scene.fogDensity = fx.rendering.fogDensity + } + + const range = fx.rendering.fogRange + const start = Number.isFinite(fx.rendering.fogStart) ? fx.rendering.fogStart : (Array.isArray(range) ? range[0] : undefined) + const end = Number.isFinite(fx.rendering.fogEnd) ? fx.rendering.fogEnd : (Array.isArray(range) ? range[1] : undefined) + if (Number.isFinite(start)) scene.fogStart = start + if (Number.isFinite(end)) scene.fogEnd = end + } + }, [ + fx.rendering.fog, + fx.rendering.fogColor, + fx.rendering.fogDensity, + fx.rendering.fogRange, + fx.rendering.fogStart, + fx.rendering.fogEnd, + ]) + + useEffect(() => { + const app = appRef.current + if (!app || !appReady) return + + const next = generateSkyboxResources(app, fx.skybox.colorA, fx.skybox.colorB) + if (!next.source && !next.cubemap && !next.atlas) return + + destroyTexture(skyboxSourceRef.current) + destroyTexture(skyboxLightingSourceRef.current) + destroyTexture(skyboxCubemapRef.current) + destroyTexture(skyboxAtlasRef.current) + + skyboxSourceRef.current = next.source + skyboxLightingSourceRef.current = next.lightingSource + skyboxCubemapRef.current = next.cubemap + skyboxAtlasRef.current = next.atlas + setSkyboxVersion((v) => v + 1) + }, [appReady, fx.skybox.colorA, fx.skybox.colorB]) + + useEffect(() => { + const app = appRef.current + if (!app || !appReady) return + + if (envAtlasRef.current && envAtlasImageRef.current) { + const key = [ + fx.envAtlas.brightness, + fx.envAtlas.contrast, + fx.envAtlas.saturation, + fx.envAtlas.toneMapping, + ].join('|') + if (envAtlasAdjustKeyRef.current !== key) { + envAtlasAdjustKeyRef.current = key + const base = envAtlasImageRef.current + const width = + 'width' in base + ? (base as ImageBitmap).width + : (base as HTMLImageElement).naturalWidth + const height = + 'height' in base + ? (base as ImageBitmap).height + : (base as HTMLImageElement).naturalHeight + const canvas = document.createElement('canvas') + canvas.width = width + canvas.height = height + const ctx = canvas.getContext('2d') + if (ctx) { + ctx.drawImage(base as any, 0, 0, width, height) + const img = ctx.getImageData(0, 0, width, height) + const data = img.data + const brightness = fx.envAtlas.brightness + const contrast = fx.envAtlas.contrast + const saturation = fx.envAtlas.saturation + const tone = fx.envAtlas.toneMapping + const neutral = + Math.abs(brightness - 1) < 0.0001 && + Math.abs(contrast - 1) < 0.0001 && + Math.abs(saturation - 1) < 0.0001 && + Math.abs(tone) < 0.0001 + + if (!neutral) { + for (let i = 0; i < data.length; i += 4) { + let r = data[i] / 255 + let g = data[i + 1] / 255 + let b = data[i + 2] / 255 + + r *= brightness + g *= brightness + b *= brightness + + r = (r - 0.5) * contrast + 0.5 + g = (g - 0.5) * contrast + 0.5 + b = (b - 0.5) * contrast + 0.5 + + const l = r * 0.2126 + g * 0.7152 + b * 0.0722 + r = l + (r - l) * saturation + g = l + (g - l) * saturation + b = l + (b - l) * saturation + + r = toneMapColor(r, tone) + g = toneMapColor(g, tone) + b = toneMapColor(b, tone) + + data[i] = Math.round(clamp01(r) * 255) + data[i + 1] = Math.round(clamp01(g) * 255) + data[i + 2] = Math.round(clamp01(b) * 255) + } + ctx.putImageData(img, 0, 0) + } + envAtlasRef.current.setSource(canvas as any) + } + } + } + + const atlasTex = envAtlasRef.current + const skyboxAtlas = skyboxAtlasRef.current + const skyboxCube = skyboxCubemapRef.current + + const atlasActive = !!fx.envAtlas.enabled + const skyboxActive = !atlasActive && !!fx.skybox.enabled + + let intensity = 0 + let mip = 0 + let rotation = 0 + + let sceneEnvAtlas: pc.Texture | null = null + let sceneSkybox: pc.Texture | null = null + let overrideEnvAtlas: pc.Texture | null = null + let overrideUseSkybox: boolean | undefined = false + let overrideReflectivityScale = 1 + let overrideEnabled = true + + if (atlasActive) { + const backgroundOn = !!fx.envAtlas.background && !!atlasTex + const reflectionOn = !!fx.envAtlas.reflection && !!atlasTex + + intensity = fx.envAtlas.intensity * (fx.lighting?.skyBoxIntensity ?? 1) + mip = fx.envAtlas.mip + rotation = fx.envAtlas.rotation + + const reflectionIntensity = fx.envAtlas.reflectionIntensity * (fx.lighting?.skyBoxIntensity ?? 1) + overrideReflectivityScale = reflectionIntensity + + if (backgroundOn) sceneEnvAtlas = atlasTex + overrideEnvAtlas = reflectionOn ? atlasTex : null + } else if (skyboxActive) { + const backgroundOn = !!fx.skybox.background && !!skyboxCube + const reflectionOn = !!fx.skybox.reflection && !!skyboxAtlas + + intensity = fx.skybox.intensity * (fx.lighting?.skyBoxIntensity ?? 1) + mip = fx.skybox.mip + rotation = fx.skybox.rotation + + const reflectionIntensity = fx.skybox.reflectionIntensity * (fx.lighting?.skyBoxIntensity ?? 1) + overrideReflectivityScale = reflectionIntensity + + if (backgroundOn) sceneSkybox = skyboxCube + if (backgroundOn) sceneEnvAtlas = skyboxAtlas + overrideEnvAtlas = reflectionOn ? skyboxAtlas : null + } else { + overrideEnvAtlas = null + overrideReflectivityScale = 1 + } + + applySceneEnvironment(app, { + envAtlas: sceneEnvAtlas, + skybox: sceneSkybox, + intensity, + mip, + rotationDeg: rotation, + }) + + applyMaterialEnvOverride(app, { + enabled: overrideEnabled, + envAtlas: overrideEnvAtlas, + cubeMap: null, + useSkybox: overrideUseSkybox, + reflectivityScale: overrideReflectivityScale, + }) + }, [ + appReady, + envAtlasVersion, + skyboxVersion, + modelVersion, + fx.envAtlas.enabled, + fx.envAtlas.background, + fx.envAtlas.reflection, + fx.envAtlas.intensity, + fx.envAtlas.reflectionIntensity, + fx.envAtlas.brightness, + fx.envAtlas.contrast, + fx.envAtlas.saturation, + fx.envAtlas.toneMapping, + fx.envAtlas.mip, + fx.envAtlas.rotation, + fx.skybox.enabled, + fx.skybox.background, + fx.skybox.reflection, + fx.skybox.intensity, + fx.skybox.reflectionIntensity, + fx.skybox.mip, + fx.skybox.rotation, + fx.lighting?.skyBoxIntensity, + ]) + + useEffect(() => { + const lightEntity = directionalLightRef.current + if (!lightEntity) return + + lightEntity.enabled = !!fx.directionalLight.enabled + applyLightAngles(lightEntity, fx.directionalLight.azimuth, fx.directionalLight.elevation) + + const light = (lightEntity as any).light + if (!light) return + + light.color?.copy?.(toColor(fx.directionalLight.color)) + light.intensity = fx.directionalLight.intensity + light.castShadows = !!fx.directionalLight.castShadows + light.shadowIntensity = fx.directionalLight.shadowIntensity + light.shadowDistance = fx.directionalLight.shadowDistance + light.shadowResolution = fx.directionalLight.shadowResolution + light.shadowBias = fx.directionalLight.shadowBias + light.normalOffsetBias = fx.directionalLight.normalOffsetBias + light.shadowType = resolveShadowType(fx.directionalLight.shadowType) + light.vsmBlurSize = fx.directionalLight.vsmBlurSize + if (light.castShadows && typeof light.shadowUpdateMode === 'number') { + light.shadowUpdateMode = pc.SHADOWUPDATE_REALTIME + } + }, [ + fx.directionalLight.enabled, + fx.directionalLight.color, + fx.directionalLight.intensity, + fx.directionalLight.azimuth, + fx.directionalLight.elevation, + fx.directionalLight.castShadows, + fx.directionalLight.shadowIntensity, + fx.directionalLight.shadowDistance, + fx.directionalLight.shadowResolution, + fx.directionalLight.shadowBias, + fx.directionalLight.normalOffsetBias, + fx.directionalLight.shadowType, + fx.directionalLight.vsmBlurSize, + ]) + + useEffect(() => { + const catcher = shadowCatcherRef.current + const lightEntity = shadowCatcherLightRef.current + const planeEntity = shadowCatcherPlaneRef.current + if (!catcher || !lightEntity || !planeEntity) return + + catcher.enabled = !!fx.shadowCatcher.enabled + catcher.setLocalPosition(0, fx.shadowCatcher.yOffset, 0) + planeEntity.setLocalScale(fx.shadowCatcher.size, 1, fx.shadowCatcher.size) + applyLightAngles(lightEntity, fx.shadowCatcher.lightAzimuth, fx.shadowCatcher.lightElevation) + + const light = (lightEntity as any).light + if (!light) return + + light.color?.copy?.(toColor(fx.shadowCatcher.lightColor)) + light.intensity = fx.shadowCatcher.lightIntensity + light.castShadows = true + light.shadowIntensity = fx.shadowCatcher.shadowIntensity + light.shadowDistance = fx.shadowCatcher.shadowDistance + light.shadowResolution = fx.shadowCatcher.shadowResolution + light.shadowBias = fx.shadowCatcher.shadowBias + light.normalOffsetBias = fx.shadowCatcher.normalOffsetBias + light.shadowType = resolveShadowType(fx.shadowCatcher.shadowType) + light.vsmBlurSize = fx.shadowCatcher.vsmBlurSize + if (typeof light.shadowUpdateMode === 'number') { + light.shadowUpdateMode = pc.SHADOWUPDATE_REALTIME + } + }, [ + fx.shadowCatcher.enabled, + fx.shadowCatcher.size, + fx.shadowCatcher.yOffset, + fx.shadowCatcher.lightIntensity, + fx.shadowCatcher.lightColor, + fx.shadowCatcher.lightAzimuth, + fx.shadowCatcher.lightElevation, + fx.shadowCatcher.shadowIntensity, + fx.shadowCatcher.shadowDistance, + fx.shadowCatcher.shadowResolution, + fx.shadowCatcher.shadowBias, + fx.shadowCatcher.normalOffsetBias, + fx.shadowCatcher.shadowType, + fx.shadowCatcher.vsmBlurSize, + ]) + + // reflection overrides are managed in the environment effect above + + useEffect(() => { + if (!onSelectionChanged) return + onSelectionChanged([]) + }, [onSelectionChanged]) + + return ( +
+ +
+ ) +} diff --git a/apps/control-station/src/components/rover/playcanvas/playcanvasPostFx.ts b/apps/control-station/src/components/rover/playcanvas/playcanvasPostFx.ts new file mode 100644 index 0000000..053e745 --- /dev/null +++ b/apps/control-station/src/components/rover/playcanvas/playcanvasPostFx.ts @@ -0,0 +1,393 @@ + +export type PostFxSettings = { + lighting: { + exposure: number + skyBoxIntensity: number + } + envAtlas: { + enabled: boolean + background: boolean + reflection: boolean + intensity: number + reflectionIntensity: number + brightness: number + contrast: number + saturation: number + toneMapping: number + mip: number + rotation: number + } + skybox: { + enabled: boolean + background: boolean + reflection: boolean + intensity: number + reflectionIntensity: number + mip: number + rotation: number + colorA: string + colorB: string + } + rendering: { + backgroundColor: string + wireframe: boolean + renderFormat: number + renderFormatFallback0: number + renderFormatFallback1: number + stencil: boolean + renderTargetScale: number + samples: number + sharpness: number + toneMapping: number + sceneColorMap: boolean + sceneDepthMap: boolean + fog: 'none' | 'linear' | 'exp' | 'exp2' + fogColor: string + fogRange: [number, number] + fogDensity: number + fogStart: number + fogEnd: number + } + grid: { + enabled: boolean + colorX: string + colorZ: string + colorMain: string + alphaX: number + alphaZ: number + alphaMain: number + dotsEnabled: boolean + dotsColor: string + dotsAlpha: number + dotsDiameter: number + crossEnabled: boolean + crossColor: string + crossAlpha: number + crossLength: number + crossWidth: number + fadeStart: number + fadeEnd: number + } + ssao: { + type: 'none' | 'lighting' | 'combine' + blurEnabled: boolean + intensity: number + radius: number + samples: number + power: number + minAngle: number + scale: number + } + bloom: { + enabled: boolean + intensity: number + lastMipLevel: number + } + chromaticAberration: { + enabled: boolean + intensity: number + } + taa: { + enabled: boolean + jitter: number + } + grading: { + enabled: boolean + brightness: number + contrast: number + saturation: number + tint: string + } + lut: { + intensity: number + textureUrl?: string | null + } + vignette: { + enabled: boolean + intensity: number + inner: number + outer: number + curvature: number + color: string + } + directionalLight: { + enabled: boolean + color: string + intensity: number + azimuth: number + elevation: number + castShadows: boolean + shadowIntensity: number + shadowDistance: number + shadowResolution: number + shadowBias: number + normalOffsetBias: number + shadowType: 'vsm16' | 'vsm32' | 'pcf1' | 'pcf3' + vsmBlurSize: number + } + shadowCatcher: { + enabled: boolean + size: number + yOffset: number + lightIntensity: number + lightColor: string + lightAzimuth: number + lightElevation: number + shadowIntensity: number + shadowDistance: number + shadowResolution: number + shadowBias: number + normalOffsetBias: number + shadowType: 'vsm16' | 'vsm32' | 'pcf1' | 'pcf3' + vsmBlurSize: number + } +} + +export const DEFAULT_POSTFX: PostFxSettings = { + lighting: { + exposure: 1.21, + skyBoxIntensity: 0.86, + }, + envAtlas: { + enabled: true, + background: false, + reflection: true, + intensity: 0.76, + reflectionIntensity: 0.6, + brightness: 1.65, + contrast: 1, + saturation: 1, + toneMapping: 0, + mip: 1, + rotation: 247, + }, + skybox: { + enabled: false, + background: false, + reflection: true, + intensity: 0.62, + reflectionIntensity: 1, + mip: 0, + rotation: 0, + colorA: '#c5bfbf', + colorB: '#c7bcbc', + }, + rendering: { + backgroundColor: '#111113', + wireframe: false, + renderFormat: 18, + renderFormatFallback0: 12, + renderFormatFallback1: 14, + stencil: false, + renderTargetScale: 1, + samples: 4, + sharpness: 0, + toneMapping: 4, + sceneColorMap: false, + sceneDepthMap: false, + fog: 'exp', + fogColor: '#dcc2ff', + fogRange: [0, 100], + fogDensity: 0.008, + fogStart: 0, + fogEnd: 100, + }, + grid: { + enabled: true, + colorX: '#ffffff', + colorZ: '#ffffff', + colorMain: '#7a3cff', + alphaX: 0.18, + alphaZ: 0.18, + alphaMain: 0.6, + dotsEnabled: false, + dotsColor: '#ffffff', + dotsAlpha: 0.5, + dotsDiameter: 0.06, + crossEnabled: false, + crossColor: '#ffffff', + crossAlpha: 0.5, + crossLength: 0.5, + crossWidth: 0.06, + fadeStart: 0, + fadeEnd: 0, + }, + ssao: { + type: 'none', + blurEnabled: true, + intensity: 0.5, + radius: 30, + samples: 12, + power: 6, + minAngle: 10, + scale: 1, + }, + bloom: { + enabled: true, + intensity: 0.03, + lastMipLevel: 4, + }, + chromaticAberration: { + enabled: true, + intensity: 30, + }, + taa: { + enabled: false, + jitter: 1, + }, + grading: { + enabled: true, + brightness: 0.837, + contrast: 1.1, + saturation: 1.126, + tint: '#ffffff', + }, + lut: { + intensity: 1, + textureUrl: null, + }, + vignette: { + enabled: true, + intensity: 1, + inner: 0.25, + outer: 1.52, + curvature: 0.78, + color: '#000000', + }, + directionalLight: { + enabled: true, + color: '#ffffff', + intensity: 0.4, + azimuth: 0, + elevation: 0, + castShadows: false, + shadowIntensity: 0.5, + shadowDistance: 16, + shadowResolution: 1024, + shadowBias: 0, + normalOffsetBias: 0, + shadowType: 'vsm16', + vsmBlurSize: 8, + }, + shadowCatcher: { + enabled: true, + size: 9, + yOffset: 0.001, + lightIntensity: 0.3, + lightColor: '#ffffff', + lightAzimuth: 20, + lightElevation: 60, + shadowIntensity: 0.29, + shadowDistance: 16, + shadowResolution: 2048, + shadowBias: 0, + normalOffsetBias: 0, + shadowType: 'vsm16', + vsmBlurSize: 8, + }, +} + +function isObject(value: any): value is Record { + return !!value && typeof value === 'object' && !Array.isArray(value) +} + +export function mergePostFxDefaults(raw?: Partial | null): PostFxSettings { + if (!raw) return JSON.parse(JSON.stringify(DEFAULT_POSTFX)) as PostFxSettings + + const out: any = JSON.parse(JSON.stringify(DEFAULT_POSTFX)) + const merge = (target: any, source: any) => { + if (!isObject(source)) return + for (const [key, value] of Object.entries(source)) { + if (isObject(value)) { + if (!isObject(target[key])) target[key] = {} + merge(target[key], value) + } else { + target[key] = value + } + } + } + merge(out, raw) + + const legacy: any = raw as any + if (legacy?.hdrLight) { + const src = legacy.hdrLight + const env = legacy?.envAtlas ?? {} + if (env?.enabled === undefined && typeof src.enabled === 'boolean') out.envAtlas.enabled = src.enabled + if (env?.background === undefined && typeof src.showSkybox === 'boolean') out.envAtlas.background = src.showSkybox + if (env?.intensity === undefined && typeof src.intensity === 'number') out.envAtlas.intensity = src.intensity + if (env?.mip === undefined && typeof src.mip === 'number') out.envAtlas.mip = src.mip + if (env?.rotation === undefined && typeof src.rotation === 'number') out.envAtlas.rotation = src.rotation + } + if (legacy?.hdrReflection && (legacy?.envAtlas?.reflection === undefined)) { + if (typeof legacy.hdrReflection.enabled === 'boolean') { + out.envAtlas.reflection = legacy.hdrReflection.enabled + } + } + if (out.envAtlas && typeof out.envAtlas.reflectionIntensity !== 'number') { + out.envAtlas.reflectionIntensity = out.envAtlas.intensity + } + if (out.envAtlas && typeof out.envAtlas.brightness !== 'number') { + out.envAtlas.brightness = 1 + } + if (out.envAtlas && typeof out.envAtlas.contrast !== 'number') { + out.envAtlas.contrast = 1 + } + if (out.envAtlas && typeof out.envAtlas.saturation !== 'number') { + out.envAtlas.saturation = 1 + } + if (out.envAtlas && typeof out.envAtlas.toneMapping !== 'number') { + out.envAtlas.toneMapping = 0 + } + if (out.skybox && typeof out.skybox.reflectionIntensity !== 'number') { + out.skybox.reflectionIntensity = out.skybox.intensity + } + if (out.grid && typeof out.grid.enabled !== 'boolean') { + out.grid.enabled = DEFAULT_POSTFX.grid.enabled + } + if (out.grid && typeof out.grid.colorX !== 'string') { + out.grid.colorX = DEFAULT_POSTFX.grid.colorX + } + if (out.grid && typeof out.grid.colorZ !== 'string') { + out.grid.colorZ = DEFAULT_POSTFX.grid.colorZ + } + if (out.grid && typeof out.grid.colorMain !== 'string') { + out.grid.colorMain = DEFAULT_POSTFX.grid.colorMain + } + if (out.grid && typeof out.grid.alphaX !== 'number') { + out.grid.alphaX = DEFAULT_POSTFX.grid.alphaX + } + if (out.grid && typeof out.grid.alphaZ !== 'number') { + out.grid.alphaZ = DEFAULT_POSTFX.grid.alphaZ + } + if (out.grid && typeof out.grid.alphaMain !== 'number') { + out.grid.alphaMain = DEFAULT_POSTFX.grid.alphaMain + } + if (out.grid && typeof out.grid.dotsEnabled !== 'boolean') { + out.grid.dotsEnabled = DEFAULT_POSTFX.grid.dotsEnabled + } + if (out.grid && typeof out.grid.dotsColor !== 'string') { + out.grid.dotsColor = DEFAULT_POSTFX.grid.dotsColor + } + if (out.grid && typeof out.grid.dotsAlpha !== 'number') { + out.grid.dotsAlpha = DEFAULT_POSTFX.grid.dotsAlpha + } + if (out.grid && typeof out.grid.dotsDiameter !== 'number') { + out.grid.dotsDiameter = DEFAULT_POSTFX.grid.dotsDiameter + } + if (out.grid && typeof out.grid.crossEnabled !== 'boolean') { + out.grid.crossEnabled = DEFAULT_POSTFX.grid.crossEnabled + } + if (out.grid && typeof out.grid.crossColor !== 'string') { + out.grid.crossColor = DEFAULT_POSTFX.grid.crossColor + } + if (out.grid && typeof out.grid.crossAlpha !== 'number') { + out.grid.crossAlpha = DEFAULT_POSTFX.grid.crossAlpha + } + if (out.grid && typeof out.grid.crossLength !== 'number') { + out.grid.crossLength = DEFAULT_POSTFX.grid.crossLength + } + if (out.grid && typeof out.grid.crossWidth !== 'number') { + out.grid.crossWidth = DEFAULT_POSTFX.grid.crossWidth + } + return out as PostFxSettings +} diff --git a/apps/control-station/src/components/rover/playcanvas/sceneTree.ts b/apps/control-station/src/components/rover/playcanvas/sceneTree.ts new file mode 100644 index 0000000..dacdf59 --- /dev/null +++ b/apps/control-station/src/components/rover/playcanvas/sceneTree.ts @@ -0,0 +1,20 @@ +import type * as pc from 'playcanvas' + +export type SceneTreeNode = { + id: string + name: string + enabled: boolean + children: SceneTreeNode[] +} + +export function buildSceneTree(root: pc.GraphNode, map: Map): SceneTreeNode { + const id = String((root as any).getGuid?.() ?? (root as any)._guid ?? root.name) + const children = (root.children || []).map((c) => buildSceneTree(c, map)) + map.set(id, root as pc.Entity) + return { + id, + name: root.name || 'Entity', + enabled: root.enabled !== false, + children, + } +} diff --git a/apps/control-station/src/components/rover/rover.css b/apps/control-station/src/components/rover/rover.css new file mode 100644 index 0000000..a8d3263 --- /dev/null +++ b/apps/control-station/src/components/rover/rover.css @@ -0,0 +1,20 @@ +.rover-view { position:relative; height:100%; min-height:200px; overflow:hidden; container-type:inline-size; } +.rover-view:focus-visible { outline:2px solid var(--nodedc-text-secondary); outline-offset:-2px; } +.rover-view .rover-view__scene { position:absolute; inset:0; } +.rover-view__empty { display:grid; place-content:center; height:100%; text-align:center; font-size:var(--nodedc-font-size-sm); color:var(--nodedc-text-muted); } +.rover-view__status { position:absolute; top:var(--nodedc-space-3); left:var(--nodedc-space-3); } +.rover-view__controls { position:absolute; right:var(--nodedc-space-3); bottom:var(--nodedc-space-3); display:flex; flex-direction:column; gap:var(--nodedc-space-2); align-items:center; } +.rover-view__controls > span { font-size:var(--nodedc-font-size-xs); color:var(--nodedc-text-secondary); } +.rover-keys { display:grid; gap:var(--nodedc-space-1); grid-template-columns:repeat(3,46px); } +.rover-key-KeyW { grid-column:2; }.rover-key-KeyA { grid-column:1; grid-row:2; }.rover-key-KeyS { grid-column:2; grid-row:2; }.rover-key-KeyD { grid-column:3; grid-row:2; } +.rover-key-KeyQ { grid-column:1; }.rover-key-KeyE { grid-column:3; } +.rover-view__authority { position:absolute; left:var(--nodedc-space-3); bottom:var(--nodedc-space-3); } +@container (max-width: 380px) { + .rover-view__authority { top:48px; bottom:auto; } +} +.rover-settings { display:flex; flex-direction:column; gap:var(--nodedc-space-3); } +.rover-settings p { font-size:var(--nodedc-font-size-sm); color:var(--nodedc-text-secondary); } +.rover-telemetry { height:100%; overflow:auto; padding:var(--nodedc-space-3); display:flex; flex-wrap:wrap; align-content:start; gap:var(--nodedc-space-4); font-size:var(--nodedc-font-size-sm); } +.rover-telemetry section { flex:1; min-width:170px; }.rover-telemetry section > span { display:block; color:var(--nodedc-text-muted); font-size:var(--nodedc-font-size-xs); margin-top:var(--nodedc-space-1); } +.rover-telemetry dl { display:grid; gap:var(--nodedc-space-1); margin-bottom:0; }.rover-telemetry dl > div { display:flex; justify-content:space-between; gap:var(--nodedc-space-3); } +.rover-telemetry dt { color:var(--nodedc-text-secondary); }.rover-telemetry dd { margin:0; font-variant-numeric:tabular-nums; } diff --git a/apps/control-station/src/composition/devicePlugins.ts b/apps/control-station/src/composition/devicePlugins.ts index 2091dcb..c242a83 100644 --- a/apps/control-station/src/composition/devicePlugins.ts +++ b/apps/control-station/src/composition/devicePlugins.ts @@ -1,3 +1,4 @@ +import {vescSensorUi} from '../../../../plugins/vesc/frontend/src/plugin'; import type { DeviceUiPlugin } from "../core/device-plugins/contracts"; import { xgridsK1Plugin } from "@xgrids-k1/frontend/plugin"; import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin'; @@ -10,4 +11,4 @@ export const installedDevicePlugins: readonly DeviceUiPlugin[] = Object.freeze([ // Node-executed camera controls use the existing sensor contribution contract; // they do not register a desktop capture/AI runtime or a new product workspace. -export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi]); +export const installedNodeSensorContributions = Object.freeze([insta360X4SensorUi,vescSensorUi]); diff --git a/apps/control-station/src/core/fleet/boardLayout.ts b/apps/control-station/src/core/fleet/boardLayout.ts new file mode 100644 index 0000000..309eb83 --- /dev/null +++ b/apps/control-station/src/core/fleet/boardLayout.ts @@ -0,0 +1,13 @@ +import {createBoardLayoutStore,type BoardLayoutStore} from '../../../../../packages/sensor-ui/src/boardLayout'; +import {fleetRequest} from './useFleet'; + +const layouts=new Map(); +export function boardLayout(vehicleID:string):BoardLayoutStore { + let layout=layouts.get(vehicleID); + if(!layout){ + const path=`/${encodeURIComponent(vehicleID)}/board-layout`; + layout=createBoardLayoutStore({read:()=>fleetRequest(path),patch:(section,open)=>fleetRequest(path,'PATCH',{section,open})}); + layouts.set(vehicleID,layout); + } + return layout; +} diff --git a/apps/control-station/src/core/fleet/roverHoldInput.ts b/apps/control-station/src/core/fleet/roverHoldInput.ts new file mode 100644 index 0000000..7ebd75c --- /dev/null +++ b/apps/control-station/src/core/fleet/roverHoldInput.ts @@ -0,0 +1,66 @@ +import {keyDemand,keysFor,type Demand,type RoverMode} from './roverInput'; + +// The network heartbeat is not evidence that a physical key is still held. +// Allow the initial OS repeat delay, then require continuing keyboard evidence. +export const firstKeyLeaseMs=1000,repeatKeyLeaseMs=300; +export function bindRoverHoldInput(scope:HTMLElement,mode:RoverMode,callbacks:{ + held:(keys:Set)=>void;demand:(value:Demand)=>void;pause:()=>void;stop:()=>void; +},now:()=>number=()=>performance.now()){ + const doc=scope.ownerDocument,win=doc.defaultView!; + const keyboard=new Set(),pointers=new Map(); + let deadline=0,closed=false,suspended=false; + const clear=()=>{keyboard.clear();pointers.clear();deadline=0;callbacks.held(new Set());}; + const pause=()=>{if(closed||suspended)return;suspended=true;clear();callbacks.pause();}; + const stop=()=>{if(closed)return;closed=true;clear();callbacks.stop();}; + const focused=()=>!doc.hidden&&doc.hasFocus()&&scope.contains(doc.activeElement); + const valid=()=>{ + if(closed)return false; + if(!focused()||(keyboard.size>0&&now()>=deadline)){pause();return false;} + return true; + }; + const publish=()=>{const held=new Set([...keyboard,...pointers.values()]);callbacks.held(held);callbacks.demand(keyDemand(mode,held));}; + const down=(e:KeyboardEvent)=>{ + if(!e.isTrusted||closed)return; + if(e.code==='Space'||e.code==='Escape'){e.preventDefault();stop();return;} + if(e.altKey||e.ctrlKey||e.metaKey){pause();return;} + if(!keysFor(mode).includes(e.code)||!valid())return; + if((e.target as HTMLElement)?.closest('input,textarea,select,[role=dialog],[role=listbox]')){pause();return;} + // A repeat delivered after focus returns cannot become a fresh press. + if(e.repeat&&!keyboard.has(e.code))return; + e.preventDefault();suspended=false;keyboard.add(e.code); + deadline=now()+(e.repeat?repeatKeyLeaseMs:firstKeyLeaseMs);publish(); + }; + const up=(e:KeyboardEvent)=>{ + if(!e.isTrusted||closed||!keyboard.delete(e.code))return; + e.preventDefault();if(!keyboard.size)deadline=0;publish(); + }; + const blur=(e:Event)=>{if(e.target===win)pause();}; + const focusOut=(e:FocusEvent)=>{if(scope.contains(e.target as Node)&&!scope.contains(e.relatedTarget as Node|null))pause();}; + const focusIn=()=>{if(!focused())pause();}; + const hidden=()=>{if(doc.hidden)pause();}; + const outside=(e:Event)=>{if(!scope.contains(e.target as Node))pause();}; + const pointerUp=(e:PointerEvent)=>{if(!closed&&pointers.delete(e.pointerId))publish();}; + const pointerCancel=(e:PointerEvent)=>{if(pointers.has(e.pointerId))pause();}; + win.addEventListener('keydown',down,true);win.addEventListener('keyup',up,true); + win.addEventListener('blur',blur,true);win.addEventListener('pagehide',stop); + doc.addEventListener('focusout',focusOut,true);doc.addEventListener('focusin',focusIn,true); + doc.addEventListener('visibilitychange',hidden);doc.addEventListener('pointerdown',outside,true); + doc.addEventListener('pointerup',pointerUp,true);doc.addEventListener('pointercancel',pointerCancel,true); + doc.addEventListener('contextmenu',pause,true); + const timer=win.setInterval(valid,50); + return { + valid, + pointerDown(id:number,code:string){if(valid()){suspended=false;pointers.set(id,code);publish();}}, + pointerUp(id:number){if(!closed&&pointers.delete(id))publish();}, + pointerCancel(id:number){if(pointers.has(id))pause();}, + dispose(){ + closed=true;clear();callbacks.demand({left:0,right:0});win.clearInterval(timer); + win.removeEventListener('keydown',down,true);win.removeEventListener('keyup',up,true); + win.removeEventListener('blur',blur,true);win.removeEventListener('pagehide',stop); + doc.removeEventListener('focusout',focusOut,true);doc.removeEventListener('focusin',focusIn,true); + doc.removeEventListener('visibilitychange',hidden);doc.removeEventListener('pointerdown',outside,true); + doc.removeEventListener('pointerup',pointerUp,true);doc.removeEventListener('pointercancel',pointerCancel,true); + doc.removeEventListener('contextmenu',pause,true); + }, + }; +} diff --git a/apps/control-station/src/core/fleet/roverInput.ts b/apps/control-station/src/core/fleet/roverInput.ts new file mode 100644 index 0000000..547d1f3 --- /dev/null +++ b/apps/control-station/src/core/fleet/roverInput.ts @@ -0,0 +1,20 @@ +export type RoverMode='arcade'|'tank'; +export type Demand={left:number;right:number}; +export const keysFor=(mode:RoverMode)=>mode==='arcade'?['KeyW','KeyA','KeyS','KeyD']:['KeyQ','KeyE','KeyA','KeyD']; +export function keyDemand(mode:RoverMode,held:ReadonlySet):Demand { + const axis=(positive:string,negative:string)=>Number(held.has(positive))-Number(held.has(negative)); + if(mode==='tank')return {left:axis('KeyQ','KeyA'),right:axis('KeyE','KeyD')}; + const forward=axis('KeyW','KeyS'),turn=axis('KeyD','KeyA'); + const scale=Math.max(1,Math.abs(forward)+Math.abs(turn)); + return {left:(forward+turn)/scale,right:(forward-turn)/scale}; +} +export const defaultRoverSettings={version:1,mode:'arcade' as RoverMode,currentA:30,maxErpm:2000,model:''}; +export function roverSettings(value:unknown):typeof defaultRoverSettings { + const v=value as Partial|null; + return {...defaultRoverSettings,...(v?.version===1?{ + mode:v.mode==='tank'?'tank':'arcade', + currentA:typeof v.currentA==='number'&&Number.isFinite(v.currentA)?Math.max(.5,Math.min(30,v.currentA)):30, + maxErpm:typeof v.maxErpm==='number'&&Number.isFinite(v.maxErpm)?Math.max(300,Math.min(3000,v.maxErpm)):2000, + model:v.model==='dcd006-v020'?v.model:'', + }:{} )}; +} diff --git a/apps/control-station/src/core/fleet/sensorTransport.ts b/apps/control-station/src/core/fleet/sensorTransport.ts index 9ee8749..d557b97 100644 --- a/apps/control-station/src/core/fleet/sensorTransport.ts +++ b/apps/control-station/src/core/fleet/sensorTransport.ts @@ -9,6 +9,7 @@ export function createFleetSensorTransport(vehicleID:string):SensorTransport { return {...value.sensor_state,fresh:value.connectivity==='online'&&value.enrollment==='paired'}; }; return { + configurationArchive:{list:(device,before)=>fleetRequest(`${path}/${encodeURIComponent(device)}/configurations${before?'?before='+encodeURIComponent(before):''}`),read:(device,version)=>fleetRequest(`${path}/${encodeURIComponent(device)}/configurations/${encodeURIComponent(version)}`)}, enrollment:{state:()=>fleetRequest(`${path}/enrollment`),submit:value=>fleetRequest(`${path}/enrollment/operations`,'POST',value),operation:id=>fleetRequest(`${path}/enrollment/operations/${encodeURIComponent(id)}`)}, inventory:async()=>inventory(await fleetRequest()), subscribe:(receive,unavailable)=>{const events=new EventSource('/api/v1/fleet/events');events.onmessage=e=>{try{receive(inventory(JSON.parse(e.data)));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();}, diff --git a/apps/control-station/src/core/fleet/useRoverControl.ts b/apps/control-station/src/core/fleet/useRoverControl.ts new file mode 100644 index 0000000..a8a8ad1 --- /dev/null +++ b/apps/control-station/src/core/fleet/useRoverControl.ts @@ -0,0 +1,79 @@ +import {useCallback,useEffect,useRef,useState} from 'react'; +import type {Demand} from './roverInput'; + +export interface RoverReading { + id:string;uuid:string;slot:string|null;label:string;age_ms:number; + values:{motor_current_a:number;input_current_a:number;input_voltage_v:number;erpm:number;duty:number;mos_temperature_c:number;fault_code:number}; +} +export interface RoverState { + fresh:boolean;controlling:boolean; + snapshot:{supported?:boolean;instance?:string;state?:string;session_id?:string|null;message?:string|null;devices?:RoverReading[]; + profile?:{layout:null|'1x1'|'2x2';bindings:Record}}; +} +const empty:RoverState={fresh:false,controlling:false,snapshot:{}}; +async function request(url:string,body?:unknown,keepalive=false):Promise{ + const response=await fetch(url,{method:body?'POST':'GET',headers:body?{'Content-Type':'application/json'}:undefined, + body:body?JSON.stringify(body):undefined,cache:'no-store',signal:AbortSignal.timeout(body?350:1000),keepalive}); + const result=await response.json(); + if(!response.ok)throw new Error(typeof result.detail==='string'?result.detail:'Канал управления недоступен.'); + return result; +} +export function useRoverControl(vehicleID:string,visible:boolean){ + const url=`/api/v1/fleet/${encodeURIComponent(vehicleID)}/rover`; + const [state,setState]=useState(empty),[armed,setArmed]=useState(false),[pending,setPending]=useState(false),[error,setError]=useState(null); + const [connecting,setConnecting]=useState(true),armPending=useRef(false); + const session=useRef(null),seq=useRef(0),demand=useRef({left:0,right:0}),sending=useRef(false),generation=useRef(0); + const inputGuard=useRef<(()=>boolean)|null>(null); + const setInputGuard=useCallback((guard:(()=>boolean)|null)=>{inputGuard.current=guard;},[]); + const stop=useCallback(()=>{ + generation.current++;armPending.current=false;const id=session.current;session.current=null;demand.current={left:0,right:0};setArmed(false);setPending(false); + if(id)void request(url+'/command',{session_id:id,sequence:++seq.current,left:0,right:0,stop:true},true).catch(()=>{}); + },[url]); + const send=useCallback(async()=>{ + const id=session.current;if(!id)return; + // Check on every heartbeat, even when a previous request is still pending. + const inputValid=(demand.current.left===0&&demand.current.right===0)||inputGuard.current?.(); + if(document.hidden||!document.hasFocus()||!inputValid)demand.current={left:0,right:0}; + if(sending.current)return; + sending.current=true; + try{await request(url+'/command',{session_id:id,sequence:++seq.current,...demand.current,stop:false});} + catch(e){if(session.current===id){stop();setError(e instanceof Error?e.message:'Команда не подтверждена.');}} + finally{sending.current=false;} + },[url,stop]); + const setDemand=useCallback((next:Demand)=>{demand.current=next;void send();},[send]); + const pauseInput=useCallback(()=>{demand.current={left:0,right:0};void send();},[send]); + const arm=useCallback(async(currentA:number,maxErpm:number)=>{ + if(session.current||armPending.current)return false;const g=++generation.current;armPending.current=true;setError(null);setPending(true); + try{ + const result=await request<{session_id:string}>(url+'/arm',{standstill_confirmed:true,current_a:currentA,max_erpm:maxErpm}); + if(g!==generation.current){void request(url+'/command',{session_id:result.session_id,sequence:1,left:0,right:0,stop:true},true).catch(()=>{});return false;} + // Retire every read started before this acknowledgement, including reads + // begun while POST /arm was pending. They describe the previous authority. + generation.current++;armPending.current=false;setPending(false); + seq.current=0;demand.current={left:0,right:0};session.current=result.session_id;setArmed(true);void send(); + return true; + }catch(e){if(g===generation.current)setError(e instanceof Error?e.message:'Не удалось включить управление.');return false;} + finally{if(g===generation.current){armPending.current=false;setPending(false);}} + },[url,send]); + useEffect(()=>{ + if(!visible){stop();setState(empty);setConnecting(false);return;} + let alive=true,busy=false,lastFault='';const started=performance.now();setConnecting(true); + const poll=async()=>{ + if(busy)return;busy=true;const before=generation.current; + try{const value=await request(url);if(alive&&before===generation.current){setState(value); + setConnecting(!value.fresh&&performance.now()-started<2000); + if(session.current&&(!value.fresh||!value.controlling)){stop();} + const fault=value.snapshot.state==='fault'?value.snapshot.message??'':''; + if(fault&&lastFault!==fault){lastFault=fault;setError(fault);} + }}catch{if(alive&&before===generation.current){setState(empty);setConnecting(false);if(session.current)stop();}}finally{busy=false;} + }; + void poll();const timer=setInterval(()=>void poll(),200),heartbeat=setInterval(()=>void send(),100); + const blur=()=>pauseInput(),hidden=()=>{if(document.hidden)pauseInput();}; + window.addEventListener('blur',blur);window.addEventListener('pagehide',stop);document.addEventListener('visibilitychange',hidden); + return()=>{alive=false;clearInterval(timer);clearInterval(heartbeat);window.removeEventListener('blur',blur);window.removeEventListener('pagehide',stop);document.removeEventListener('visibilitychange',hidden);stop();}; + },[url,visible,stop,send,pauseInput]); + const ready=armed&&state.fresh&&state.snapshot.session_id===session.current&&['ready','driving'].includes(state.snapshot.state??''); + const canArm=state.fresh&&state.snapshot.supported===true&&!state.controlling&&!['preparing','ready','driving','stopping'].includes(state.snapshot.state??''); + return {state,armed,pending,error,connecting,canArm,arm,stop,pauseInput,setDemand,setInputGuard,ready,clearError:()=>setError(null)}; +} +export type RoverController=ReturnType; diff --git a/apps/control-station/src/workspaces/Workspaces.tsx b/apps/control-station/src/workspaces/Workspaces.tsx index 8733927..6f79938 100644 --- a/apps/control-station/src/workspaces/Workspaces.tsx +++ b/apps/control-station/src/workspaces/Workspaces.tsx @@ -431,7 +431,7 @@ export function WorkspaceRenderer(props: WorkspaceRendererProps) { case "missions": return ; case "vehicles": - return ; + return ; case "catalog": return ; case "contour-health": diff --git a/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx b/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx index 10bcd75..10a64c0 100644 --- a/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx +++ b/apps/control-station/src/workspaces/fleet/VehicleSensors.tsx @@ -1,11 +1,13 @@ -import {useMemo} from 'react'; +import {useMemo,type ReactNode} from 'react'; +import {boardLayout} from '../../core/fleet/boardLayout'; import {useDevicePluginHost} from '../../core/device-plugins/DevicePluginHost'; import {createIsolatedRerunHost} from '../../components/rerun/isolatedRerunHost'; import {SensorWorkspace} from '../../../../../packages/sensor-ui/src/SensorWorkspace'; import {createFleetSensorTransport} from '../../core/fleet/sensorTransport'; -export function VehicleSensors({vehicleID,enabled,onDetailChange}:{vehicleID:string;enabled:boolean;onDetailChange:(open:boolean)=>void}){ +export function VehicleSensors({vehicleID,enabled,computer,description}:{vehicleID:string;enabled:boolean;computer:ReactNode;description:string}){ const {registry}=useDevicePluginHost(); const sensorContributions=registry.sensorContributions; + const layout=useMemo(()=>boardLayout(vehicleID),[vehicleID]); const transport=useMemo(()=>createFleetSensorTransport(vehicleID),[vehicleID]); - return ; + return ; } diff --git a/apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx b/apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx index 9bde6da..9668bcd 100644 --- a/apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx +++ b/apps/control-station/src/workspaces/fleet/VehiclesWorkspace.tsx @@ -10,7 +10,7 @@ const platforms = [{ value: "ugv", label: "Наземный (UGV)" }, { value: " const platformLabel = (value: string) => platforms.find(item => item.value === value)?.label ?? value; function statusLabel(item: Vehicle) { return item.enrollment === "pending" ? "Подтверждаем привязку" : item.enrollment === "revoked" ? "Доверие отозвано" : item.enrollment === "failed" ? "Привязка не завершена" : item.connectivity === "online" ? "В сети" : "Нет связи"; } -export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: number }) { +export function VehiclesWorkspace({ createRequest = 0, headerToolsHost }: { createRequest?: number; headerToolsHost?: HTMLElement|null }) { const fleet = useFleet(); const [adding, setAdding] = useState(false); const [code, setCode] = useState(""); @@ -20,7 +20,6 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe const [pending, setPending] = useState(false); const [error, setError] = useState(""); const [selected, setSelected] = useState(null); - const [sensorOpen, setSensorOpen] = useState(false); const [monitorOpen,setMonitorOpen]=useState(false); const [observationOpen,setObservationOpen]=useState(false); const [revoking, setRevoking] = useState(null); @@ -44,25 +43,24 @@ export function VehiclesWorkspace({ createRequest = 0 }: { createRequest?: numbe finally { setPending(false); } } const detail = fleet.items?.find(item => item.id === selected); - if(detail&&observationOpen)return {setObservationOpen(false);setSensorOpen(false);}}/>; + if(detail&&observationOpen)return {setObservationOpen(false);setSelected(null);}} configure={()=>setObservationOpen(false)} headerToolsHost={headerToolsHost}/>; if(detail&&monitorOpen)return setMonitorOpen(false)}/>; return
{fleet.error &&

{fleet.error}

} {!adding && error &&

{error}

} {detail ? <> -
- {!sensorOpen && {fleet.error ? "Нет свежих данных" : statusLabel(detail)}}> +
+ {fleet.error ? "Нет свежих данных" : statusLabel(detail)}}> {detail.notice &&

{detail.notice}

}
Бортовой компьютер
{detail.node_id}
Последняя связь
{detail.last_seen ? new Date(detail.last_seen * 1000).toLocaleString("ru-RU") : "Соединение ещё не получено"}
{detail.host && <>
Имя БК в системе
{detail.host.hostname}
Операционная система
{detail.host.os}
Архитектура
{detail.host.architecture}
Процессоры
{detail.host.cpus}
Память
{detail.host.memory_kib ? `${(detail.host.memory_kib / 1024 / 1024).toFixed(1)} ГиБ` : "Нет сведений"}
}
- + {detail.enrollment !== "revoked" && }
- } - - : !fleet.items ? : fleet.items.length === 0 ? : {fleet.items.map(item =>
  • } title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={{fleet.error ? "Нет свежих данных" : statusLabel(item)}} actions={<> setSelected(item.id)}> {setSelected(item.id);setObservationOpen(true);}}>} />
    • )}    } + }/> + : !fleet.items ? : fleet.items.length === 0 ? : {fleet.items.map(item =>
  • } title={item.name} description={`${platformLabel(item.platform)} · бортовой компьютер`} status={{fleet.error ? "Нет свежих данных" : statusLabel(item)}} actions={<> setSelected(item.id)}> {setSelected(item.id);setObservationOpen(true);}}>} />
    • )}    } {preview ? : }}>
    setLayout(current=>({...current,layers:{...current.layers,[source.key]:value}}))} variant="inline"/>} - {source.key!=='map'&&{setFocused(source.key);setLayersOpen(true);}}>} + {source.deviceID&&{setFocused(source.key);setLayersOpen(true);}}>} setFull(value=>value===source.key?null:source.key)}> setVisible(source.key,false)}>
    @@ -63,6 +69,8 @@ export function BoardObservationCenter({vehicleID,name,enabled,back}:{vehicleID: {groups.map(({device,views,Session})=>visible.some(key=>views.some(view=>key===observationKey(device.id,view.id)))&&({id:view.id,layer:layerFor(observationKey(device.id,view.id),view),target:media.current.get(observationKey(device.id,view.id))!,...headers.current.get(observationKey(device.id,view.id))!}))}/>)} {visible.includes('map')&&createPortal(,media.current.get('map')!,'map-session')} + {visible.includes('rover')&&createPortal(,media.current.get('rover')!,'rover-session')} + {visible.includes('telemetry')&&createPortal(,media.current.get('telemetry')!,'telemetry-session')} setLayersOpen(false)} title={active?active.view.label:'Доступные слои'} size="md">
    {!active&&({value:String(i),label:`Окно ${i+1}`}))} onChange={value=>setLayout(current=>moveObservation(current,ids,id,ids[Number(value)]))}/>
    ;})} diff --git a/apps/control-station/src/workspaces/fleet/observation/ObservationDeck.tsx b/apps/control-station/src/workspaces/fleet/observation/ObservationDeck.tsx index 4575e4e..ee52e85 100644 --- a/apps/control-station/src/workspaces/fleet/observation/ObservationDeck.tsx +++ b/apps/control-station/src/workspaces/fleet/observation/ObservationDeck.tsx @@ -11,6 +11,8 @@ export function ObservationMount({element,className='observation-mount'}:{elemen export function ObservationDeck({ids,mounts,layout,onSplit,depth=0}:{ids:string[];mounts:Map;layout:ObservationLayout;onSplit:(key:string,value:number)=>void;depth?:number}){ if(!ids.length)return null; if(ids.length===1)return ; - const mid=Math.ceil(ids.length/2),key=JSON.stringify(ids),orientation=layout.arrangement==='rows'?'horizontal':layout.arrangement==='columns'?'vertical':depth%2?'horizontal':'vertical'; + const defaultColumns=depth===0&&layout.arrangement==='auto'&&!layout.order.some(id=>id==='rover'||id==='telemetry')&&ids.some(id=>!['map','rover','telemetry'].includes(id)); + const cameraCount=ids.filter(id=>!['map','rover','telemetry'].includes(id)).length; + const mid=defaultColumns&&cameraCountonSplit(key,value)} separatorLabel="Изменить размеры окон" primary={} secondary={}/>; } diff --git a/apps/control-station/test/boardLayout.test.mjs b/apps/control-station/test/boardLayout.test.mjs new file mode 100644 index 0000000..e99a342 --- /dev/null +++ b/apps/control-station/test/boardLayout.test.mjs @@ -0,0 +1,57 @@ +import test from 'node:test'; +import assert from 'node:assert/strict'; +import {readFileSync} from 'node:fs'; +import ts from 'typescript'; +const code=ts.transpileModule(readFileSync(new URL('../../../packages/sensor-ui/src/boardLayout.ts',import.meta.url),'utf8'),{compilerOptions:{module:ts.ModuleKind.ESNext,target:ts.ScriptTarget.ES2022}}).outputText; +const {createBoardLayoutStore,defaultBoardLayout}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64')); +const tick=()=>new Promise(resolve=>setImmediate(resolve)); +function server(){ + let value=structuredClone(defaultBoardLayout);const calls=[]; + return {calls,read:async()=>structuredClone(value),patch:async(section,open)=>{ + calls.push({section,open});await tick(); + value={...value,revision:value.revision+1,open_sections:defaultBoardLayout.open_sections.filter(id=>id===section?open:value.open_sections.includes(id))}; + return structuredClone(value); + }}; +} +test('rapid toggles persist after navigation and preserve all-closed state',async()=>{ + const api=server();const store=createBoardLayoutStore(api);await store.load(); + const unsubscribe=store.subscribe(()=>{}); + store.change(['settings','devices']);store.change(['devices']);store.change([]); + unsubscribe(); + while(store.getSnapshot().saving)await tick(); + const reopened=createBoardLayoutStore(api);await reopened.load(); + assert.deepEqual(reopened.getSnapshot().value.open_sections,[]); + assert.equal(api.calls.length,3); +}); +test('a later toggle wins while an older patch is still in flight',async()=>{ + const api=server();const store=createBoardLayoutStore(api);await store.load(); + store.change(['settings','devices']);store.change(['computer','settings','devices']); + while(store.getSnapshot().saving)await tick(); + assert.deepEqual((await api.read()).open_sections,defaultBoardLayout.open_sections); +}); +test('different vehicles and simultaneous section changes do not clobber one another',async()=>{ + const api=server(),other=server();const a=createBoardLayoutStore(api),b=createBoardLayoutStore(api),c=createBoardLayoutStore(other); + await Promise.all([a.load(),b.load(),c.load()]); + a.change(['settings','devices']);b.change(['computer','devices']); + while(a.getSnapshot().saving||b.getSnapshot().saving)await tick(); + assert.deepEqual((await api.read()).open_sections,['devices']); + assert.deepEqual(c.getSnapshot().value.open_sections,defaultBoardLayout.open_sections); +}); +test('failed save reports failure, rolls back, and explicit reload recovers',async()=>{ + const api=server();let fail=true; + const store=createBoardLayoutStore({...api,patch:(...args)=>fail?Promise.reject(new Error('offline')):api.patch(...args)}); + await store.load();store.change([]); + while(store.getSnapshot().saving)await tick(); + assert.ok(store.getSnapshot().error); + assert.deepEqual(store.getSnapshot().value.open_sections,defaultBoardLayout.open_sections); + fail=false;await store.load();store.change(['devices']); + while(store.getSnapshot().saving)await tick(); + assert.equal(store.getSnapshot().error,null); + assert.deepEqual((await api.read()).open_sections,['devices']); +}); +test('invalid layout cannot overwrite stored preferences',async()=>{ + let writes=0; + const store=createBoardLayoutStore({read:async()=>({...defaultBoardLayout,open_sections:['motor-start']}),patch:async()=>{writes++;return defaultBoardLayout;}}); + await store.load();store.change([]); + assert.equal(store.getSnapshot().ready,false);assert.ok(store.getSnapshot().error);assert.equal(writes,0); +}); diff --git a/apps/control-station/test/roverControlFocus.test.mjs b/apps/control-station/test/roverControlFocus.test.mjs new file mode 100644 index 0000000..c3fd7a7 --- /dev/null +++ b/apps/control-station/test/roverControlFocus.test.mjs @@ -0,0 +1,49 @@ +import test from 'node:test'; +import assert from 'node:assert/strict'; +import {build} from 'esbuild'; +const result=await build({entryPoints:[new URL('../src/core/fleet/useRoverControl.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm',plugins:[{name:'hook-fixture',setup(b){ + b.onResolve({filter:/^react$/},()=>({path:'react',namespace:'fixture'})); + b.onLoad({filter:/.*/,namespace:'fixture'},()=>({contents:`export const useRef=v=>({current:v});export const useState=v=>[v,()=>{}];export const useCallback=f=>f;export const useEffect=f=>globalThis.roverEffects.push(f);`})); +}}]}); +const {useRoverControl}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64')); +const flush=()=>new Promise(resolve=>setImmediate(resolve)); +async function fixture(run){ + const originals=Object.fromEntries(['window','document','fetch','roverEffects','setInterval','clearInterval'].map(k=>[k,globalThis[k]])); + let focus=true,hidden=false;const calls=[],timers=[];globalThis.roverEffects=[]; + globalThis.window={addEventListener(){},removeEventListener(){}}; + globalThis.document={get hidden(){return hidden;},hasFocus:()=>focus,addEventListener(){},removeEventListener(){}}; + globalThis.setInterval=(f,ms)=>{const timer={f,ms};timers.push(timer);return timer;};globalThis.clearInterval=()=>{}; + globalThis.fetch=async(url,init)=>{const body=init.body?JSON.parse(init.body):null;calls.push({url,body});return {ok:true,json:async()=>url.endsWith('/arm')?{session_id:'fixture-session'}:{fresh:true,controlling:true,snapshot:{state:'ready'}}};}; + const c=useRoverControl('fixture',true);const cleanup=globalThis.roverEffects.map(f=>f()); + try{await flush();await c.arm(30,2000);await flush();await run({c,calls,timers,blur:()=>{focus=false;},focus:()=>{focus=true;},hide:()=>{hidden=true;}});} + finally{cleanup.forEach(f=>f?.());await flush();for(const [key,value]of Object.entries(originals)){if(value===undefined)delete globalThis[key];else globalThis[key]=value;}} +} +test('command heartbeat sends neutral on lost blur, keeps session, and accepts new focused input',async()=>fixture(async f=>{ + f.c.setInputGuard(()=>true);f.c.setDemand({left:1,right:-1});await flush(); + assert.equal(f.calls.at(-1).body.left,1);f.blur();f.timers.find(t=>t.ms===100).f();await flush(); + assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.at(-1).body.left,0); + f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,0); + f.focus();f.timers.find(t=>t.ms===100).f();await flush();assert.equal(f.calls.at(-1).body.left,0); + f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,1); + assert.equal(f.calls.filter(x=>x.url.endsWith('/arm')).length,1); +})); +test('expired physical input prevents heartbeat from renewing remembered demand',async()=>fixture(async f=>{ + let valid=true;f.c.setInputGuard(()=>valid);f.c.setDemand({left:1,right:-1});await flush();valid=false; + f.timers.find(t=>t.ms===100).f();await flush();assert.equal(f.calls.at(-1).body.stop,false); +})); +test('no registered input scope cannot issue motion',async()=>fixture(async f=>{ + f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.stop,false); + assert.equal(f.calls.some(x=>x.body?.left===1),false); +})); +test('hidden document sends only neutral without a visibility event',async()=>fixture(async f=>{ + f.c.setInputGuard(()=>true);f.hide();f.c.setDemand({left:1,right:1});await flush(); + assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.some(x=>x.body?.left===1),false); +})); + +test('explicit pause clears demand without revoking session; explicit stop still revokes it',async()=>fixture(async f=>{ + f.c.setInputGuard(()=>true);f.c.setDemand({left:1,right:-1});await flush();f.c.pauseInput();await flush(); + assert.equal(f.calls.at(-1).body.stop,false);assert.equal(f.calls.at(-1).body.left,0); + f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.at(-1).body.left,1); + f.c.stop();await flush();assert.equal(f.calls.at(-1).body.stop,true); + const count=f.calls.length;f.c.setDemand({left:1,right:1});await flush();assert.equal(f.calls.length,count); +})); diff --git a/apps/control-station/test/roverControlStartup.test.mjs b/apps/control-station/test/roverControlStartup.test.mjs new file mode 100644 index 0000000..05b371e --- /dev/null +++ b/apps/control-station/test/roverControlStartup.test.mjs @@ -0,0 +1,49 @@ +import test from 'node:test'; +import assert from 'node:assert/strict'; +import {build} from 'esbuild'; +const result=await build({entryPoints:[new URL('../src/core/fleet/useRoverControl.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm',plugins:[{name:'hook-fixture',setup(b){ + b.onResolve({filter:/^react$/},()=>({path:'react',namespace:'fixture'})); + b.onLoad({filter:/.*/,namespace:'fixture'},()=>({contents:`export const useRef=v=>({current:v});export const useState=v=>[v,()=>{}];export const useCallback=f=>f;export const useEffect=f=>globalThis.roverEffects.push(f);`})); +}}]}); +const {useRoverControl}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64')); +const flush=()=>new Promise(resolve=>setImmediate(resolve)); +const deferred=()=>{let resolve;const promise=new Promise(r=>resolve=r);return {promise,resolve};}; +const response=value=>({ok:true,json:async()=>value}); +const idle={fresh:true,controlling:false,snapshot:{supported:true,state:'observing'}}; +async function fixture(run){ + const originals=Object.fromEntries(['window','document','fetch','roverEffects','setInterval','clearInterval'].map(k=>[k,globalThis[k]])); + const calls=[],timers=[];globalThis.roverEffects=[]; + globalThis.window={addEventListener(){},removeEventListener(){}};globalThis.document={hidden:false,hasFocus:()=>true,addEventListener(){},removeEventListener(){}}; + globalThis.setInterval=(f,ms)=>{timers.push({f,ms});return timers.length;};globalThis.clearInterval=()=>{}; + let armResponse=null,nextPoll=null; + globalThis.fetch=async(url,init)=>{const body=init.body?JSON.parse(init.body):null;calls.push({url,body}); + if(url.endsWith('/arm'))return armResponse?armResponse.promise:response({session_id:'new-session'}); + if(!body)return nextPoll?nextPoll.promise:response(idle); + return response({accepted_sequence:body.sequence}); + }; + const c=useRoverControl('fixture',true),cleanup=globalThis.roverEffects.map(f=>f()); + try{await flush();await run({c,calls,poll:()=>timers.find(t=>t.ms===200).f(),heartbeat:()=>timers.find(t=>t.ms===100).f(),delayArm:()=>armResponse=deferred(),delayPoll:()=>nextPoll=deferred()});} + finally{cleanup.forEach(f=>f?.());await flush();for(const [key,value]of Object.entries(originals)){if(value===undefined)delete globalThis[key];else globalThis[key]=value;}} +} +test('idle poll begun during pending arm cannot revoke newly acknowledged session',async()=>fixture(async f=>{ + const a=f.delayArm();const arming=f.c.arm(30,2000);const p=f.delayPoll();f.poll(); + a.resolve(response({session_id:'new-session'}));assert.equal(await arming,true);await flush(); + p.resolve(response(idle));await flush();f.heartbeat();await flush(); + assert.equal(f.calls.filter(x=>x.body?.stop===true).length,0,'old idle poll revoked the new session'); + assert.equal(f.calls.at(-1).body.session_id,'new-session'); +})); +test('failed poll begun during pending arm cannot revoke newly acknowledged session',async()=>fixture(async f=>{ + const a=f.delayArm();const arming=f.c.arm(30,2000);const p=f.delayPoll();f.poll(); + a.resolve(response({session_id:'new-session'}));assert.equal(await arming,true);await flush(); + p.resolve({ok:false,json:async()=>({detail:'stale read failure'})});await flush(); + assert.equal(f.calls.filter(x=>x.body?.stop===true).length,0,'old failed poll revoked the new session'); +})); +test('a current poll still revokes control when server reports lease lost',async()=>fixture(async f=>{ + assert.equal(await f.c.arm(30,2000),true);await flush();f.poll();await flush(); + assert.equal(f.calls.at(-1).body.stop,true); +})); +test('duplicate arm clicks while request pending create exactly one lease request',async()=>fixture(async f=>{ + const a=f.delayArm();const first=f.c.arm(30,2000),second=f.c.arm(30,2000); + a.resolve(response({session_id:'new-session'}));await Promise.all([first,second]);await flush(); + assert.equal(f.calls.filter(x=>x.url.endsWith('/arm')).length,1); +})); diff --git a/apps/control-station/test/roverHoldInput.test.mjs b/apps/control-station/test/roverHoldInput.test.mjs new file mode 100644 index 0000000..5b2af77 --- /dev/null +++ b/apps/control-station/test/roverHoldInput.test.mjs @@ -0,0 +1,85 @@ +import test from 'node:test'; +import assert from 'node:assert/strict'; +import {build} from 'esbuild'; +const result=await build({entryPoints:[new URL('../src/core/fleet/roverHoldInput.ts',import.meta.url).pathname],bundle:true,write:false,platform:'node',format:'esm'}); +const {bindRoverHoldInput}=await import('data:text/javascript;base64,'+Buffer.from(result.outputFiles[0].contents).toString('base64')); +class Events { + listeners=new Map();timers=new Map();next=0; + addEventListener(type,fn){if(!this.listeners.has(type))this.listeners.set(type,new Set());this.listeners.get(type).add(fn);} + removeEventListener(type,fn){this.listeners.get(type)?.delete(fn);} + emit(type,detail={}){const e={target:this,isTrusted:true,preventDefault(){},...detail};for(const fn of [...(this.listeners.get(type)??[])])fn(e);} + setInterval(fn){const id=++this.next;this.timers.set(id,fn);return id;} + clearInterval(id){this.timers.delete(id);} + tick(){for(const fn of this.timers.values())fn();} +} +function fixture(mode='arcade'){ + let time=0,focus=true;const win=new Events(),doc=new Events();doc.defaultView=win;doc.hidden=false;doc.hasFocus=()=>focus; + const scope={ownerDocument:doc,closest:()=>null},child={closest:()=>null};scope.contains=x=>x===scope||x===child;doc.activeElement=scope; + const states=[],demands=[];let stops=0,pauses=0; + const binding=bindRoverHoldInput(scope,mode,{held:k=>states.push([...k]),demand:d=>demands.push(d),stop:()=>stops++,pause:()=>{pauses++;demands.push({left:0,right:0});}},()=>time); + const key=(code,repeat=false)=>win.emit('keydown',{code,repeat,target:scope}); + return {win,doc,scope,child,binding,states,demands,key,stops:()=>stops,pauses:()=>pauses,advance:ms=>{time+=ms;win.tick();},loseFocus:()=>{focus=false;},restoreFocus:()=>{focus=true;},up:code=>win.emit('keyup',{code,target:scope})}; +} +test('blur clears D, ignores a late repeat, but accepts a fresh press without rearming',()=>{ + const f=fixture();f.key('KeyD');assert.deepEqual(f.demands.at(-1),{left:1,right:-1}); + f.win.emit('blur');assert.equal(f.pauses(),1);assert.equal(f.stops(),0);assert.deepEqual(f.states.at(-1),[]); + assert.deepEqual(f.demands.at(-1),{left:0,right:0});const count=f.demands.length; + f.key('KeyD',true);assert.equal(f.demands.length,count); + f.key('KeyW');assert.deepEqual(f.demands.at(-1),{left:1,right:1});assert.equal(f.binding.valid(),true);f.binding.dispose(); +}); +test('heartbeat validity catches missing blur event using document focus',()=>{ + const f=fixture();f.key('KeyD');f.loseFocus();assert.equal(f.binding.valid(),false);assert.equal(f.pauses(),1); + f.restoreFocus();assert.equal(f.binding.valid(),true);f.binding.dispose(); +}); +test('focus polling catches missing event or moving to another control',()=>{ + const f=fixture();f.key('KeyW');f.doc.activeElement={};f.advance(50);assert.equal(f.pauses(),1);f.binding.dispose(); +}); +test('lost keyup AND missing focus notifications still expire repeated D',()=>{ + const f=fixture();f.key('KeyD');f.advance(500);f.key('KeyD',true);f.advance(299);assert.equal(f.pauses(),0); + f.advance(1);assert.equal(f.pauses(),1);assert.deepEqual(f.states.at(-1),[]);f.key('KeyD',true);assert.equal(f.pauses(),1);f.binding.dispose(); +}); +test('first press allows OS repeat delay but never an indefinite hold',()=>{ + const f=fixture();f.key('KeyW');f.advance(999);assert.equal(f.pauses(),0);f.advance(1);assert.equal(f.pauses(),1);f.binding.dispose(); +}); +test('continuous repeat renews hold; keyup immediately sends neutral',()=>{ + const f=fixture();f.key('KeyW');f.advance(600); + for(let i=0;i<30;i++){f.key('KeyW',true);f.advance(100);} + assert.equal(f.pauses(),0);f.up('KeyW');assert.deepEqual(f.demands.at(-1),{left:0,right:0});f.advance(1200);assert.equal(f.pauses(),0);f.binding.dispose(); +}); +test('diagonal input survives single-key OS repeat; release recomputes demand',()=>{ + const f=fixture();f.key('KeyW');f.key('KeyA'); + for(let i=0;i<20;i++){f.key('KeyA',true);f.advance(100);} + assert.equal(f.pauses(),0);assert.deepEqual(f.demands.at(-1),{left:0,right:1}); + f.up('KeyA');assert.deepEqual(f.demands.at(-1),{left:1,right:1});f.up('KeyW');f.binding.dispose(); +}); +test('repeat without a fresh press and untrusted events never command motion',()=>{ + const f=fixture();f.key('KeyD',true);f.win.emit('keydown',{code:'KeyW',isTrusted:false,target:f.scope});assert.equal(f.demands.length,0);f.binding.dispose(); +}); +test('focus inside the view is allowed; leaving or hiding it stops',()=>{ + for(const event of ['focusout','visibilitychange','pagehide','outside']){ + const f=fixture();f.key('KeyW');f.doc.emit('focusout',{target:f.scope,relatedTarget:f.child});assert.equal(f.pauses(),0); + if(event==='focusout')f.doc.emit(event,{target:f.scope,relatedTarget:null}); + else if(event==='visibilitychange'){f.doc.hidden=true;f.doc.emit(event);} + else if(event==='pagehide')f.win.emit(event); + else f.doc.emit('pointerdown',{target:{}}); + assert.equal(event==='pagehide'?f.stops():f.pauses(),1,event);f.binding.dispose(); + } +}); +test('pointer capture lost or cancelled releases every input',()=>{ + for(const mode of ['arcade','tank']){ + const f=fixture(mode);f.binding.pointerDown(1,mode==='arcade'?'KeyW':'KeyQ');f.binding.pointerCancel(1); + assert.equal(f.pauses(),1);assert.deepEqual(f.states.at(-1),[]);f.binding.dispose(); + } +}); +test('document pointerup releases even if button handler does not receive it',()=>{ + const f=fixture();f.binding.pointerDown(1,'KeyD');f.doc.emit('pointerup',{pointerId:1});assert.deepEqual(f.demands.at(-1),{left:0,right:0});assert.equal(f.pauses(),0);f.binding.dispose(); +}); +test('modifier shortcuts pause; cleanup removes listeners, timer and held demand',()=>{ + const f=fixture();f.key('KeyD');f.win.emit('keydown',{code:'Tab',metaKey:true,target:f.scope});assert.equal(f.pauses(),1);f.binding.dispose(); + assert.deepEqual(f.demands.at(-1),{left:0,right:0});assert.equal(f.win.timers.size,0); + assert.equal([...f.win.listeners.values(),...f.doc.listeners.values()].reduce((sum,x)=>sum+x.size,0),0); +}); + +test('Space and Escape remain explicit session stops',()=>{ + for(const code of ['Space','Escape']){const f=fixture();f.key('KeyW');f.key(code);assert.equal(f.stops(),1);assert.equal(f.binding.valid(),false);f.binding.dispose();} +}); diff --git a/apps/control-station/test/vescUi.test.mjs b/apps/control-station/test/vescUi.test.mjs new file mode 100644 index 0000000..b599a23 --- /dev/null +++ b/apps/control-station/test/vescUi.test.mjs @@ -0,0 +1,70 @@ +import test from 'node:test'; +import assert from 'node:assert/strict'; +import {readFileSync} from 'node:fs'; +import ts from 'typescript'; + +const source=readFileSync(new URL('../../../plugins/vesc/frontend/src/model.ts',import.meta.url),'utf8'); +const code=ts.transpileModule(source,{compilerOptions:{module:ts.ModuleKind.ESNext}}).outputText; +const {vescLabel,testInput,speedInput,rotationResult,driveTestIds}=await import('data:text/javascript;base64,'+Buffer.from(code).toString('base64')); +const controller={online:true,prepared:true,verified:true,vesc_status:{identity:{uuid:'synthetic'},readable:true}}; + +test('speed mode requires board capability and reports measured rotation time',()=>{ + assert.ok(speedInput('1200',undefined).error); + const bounds={min_erpm:300,max_erpm:3000,duration_basis:'measured_speed'}; + assert.equal(speedInput('1200',bounds).error,null); + for(const value of ['', 'NaN','299','3001'])assert.ok(speedInput(value,bounds).error); + const text=rotationResult({outcome:'stopped',rotation_s:2.5,release_confirmed:true,limits_restored:true}); + assert.match(text,/2,5 с/); + assert.match(text,/Проверка остановлена/); + assert.doesNotMatch(text,/время вращения набрано/); +}); + +test('USB discovery and model preparation never claim a verified VESC',()=>{ + assert.equal(vescLabel({...controller,prepared:false},true).label,'Требуется подготовка'); + assert.equal(vescLabel({...controller,vesc_status:{identity:null,readable:false}},true).tone,'warning'); +}); +test('fresh read capability is distinct from unsupported firmware and offline state',()=>{ + assert.equal(vescLabel(controller,true).label,'Готов к чтению'); + assert.equal(vescLabel(controller,false).label,'Нет связи'); + assert.equal(vescLabel({...controller,online:false},true).label,'Нет связи'); + assert.equal(vescLabel({...controller,vesc_status:{identity:{uuid:'synthetic'},readable:false}},true).label,'Прошивка не поддерживается'); +}); + +test('test fields accept entered values only inside the board capability bounds',()=>{ + const bounds={min_current_a:0.5,max_current_a:5,min_duration_s:0.5,max_duration_s:10}; + assert.equal(testInput('3.7','7.2',bounds).valid,true); + assert.equal(testInput('5','10',bounds).valid,true); + for(const [amps,seconds] of [['','5'],['5',''],['60','10'],['5','11'],['NaN','1'],['Infinity','1']])assert.equal(testInput(amps,seconds,bounds).valid,false); + assert.equal(testInput('2','1.5',undefined).valid,false); + const overlong=testInput('5','15',bounds); + assert.equal(overlong.valid,false); + assert.equal(overlong.currentError,null); + assert.equal(overlong.durationError,'Длительность должна быть от 0,5 до 10 с.'); + assert.equal(testInput('5','10',bounds).durationError,null); +}); + +// Capabilities come from the installed board: a newer Core must retain old bounds. +test('extended board accepts 30 A / 30 s without changing older board bounds',()=>{ + const old={min_current_a:0.5,max_current_a:5,min_duration_s:0.5,max_duration_s:10}; + const expanded={...old,max_current_a:30,max_duration_s:30,continuous_current:true}; + assert.equal(testInput('30','30',expanded).valid,true); + assert.equal(testInput('30.1','30',expanded).valid,false); + assert.equal(testInput('30','30.1',expanded).valid,false); + assert.equal(testInput('30','30',old).valid,false); +}); + + +test('group spin requires a complete unique profile containing the selected controller',()=>{ + const profile={layout:'1x1',revision:3,bindings:{'left.1':{device_id:'left',uuid:'a'},'right.1':{device_id:'right',uuid:'b'}}}; + assert.deepEqual(driveTestIds(profile,'left'),['left','right']); + assert.deepEqual(driveTestIds(profile,'unassigned'),[]); + assert.deepEqual(driveTestIds({...profile,bindings:{'left.1':profile.bindings['left.1']}},'left'),[]); + assert.deepEqual(driveTestIds({...profile,bindings:{...profile.bindings,'right.1':profile.bindings['left.1']}},'left'),[]); + assert.deepEqual(driveTestIds(undefined,'left'),[]); +}); + +test('four-wheel profile preserves front and rear membership for common testing',()=>{ + const ids=['lf','lr','rf','rr']; + const bindings=Object.fromEntries(['left.1','left.2','right.1','right.2'].map((slot,i)=>[slot,{device_id:ids[i],uuid:ids[i]}])); + assert.deepEqual(driveTestIds({layout:'2x2',revision:4,bindings},'rf'),ids); +}); diff --git a/apps/node-agent/internal/node/pairing_transport.go b/apps/node-agent/internal/node/pairing_transport.go index bf0022f..6cd0ea7 100644 --- a/apps/node-agent/internal/node/pairing_transport.go +++ b/apps/node-agent/internal/node/pairing_transport.go @@ -307,6 +307,9 @@ 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 +340,7 @@ 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..032c9d7 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: "0.6.3", + 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.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "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..9bbae11 --- /dev/null +++ b/apps/node-agent/internal/node/sensor_vesc_test.go @@ -0,0 +1,122 @@ +package node + +import ( + "context" + "encoding/json" + "net/http" + "os" + "path/filepath" + "sync/atomic" + "testing" +) + +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..1cd7677 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.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/packaging/50-mission-core-device-prepare.rules b/apps/node-agent/packaging/50-mission-core-device-prepare.rules index 59237f8..367c73e 100644 --- a/apps/node-agent/packaging/50-mission-core-device-prepare.rules +++ b/apps/node-agent/packaging/50-mission-core-device-prepare.rules @@ -1,7 +1,7 @@ // An authenticated Node action may start only this fixed model job. polkit.addRule(function(action, subject) { var unit = action.lookup("unit"); - if (subject.user === "mission-core-node" && action.id === "org.freedesktop.systemd1.manage-units" && (unit === "mission-core-node-realsense-prepare.service" || unit === "mission-core-node-insta360-x4-profile.service") && action.lookup("verb") === "start") { + if (subject.user === "mission-core-node" && action.id === "org.freedesktop.systemd1.manage-units" && (unit === "mission-core-node-vesc-prepare.service" || unit === "mission-core-node-realsense-prepare.service" || unit === "mission-core-node-insta360-x4-profile.service") && action.lookup("verb") === "start") { return polkit.Result.YES; } }); diff --git a/apps/node-agent/packaging/build.py b/apps/node-agent/packaging/build.py index 1963f3e..a6c2610 100644 --- a/apps/node-agent/packaging/build.py +++ b/apps/node-agent/packaging/build.py @@ -11,7 +11,7 @@ import sys from build_deb import build, VERSION, BRAND_SHA256 ROOT = Path(__file__).resolve().parents[1] -DG_COMMIT = "8c53f73ee521561a1cc7944a7f7cf113702f40b5" +DG_COMMIT = "8dd9190573d6616024ef01b9b34bf90b72960f44" def guideline_sources(): @@ -36,6 +36,7 @@ def provenance(): "design_guideline_files": guideline_sources(), "shared_sensor_ui_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "packages/sensor-ui/src").rglob("*")) if p.is_file()}, "shared_spatial_ui_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "packages/spatial-ui/src").rglob("*")) if p.is_file()}, + "vesc_plugin_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "plugins/vesc").rglob("*")) if p.is_file() and not any(x in p.relative_to(ROOT.parents[1]).parts for x in ("__pycache__", "build"))}, "k1_frontend_files": {str(p.relative_to(ROOT.parents[1])): hashlib.sha256(p.read_bytes()).hexdigest() for p in sorted((ROOT.parents[1] / "plugins/xgrids-k1/frontend/src").rglob("*")) if p.is_file()}, "toolchain": json.loads((ROOT / "toolchain.json").read_text()), "files": files} diff --git a/apps/node-agent/packaging/build_deb.py b/apps/node-agent/packaging/build_deb.py index 54cccfc..aadb682 100644 --- a/apps/node-agent/packaging/build_deb.py +++ b/apps/node-agent/packaging/build_deb.py @@ -11,8 +11,8 @@ import sys ROOT = Path(__file__).resolve().parents[1] -BINARY_VERSION = "0.8.21" -VERSION = "0.8.21-3" +BINARY_VERSION = "0.8.35" +VERSION = "0.8.35-1" sys.path.insert(0, str(ROOT.parents[1] / "scripts/packaging")) from debian import package @@ -44,7 +44,7 @@ Architecture: amd64 Maintainer: NODE.DC local build Section: admin Priority: optional -Depends: adduser, systemd (>= 255), python3 (>= 3.12), python3 (<< 3.13), python3-gi, gir1.2-gtk-3.0, gir1.2-webkit2-4.1, pkexec, polkitd, ca-certificates, hicolor-icon-theme, network-manager, iproute2, python3-psycopg2, postgresql-16 (>= 16.15), timescaledb-2-oss-postgresql-16 (= 2.29.2~ubuntu24.04-1615), udev, libc6 (>= 2.35), libstdc++6 (>= 12), libgcc-s1, zlib1g +Depends: adduser, systemd (>= 255), python3 (>= 3.12), python3 (<< 3.13), python3-gi, gir1.2-gtk-3.0, gir1.2-webkit2-4.1, pkexec, polkitd, ca-certificates, hicolor-icon-theme, network-manager, iproute2, python3-psycopg2, postgresql-16 (>= 16.15), timescaledb-2-oss-postgresql-16 (= 2.29.2~ubuntu24.04-1615), udev, libc6 (>= 2.39), libstdc++6 (>= 12), libgcc-s1, zlib1g Description: Mission Core onboard computer configuration Local graphical setup, host inventory, SSH access and persistent node identity. """.encode() @@ -111,6 +111,8 @@ Description: Mission Core onboard computer configuration files.append(("usr/lib/mission-core-node/sdk/missioncore_plugin_sdk/" + str(path.relative_to(sdk)), path.read_bytes(), 0o644)) if (ROOT / "build/provenance.json").exists(): files.append(("usr/share/doc/mission-core-node/provenance.json", (ROOT / "build/provenance.json").read_bytes(), 0o644)) + import runpy + files.extend(runpy.run_path(str(ROOT.parents[1] / "plugins/vesc/packaging/payload.py"))["payload"]()) archive = package(controls, files) destination.parent.mkdir(parents=True, exist_ok=True) destination.write_bytes(archive) diff --git a/apps/node-agent/packaging/build_linux_source.py b/apps/node-agent/packaging/build_linux_source.py index 4c34630..8eb9c0d 100644 --- a/apps/node-agent/packaging/build_linux_source.py +++ b/apps/node-agent/packaging/build_linux_source.py @@ -11,7 +11,7 @@ from pathlib import Path NODE = Path(__file__).resolve().parents[1] REPO = NODE.parents[1] DG = REPO.parent / "NODEDC_DESIGN_GUIDELINE" -DG_COMMIT = "8c53f73ee521561a1cc7944a7f7cf113702f40b5" +DG_COMMIT = "8dd9190573d6616024ef01b9b34bf90b72960f44" def files(root): @@ -73,6 +73,13 @@ def build(qualified, node_only=False): # board, runtime path override or operator compiler dependency is needed. virtual = str(REPO.name + "/apps/node-agent/build/model-packages/" + package_name) entries[virtual] = qualified + native_root = REPO / "plugins/vesc" + native = json.loads((native_root / "packaging/native-runtime.json").read_text()) + native_path = native_root / "build/native-runtime" / native["file"] + native_bytes = native_path.read_bytes() + if len(native_bytes) != native["bytes"] or hashlib.sha256(native_bytes).hexdigest() != native["sha256"]: + raise ValueError("Qualified VESC Tool runtime changed") + entries[REPO.name + "/plugins/vesc/build/native-runtime/" + native["file"]] = native_path metadata = {} for name, path in entries.items(): data = path.read_bytes() diff --git a/apps/node-agent/packaging/install-owner-release b/apps/node-agent/packaging/install-owner-release index 31a45e6..d9cafde 100644 --- a/apps/node-agent/packaging/install-owner-release +++ b/apps/node-agent/packaging/install-owner-release @@ -5,7 +5,7 @@ mc_node_release_dir=$(CDPATH= cd -- "$(dirname -- "$0")" && pwd) if [ ! -t 0 ]; then exec /usr/bin/gnome-terminal --wait --title="Mission Core Node" -- "$mc_node_release_dir/install" fi -printf '%s\n' 'Mission Core Node' 'Обновление приложения и встроенных пакетов камер на этом Ubuntu-компьютере.' 'Подготовка X4 выполняется затем из списка устройств в Node или Core.' 'Пароль администратора вводится только в этом локальном окне Ubuntu.' +printf '%s\n' 'Mission Core Node' 'Обновление приложения и встроенных драйверов на этом Ubuntu-компьютере.' 'Подготовка VESC и X4 выполняется затем из списка устройств в Node или Core.' 'Пароль администратора вводится только в этом локальном окне Ubuntu.' set +e /usr/bin/sudo /usr/bin/python3 -I "$mc_node_release_dir/install_release.py" 2>&1 | /usr/bin/tee -a "$mc_node_release_dir/install-output.log" mc_node_install_result=${PIPESTATUS[0]} diff --git a/apps/node-agent/packaging/install_owner_release.py b/apps/node-agent/packaging/install_owner_release.py index 386ad8b..7cf86b7 100644 --- a/apps/node-agent/packaging/install_owner_release.py +++ b/apps/node-agent/packaging/install_owner_release.py @@ -351,7 +351,7 @@ def main(): if report["state"] != "complete": raise RuntimeError(report["error"]) print( - "Mission Core Node обновлён. X4 можно подготовить из списка устройств в Node или Core.", + "Mission Core Node обновлён. VESC и X4 можно подготовить из списка устройств в Node или Core.", flush=True, ) diff --git a/apps/node-agent/packaging/linux_build_job.py b/apps/node-agent/packaging/linux_build_job.py index 97770b8..fcbe010 100644 --- a/apps/node-agent/packaging/linux_build_job.py +++ b/apps/node-agent/packaging/linux_build_job.py @@ -243,6 +243,7 @@ def main(): sys.path.insert(0, str(node / "packaging")) from build_deb import BINARY_VERSION, VERSION, build + run("vesc-reader-tests", ["/usr/bin/python3", "-m", "unittest", "discover", "-s", "plugins/vesc/tests", "-v"], cwd=repo) binary = node / "build/node-agent-linux-amd64" run( "node-binary", diff --git a/apps/node-agent/packaging/postinst b/apps/node-agent/packaging/postinst index 0d8a505..c0975e9 100644 --- a/apps/node-agent/packaging/postinst +++ b/apps/node-agent/packaging/postinst @@ -2,6 +2,7 @@ set -eu case "$1" in configure) + /usr/bin/python3 -I /usr/lib/mission-core-vesc/clear_runtime_cache.py if ! getent passwd mission-core-node >/dev/null; then adduser --system --group --home /var/lib/mission-core-node --no-create-home --disabled-login mission-core-node fi @@ -15,6 +16,9 @@ case "$1" in systemctl enable mission-core-node.service systemctl restart mission-core-node.service systemctl try-restart mission-core-realsense.service + if [ -f /var/lib/mission-core-node-profiles/vesc/preparation.json ]; then + systemctl start mission-core-node-vesc-prepare.service + fi if [ -f /run/mission-core-node-k1-upgrade-active ]; then # A jointly upgraded plugin starts itself after its own configuration. # Restore it here only when that package is already configured. diff --git a/apps/node-agent/packaging/preinst b/apps/node-agent/packaging/preinst index 7a1534d..4f50291 100644 --- a/apps/node-agent/packaging/preinst +++ b/apps/node-agent/packaging/preinst @@ -18,6 +18,10 @@ if [ "$1" = install ] || [ "$1" = upgrade ]; then case "$mc_node_x4_job" in active|activating) echo "Mission Core Node: дождитесь завершения подготовки X4." >&2; exit 1 ;; esac + mc_node_vesc_job=$(systemctl show --property=ActiveState --value mission-core-node-vesc-prepare.service 2>/dev/null || true) + case "$mc_node_vesc_job" in + active|activating) echo "Mission Core Node: дождитесь завершения подготовки VESC." >&2; exit 1 ;; + esac mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true) case "$mc_node_device_job" in active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;; @@ -38,6 +42,7 @@ if [ "$1" = install ] || [ "$1" = upgrade ]; then (umask 077; : > /run/mission-core-node-k1-upgrade-active) systemctl stop mission-core-k1.service fi + systemctl stop mission-core-vesc.service 2>/dev/null || true systemctl stop mission-core-node-monitor.service 2>/dev/null || true fi . /etc/os-release diff --git a/apps/node-agent/packaging/prerm b/apps/node-agent/packaging/prerm index 0c9fd9e..1aacf33 100644 --- a/apps/node-agent/packaging/prerm +++ b/apps/node-agent/packaging/prerm @@ -17,6 +17,10 @@ if [ -d /run/systemd/system ]; then case "$mc_node_x4_job" in active|activating) echo "Mission Core Node: дождитесь завершения подготовки X4." >&2; exit 1 ;; esac + mc_node_vesc_job=$(systemctl show --property=ActiveState --value mission-core-node-vesc-prepare.service 2>/dev/null || true) + case "$mc_node_vesc_job" in + active|activating) echo "Mission Core Node: дождитесь завершения подготовки VESC." >&2; exit 1 ;; + esac mc_node_device_job=$(systemctl show --property=ActiveState --value mission-core-node-realsense-prepare.service 2>/dev/null || true) case "$mc_node_device_job" in active|activating) echo "Mission Core Node: дождитесь завершения подготовки устройства." >&2; exit 1 ;; @@ -30,8 +34,19 @@ if [ -d /run/systemd/system ]; then ;; esac fi +case "$1" in + upgrade|remove|deconfigure) + if [ -d /run/systemd/system ] && [ -f /usr/lib/systemd/system/mission-core-vesc.service ]; then + systemctl disable --now mission-core-vesc.service + fi + ;; +esac case "$1" in remove|deconfigure) + if cmp -s /usr/share/mission-core-node/profiles/vesc/70-mission-core-vesc.rules /etc/udev/rules.d/70-mission-core-vesc.rules; then + rm /etc/udev/rules.d/70-mission-core-vesc.rules + if [ -d /run/systemd/system ]; then udevadm control --reload-rules; fi + fi mc_node_ssh_snippet=/etc/ssh/sshd_config.d/60-mission-core-node.conf if [ -e "$mc_node_ssh_snippet" ]; then if cmp -s /usr/share/mission-core-node/60-mission-core-node.conf "$mc_node_ssh_snippet"; then diff --git a/apps/node-agent/ui/src/NodeSensors.tsx b/apps/node-agent/ui/src/NodeSensors.tsx index fa12520..f33b225 100644 --- a/apps/node-agent/ui/src/NodeSensors.tsx +++ b/apps/node-agent/ui/src/NodeSensors.tsx @@ -1,8 +1,10 @@ +import {vescSensorUi} from '../../../../plugins/vesc/frontend/src/plugin'; import {xgridsK1SensorUi} from '../../../../plugins/xgrids-k1/frontend/src/sensors/plugin'; import {insta360X4SensorUi} from '../../../../plugins/insta360-x4/frontend/src/plugin'; import {createIsolatedRerunHost} from '../../../control-station/src/components/rerun/isolatedRerunHost'; import {SensorWorkspace} from '../../../../packages/sensor-ui/src/SensorWorkspace'; import type {SensorTransport} from '../../../../packages/sensor-ui/src/contracts'; import {request} from './api'; -const transport:SensorTransport={localPreview:{open:(command,signal)=>fetch("/api/devices/preview",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify(command),signal}),read:(peer,after,signal)=>fetch("/api/devices/preview/read",{method:"POST",credentials:"same-origin",headers:{"Content-Type":"application/json"},body:JSON.stringify({peer_id:peer,after}),signal})},enrollment:{state:()=>request("/api/devices/enrollment"),submit:value=>request("/api/devices/enrollment/operations","POST",value),operation:id=>request("/api/devices/enrollment/operations/"+encodeURIComponent(id))},subscribe:(receive,unavailable)=>{const events=new EventSource('/api/devices/events');events.onmessage=e=>{try{receive(JSON.parse(e.data));}catch{unavailable();}};events.onerror=unavailable;return()=>events.close();},inventory:()=>request('/api/devices'),submit:value=>request('/api/devices/operations','POST',value),operation:id=>request('/api/devices/operations/'+encodeURIComponent(id))}; -export function NodeSensors(){return ;} +const configurationArchive:NonNullable={list:(device,before)=>request(`/api/device-configurations/${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(){return ;} diff --git a/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md b/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md index 3294f4e..7913136 100644 --- a/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md +++ b/docs/17_PRODUCT_UI_AND_LAB_PRESENTATION_CANON.md @@ -353,3 +353,17 @@ Before A3 or any subsequent LAB UI change: 7. visually inspect normal and expanded modes at representative viewport sizes. 8. verify every bounded `ENNResult.tsx` uses the v1 summary and result components without raw canonical report markup. + + +## Hardware synchronization feedback — owner requirement, 2026-09-25 + +When an operator action must wait for equipment synchronization, preparation +or completion of a previous operation, show its current phase next to the +action using canonical status components. Do not silently disable the entry +point or present an unexplained frozen control. Keep settings accessible; +gate the actual hardware action on readiness and explain the reason. +A busy phase uses the canonical warning status; confirmed readiness alone +uses success. Missing/stale data or failure must say so, never imply endless +active synchronization. Status follows real lifecycle responses, not a timer +that pretends completion. This is an application-wide interaction requirement; +other equipment workflows need their own lifecycle verification. diff --git a/docs/handoff/2026-09-23_ROVER_006_VESC_CONTEXT.md b/docs/handoff/2026-09-23_ROVER_006_VESC_CONTEXT.md new file mode 100644 index 0000000..0008f5b --- /dev/null +++ b/docs/handoff/2026-09-23_ROVER_006_VESC_CONTEXT.md @@ -0,0 +1,319 @@ +# Rover 006 · VESC · передача контекста + +Дата среза: 23.09.2026. Этап: исследование и подготовка следующей реализации. +Документ отделяет требования владельца, проверенное состояние исходников, +исторические аппаратные результаты и предлагаемый план. Это не отчёт об +установке VESC на борт и не разрешение автоматически запускать моторы. + +## 1. Задача и решение + +Добавить силовое оборудование Rover 006 в существующую архитектуру Mission +Core Node: обнаружение контроллеров, достоверная идентификация, связь с моторами +и назначением «левый/правый», диагностика и впоследствии настройка через обе UI. +Оператор работает локально на борту либо удалённо из «Парк → Аппараты» Core. +Оба интерфейса обращаются к одному владельцу оборудования на борту. + +VESC Tool — открытый проект; полное обратное проектирование закрытой программы +не является исходной задачей. Предлагаемый первый результат — чтение личности, +версий, конфигураций и диагностики двух каналов. Калибровка — следующий отдельно +подготовленный аппаратный опыт. Новая прошивка контроллера ради автообнаружения +не требуется. Совместимость конкретных установленных контроллеров ещё неизвестна. + +Контур симуляции, Worker/AI, управление движением ровера и повторная переработка +Rerun не входят в эту работу. Они не являются зависимостями диагностики VESC. + +## 2. Что сообщил владелец + +- Целевой аппарат — NDC Rover 006, бортовой компьютер — существующий Mac Mini + с Ubuntu и Mission Core Node. По последнему сообщению владельца борт offline. +- Нужно обнаруживать совместимые подключённые контроллеры независимо от + конкретных серийных номеров, в том числе после замены оборудования. +- Желаемая предметная структура: VESC Left / VESC Right и Motor Left / Motor + Right. Это **назначения экземпляров**, а не четыре аппаратные модели. +- Один канал нормально работает от пульта. Проблемный при резкой подаче газа + делает примерно пол-оборота и останавливается; при плавной подаче раскручивается. +- Гусеница снята, механические предположения уже проверялись. Сборщик с большим + опытом изучил видео и предполагает потерю настройки/проблему прошивки VESC. +- Проблемный мотор удалось раскрутить до максимума, после чего исправный + нормально ускорялся. Это важный аргумент против простого общего недостатка + мощности аккумулятора, но не измерение напряжения/тока отдельного контроллера. +- Указания стороны в устной истории неоднозначны. До физического подтверждения + использовать «проблемный канал» и «исправный канал», не назначать Left по догадке. +- USB-кабель контроллера будет подключён к борту. Схема «два USB / один USB и + CAN / двухканальная плата» пока не установлена. + +Приоритетная рабочая гипотеза — конфигурация/прошивка/управление проблемного +канала. Не начинать заново с предположения о камне в гусенице. Одновременно не +объявлять калибровку доказанной причиной до чтения конфигурации и ошибок. + +## 3. Канонические источники и Ops + +Прочитать перед реализацией: + +1. [Правила репозитория](../../AGENTS.md), + [политика артефактов](../03_ARTIFACT_POLICY.md). +2. [Карта монорепозитория](../07_MISSION_CORE_MONOREPO.md), + [архитектура приложения](../18_APPLICATION_COMPONENT_ARCHITECTURE.md), + [правила расширения UI](../19_PRODUCT_SURFACE_EXTENSION_PROTOCOL.md). +3. [Система, борт и аппарат](../node/03_SYSTEM_AND_VEHICLE_PAIRING_SURFACE.md), + [сопряжение Node/Core](../node/04_NODE_CORE_PAIRING_PROTOCOL.md), + [один аппаратный владелец и две UI](../node/05_SENSOR_HOST_AND_SHARED_CONTROL.md). +4. [Plugin SDK v0alpha2](../../packages/plugin-sdk/README.md), + [ADR 0004](../adr/0004-plugin-sdk-v0alpha2-and-experimental-device-lifecycle.md). +5. [Последнее состояние Mini/X4](../node/09_INSTA360_X4_IMPLEMENTATION_STATUS.md), + [оставшиеся аппаратные проверки](../node/10_INSTA360_X4_NEXT_STEPS.md), + [журнал установок](../node/07_INSTA360_X4_INSTALLATION_LEDGER.md). +6. Для UI обязательно прочитать + [mission-core-product-ui](../../.codex/skills/mission-core-product-ui/SKILL.md), + затем названные в нём документы Design Guideline. Текущий handoff UI не меняет. + +Ops — источник состояния карточек; локальный документ не заменяет его: + +| Карточка | Зачем следующей задаче | +| --- | --- | +| [MISSIONCOR-84](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-84) | Новый профильный этап VESC: завершённое исследование, архитектура, симптомы, V0–V5 и открытая аппаратная приёмка. | +| [MISSIONCOR-76](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-76) | Исходная архитектура Node, UI-FIRST / BRIDGE-ONLY, борт и общий контроль. Связь подтверждена документацией Node. | +| [MISSIONCOR-77](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-77) | Последняя установка X4/Node и незавершённые аппаратные проверки. | +| [MISSIONCOR-2](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-2) | Актуальный общий срез вне SIM и переход к VESC. | +| [MISSIONCOR-74](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-74) | История переносимых кастомизаций Rerun. Не переписывать в VESC-задаче. | +| [MISSIONCOR-81](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-81) | Планировщик и проверки проходов K1, отдельный потребитель наблюдения. | +| [MISSIONCOR-80](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-80) | Сохранённые записи/обзор; источник контекста данных, не силового управления. | + +Доступ восстановлен 23.09: прямые `nodedc-ops-agent/tasker_*` успешно прочитали +инструкции, проекты, контекст и реестр 83 карточек MISSION CORE; карточка VESC +в нём отсутствовала и создана отдельно как MISSIONCOR-84 (Backlog). Выполнена +целевая актуализация 2/66/74/81, в 76 добавлен датированный комментарий без +изменения замороженного baseline. SIM-карточки не редактировались. Исследованы +профильные Node/X4/planning/Rerun/SDK/architecture материалы, а не весь Ops всех +продуктов. Полный Desktop-документ содержит снимок выбранных карточек, их +активные комментарии и инженерные приложения. Архивные планы — не новые команды. + +## 4. Борт: установленное, исходники и неизвестное + +| Предмет | Проверенное основание / граница | +| --- | --- | +| Машина | Apple Macmini6,2, amd64, Ubuntu 24.04.4 LTS Desktop; Linux 7.0.0-31-generic по журналам сентября. Сегодня борт не опрашивался. | +| CPU/RAM/диск | Baseline 76 сообщает со слов владельца 8 GB RAM, одна планка. Свежие CPU/RAM/диск не измерены; получить read-only инвентаризацию. Это не операторский MacBook и не Worker 006. | +| Последний задокументированный Node | 0.8.21-3 установлен 10.09.2026; это же package version в `packaging/build_deb.py`. | +| X4 | Model package 0.1.3-9 (B17), установлена; чтение SDK/preview уже не «только USB enumeration». MANUAL02 с поздним receipt и другие проверки остаются открытыми. | +| D455 | Реальные захват/запись и USB3 подтверждены исторически. Не перезапускать и не лишать прав при добавлении силового оборудования. | +| K1 | Самостоятельная модель; бортовой путь — Wi-Fi Bridge общей сети, не operator-Mac fallback. | +| VESC | Реализации модели в проверенных Node/fleet/SDK/plugin-каталогах не найдено. Контроллеры, firmware, моторы и проводка ещё не идентифицированы. | +| Node UI | GTK/WebKit + встроенная React-сборка, локальный API на loopback:8780. Это не второй Core:8000. | +| Служба | Независима от окна, состояние `/var/lib/mission-core-node`, версия/identity сохраняются при штатных обновлениях. | + +Не путать Rover 006, onboard Mini, операторский MacBook Pro (18 GB RAM) и +Worker 006. Совпадение «006» не означает один компьютер или один контур. + +Обнаружено расхождение документации: `apps/node-agent/README.md` называет +«current» 0.6.11; исходники пакета и последние Node-документы — 0.8.21-3. +Первая фраза секции X4 в AGENTS фиксирует стартовое состояние 08.09; более +поздние аппаратные результаты находятся в ledger и status 10.09. Не стирать +историю и не ослаблять installer/safety-правила из-за этого расхождения. + +## 5. Архитектурные инварианты + +```text +Core: Парк → Rover 006 Локальное приложение Node + \ / + один контракт операций + | + Node на Mini: состояние, права, задания + | + VESC-адаптер: один владелец USB/CAN-сеанса + | + контроллер → канал → физический мотор +``` + +- `model != device instance != USB/CAN address != device session != роль L/R`. +- Tailscale — транспорт. Он не создаёт доверие Core/Node и не заменяет mTLS, + сопряжение, идентичность борта или права на опасные операции. +- Core проецирует состояние и отправляет адресные операции. Он не сканирует + USB операторского компьютера вместо борта и не управляет контроллером по SSH. +- Одновременные локальная и удалённая UI не создают двух владельцев serial. +- `acknowledged != completed`. Потерянный ответ на запись — неизвестный исход, + а не основание автоматически повторять калибровку/прошивку. +- Повторное подключение создаёт новый сеанс; старые команды отклоняются. + Автообнаружение не означает автонастройку, автопрошивку или разрешение движения. +- Существующий сенсорный контракт даёт идентичность/операции/состояния, но сам + по себе **не доказывает безопасность привода**. Нужны отдельные правила + обслуживания, владения RC/автономным управлением и аварийного останова. +- Linux users/groups, точные udev-правила, драйвер, сервис и зависимости входят + в versioned installer/profile с первого опыта. Не делать `chmod 666`, ручной + global pip/apt и последующее обещание «упаковать позже». + +Точки входа в код: + +| Файлы | Ответственность | +| --- | --- | +| `apps/node-agent/internal/node/sensor_models.go` | Реестр моделей, USB discovery, stable/provisional identity. Сейчас D455/K1/X4; не добавлять мотор как фиктивную USB-камеру. | +| `apps/node-agent/internal/node/sensors.go`, `sensor_events.go`, `sensor_preparation.go` | Сеансы, операции, события обнаружения, подготовка. | +| `apps/node-agent/internal/node/pairing*.go` | Доверие, транспорт и восстановление Core/Node. | +| `src/k1link/fleet/{registry,sensors,transport,trust,recovery}.py` | Сохранённый аппарат, проекция Node, очередь/результаты адресных операций. | +| `packages/plugin-sdk/python/missioncore_plugin_sdk/v0alpha2/` | Portable identity, session, operations, runtime, evidence. | +| `packages/sensor-ui/src/{pluginSdk,extensions,contracts}.ts` | Общая UI/transport boundary; будущий силовой detail — отдельная доменная композиция. | +| `apps/node-agent/packaging/` | Версионные Linux build/deb/qualification/owner-release и профили. | +| `plugins/insta360-x4/` | Пример модели и отдельного runtime; не копировать camera-specific semantics в VESC. | + +## 6. Что подтверждено в upstream VESC + +Первичные источники просмотрены 23.09.2026; ссылки на `master` подвижны. +Перед реализацией закрепить конкретный release/commit и совместимые hardware/ +firmware. Это исследование исходников, а не аппаратная квалификация Rover 006. + +- [VESC Tool](https://github.com/vedderb/vesc_tool): открытый Qt-проект, Linux + поддерживается. Учесть GPL и отдельные условия товарного знака при интеграции + и распространении; отдельный процесс сам по себе не решает лицензионный вопрос. +- [CLI](https://github.com/vedderb/vesc_tool/blob/master/main.cpp): есть выбор + serial/CAN, выгрузка motor/app config, firmware query, offscreen и TCP server. + Наличие этих ключей не означает готовый стабильный REST backend всех функций. +- [Commands](https://github.com/vedderb/vesc_tool/blob/master/commands.h): чтение + firmware, values, motor/app config, CAN discovery отделено от setters, + detect/measure, управления током/оборотами и прошивки. +- [Firmware identity](https://github.com/vedderb/vesc_tool/blob/master/datatypes.h): + FW_RX_PARAMS содержит HW, firmware и UUID. Их полноту/смысл проверять на реальной + версии; одна строка HW не всегда устанавливает коммерческую модель платы. +- [Autoconnect](https://github.com/vedderb/vesc_tool/blob/master/vescinterface.cpp): + штатный поиск перебирает serial-порты и останавливается на первом ответившем + устройстве. Для двух каналов он не заменяет наш полный inventory и L/R binding. +- [TCP server](https://github.com/vedderb/vesc_tool/blob/master/tcpserversimple.cpp): + простой транспорт не является нашей границей авторизации. Не публиковать + сырой управляющий TCP в LAN/Tailscale/Internet только потому, что он существует. +- [Firmware fault types](https://github.com/vedderb/bldc/blob/master/datatypes.h): + различаются ошибки питания, тока, драйвера, датчиков и конфигурации. Поэтому + «мотор остановился» недостаточно для вывода «слетела калибровка». + +Для первого обследования разумно иметь официальный VESC Tool как инженерный +инструмент на Linux Mini. Встроенный продуктовый путь — отдельный адаптер с +проверенными разрешёнными операциями. Tool и адаптер не должны одновременно +захватывать один serial-порт. Автозагрузка произвольного QML/Lisp с устройства +и свободный terminal passthrough не входят в исходную read-only поверхность. + +## 7. Обнаружение и устройство предметной модели + +1. Получить OS USB/serial inventory без отправки команд всем найденным портам. +2. Отобрать кандидатов по подтверждённым дескрипторам/профилю совместимости. + Затем ограниченный протокольный запрос личности и версии, без motor setters. +3. Проверить, скрываются ли другие контроллеры за CAN. Не включать широкие + broadcast-записи, detect-all или смену CAN baudrate ради инвентаризации. +4. Сохранить аппаратную личность и новый транспортный сеанс. Пустой/дублированный + UUID — provisional/ambiguous, не «первый порт = левый». +5. Модель платы подтвердить firmware/HW плюс маркировкой или документацией + производителя. USB VID/PID и UUID сами по себе не дают все характеристики. +6. Физический мотор обычно не USB-устройство. Его модель, датчики, допустимые + характеристики и соединение с каналом подтверждаются маркировкой/сборщиком. + Электрическое измерение параметров не является распознаванием производителя. +7. Назначить логические Left/Right после подтверждения проводки владельцем. + Новая плата обнаруживается автоматически, но не наследует молча калибровку + и разрешение движения старой. Двухканальный контроллер моделировать честно, + не создавать два вымышленных корпуса. + +## 8. Диагностика проблемного канала + +Сначала зафиксировать firmware/HW и конфигурации **обоих** каналов: motor config, +app/input config и поддержанные custom configs. Сохранить исходные файлы, +UUID/версию/время/хеш в приватном evidence; в Git/Ops — очищенный отчёт. + +Сравнить по смыслу: режим управления и датчиков, ramp/лимиты, вход пульта, +настройки CAN и тайм-аутов, параметры FOC/Hall/encoder, ошибки и телеметрию. +Не копировать весь конфиг исправного контроллера в проблемный: отличаются +направление, адрес, датчики и собственные параметры канала. + +При отдельном согласованном опыте записать одновременно команду RC, ERPM, +токи/напряжение, температуры и fault в момент плавного и резкого старта. +Установить поддержку этих измерений на конкретной firmware. Нулевой fault +после перезагрузки не доказывает отсутствие ошибки в предыдущем опыте. + +Только затем выбрать адресную коррекцию настройки или motor detection. Detection +может подавать ток и вращать мотор; это не безобидная кнопка USB discovery. +До опыта необходимы безопасно закреплённый аппарат, исключённое конкурирующее +управление, доступный аварийный останов и подтверждённые пределы оборудования. +Здесь намеренно нет придуманных значений ампер/вольт/ERPM. + +Перепрошивка не первый шаг: нужен точный образ производителя для точного HW, +совместимость конфигов, сохранённый исходный baseline и план восстановления. + +## 9. Этапы реализации и критерии готовности + +| Этап | Результат | Условие перехода | +| --- | --- | --- | +| V0 · baseline | Свежий Node inventory, версии, схема подключения и подтверждённые стороны. | Борт действительно доступен; нет предположений вместо моделей. | +| V1 · discovery/read | Версионный адаптер; оба контроллера, конфиги, ошибки, приватный backup. | Hotplug/смена порта/перезапуск сохраняют правильные личности; ни одного motor/config write. | +| V2 · Core + Node | Одна доменная карточка силового оборудования и общий backend. | Обе UI видят тот же возраст данных/сеанс/операции; offline честный; нет второго serial owner. | +| V3 · diagnosis | Отчёт «какая команда, какая реакция, какая ошибка», выбранная проверяемая гипотеза. | Не только словесное «откалибровали», а сохранённые before/after evidence. | +| V4 · calibration/config | Явно разрешённая адресная операция обслуживания, diff/readback и результат. | Работает отмена/ошибка/потерянный ответ; нет blind retry и изменения соседнего канала. | +| V5 · расширение Tool | Матрица функций: доступно/несовместимо/опасная операция/ещё не реализовано. | «Все функции» не объявляются готовыми по наличию одной кнопки. | + +Тесты до аппаратных записей: парсинг повреждённых/неполных пакетов, неподдержанная +firmware, тайм-аут, два одинаковых устройства, отсутствующая/дублированная +личность, USB reorder, CAN alias, занятый порт, смена сеанса, stale state, +дедупликация, неизвестный outcome. На железе отдельно проверить bounded чтение, +нагрузку CPU/RAM, сохранность D455/X4 и отсутствие непрошеного движения. +Не запускать нагрузочные тесты на операторском MacBook. + +## 10. Репозиторий, публикация и граница параллельной работы + +Проверенный checkout: `NODEDC_MISSION_CORE_m5_observatory`, ветка `main`, +HEAD `2e5d52521f600408bfd6b65bd8caed99ccb09405`. +Remote — `https://git.dcserve.ru/SILVER/NODEDC_MISSION_CORE.git`. +Checkout `NODEDC_MISSION_CORE_node` и базовый `NODEDC_MISSION_CORE` находятся +на detached `76dc9f1`; не принимать их автоматически за актуальную Node-ветку. + +В рабочем дереве идёт чужая работа по SIM/AI polygon и восстановлению служб, +включая общие App/styles/web файлы. Не включать её в VESC-коммит, не делать +`git add -A`, reset/checkout, общий merge или перезапуск чужих процессов. +23.09 выполнен обычный fast-forward push `c804d89 → 2e5d525`, включая один +50 MB WASM в LFS. Последующий `ls-remote` подтвердил точный HEAD на remote main. +Незакоммиченная работа SIM не включалась; рабочее дерево не объявляется чистым. +Для реализации выбрать согласованный актуальный checkout/изолированный worktree; +этот документ не даёт разрешения переносить или останавливать соседнюю задачу. + +## 11. Сеть и текущие ограничения проверки + +Правильные имена подтверждены источниками, а не голосовой транскрипцией: +`git.dcserve.ru` (git remote), `ops.nodedc.ru` (документы), +`ops-agents.nodedc.ru` и `foundry.nodedc.ru` (настройки подключений), +`hub.nodedc.ru` (редирект входа Foundry). + +23.09 проверены DNS и HTTPS через обычный сетевой интерфейс при включённом +hidemy.name VPN: Git/Ops/Ops-agent вернули HTTP 200, Foundry — редирект на Hub, +Hub root — HTTP 404. Последнее доказывает достижимость HTTPS, не успешный login. +Все пять доменов в этом замере имели общий IPv4. Владелец подтвердил системный +admin prompt; точечный host-route восстановил обычный Git и прямой Ops MCP. +Затем LAN сменилась, старый шлюз перестал работать; обновлён только наш маршрут +на подтверждённый DHCP-шлюз новой сети. VPN и Tailscale остались подключены. +Владелец подтвердил вход в Hub. Постоянный helper не установлен: после смены +сети/DNS/reboot маршрут нужно перепроверять. NAT Firewall в VPN-панели разрешает или +блокирует трафик внутри VPN, но не выбирает локальный обход туннеля. + +Core на `127.0.0.1:8000` ответил HTTP 200. В этом аудите не запускались сборки, +новые серверы, аппаратные команды, калибровка, firmware upload и установка на +Mini. Просмотрены исходники/документы и официальные upstream-источники. + +## 12. Выполненная актуализация Ops и оставшиеся границы + +- MISSIONCOR-84 создана с исследованием, фактами владельца, источниками, + архитектурой, диагностикой, планом и чекером. Реализация остаётся открыта. +- MISSIONCOR-76: добавлен комментарий-связь; замороженное тело не менялось. +- MISSIONCOR-2: добавлен текущий срез вне SIM; исторические блоки сохранены. +- MISSIONCOR-74/81: публикация `2e5d525` подтверждена новым блоком; старые + сообщения о сетевой недоступности сохранены со своими датами. +- MISSIONCOR-66: добавлено уточнение, что current native viewer теперь имеет + принятый ограниченный patch 0.36.3. Срез 05.09 не переписан задним числом. +- X4 MANUAL02/local video/clean-Ubuntu и safety/absolute-accuracy проверки + планировщика не закрывались. SIM-карточки и runtime не изменялись. +- Сетевой skill дополнен проверенным поведением и сменой LAN; валидатор прошёл. + +## 13. Краткий вход для следующей задачи + +> Прочитай этот handoff и названные каноны, затем восстанови прямой Ops-контекст. +> Работаем с силовым оборудованием NDC Rover 006 через существующий Ubuntu Node +> на Mac Mini. SIM не трогаем. Начни со свежего read-only baseline, точных моделей, +> топологии USB/CAN, backup конфигов двух контроллеров и подтверждения сторон. +> Конфигурация/firmware проблемного канала — приоритетная гипотеза, не доказанный +> диагноз. Не запускай detection, моторы или flashing при автообнаружении. +> Спроектируй один бортовой адаптер для локальной и удалённой UI; реализуй первый +> безопасный вертикальный read-only сценарий с версионным installer/profile. +> Отдельно предложи проверку причины остановки при резком газе и адресную +> коррекцию с сохранением before/after. В Ops записывай завершённые результаты, +> а не обещай принятую аппаратную работу без опыта. diff --git a/docs/handoff/2026-09-23_ROVER_006_VESC_IMPLEMENTATION_PLAN.md b/docs/handoff/2026-09-23_ROVER_006_VESC_IMPLEMENTATION_PLAN.md new file mode 100644 index 0000000..1ca152c --- /dev/null +++ b/docs/handoff/2026-09-23_ROVER_006_VESC_IMPLEMENTATION_PLAN.md @@ -0,0 +1,331 @@ +# Rover 006 — VESC: аудит кода и план реализации + +Исторический план, составленный до реализации 23 сентября 2026. Текущий статус +см. `../node/17_VESC_INSTALLATION_LEDGER.md` и MISSIONCOR-84. + +Результат первоначального аудита — исследование, свежий read-only +baseline и план. Плагин ещё не реализован; конфиги контроллеров не прочитаны, +моторы не запускались. Исторические команды и планы приложенного документа +рассматривались как источники, а не как поручения на исполнение. + +## 1. Целевой пользовательский результат + +После подключения контроллеров к USB бортового Mac Mini они появляются в +«Устройствах» Node и в «Парк → Rover 006 → Устройства» основного Core. +В карточке выбранного контроллера есть вход **«VESC Tool»**. Через него доступны +настройка, диагностика, калибровка и остальные применимые функции Tool. +Исполнение принадлежит борту; обе UI используют одну реализацию предметного +интерфейса и одни операции. Полнота Tool остаётся целевым требованием, +первый read-only выпуск является отдельным промежуточным результатом. + +Ближайшая физическая задача — разобраться с потерей оборотов одного мотора. +Слова владельца о левом канале остаются предположением до сопоставления. +Предыдущие наблюдения: плавный старт возможен, резкий может давать короткий +рывок и остановку; конфигурация, датчики и управление — приоритетная ветка +диагностики. Причина пока не измерена. + +## 2. Что проверено сейчас + +| Объект | Факт 23.09 | Ограничение | +| --- | --- | --- | +| Core | Канонический localhost:8000 отвечает; Rover 006 paired/online | Не означает доступность каждого устройства | +| SSH | Вход `dcsudo` с существующим персональным ключом работает | Старая запись `nodedc-edge` использовала `ndcsudo`; sudo не проверялся и не нужен для чтения | +| Борт | Ubuntu 24.04.4, kernel 7.0.0-31-generic, i7-3615QM, 4 ядра/8 потоков | CPU поддерживает AVX, но AVX2 в полученном наборе флагов нет | +| Память/диск | Около 8 GB RAM, около 6.3 GiB available; swap не занят; root 457 GiB, свободно 381 GiB | Это короткий idle-срез, не совместная нагрузочная приёмка | +| Установка | Node 0.8.21-3, K1 0.1.14, X4 0.1.3-9 | Старый Node README с 0.6.11 не является installed baseline | +| Службы | Node, K1, X4 broker, D455, monitor, PostgreSQL active/running, NRestarts=0 в проверенном наборе | Активный драйвер не доказывает подключение камеры | +| База | PostgreSQL 16, cluster `ndcmonitor` online; Timescale 2.29.2 установлен | База системного мониторинга, не готовый motor recorder | +| Реплика мониторинга | available/fresh=true, storage=ready, backlog=0; sample interval 1 s | Срез около 11:02 UTC; полевая задержка управления не измерена | +| USB контроллеров | Два кандидата `0483:5740`, ChibiOS/RT Virtual COM Port, cdc_acm, два ttyACM | USB-дескриптор ещё не доказательство HW/FW VESC | +| Identity | У двух кандидатов одинаковый USB serial; одна конфликтующая by-id ссылка | Нельзя использовать USB serial, by-id, tty или порядок включения как постоянную личность | +| Права | tty принадлежат root:dialout, 0660; dcsudo не имеет read/write | Права будущего runtime поставляются профилем модели | +| Конкурирующий опрос | ModemManager active; кандидаты имеют ID_MM_CANDIDATE=1 | Не доказано, что он уже посылал команды; нужен адресный udev ignore при подготовке модели | +| Камеры | D455/X4 в свежем paired inventory offline | Сохранность их потоков под VESC-нагрузкой сейчас проверить нельзя | + +Портов serial не открывали; firmware/UUID, моторные и application configs, +CAN/RC topology и физические стороны остаются неизвестными. VESC Tool не найден +через проверенное имя `vesc_tool` в PATH; это не полный поиск всех установок. + +Подробный путь доступа: [ROVER_006_ENGINEERING_ACCESS.md](../runbooks/ROVER_006_ENGINEERING_ACCESS.md). +Raw fleet/monitor snapshots и приватный SSH-профиль находятся вне Git в +операторском `outputs/rover-006-vesc-context-20260923`. + +## 3. Источники и границы исследования + +Прочитаны основной актуальный срез и VESC-handoff приложенного документа, +профильные Node/SDK/UI материалы и релевантная история приложений. Большой +архив планировщика/Rerun использован для контекста владельцев; повторной +квалификации всех старых экспериментов не выполнялось. + +Через прямой Ops MCP получены живые проекты/контекст/карточки, в том числе +MISSIONCOR-84, 76, 77, 50, 5, 2, и история комментариев 76/77/84; изучен +архив ROBOT2B-5. Профильная карта — +[MISSIONCOR-84](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-84), Node — +[MISSIONCOR-76](https://ops.nodedc.ru/nodedc/browse/MISSIONCOR-76). +Поиск GPIO в других четырёх доступных Ops-проектах совпадений не вернул; +среди полученных Mission Core/ROBOT2B карточек подтверждённой схемы GPIO +для этого привода не найдено. Это пробел найденных источников, не утверждение +об отсутствии такой схемы вообще. USB достаточно для первого этапа; +GPIO/UART/RC/аварийная цепь требуют конкретной аппаратной схемы до motor tests. + +Основная кодовая база: `NODEDC_MISSION_CORE_m5_observatory`, HEAD `2e5d525`. +Соседние base/node checkout остаются detached `76dc9f1`. В main есть чужая +незавершённая работа SIM/AI polygon и service recovery. Для реализации нужен +отдельный checkout от проверенного commit; не включать эти изменения в пакет. + +Design Guideline прочитан по реестрам и документации, текущий HEAD +`8dd9190573d6616024ef01b9b34bf90b72960f44`, рабочее дерево чистое в проверке. +Node build_linux_source.py закреплён на `8c53f73...` и отклоняет другой HEAD. +Перед выпуском выбрать проверенную ревизию DG и квалифицировать её в сборке; +не снимать проверку и не брать случайные локальные dist. + +## 4. Реальные точки расширения + +| Код | Что уже есть | Что нужно VESC | +| --- | --- | --- | +| `apps/node-agent/internal/node/sensor_models.go` | Registry, model actions, отдельные IPC sockets, USB discovery, provisional identity при дублях | Новый model profile; разделение attachment и protocol UUID; discovery двух плат с одинаковым USB serial | +| `sensors.go` | Durable fsync journal, dedup, action allowlist, deadline, unknown после restart, local API | Точные VESC actions и параметры; проверка session непосредственно в адаптере; bounded результаты; не прятать моторные функции за camera `start`/`option` | +| `sensor_preparation.go` | Профиль на модель и проверка отдельного экземпляра, shared preparation job | Device-neutral подписи и безопасная identity verification. Нельзя трактовать `verify` как motor detection | +| `sensor_events.go` | udev events, coalescing, полные SSE snapshots | Reconnect создаёт новый session; stale GUI не получает authority над новым контроллером | +| `pairing_transport.go` | mTLS heartbeat, commands/results/acks; периодический tick 5 s и пробуждение от событий | Существующий путь для service operations; отдельная доставка частой telemetry и будущего realtime control | +| `src/k1link/fleet/sensors.py` | Проверки pairing/freshness/session, очередь, receipts, ограниченные payloads | Добавить явные actions; не превращать whitelist в arbitrary protocol passthrough | +| `packages/plugin-sdk/.../v0alpha2` | Identity/session, safety/idempotency policies, commands/events | Использовать существующие contracts; motor authority/lease и конфиг revision оформить узким дополнением | +| `packages/sensor-ui` | Общий SensorWorkspace, transport, Detail contribution, status/preparation | VESC Detail в том же slot; camera-specific поля/подписи нормализовать ровно там, где нужно | +| `apps/node-agent/ui/src/NodeSensors.tsx` | Локальная композиция общих plugins | Зарегистрировать ту же VESC contribution | +| `apps/control-station/src/core/fleet/sensorTransport.ts` и composition | Remote adapter общего UI | Повторно использовать; новая предметная логика в plugin, не App.tsx | +| `plugins/insta360-x4/runtime/operations.py` | fsync receipt до физического действия, отсутствие replay, readback settings | Проверенный пример lifecycle, но motor safety проектируется отдельно | +| Node monitor/storage и fleet monitor replica | 1 s host samples → Timescale → bounded Core replica | Не использовать этот период как осциллограф или контур stop; моторная сессия пишет данные на борту с собственной частотой | + +В этих действующих реестрах и каталогах VESC runtime отсутствует. Архитектурные +документы старого этапа местами описывают gRPC как целевой вариант; текущая +проверенная реализация использует JSON HTTP/Unix sockets и HTTPS heartbeat. + +## 5. Интеграция VESC Tool + +Для аудита закреплён официальный upstream: +[`dc53c658cbb89a947246034f7a00149cf79abdfc`](https://github.com/vedderb/vesc_tool/tree/dc53c658cbb89a947246034f7a00149cf79abdfc). +Сохранены 17 исходных файлов с SHA-256. Этот snapshot объявляет **7.01, +test version 1**; это исследовательская точка, не автоматически выбранный +production release для неизвестной firmware наших плат. + +Исходники показывают: + +- `main.cpp`: CLI умеет конкретные чтения/записи config, выбор port/CAN, + offscreen и TCP. Это не готовый полный web API. +- `vescinterface.cpp`: autoconnect обходит serial ports и заканчивает поиск + на первом ответе. Для инвентаризации двух плат нужен наш ограниченный поиск. +- `commands.cpp`/`datatypes.h`: FW response содержит version, HW name, UUID + и дополнительные признаки; набор полей зависит от ответа. HW name нельзя + автоматически считать точной коммерческой моделью платы. +- `configparams.cpp`/`utility.cpp`: schema выбирается по firmware, сериализация + использует signature. Парсить конфиг произвольной новой firmware старой + схемой и затем сохранять его нельзя. +- `packet.cpp`: length/framing/CRC и размер пакета ограничены. Нужны tests на + fragmented/combined/corrupt packets и truncation полей ответа. +- `tcpserversimple.h`: default bind — все адреса. Штатный TCP server нельзя + просто включить как удалённый продуктовый интерфейс. +- `setupwizardmotor.cpp`: wizard содержит реальные записи конфигурации по + ходу шагов. Его запуск/отмена не являются только локальным редактированием. + +### Сравнение реализаций + +| Вариант | Польза | Цена/ограничение | +| --- | --- | --- | +| Официальный Qt Tool + локальный launcher и трансляция его окна в Core | Самый прямой путь к исходному GUI и широкому набору функций | Новый remote-app runtime, конкуренция ввода двух UI, Qt UI вне DG, передача port ownership; интерфейс сам умеет опасные команды | +| Собственный минимальный protocol adapter | Быстрое read-only discovery/telemetry | Поддержка всех конфигов/wizards потребует дублирования большого firmware-specific слоя | +| Бортовой service plugin с переиспользованием закреплённого upstream protocol/config engine + общий React UI | Наш UI, один owner, применимые функции Tool расширяются без второй модели состояния | Требуется проверить headless сборку/зависимости и адаптировать операции; полного готового API нет | + +**Рекомендация:** третий вариант как целевая архитектура. Первый технический +spike проверяет сборку и выделение engine без desktop UI; fallback на +ограниченный собственный reader допустим для первого чтения, но не отменяет +требование функционального паритета. Оригинальный Tool полезен как инструмент +сравнения с эксклюзивной передачей владения портом. В текущем плане нельзя +объявить «все функции готовы», открыв только несколько полей или удалённое окно. + +Нужно отдельно различать паритет функций и показ неизменённого Qt GUI. Здесь +принято рабочее предположение из запроса про наш интерфейс и DG: единая +предметная UI внутри Mission Core. Если нужен именно исходный Qt GUI, меняется +способ его доставки, а не требование единственного hardware owner. + +Upstream содержит GPL-3.0-or-later notices и отдельные правила бренда. При +упаковке выбранного кода/бинарника проверить состав, notices, исходники и +название распространяемого продукта. Этот аудит не делает юридического вывода +о допустимости конкретного способа распространения. + +## 6. Runtime и модель данных + +```mermaid +flowchart TD + L[Node UI: Устройства → VESC Tool] --> N[Node API и журнал операций] + R[Core: Парк → Rover 006 → VESC Tool] --> C[Core fleet API] + C -->|Существующее pairing и mTLS| N + N --> V[VESC plugin на борту: owner и арбитраж] + V --> U[USB attachment → protocol UUID → controller/channel] + U --> M[Мотор и подтверждённая роль] + V --> D[Конфиги, telemetry и diagnostic session на борту] + D --> C +``` + +Предлагаемый bounded каталог `plugins/vesc/`: `runtime/`, `frontend/`, +`profiles/`, `packaging/`, `tests/`, upstream lock/notice manifest. +Названия здесь — план, каталог ещё не создан. + +Один service владеет serial. Открывает только подтверждённые candidates; +проверяет отсутствие конкурирующего владельца и сохраняет связь порта с +attachment generation. До FW query attachment имеет provisional identity. +После ответа UUID связывается со стабильным controller instance. Смена порта +не меняет подтверждённый UUID; USB/CAN aliases одной платы не создают двойник. +Неоднозначный protocol UUID оставляет устройство без write authority. + +Особенно важно для текущих двух плат: общий Node discovery уже считает +duplicate USB serial неинициализируемым. Нельзя просто добавить VID/PID: +обе кнопки подготовки окажутся заблокированы. Нужен отдельный безопасный путь +подготовки модели/identity query для provisional attachments; он разрешает +только ограниченное чтение личности. Общую защиту камер не ослаблять. + +Role Left/Right и metadata мотора хранятся отдельно от UUID. Отключение владельцем +одного USB при обесточенном приводе может сопоставить плату с кабелем; это само +по себе не доказывает, какой мотор подключён к её силовым выходам. Сопоставление +по проводке/маркировке предпочтительно; активный тест — отдельная операция. + +Конфиг имеет исходный blob, decoded fields, firmware/schema signature, hash, +revision и timestamp. Запись использует ожидаемую revision и свежий session, +сохраняет before/after, выполняет readback. Потеря ACK даёт unknown и +reconciliation, а не слепой retry. + +Калибровка — бортовая операция с этапами, результатом и явно проверенной +семантикой отмены. HTTP timeout не доказывает прекращение электрического +измерения. Motor control дополнительно требует одного владельца управления, +локального watchdog, известных timeout/stop свойств firmware и арбитража RC. +Точные токи/обороты/частота не выбираются до hardware baseline. + +## 7. Полнота функций и порядок включения + +| Группа Tool | Предметный результат | Этап и условие | +| --- | --- | --- | +| Discovery, FW/HW/UUID, USB/CAN topology | Независимые экземпляры и совместимость | Первый read-only slice | +| Live values, faults, decoded PPM/ADC/Chuk input | Напряжение, токи, ERPM, температура, вход, timeout/kill flags по поддержке FW | Первый read-only slice; измерить реальную частоту | +| Motor/app/custom configs, backup/export, сравнение | Полный применимый набор параметров по schema, неизменяемый backup | Read-only до первой записи | +| Import, defaults, apply/restore | Предпросмотр diff и проверенный readback | После identity, backup и compatibility; restore/defaults — записи | +| FOC/BLDC/DC setup, R/L/flux, Hall/encoder | Калибровочный workflow с результатом | Активный допуск на конкретный мотор; один шаг может подавать ток | +| App/input setup, direction, limits | Настройка RC/ADC/UART/CAN по реальной схеме | Сначала прочитать существующий input/timeout/RC ownership | +| Duty/current/brake/RPM/position, motor tests | Управляемый стендовый опыт | Быстрый бортовой контур; не heartbeat 5 s | +| Samples, logging, plotting | Синхронная диагностическая запись реакции | Bounded board recorder; сводки через Core | +| Firmware/bootloader/recovery | Exact-HW image, версия, progress и recovery | Отдельная поздняя ветка; не «обновить на всякий случай» | +| CAN forwarding/multi-controller setup | Явный target и topology | Никаких автоматических detect-all/broadcast writes | +| Terminal, Lisp/QML/packages, custom application | Сервисные функции выбранного устройства | Отдельный maintenance scope; чтение кода и его выполнение различаются | +| BMS, IMU, power switch, NRF/GPD и расширения | Применимые к конкретному hardware возможности | Capability-driven; отсутствие аппаратуры не маскировать как готовую функцию | + +Перед реализацией широкой сервисной поверхности матрица уточняется по страницам +выбранного релиза Tool и реальной HW/FW. Для каждого пункта фиксируются: +supported/unsupported/not-implemented, операция, side effects, schema, +readback, cancel/recovery и аппаратная приёмка. Старые настройки firmware +не переименовываются в поддержанные только ради единого красивого UI. + +## 8. UI brief и Design Guideline + +Задача оператора: выбрать конкретный контроллер, понять состояние, настроить +его и проверить итог. Первичная сущность — выбранный controller/channel; +мотор и роль — связанный контекст. Вход из существующего списка устройств. + +Выбран **plugin Detail slot** общего `SensorWorkspace`, с текстовой кнопкой +«VESC Tool» в карточке. Внутри — обзор/диагностика, параметры и сервисные +операции, основанные на capabilities. Нового root или LAB не требуется. +Длинный motor workflow остаётся полноценным detail-view; компактный editor +может использовать существующий `FeatureSettingsWindow`. + +Альтернатива отдельного глобального workspace создаёт второй вход к тем же +устройствам и отрывает инструмент от адресной identity. Модальное окно на весь +долгий workflow неудобно для контроля результата и закрытия/recovery. +Показ исходного Qt GUI — иной вариант интеграции, описанный выше. + +Уже есть `ResourceRow/List`, `Button/IconButton`, `StatusBadge`, +`SettingsCard`, `Window`, `FeatureSettingsWindow`, `SegmentedControl`, +`TextField`, `Select`, `RangeControl`, `ConfirmationModal`, `ProgressBar`, +`LoadingRegion`, `ToastStack`. Подходящие существующие icons: settings, +activity, network, download, upload, refresh, alert, eye, play/stop. +Отдельной motor-icon в просмотренном registry нет; новая не нужна для первого +slice. Domain graph/plot остаётся кодом плагина с этими controls. + +`RangeControl.min/max` ограничивает drag, но не всякий ручной ввод: для токов +и других bounded величин нужны `exactValueBounds` и серверная валидация. +Safety check нельзя делегировать только форме. + +Состояния: поиск; не обнаружено; найден кандидат; требуется подготовка; +чтение личности; unsupported/ambiguous; готов к чтению; fault; занят; +операция выполняется; outcome unknown; связь потеряна. Свежесть контроллера +проверяется отдельно от online борта. Браузер не принимает unknown за failed +и не предлагает повтор опасного действия как универсальное восстановление. + +Это новое доменное содержимое существующей принятой list/detail композиции. +Изменения global navigation и новые общие визуальные сущности не предлагаются. + +## 9. Упаковка с первого бортового опыта + +Versioned пакет/profile устанавливает бинарник, pinned зависимости, отдельного +непривилегированного service user, Unix socket для Node, systemd limits, +узкие udev rules доступа и ModemManager ignore для квалифицированного профиля. +Не добавлять весь Node или пользователя в общий dialout, не делать chmod 666, +не отключать ModemManager глобально. Runtime не должен читать произвольные tty. + +Node сохраняет `PrivateDevices=yes`; аппаратные права принадлежат отдельному +адаптеру. Verify после установки означает protocol identity/read capability, +а не автокалибровку. Package qualification: повторная установка, конфликт +портов, rollback бинарника при сохранении data/backup, холодный старт и чистая +Ubuntu. Компилятор/Qt dev packages не становятся скрытым требованием runtime. + +## 10. Реализация по проверяемым результатам + +1. **Контракт и build spike.** Изолированный checkout, выбранный upstream + release/commit, DG pin, headless engine build, firmware schema closure; + synthetic packets, IPC/action contracts. Никакого доступа к моторам. +2. **Discovery на борту и две UI.** Поставляемый profile, два кандидата с + одинаковым USB serial, FW/UUID handshake, session transitions, одна + VESC contribution в Node/Core. Итог — оба контроллера видны независимо. +3. **Read-only сервисная поверхность.** Версии/capabilities, telemetry, + faults/input, motor/app/custom backups и semantic diff. Это первый полезный + завершённый выпуск; статусы неподдержанной FW честные. +4. **Диагностика проблемного канала.** Сначала сравнить конфиги, затем на + подготовленном стенде записать плавный/резкий старт по конкретному сценарию. + Сопоставить command/input, ERPM, currents, voltage, fault и timeout. Выбрать + измеренную гипотезу; рабочий конфиг не копировать целиком. +5. **Адресная настройка/калибровка.** Backup, effect preview, необходимые + ограничения hardware, исключение конкурирующего управления, конкретная + операция, cancel/recovery, readback и повтор исходного теста. +6. **Остальная матрица Tool.** Дополнять функции вместе с соответствующей + упаковкой и аппаратными критериями; FW/terminal/scripts выделены по эффекту. + +До физического теста требуются аппаратные факты о моторах/датчиках/питании, +проводке RC/CAN и доступном аварийном останове. Выбор «левый/правый» владельцем +выполняется позже; он не блокирует initial inventory. + +## 11. Приёмка и тесты + +- Parser: CRC, partial/multiple packets, неверные длины/концы, timeout, + несовместимая FW/config signature, отсутствующие optional fields. +- Identity: одинаковые USB serial, пустой/дублированный UUID, два независимых + контроллера, unplug/replug/reorder, замена платы, USB/CAN duplicate alias. +- Operations: общий local/remote journal, stale session, conflict/lease, + crash до/после dispatch, unknown outcome, readback mismatch, отсутствие + повторного исполнения после reconnect и reboot. +- Packaging: clean Ubuntu, narrow permissions, targeted ModemManager rule, + занятый port, idempotency/rollback, pinned binaries/firmware schemas/DG. +- UI: обе поверхности на одном экземпляре, одинаковые capabilities/results, + empty/offline/fault/unknown, сохранение draft, keyboard/Escape/expand, без + новых local controls или моторной логики в App.tsx. +- Hardware: версии и backup обеих плат; измеренный fault/поведение; + отдельная проверка stop/timeout на стенде до ручного управления. +- Совместная работа: вернуть реальные D455/X4/K1 в согласованный сценарий и + измерить ресурсы/USB/latency вместе с VESC. Их текущий offline не считается + успешной regression-проверкой. + +Проверки кода выполнять последовательно с учётом памяти операторского Mac. +Текущая задача не меняла runtime-код, поэтому тесты/сборки приложения не +запускались. HTTP/SSH/API чтения и анализ исходников не являются калибровкой. + +## 12. Следующее конкретное действие + +Реализовать и упаковать **двухэкземплярное VESC discovery + read-only identity, +config backup и общую detail-поверхность**. Первый бортовой запуск обязан +учесть уже обнаруженный duplicate USB serial. Это снимает неизвестность +HW/FW и даёт основание выбирать реальную настройку проблемного мотора. diff --git a/docs/node/17_VESC_INSTALLATION_LEDGER.md b/docs/node/17_VESC_INSTALLATION_LEDGER.md new file mode 100644 index 0000000..e144ee3 --- /dev/null +++ b/docs/node/17_VESC_INSTALLATION_LEDGER.md @@ -0,0 +1,1161 @@ +# Rover 006 — VESC integration ledger + +This ledger records actual execution separately from pending qualification. +Private evidence is in the operator's `outputs/rover-006-vesc-context-20260923` +directory. Raw configurations, device UUIDs, SSH material and photographs are +not repository fixtures. The current Ops record is MISSIONCOR-84. + +## 2026-09-23 — first deployed reader + +Node **0.8.22-1**, VESC plugin **0.1.0**, DG revision +`8dd9190573d6616024ef01b9b34bf90b72960f44` installed on Ubuntu 24.04.4 amd64. +The owner entered sudo in the Mini's local installer window. SSH authentication +already worked as `dcsudo`; no SSH/VPN/sudo-policy repair was needed. + +| Artifact | SHA-256 | +| --- | --- | +| Node package | `64e121fd3d12e94675def1284c5977a4e63a3d3e3ebab888b6b8ccab040136b7` | +| Source artifact b6dbe696a8c3182281e16553 | `bfed06700a1b8059db7c840851fab5a224e6eb0c6cdf8f4b68d000086964b184` | +| Owner installer 3955580c7d0b29c90c151ea9 | `fd9ca5eb473fcbf5618cecf76adff95b4f90d65a2a4150b5c0c432810e64d9e3` | + +Install completed 11:55:10 UTC; model preparation completed about 11:56 UTC. +Node, K1, RealSense and monitor services remained active; X4 package remained +0.1.3-9. This does not qualify live camera operation: camera inventory was offline. + +The shipped preparation profile creates a dedicated service identity and exact +USB rule, mode 0660, with a device-specific ModemManager exclusion. It never +adds the desktop user to dialout or disables ModemManager globally. The service +has no network access or Linux capabilities. Serial ownership uses flock, +TIOCEXCL and USB attachment-generation checks. No raw TCP gateway is exposed. + +Both controllers reported hardware 75_300_R2 / firmware 5.02. Distinct protocol +UUIDs disambiguated duplicated USB serials. Core successfully requested live +telemetry and durable raw motor/application backups through paired Node. +At rest, both reported about 50 V, fault 0 and ERPM 0. Motor temperature +−72.9°C on both is implausible and is not proof of a particular broken contact. + +Exact official 5.02 schemas matched both signatures and consumed every byte. +Both controllers use FOC Hall Sensors. The 151 serialized motor parameters +differ only in direction inversion. Existing current limits are motor ±60 A +and battery ±55 A; these are readback values, not verified motor nameplate limits. + +The owner unplugged the presumed left USB; USB1-2 / CAN74 disappeared and +returned, while USB1-3 / CAN111 stayed connected. **Rotation has not yet +confirmed physical sides.** The owner photograph identifies FlySky FS-iA6B; +CH3 is reported as left candidate and CH2 right candidate. The receiver stays +connected, transmitter off. One Hall connector pin is broken; its exact +function is unknown. The rig is raised, track removed, and the owner authorized +bounded motor tests through the product interface. + +## Native VESC Tool engineering build + +Official stable Tool 7.00 commit `01d5f10901116c311e3fb84d5a1541f663d3ce20`; +source archive SHA-256 +`4565ecec4e41e094bcc43127a51970e810aa9080a9d7c025af64632bfd4c0189`. +Versioned `plugins/vesc/packaging/tool_build.py` builds as an unprivileged user +under MemoryMax=3G, CPUQuota=150%, TasksMax=256. Signed Ubuntu packages are +downloaded/extracted into private staging, never installed system-wide. +Already-installed OpenGL runtime files used by the linker have recorded hashes. + +Early attempts failed on stale APT indexes, then private include/library paths. +Profile d1797bf1152f59ee14012ed5 resumed the recorded compile staging and linked +successfully; `--version` reported `7.00-0+`. Binary SHA-256: +`d68bd760918dd5c1f11f5133f6c236749c7004391d46298953341c0b67e40c40`. +This is an engineering build, not clean-host runtime dependency qualification. +It has not opened either controller. Native Tool serial handoff and calibration +integration remain pending; a Detail button is not evidence of full Tool parity. + +## Node 0.8.23-1 / plugin 0.2.0 — pending board installation + +Source artifact f1a42096c12295d29c9a736d SHA-256: +`995297d2f1070e0c13a5b11fd6da91c022aff0c5058c6bf5546c5b4e78b138cf`. +It is building and undergoing synthetic qualification on the Mini. No motor +command has been sent at this ledger entry. First motor experiment must append +its operation receipt, outcome, operator observation and before/after evidence. + +Changes: + +- Private immutable SQLite archive in both Node plugin and Core; preserve every + version, replay-safe replication scoped by pairing, ACK only after durable + Core storage. Existing backup files migrate on startup. Offline retrieval is + independent of transient operation receipts. No restore action is exposed. +- Shared history UI lists/paginates versions and requests JSON downloads. + Core displays an original backup; API content equals the original receipt. + IAB's download event did not fire, so browser file delivery is not yet accepted. +- A fixed raised-rig pulse selects one UUID/session, requires both peers, + exact supported firmware/config schema, one second neutral PPM, telemetry + bounds and durable backups. Commanded current is 2 A for at most 1.5 seconds. + No firmware/config write or variable current API is introduced. +- Per-controller volatile app-output leases expire after 250 ms. CAN forwarding + is false; peer current is zero. Expiry restores the existing PPM handling. + PPM pulses reset the firmware global timeout even while output is paused, + so a USB heartbeat timeout alone would be insufficient. Exact firmware source + audited: `vedderb/bldc` commit `3f670137e27e6e383fa79c50cc6b1fa85aab1554`. +- Non-neutral RC input latches further test requests until explicit release + after neutral. This test-session guard is not a continuous production RC / + remote / autonomous arbiter. Neutral PPM cannot prove radio-link availability. + +Validation before installation: 17 synthetic VESC tests including RC takeover, +partial lease failure and no physical replay; 37 fleet tests; Go Node package +and scoped archive ACK test; Core typecheck, 905 unit tests and production build. +The canonical Core 8000 was restarted through its existing managed helper and +health accepted. Its panel uses DG components; real pulse remains disabled until +the Node capability arrives. Linux qualification and physical failsafe acceptance +must be recorded separately. + +Rollback uses the prior qualified Node owner artifact after stopping any active +test. Configuration archives and original raw backup files remain on disk. +Do not replay an uncertain motor operation; inspect actual hardware state first. + + +### Final qualification after queued-stop correction + +The initial qualified 0.8.23 candidate f1a42096c12295d29c9a736d was not +installed. Review found that a Stop arriving before a queued pulse started +could be cleared by that start. The final runtime records cancellation time +and clears the event only for a newer request under the same lock; an added +fault-injection test covers the ordering. All 18 VESC tests passed on Ubuntu. + +Final source ID: `25ccd797bc91fceab43ba3db`, SHA-256 +`60fa8a151395e8e50617beec33752111152b3acb28cd2c5cfad5b6bc454fa75c`. +Final Node0.8.23-1 package: 168446728 bytes, SHA-256 +`b7be1efd9b404e3b54f43e73fab38d5e4207a1f50a80ab28b1b842284d90badf`. +Qualified result archive SHA-256 +`274aa43a64c781ce7fcc010dc332907f9b4679b0427f71b9cd27b68449fb2eea`. +DG, Node UI, Go, VESC synthetic tests and binary build all completed. +Installation and real motor execution are still pending this entry. + +Final owner installer `3b474f082a4c5af545dffda2`, SHA-256 +`e5f296bba8edcb0b6d681442214f326333d513cb5c0a215fa156669bf4ae0424`, +was opened in the Mini local session after APT plan showed exactly one Node +upgrade, zero new packages and zero removals. No password is collected by SSH +or chat. The older candidate e196a44ce00c150e5dc37311 must not be installed. + + +## 2026-09-23 — 0.8.23-1 installed, stale bytecode rejected by Node + +Owner installer `3b474f082a4c5af545dffda2` completed at 13:02:48 UTC +(run `6189de4765744a259b5a06776f6ee98f`). Package version and services updated, +but the VESC runtime imported version 0.1.0 from old timestamp-based bytecode +although its installed source declared 0.2.0. Deterministic package mtimes and +same-size source edits allowed Python to accept the old cache; `-B` disables +cache writes, not reads. Node's exact plugin-version check correctly rejected +that inventory. No test-current command was sent. This was not accepted as a +working hardware upgrade. Private before/after evidence remains outside Git. + +The next package, Node 0.8.24-1 / VESC 0.2.1, owns removal of generated +`__pycache__` directories below its fixed installed payload path in postinst, +before preparation/service start. Root preparation also disables new bytecode +writes. No ad-hoc root cleanup was performed on the board. The regression test +reproduces the old cache acceptance, clears it twice, verifies new imports and +preserves an unrelated evidence file. Backups live outside the payload. + +## 2026-09-23 — variable controller count and per-controller identification + +Owner clarified that each board can have 1, 6, 10 or more motors/controllers. +Discovery now admits up to 128 USB candidates per board, retaining UUID-based +identity and independent attachment sessions. The same device detail on Node +and Core offers a 2 A identification pulse with 1.5/5/10 second limits. The +existing editable device name supports Left 1, Left 2, Right 3 or arbitrary +owner labels; no fixed left/right enum or second motor registry was added. + +The request includes all live controller sessions on that board. Before any +current, the service verifies the exact attachment set, identity, configuration, +CAN peers and neutral receiver input, archiving both configurations of every +controller. It checks receiver channels and target telemetry while controlling +each app-output lease separately. Non-selected controllers receive zero current. +Slow cycles, hotplug, unmanaged CAN peers and ambiguous sessions abort the test. +The operation's 60-second deadline includes preflight, and the 1.5/5/10-second +current limit starts on the board. These controls are for an unloaded raised +rig, not general vehicle driving or a completed continuous RC arbiter. + +Local synthetic validation: 24 VESC tests passed, including 1/6/10 controllers, +target-only current, durable backups, hotplug, unmanaged CAN peer on a second +controller, slow cycles, stop-before-start, RC latch and bytecode upgrade. +Physical ten-controller capacity and motor calibration remain unverified. + + +## 2026-09-23 — 0.8.24-1 hardware inventory accepted; CAN preflight timed out + +Qualified source `0492e295535837afdf9ddcca` completed at 13:21:57 UTC in +224.35 s, peak memory 2,596,036,608 bytes. Package SHA-256: +`c254ad7dfaea236ae6d65186f00055a745169a11799063df2bd8cb44d53c779a`. +Owner release `6a2be7c817798c981fa6b1c8` installed successfully at +13:24:46 UTC (run `e766b308543e4312856f13c7077c83ad`). VESC service is active +with zero restarts and a read-only isolated import confirms VERSION 0.2.1. +Node/Core again expose exactly two verified UUID controllers, not the two +provisional USB rows plus one prior offline UUID seen during the failed upgrade. +The old row was the same left-candidate controller, not a third physical unit. +No identity records or backups were deleted to hide it. + +Core passed architecture checks, typecheck, 906 unit tests and production build; +its managed restart passed health acceptance. In-app UI shows the two matching +controllers and the 1.5/5/10 second selector; Escape closes the selector. +A single 1.5-second test was requested through the Core UI at 13:26:35 UTC, +operation `op_8d8f5ee7ae0c4510b584839350b41b3d`. Preflight archived both +controllers at 13:26:40, then returned an error after the first 4-second CAN +query. The motor loop was never entered: no app-output lease or current +command was sent. Both configurations remain unchanged. Core archive API +returns the original and new version for each controller. Browser file-save +handoff remains unverified; backend version retrieval is accepted. + +Firmware CAN ping waits up to 5 ms for transmission and 10 ms for a response +per address, plus scheduler/mutex delay; 255 addresses can exceed our former +4-second cap. Node 0.8.24-2 extends only that read deadline to 8 seconds and +adds `vesc.can.read` for direct, bounded topology inspection without any motor +command. Failure is now reported specifically as CAN preflight without torque. +Synthetic validation: 26 tests passed. Source `292106d05d5e1ff5ecb866f9` is +being qualified; motor watchdog/lease and current limits remain unchanged. +Separate `vesc.input.read` through Core returned level0/pulse0 on both channels. +Physical side identification and calibration have not yet been achieved. + + +## 2026-09-23 — 0.8.24-2 installed; first real identification pulse + +Source `292106d05d5e1ff5ecb866f9` qualified at 13:34:47 UTC in 224.19 s. +Package SHA-256 `9f54423216163917c52c6b627205dbe3a24b69f6d4f1d606aa59e489d0e02c4d`. +Owner release `7b4545754e703e7a64ee88bb` installed at 13:37:05 UTC, +run `4dde4c0992164fafb1828a91c402a8b7`. Node and device services were +active with zero restarts. Both CAN read operations completed in approximately +4.26 seconds with no responding peer IDs. No firmware/configuration was written. + +The owner had the rig raised, a track removed and the transmitter off with its +receiver connected. Core UI operation `op_dded265e82b54e3181a194a67868d6e6` +sent a bounded 2 A / 1.5 s pulse to the selected left-candidate controller. +Both configurations were archived first. Twenty-one samples showed peak 2.23 A +and 442 ERPM, with only three net versus 33 absolute tachometer steps: jitter +was observed, not demonstrated sustained rotation. The owner heard rustling +and could not identify which motor moved. Physical side remains unconfirmed. +Both zero-current commands were sent and subsequent telemetry confirmed +current release; both controllers reported fault zero. The old duration-boundary +receipt label incorrectly said stopped; the next revision separates duration +expiry from user Stop. Private raw receipts and identities remain outside Git. + +## 2026-09-23 — 0.8.25-1 candidate: test fields and user drive assignment + +Owner requested numeric current/time fields and eventually 30 A / 30 s. That +higher-power run has not been performed: manufacturer, motor and battery/BMS +ratings are unknown, and the initial pulse did not show steady rotation. +The next identification increment admits 0.5–5 A / 0.5–10 s, with board-side +validation, electrical-speed coasting above 2 A and all prior preflight guards. +These are software test bounds, not claimed hardware maximum ratings. + +Owner clarified exactly two current profiles: 1×1 (left/right) and 2×2 (left +front/left rear/right front/right rear). A shared existing VESC detail card +assigns UUID controllers to those positions. Assignment is board-owned metadata, +uses revision conflict checks, persists across service restart and never sends +motor commands. Occupied positions cannot be overwritten; shrinking requires +explicitly removing rear assignments. No real controller has yet been assigned. +This entry records implementation intent; package/UI/hardware acceptance below +must be recorded separately after execution. + +0.8.25-1 source `edfc5911070cab9c863cddcf` completed all 15 Linux qualification +stages at 14:00:34 UTC in 222.18 s, peak memory 2,955,657,216 bytes. +Package SHA-256 `e3e69718507ed921f24844409829a9af429df7d571a7faea8e42c3c91e81aa06`. +Owner release `5ff7b2b657fdce16bebd5ff4`, SHA-256 +`db0ec4003ec6cc3cadcb076ff45c170e8c6c281e1878539191d1fe82295bfe4f`, +was opened locally after an APT plan of one Node upgrade / zero new / zero +removed packages. At this entry it awaits the owner's local sudo input. +Core passed typecheck, 907 unit tests, 11 Python archive/boundary checks and +production build; managed restart reports health accepted. New controls are +visible and correctly disabled against the older board's missing capabilities. + + +## 2026-09-23 — 0.8.25-1 installed; two 5 A observations + +The owner completed local sudo. Install run `a980576ffb984a85b192a929a2517002` +finished at 14:26:27 UTC in 16.57 seconds; Node and VESC services are active, +Node package is 0.8.25-1 and inventory has both verified UUIDs, new capabilities +and an empty drive assignment profile. X4 package remains 0.1.3-9. + +The owner's screenshot used 5 A / 15 s, outside the admitted 10-second limit, +so the disabled Start was correct but its explanation was inadequate. After +changing to 10 seconds, the owner ran operation +`op_99d89bd76df44885816855293f1cb02e` at 14:40:12 UTC on the left candidate. +It completed by duration, 146 samples, peak current 5.65 A, median 5.00 A, peak +283 ERPM and median zero. From about one second onward, speed was zero and +reported position stayed near 126 degrees; no speed-coasting occurred. Owner +reports no visible rotation. Both releases confirmed, fault zero. Do not +interpret completed operation as confirmed rotation or a confirmed physical side. + +A comparison UI operation `op_523ee78a7f92441094257f05a5784a1f` on the other +controller at approximately 14:44 UTC requested the same 5 A / 10 s. It stopped +very early on a telemetry bound. Only two pre-limit samples were retained, +showing 0 then 177 ERPM; subsequent released telemetry showed 79 ERPM and +0.26 A. Both zero commands and current release confirmed, faults zero. The +triggering sample was not preserved by 0.2.2, so the exact exceeded metric +cannot be inferred from this receipt. No config/firmware writes occurred. + +Node 0.8.26-1 / VESC 0.2.3 candidate keeps every existing bound unchanged, +preserves the triggering sample before validation, and returns measured field +and bounds in the result and UI error. Shared numeric fields explain invalid +input; the action area explains missing rig confirmation, unavailable connection +and in-progress execution. New synthetic checks reproduce a PWM-bound stop, +confirm no further current command and require release of all controllers. + +Owner visually confirmed the second controller as the right motor and clarified +that visible movement lasted 2–3 seconds. This does not mean the requested +10-second pulse completed. Core UI saved layout 1×1 / right.1 (revision1) on +the board; both inventory entries project that same profile and the device row +now displays Right. The left candidate remains unassigned. + +The shared input-feedback fix is live in Core. Browser QA reproduced 15s and +showed the explicit allowed-duration message, then verified Start enabled for +5A/10s plus rig confirmation; removing confirmation disabled it with an explicit +reason. This form-only QA did not request a motor operation. Core passed +architecture/typecheck/907unit tests/production build. Runtime candidate0.2.3 +passed34synthetic tests; source f89d904ec9e71348c2db95e1 is being qualified. + +0.8.26-1 qualification completed all15stages at14:53:20UTC in225.17s, +peak2,695,626,752bytes. Package SHA-256 +`eab7e24ec36d89793544480c8c5ce4675dee6c503c811ecc33ad9b7be57f30e8`. +Owner release `dbea4df7e0eb5ec8664a18a5`, SHA-256 +`f2aa50f54ff0c3607f26b8d50e616a588d86b6b39315c9ece624003670c83326`, +was opened locally after one Node upgrade / zero new / zero removed plan. +At this entry installation awaits local sudo; no new diagnostic motor test +has been run. Existing current, duration and telemetry bounds are unchanged. + + +## 2026-09-23 — 0.8.26 installed; exact right-channel stop identified + +Install run9d8e1c601bf0414795bf287d3bd80b87 completed14:56:46UTC in16.54s. +Node/VESC active,0restarts; right.1 assignment persisted across upgrade. +UI operation op_e6885c4f552f4bd59a7d46dc08f188f1 at approximately15:08UTC +requested5A/10s on the confirmed right motor. The third sample at0.245s +reported801ERPM,4.84A,duty0.091. The test stopped at the unchanged800ERPM +bound (duty also exceeded0.08); the exact offending sample and metric are now +retained. Both zero-current commands and release confirmed; faults zero. +This demonstrates an overly abrupt current step for the intended low-speed +identification mode, not a completed10s run or a VESC firmware fault. + +0.8.27-1 / VESC0.2.4 candidate starts/resumes at0.5A and ramps toward the +entered current ceiling at approximately1A/s. Soft coasting now applies at +all current settings and triggers at200ERPM or4%PWM; resume requires both +speed<=100ERPM and|PWM|<=2%. Existing hard telemetry, current, duration, +lease, RC and topology bounds are retained. No config/firmware writes added. +The board advertises the ramp capability so the shared UI describes it only +when installed.36synthetic tests passed, including ramp progression, duty +coasting before a speed edge, restart ramp and prior stop/failsafe regressions. +This is not completed speed control or hardware acceptance of the new ramp. + +0.8.27-1 source fb29a802d53507678e906cc3 passed all15Linux stages at15:19:04UTC +in224.38s, peak2,877,997,056bytes. Package SHA-256 +`baed463408c7ffb0242506668c6b0f5b465e5f161ffbef5f1053f3406f346494`. +Owner release ec6eb256586fd8454e0f0d5e, SHA-256 +`be0fc5ada98656d075dd1dd1d00c019053371bbeba32bf66299c04067f01d743`, +opened locally after one Node upgrade/zero new/zero removed plan. At this +entry it awaits local sudo. Ramp hardware behavior is not yet qualified. +Core architecture/typecheck/907unit tests/build passed; final browser check +of ramp description awaits the installed board capability. + +## 2026-09-23 — 0.8.27 installed; coordinated right-motor observation + +Install run `1e0183d2ba1341d29f1c637c3ecaaef6` completed at 15:22:30 UTC +in 16.55 seconds. Node/VESC are active with zero restarts; the right.1 binding +and profile revision1 survived the upgrade. Core displays the installed ramp +capability. X4 remains 0.1.3-9. No firmware or controller configuration writes +were performed. + +The first attempt `op_607dd0d63339449086dfb2676b068826` exceeded the +120 ms cycle deadline before taking an app-output lease or sending torque. +One announced retry, `op_2af7955abede4bedaed05f2b2a0e4651`, completed its +10-second command loop: 143 samples, last offset9.9887s, peak564ERPM, +peak3.60A, maximum command3.655A, no hard-bound violation, release confirmed +on both controllers and faults zero. It includes repeated soft coasting and +does not qualify continuous rotation. The owner subsequently clarified that +he had stepped away and missed this run; his earlier impression of near-zero +motion is not a complete physical observation. + +The owner now requires explicit coordination for every powered experiment: +wait for a fresh ready-and-observing reply, announce the target and parameters, +and explain the preparation delay. Do not automatically repeat a motor test. +After the owner replied ready, the Core UI launched exactly one right-motor +5A-ceiling/10s operation `op_2e93a47e94f840e9a99a0fb207145cc4` at +15:35:13.885UTC. Configuration backups preceded torque. The owner saw the +RIGHT motor move approximately10degrees, pause, then move another10degrees; +these were two small movements, not two full revolutions. + +The receipt contains99samples and stops at offset6.8856s on880ERPM against +the unchanged800ERPM hard bound. Peak current3.39A, maximum command3.452A; +29net/31absolute electrical tachometer steps. Current first ramps until3.151s, +is set to zero at3.220s, and resumes from0.5A at3.497s. The second ramp is +released at6.811s; the next sample crosses the hard bound even though the +previous command was already zero. These two acceleration/coasting episodes +match the owner's two movements, although there is no synchronized video. +The pause/restart behavior is introduced by our identification governor and +must not be used to diagnose a hardware fault in the right motor. A zero-current +command allows coasting; it does not guarantee an immediate zero-speed sample. +Final readback: both currents0A, left0ERPM, right13ERPM, faults zero; +release_confirmed=true. Raw receipts with UTC/monotonic offsets, hashes and +operator corrections are retained privately outside Git. + +The right physical assignment is confirmed again. Left rotation, Hall wiring, +motor calibration and native Tool runtime integration remain unqualified. +No limit increase or further powered test follows automatically from this run. + + +## 2026-09-23 — 0.8.28-1 candidate: owner-requested 30 A / 30 s controls + +The owner explicitly requests an editable range up to30A and30seconds, and +clarifies LEFT is problematic while RIGHT works normally from RC. Earlier +right-channel stepping was produced by our identification governor; do not +transfer the fault hypothesis to the right motor. The current ready-to-observe +reply precedes a code/build/install change, so a fresh coordinated launch is +required after installation rather than an unattended deferred motor start. + +VESC0.2.5 candidate keeps the existing fields and advertises new capabilities. +It ramps0.5A→entered ceiling at2A/s and removes the200ERPM/4%PWM coast/restart +cycle. It ends the operation at6000ERPM or25%PWM, or lower configured bounds; +no automatic restart follows a limit. Above5A,2seconds without continuing +reported movement aborts. Fault,20–60V,65°C FET limit, RC latch, per-controller +250ms leases, full backups and attachment checks remain. These software limits +are not a claim about nameplate ratings or clean calibration. No motor or +firmware configuration is changed. + +Synthetic acceptance:39VESC tests pass, including30A/30s with continuing +simulated movement and bounded receipt, no artificial pause at880ERPM, stalled +high-current shutdown, speed-only/no-tachometer rejection, configured limits, +and prior RC/Stop/topology/release regression cases. This candidate has not +been installed or physically tested at this ledger entry. + + +0.8.28-1 source9a125d01aad00711f03165df completed all15 Linux qualification +stages at15:53:11UTC in226.07s, peak2,701,422,592bytes. Package SHA256 +`002178109f807a411cac37c0be71ad22e32fa5cee3c0bd76e5a5df3f0aadbb40`. +Owner release265e96b1a910aaf23a221568, SHA256 +`34f8a43374b3639b7e8b90d15d38067816a101b93f30ad57b41eb0e50faad5b1`, +opened locally after one Node upgrade/zero new/zero removed plan. At this entry +installation awaits the owner's local Ubuntu authentication. Core passed +architecture/typecheck/908unit tests/production build; browser shows the new +shared component against the old board's correctly retained5A/10s capability. +No new motor command was sent during development, build or form inspection. + + +0.8.28-1 installed:run43a4b512c687491fbfa41abd382e99df completed at +15:55:04UTC in16.47s. Node/VESC active with0restarts; X4 remains0.1.3-9. +Both Core inventory entries advertise VESC0.2.5 and30A/30s capabilities. +Browser form accepted30/30 with rig confirmation off and no start; it was +then set to5A/30s on the left candidate. The right assignment survives. +No powered0.2.5 operation has run at this entry: a fresh ready-and-observing +reply was requested after installation. The installed max range is accepted; +hardware behavior at the expanded limits remains unqualified. + + +## 2026-09-23 — coordinated 30 A / 30 s request on the left candidate + +After installation the owner declined5A/30s, explicitly selected30A/30s and +repeated the request. The announced target was the left-candidate VESC; the +owner was observing. Core UI operation `op_1cadeb2c861b434e9bba93c5d8a7e5e5` +was requested at15:57:42.612UTC. Both configurations were archived before +current. The result at15:58:03.230UTC contains67samples, last monotonic offset +4.705856s. Actual peak current8.70A, maximum successfully sent command8.763A; +ERPM remained0, net/absolute tachometer delta0, reported phase126degrees stayed +constant. The2-second no-motion guard above5A ended the run. Neither the new +speed nor PWM bound triggered. Do not claim30A were reached or30s completed. + +The owner heard a click but reported no physical movement at all. This matches +the measured lack of movement, and is distinct from the old governor's two +right-motor steps. Zero current commands reached both controllers; final +readback target0.33A/0ERPM/duty0, peer0A/0ERPM/duty0, faults zero; +release_confirmed=true. Raw receipt SHA256 +`9003459550d44c38644c86f0660b82505ef7c35f153076506fe7bb531d7d1354`. +The raw receipt, experiment manifest, UTC/monotonic timing and operator note +remain private. No configuration/firmware write or automatic retry followed. + +The editable30A/30s range is installed and browser-verified. Actual sustained +rotation at these values, left-side visual motion identification, Hall wiring, +calibration and native Tool runtime are not accepted by this stopped test. + + +## 2026-09-23 — owner comparison exposes duration/control-mode mismatch + +Owner independently ran30A/30s on right and left. Right operation +`op_144e051172474f86a9df3841c4578a70` (16:03:05.982UTC) stopped at2.404s +on26.1%PWM against our25%limit, not a VESC fault.34samples, maxcommand4.573A, +peakmeasured6.08A, peak4568ERPM. The owner saw approximately one revolution +and a short visible run. Release confirmed, subsequent0.22A/1371ERPM is +coasting rather than evidence of continued torque; the later peer snapshot +is0A/0ERPM. Left operation `op_c67e68008b89401ab74895d71c7c66d8` +(16:04:42.076UTC) again stopped by no-motion guard at4.707s:67samples, +peak8.69A/maxcommand8.748A, ERPM0. Owner heard a click without movement. +Both release checks passed, faults0. No new agent motor command was sent. + +The owner correctly identifies that the UI's current/time fields do not deliver +his intended sustained rotation test.30A is a ramp ceiling,30s an upper bound, +and the software governor can end a healthy motor's acceleration far earlier. +Merely increasing current/duration limits did not implement speed holding. +A dedicated timed speed-control workflow and actual calibration must not be +represented as complete by this limited current test. The VESC Tool entry still +opens a partial custom adapter, not the full native tool or calibration wizard. +Do not use the right software-limit stop as a right-motor fault or treat the +left symptom alone as proof of a specific Hall wiring/calibration failure. +Owner priority remains actual calibration, using the upstream functionality; +exact native-tool ownership/runtime integration remains outstanding. + + +### 2026-09-23 — 0.8.29 / VESC 0.3.0 implementation, not yet installed + +Owner correction: duration means observed rotation after acceleration, not an +upper bound on a torque command. Added native speed PID, explicit speed/current +ceiling/rotation-time fields, measured hold timer, startup/lost-speed deadlines, +and volatile motor-current scaling with durable restoration and full readback. +No flash changes. Original settings cannot be overwritten after an independent +configuration change. This addresses the prior right-motor PWM guard stop by +controlling speed instead of repeatedly increasing torque. + +Added firmware-native Hall measurement (5 A, about 12 s) as the first calibration +step for the problematic left motor. Audited pinned FW 5.02 source: Hall detect +locks ordinary controls and temporarily changes the timeout; it is not software +interruptible. The separate UI acknowledgement describes physical power cut. +The table is measured only, never auto-applied. Unknown completion blocks new +powered operations. Full VESC Tool desktop integration and R/L/flux application +are not represented as complete; the entry is renamed “Настройка VESC”. + +Local synthetic runtime checks: 51 passed, including motion-time accounting, +stationary tachometer, interrupted rotation, lost configuration ACK, restoration +after interruption, external-change protection, RC preemption and Hall timeout. +Fleet archive checks: 3 passed. Hardware commands in this implementation stage: +none. Installation and physical calibration remain pending. + +### 2026-09-23 — withhold 0.8.29; use the actual native VESC Tool engine + +Owner rejected expanding a separate custom calibration implementation. The +required architecture is upstream VESC Tool on the board, controlled through +Mission Core's own local and paired UI. Source `d6178c84997c585bf06be65e` +completed Linux qualification (15 stages, 230.34 s). The 0.8.29-1 package SHA256 +is `a87fad59ca02b5bffca3960442ed140f46d2581366ce82a45861aa2f03ca481b`. +Owner artifact `1d8868618ed467ccdb330ed4` was planned only, never launched. +This release is withheld; do not interpret its successful build or newer Core +fields as an installed/calibrated hardware runtime. Board package remains +0.8.28-1 and both Node/VESC services remain active. + +Versioned native proof `6d56d1dc847c63a0dc5cbfb2`, artifact SHA256 +`01df98dfdb044d503532d1dc3b0cb61bffcf62a13e72a07b9ebff86c22b3de4e`, +completed at17:03:45UTC in7.48s under an unprivileged MemoryMax=3GiB/CPUQuota=200% +user scope. Only a C++ entry point was compiled, linked to286 unchanged objects +from the previously attested Tool7.00 build. Binary SHA256 +`58d3e1441507d4e50bfdd5ca2e342e8dce4ceed2dcbf411fa05856b5352e68ff`. +No system package, service, serial port or controller setting was touched. + +Both actual archived controller configurations pass native FW5.02 negotiation, +binary decode/re-encode equality, native XML export/import comparison and the +upstream legacy power-loss compatibility correction. For each archive, corrupt +hash, unsupported firmware, bad native signature and truncated input are rejected: +10 acceptance checks total.162 motor and149 application schema entries are +exported, including upstream non-serialized UI/schema entries. Native XML rounds +floating point text and is not byte-identical after conversion; original binary +backups remain authoritative. This is offline engine qualification only. + +Files: `plugins/vesc/native/offline_main.cpp`, +`plugins/vesc/packaging/native_probe.py`, `build_native_probe.py`, README and +`docs/node/18_VESC_TOOL_NATIVE_BACKEND.md`. Raw archives, native JSON/XML exports, +object hashes, failed-build diagnostics and the complete report stay private. +The initial prototype's too-strict XML byte comparison was corrected to use +upstream `checkDifference`; native binary comparison remains exact. A later +compile caught a private Utility API; final code uses the public native +serializer to validate fixed-size FW5.02 payloads. No upstream files changed. + +Battery identification no longer blocks motor-only diagnosis. Owner photos +identify UNITE BM1418HQF family on one motor; approximately500W is an unconfirmed +owner recollection. Keep existing battery protections while using actual native +motor procedures. The full wizard must not recalculate cutoffs from stale saved +3S/6Ah metadata. See the native engine document for two-controller topology, +canonical procedure, sensorless fallback, remaining runtime/installer work and +physical acceptance boundaries. No calibration or powered test ran here. + +### 2026-09-23 — 0.8.30 / VESC 0.4.0 native runtime candidate + +Continued from offline qualification to a real process adapter. Native engine +`9bebad9670b6db63099578aa` links the same unchanged Tool 7.00 objects. One +VescInterface owns each exact, exclusively locked CDC ACM attachment; firmware +negotiation, configuration serialization, serial commands and Hall measurement +use upstream C++. `Utility::measureHallFocBlocking` is invoked unchanged. +Configuration reads must reproduce the received bytes through native ConfigParams. +The Python layer owns session authorization, operation receipts, RC leases, +backup history and measured-duration policy; it no longer opens serial ports. + +The engine is packaged with its Qt/offscreen and ELF dependency closure. Only +the Ubuntu 24.04 glibc family remains a host prerequisite. Native bundle SHA256 +`3987527298f472ced6ec85d7460eec5a47d27872836ce96cbdaae02ec25d7bb7`, +50,344,426 bytes; executable SHA256 +`26a8df1c04d9246ae91e60363309dfbc1fd127717b53fadb5b0460a8c92a1e5a`. +Includes upstream license/source reference, adapter source and distribution +notices. Hashes are checked during payload construction and by an offline +self-check under the service account before profile activation. System packages +were not installed to prepare the dependency closure. Clean-image acceptance +and real USB ownership remain separate from this prepared-host offline proof. + +Eleven native acceptance checks passed (two original archives and four negative +cases for each, plus disconnected-engine rejection of powered/unknown methods). +Sixty synthetic runtime tests passed, including subprocess response identity, +lost ACK, process exit, stale session, changed attachment, malformed response, +blocked write, no replay, original limits recovery and real rotation timing. +Service limits become 512 MiB / 64 tasks for the parent plus native device owners. +This is a resource ceiling, not an assertion of arbitrary-device capacity. + +Touched native engine/config export, native_link.py, service.py, Hall timing, +packaging/native_bundle.py/native_probe.py/native-runtime.json/native_check.py, +Node source/payload builder, model version and installer preparation. Source +artifact `ab73ffcf92d894e67f8cffa8` is being qualified for Node 0.8.30-1. At this +entry no new runtime has been installed and no powered experiment has run. + + +### 2026-09-23 — 0.8.30 installed; first actual upstream Hall result + +All 15 Node Linux qualification jobs passed in 248.88 s, peak 2,637,553,664 bytes. +Node 0.8.30-1 package SHA256 +`f3f2ac7c6af8e8aff7c11192c4c97375d50fe4f2e8b1daa2030cd2b8ec174950`. +Owner release `66a702a23b5dfb61d2a18417` APT plan upgraded only Node. The owner +authenticated in the local Ubuntu window; installation completed 17:42:44 UTC +in 18.44 s. VESC profile 0.4.0 offline integrity/engine check passed under the +service account, both USB profiles applied, service active with zero restarts. +Both native processes identify Tool 7.00 and the exact pinned commit, recognize +FW 5.02 and enable its upstream compatibility correction. Both motor/application +readbacks through the shared Core UI match original archived hashes exactly. +History replication remains available. No controller settings changed at install. + +After fresh owner observation/raised-rig/radio-off/physical-cut confirmation, +Core UI started one left-candidate native Hall measurement at 17:50:56 UTC. +Procedure completed 17:51:20 UTC; actual native cycle 12.38 s, 118 samples, +no communication issues. Result: firmware_success=false, measured table +[255,174,255,120,255,22,255,63], observed states [1,3,5,7] rather than six. +All observed state codes have their least significant Hall bit high. This is +consistent with one non-switching Hall input, not proof of which physical pin +or whether the cause is wiring, sensor or incomplete physical sweep. Owner +subsequently reported no visible physical movement. Peak reported motor current +3.18 A with requested Hall current 5 A; reported tacho changed. This is not a +steady-rotation test or a successful calibration. Original motor configuration +restored byte-for-byte; both devices report 0 A / 0 ERPM / fault 0 afterwards. +No table was applied and no automatic repeat ran. Raw receipt, UUIDs, sessions +and backup IDs remain in private evidence. + +### 2026-09-23 — full native FOC transaction, Node 0.8.31 / profile 0.5.0 + +The owner confirms raised rig, removed track and transmitter off; retain those +facts without repeated questions. Coordinate actual observation after long builds. +The shared UI calls unchanged pinned `Utility::detectAllFoc(false, ...)`, including +upstream Commands' FW 5.02 power-loss correction. Actual battery current limits +and FOC startup parameters are preserved. Invalid 3S/6Ah metadata is not used to +derive cutoffs. Heating budget is explicitly 10–150 W, initially 50 W, not motor +nameplate power. Firmware selects its measurement currents; the separate spin +test's 30 A bound does not cap this non-interruptible firmware cycle. + +This initial profile requires independent USB with no CAN peers because upstream +Utility broadcasts application-output disable even with detect_can=false. +All connected devices are backed up and checked before launch. A durable pending +marker prevents replay after uncertain completion/restart. Python polls only +native procedure status during the cycle and never overrides its lease. Native +completion accepts only documented calibration field changes, restores appconf's +CAN status side effect, retains the lower of detected and prior motor current +limits, and verifies exact write/readback. Known failed detection restores its +known original motor settings; unexpected changes are not blindly overwritten. +Both target and peers are archived/verified after completion. Uncertain results +block further motion. UI distinguishes sensorless fallback from healthy Halls. + +67 Python transaction/fault-injection tests passed; architecture/typecheck and +908 UI tests passed. Native artifact `47c2efc6fe16229c500655ce` compiled against +the same 286 upstream objects and passed 11 archive/negative/disconnected checks +without USB use. At this entry 0.8.31 is not installed and full FOC has not run. +Physical left startup, right baseline, sustained rotation and replicated final +histories remain required acceptance work. + +### 2026-09-23 — 0.8.31 installed; successful native left calibration + +Node 0.8.31-1 completed all 15 Linux qualification jobs in 248.56 s. Package +SHA256 `2cf96e817872edb2b161e383b502ed4eecbe0beb75a76ecf13122f226dae7ca3`; +owner release `09f05ab9303fc2a4610d484d` upgraded only Node. Owner authenticated; +installation took 17.72 s. Both native USB owners returned, profile 0.5.0 active. +The owner freshly confirmed observation; the shared Core UI started LEFT-only +native FOC at 18:22:27 UTC with 50 W heating budget. Native completion/readback +finished 18:23:08 UTC, cycle 29.68 s, code 0 / Success / Sensorless. Detected +R=21.3572 mOhm, L=21.6031 uH, flux=12.0932 mWb, motor limits +/-34.2135 A. +Receiver/battery settings and the right configuration were verified unchanged; +both before/after histories replicated to Core. Owner observed LEFT smooth +acceleration and 2–3 s rotation without catching. This was the flux measurement, +not the separate sustained-rotation acceptance test. Broken Hall pin is not +repaired; low-speed/loaded startup remains unaccepted. + +The operator transport was interrupted during this cycle. On reconnection, +Mini uptime proved no reboot; the locally completed receipt arrived without +replay. Tailscale relay ping succeeded and SSH resumed. Ops HTTP/MCP was already +unreachable before the cycle with the task host route matching DHCP gateway; +no VPN/routes/firewall settings were changed. + +The native result/configuration were accepted, but the outer release check +latched: its first GET_VALUES returned 3.67 A accumulated average over the +entire unpolled native cycle, despite duty=0. FW 5.02 commands.c explicitly uses +mc_interface_read_reset_avg_motor_current(). Fresh Core UI read at 18:28:18 UTC +confirmed 0 A, 0 ERPM, duty=0, fault=0. Preserve the original receipt faithfully. + +Profile 0.5.1 / Node 0.8.31-2 drains that accumulation and samples a fresh bounded +interval after release. The existing explicit neutral-return action can reconcile +only a completed, config-verified archived native result with exact live UUID, +all-peer config equality, neutral input and fresh idle values. It writes recovery +evidence and clears only its completed pending marker, without any calibration, +torque or configuration replay. Unknown completion or changed config stays +blocked. 71 fault-injection tests pass, including the actual averaging failure, +explicit recovery, changed-config rejection and unknown-completion rejection. +At this entry 0.8.31-2 is awaiting qualification/installation; sustained rotation +has not yet been run. + + +### 2026-09-23 — 0.8.31-2 installed; completed calibration recovered + +All 15 Linux qualification jobs passed in 250.69 s; 71 Python runtime tests and +909 active-Core UI tests passed, with architecture/typecheck and production build. +Source artifact `25dc6ae93ea5038f0bec4bf4`; Node package SHA256 +`cc9f023b4519f65158c7244e4f0b66b1fd38ce1180600f84be87bbb6c6fba1de`. +Owner release `192e63bb2f7992ddcf38399f` upgraded only Node after local Ubuntu +authentication. Installation completed in 18.32 s; UI ready, VESC service active +and both USB identities returned on profile 0.5.1. Native Tool bundle unchanged. + +At 18:45:03 UTC the shared Core UI invoked explicit neutral-return recovery. +At 18:45:19 it completed with authority ready, calibration_replayed=false, +configuration_verified=true and release_confirmed=true. Both controllers had +fresh 0 A / 0 ERPM / duty 0 / fault 0. The original FOC receipt was preserved; +its completed configuration was reconciled without motor/configuration replay. +The owner then freshly confirmed watching LEFT for one 2000 ERPM / 30 A limit / +30 s measured-rotation test. That test is recorded separately below on completion. + + +### 2026-09-23 — LEFT sustained-rotation acceptance + +With fresh owner observation the shared Core UI requested LEFT 2000 ERPM, +30 A temporary current ceiling and 30 s measured rotation at 18:46:16 UTC. +Completed 18:47:04 UTC with outcome duration, rotation_s=30.0574, no limit +violation, release_confirmed=true and limits_restored=true. 354 samples retained; +311 holding samples ranged 1978–2012 ERPM (mean 1998.77), 2.50–2.75 A motor +current (mean 2.615), duty 0.107–0.113, fault 0 throughout. Hold began after +4.24 s acceleration/settling; total motion-command interval was 34.29 s. +Right remained at 0 A / 0 ERPM. Final left release sample had 0.1 A / 69 ERPM +while coasting, not a claim of instantaneous mechanical stop. + +Owner confirms smooth acceleration, stable visible rotation for approximately +30 s and modest sprocket speed. This accepts the unloaded sustained-rotation +path after native calibration. It does not accept loaded startup or the original +abrupt-transmitter-demand scenario. Only LEFT has been calibrated at this point; +RIGHT still retains its original configuration. No automatic repeat was started. +Ops MCP remained unreachable on a fresh check; evidence is retained locally. + + +### 2026-09-23 — RIGHT native calibration accepted; first speed trial interrupted + +After fresh owner observation, Core UI started RIGHT native FOC at 18:52:55 UTC +with the same 50 W heating budget. Finished 18:53:37 UTC, native elapsed 28.35 s, +code 1 / Success / Hall Sensors; configuration_verified=true, release_confirmed +and overall success=true, issues empty. Detected R=21.1167 mOhm, L=21.3738 uH, +flux=11.9471 mWb, motor limits +/-34.4078 A. Hall table becomes +[255,166,98,131,34,1,66,255]. Both after-state snapshots show 0 A / 0 ERPM / +fault 0. All four before/after archives were fetched from Core. Exact decoded +comparison finds 14 right motor calibration fields changed; application and +battery fields unchanged. Left motor/application bytes remain unchanged. Owner +observed the expected short spin and later tiny positioning steps, then confirmed +understanding that this was the calibration cycle. + +The separate 2000 ERPM / 30 A limit / 30 s test at 18:54:28 UTC was interrupted +after 11 acceleration samples (~1.02 s), before speed reached the saved 900 ERPM +PID minimum. No measured hold time accrued. The right native connection closed; +the receipt could not confirm release or temporary-limit restoration immediately. +The durable latch prevented replay; the service later reconnected the same UUID +and recovered temporary limits. No service restart, host reboot or kernel USB +disconnect was observed; exact failed native RPC/cause was not retained, so this +is not attributed to a motor or electrical defect. + +Fresh UI telemetry at 18:55:39 UTC confirmed right 0 A / 0 ERPM / PWM 0 / fault 0. +Explicit neutral-return from Core UI completed 18:57:04 UTC with authority ready. +Both recovery backups match their post-calibration motor/application bytes exactly. +The original interrupted receipt is retained unchanged. After fresh owner +observation, one bounded repeat was admitted; recurring disconnect will require +transport diagnosis before any further powered retry. + + +### 2026-09-23 — RIGHT sustained rotation accepted; common-profile test implementation + +Owner freshly confirmed observing the bounded retry. Core UI requested right +2000 ERPM / 30 A ceiling / 30 s at 18:58:10 UTC. Completed 18:58:59 UTC, +outcome duration, 30.0518 s measured hold, 353 samples, no controller faults or +limit violation. Holding speed 1969–2037 ERPM (mean 2000.322), current +2.07–2.46 A (mean 2.260), controller temperature 30.6–31.2 C. Release and +original-limit restoration confirmed; left remained idle. Owner confirms right +visible motion comparable to left for the same duration. Both motors now have +independent native calibrations and physical unloaded 30 s acceptance. Left is +sensorless; right uses newly measured Hall table. Abrupt RC startup and loaded +operation remain unaccepted; one interrupted right native connection remains +a known observation, not proof that the motor is faulty. + +Owner requests simultaneous comparison and asks whether calibration is available +through the product. Existing per-VESC calibration and history UI demonstrated. +Node 0.8.32 / profile 0.6.0 adds one common `vesc.drive.run` transaction for the +complete assigned 1x1 or 2x2 profile. Placement: existing spin-test SettingsCard, +canonical Select chooses single controller or complete profile; no new root, +workspace, shared visual entity, or duplicated calibration algorithm. Revision, +exact selected membership, live UUID/session, every motor limit and all peer +inputs are checked before motion. Device owners remain upstream VESC Tool. + +Group polling/lease/speed batches run independently per USB owner, joined before +release on any failure. Commands share the ramp/setpoint; the joint 30 s clock +counts only intervals when every motor has confirmed speed and tachometer motion. +Stopping one stops the transaction; RC latches it. Original limits restore only +after zero current and neutral, including after reconnect. No powered command +replay. Receipts retain the original exception separately from cleanup results. +80 synthetic runtime tests pass, including pair/four membership, joint timing, +stationary/lost-speed peer, failed lease, partial limit ACK, RC and stale profile. +At this entry the group feature is not installed or physically accepted. + + +### 2026-09-23 — 0.8.32 qualification and owner installation prepared + +Core architecture/typecheck, 911 UI tests and production build passed sequentially +with adequate local memory headroom. The updated Core remains on canonical 8000. +Browser acceptance confirmed canonical Select and Escape focus restoration, and +correct disabled group option while the board still reports older capabilities. + +Source artifact `5e4945f3ef3a74ffe68d1619`, 411,549,546 bytes, SHA256 +`c5b53209001d8eaa86e56ed5d997224679d429692cddd10b321ec5cd2eec5b99`. +All 15 Linux qualification jobs completed in 255.70 s; peak memory 2,260,582,400 B +inside the unchanged 3 GiB / 150% CPU build envelope. Node 0.8.32-1 package +218,813,236 bytes, SHA256 +`dbef14db5cc78bea27ffd229a5335961cd989ebc89a944bac7a2dc8b7c8a2058`. +Owner release `e72c65f0b91cbbe30655730f`, SHA256 +`c34115038e8fbd1254d53d3277b373e580ea947e5789b220330f43fbd9339157`, +was built exclusively from qualified output. Fresh APT plan upgrades only Node +0.8.31-2 to 0.8.32-1, with no package additions or removals. The canonical +local Ubuntu installer is open awaiting owner authentication. No group motion +or repeat calibration has been performed during this implementation. + + +### 2026-09-23 — 0.8.32 installed; group attempt interrupted by native read timeout + +Owner authenticated the versioned installer; installation completed at +19:19:37 UTC in 17.79 s. Both devices advertised profile 0.6.0 and group capability. +After fresh owner observation confirmation, Core UI started the complete 1x1 +profile at 19:24:54 UTC: 2000 ERPM, 30 A ceiling per motor, 30 s common hold. +Preparation completed, but the native read failed 0.367 s into the command loop, +after only two samples (44.6 and 122.9 ERPM setpoints). Common rotation remained +0 s. Owner reports neither motor moved. No automatic powered retry occurred. + +The native error was `Native query timed out or disconnected`; active-loop read +budget was 60 ms. The Python boundary terminates its native owner after any +unconfirmed query, so subsequent release cannot use that owner. Left zero-current +command was sent; immediate right release/readback were unconfirmed. Original +failure receipt is retained. Explicit UI neutral-return completed 19:26:51 UTC, +both configurations were read and idle/neutral checks passed, original temporary +limits had recovered, authority ready. Neither calibration was replayed. + +No kernel USB disconnect/reset, service restart or board reboot was observed. +Both USB devices remain runtime-active with power/control=on. This rules out an +observed port removal or autosuspend event, not packet loss or electrical noise. +The old error lacks the exact failed query and native elapsed time; cable versus +reply latency cannot be attributed from it. No hardware-fault claim is admitted. + +### 2026-09-23 — read-only latency diagnosis prepared in 0.8.33 / profile 0.6.1 + +Add `vesc.link.check` to the existing per-VESC detail using canonical SettingsCard, +Button and ResourceList. It measures all present, session-matched board VESCs at +the group loop's 10 Hz cadence for 100 cycles, bounded by 25 s and the operation +deadline. Every controller is exclusively locked; only PPM and telemetry queries +are admitted. Nonneutral input or existing motion ends the measurement. It sends +no motor, lease or configuration commands. A separate 500 ms read-only budget +records replies beyond the motor loop's 60 ms cutoff; powered-loop deadlines are +unchanged. No measurement result alone grants motion authority. + +Native RPC records now retain command, deadline, elapsed boundary time, subprocess +and attachment state on failure, plus the last 32 bounded metadata records (no +payload/configuration bytes). Group/single failure receipts retain these records. +The UI no longer equates a missed group reply with a proved physical disconnect. +87 runtime tests pass, including no-write measurement, late-reply statistics, +missing reply identity, nonneutral termination, operation exclusion/idempotency, +stale sessions and stop. Physical transport diagnosis remains pending installation. + + +### 2026-09-23 — 0.8.33 diagnostic package qualified; installer launched + +Architecture/typecheck, 911 UI tests and the Core production build passed. Core +8000 was restarted only after verifying no active motor procedure, and is ready. +Source artifact `edaf094fea23f84985b8cd64`, SHA256 +`f24dbdebb0fb058140a47d9675475a0468b77fa82e71be4a8d9e1d16f3d22acf`. +All 15 Linux jobs passed in 256.98 s, peak 2,252,750,848 B under the unchanged +resource envelope. Node 0.8.33-1 package: 218,816,686 bytes, SHA256 +`e07ea0770f3feb9633b08681a3772e4f814c3e7165f400ca24ccd16cc4994c7e`. +Owner release `b08ab8c46eb5e0d97f049faa`, SHA256 +`843fda4810979c784eb03299b5914bfcb49a663a27a9f82fe867aee4d185e62f`. +APT plan upgrades only Node 0.8.32-1 to 0.8.33-1; no added/removed packages. +The local Ubuntu installer was launched; authentication/install confirmation is +pending. No powered retry occurred. Ops MCP remains unreachable; Ops update is +pending, with the full incident evidence retained privately and this redacted +ledger kept current. + + +### 2026-09-23 — 0.8.33 installed; idle reply latency measured + +After the owner corrected the local Ubuntu keyboard layout, installation +completed at 20:02:50 UTC in 17.91 s. Node is 0.8.33-1, VESC profile 0.6.1, +service active with zero restarts. The initial three rejected password attempts +made no package changes; no authentication bypass or secret handling occurred. + +Core UI `vesc.link.check` read both controllers for 12.324 s with no motor/lease +or configuration commands. All 400 replies arrived; neither device reported +motion/current/fault, and PPM remained neutral. LEFT full-call median 59.07 ms, +p95 79.63 ms, maximum 117.78 ms; RIGHT median 58.49 ms, p95 78.64 ms, maximum +114.23 ms. These are Python-boundary durations, not isolated firmware/USB response +times. Consequently they cannot by themselves prove that the native 60 ms reply +deadline is wrong or explain the earlier native timeout. Both original receipts +and the limitation are retained. No powered retry is authorized by this result. + +CPU quota is unlimited, cgroup throttling counters zero, host load low. Read-only +sysfs timing identifies repeated full-bus discovery in NativeLink.check(): one +scan median 14.65 ms / maximum 18.02 ms; paired scans median 40.28 ms / maximum +41.97 ms. It ran before and after every RPC, unnecessarily scaling with all USB +attachments and contending between controller threads. + +### 2026-09-23 — 0.8.34 / 0.6.2 removes per-request full-bus discovery + +The per-request check now reads only its exact USB path, vendor/product, device +address generation, uniquely matching interface tty and speed. It reads the +address before/after the inspection to reject replacement during the check. +Discovery still enumerates the board; its tty pattern is limited to actual +interfaces rather than driver/subsystem directories. No identity cache or timing +relaxation is introduced. Motor timeouts, stop rules and the native binary are +unchanged. RPC receipts now separate pre-check, request-write, native-response +and post-check durations and preserve the failed stage. + +Read-only execution of the pure sysfs check on Mini (no port open, installation, +motor or configuration commands) measures 2.50 ms median / 2.92 ms maximum for +one target and 5.12 ms median / 6.29 ms maximum for paired targets. 92 runtime +checks pass; seven native-boundary checks also pass after the timing assertions. +Unplug, replaced generation, changed generation during read, duplicate tty, +unrelated driver tty and path traversal are rejected. Installed-operation +acceptance and original timeout attribution remain pending this versioned update. + + +### 2026-09-23 — 0.8.34 package qualified; owner installer launched + +Source `4adfb4f84e097350eaa14102`, SHA256 +`81d00168df5328b82bb887223df69056cd51d5747e0f6a1434f782aee922c108`. +All 15 Linux jobs passed in 256.16 s, peak memory +2,242,736,128 bytes. Node 0.8.34-1 package SHA256 +`58934f48eee0d845d1643eddcbc7f02866310f498b6ccebd9585d29daa2090af`. +Release `229328c79ad99782d788d8b8`, SHA256 +`07a98e6fd3686b23d16a601f46d38bb9ebfe35110c89f3f1105166c669d3f049`. +Fresh plan upgrades only Node 0.8.33-1 to 0.8.34-1, no added/removed packages. +No active motor operation was present when launching the local Ubuntu installer; +owner sudo authentication is pending. UI/native payload and powered timeouts are +unchanged. Ops MCP remains unreachable; this ledger and private evidence retain +the update until the Ops card can be reached. + +### 2026-09-23 — 0.8.34 installed; faster idle reads, powered timeout isolated + +Installation completed 20:17:52 UTC in 18.54 s, all services active with zero +restarts. UI link check at 20:22:28 received all 400 replies in 10.016 s, no +motor commands, faults or motion. Full-call medians LEFT 9.95 ms / RIGHT 9.80 ms, +maxima 19.78 / 21.70 ms. Native-response maxima 1.09 / 1.43 ms; the removed +full-bus checks explain the previous full-call overhead, not the powered fault. + +Owner explicitly observed the next UI group run: 2000 ERPM, 30 A ceiling each, +30 s common rotation. It stopped 0.484 s into initial ramp, after four samples +and a maximum command of 195.81 ERPM. Common rotation 0 s; owner confirms both +motors stayed still. RIGHT command 31 (decoded PPM) failed inside native +exchange after 60.09 ms; Python pre-check was 4.31 ms. Native process was alive +and exact attachment present. Kernel journal has no USB event, service no +restart. This isolates the native reply timeout but does not prove wire/MCU +versus suppressed native transmission. Immediate RIGHT release/readback was +unconfirmed; UI stop followed by explicit neutral recovery completed 20:25:40 +UTC, authority ready and temporary scales restored. No powered retry followed. + +### 2026-09-23 — 0.8.35 / 0.6.3 native exchange diagnostics candidate + +The adapter records bounded metadata around a failed native exchange: requested +command emission, packet transmission, serial bytes-written, decoded incoming +packet IDs, serial error/open/pending-write state and monotonic event times. +No payload contents are recorded. Error details survive the Python fail-closed +boundary; no motor command is retried. Timeout, ramp, current, calibration and +upstream source remain unchanged. Scoped observers and a pending-query guard +are released on normal completion and exception. Build and installation pending. + +### 2026-09-23 — 0.8.35 qualified; local owner installation pending + +Native diagnostic artifact `48f470f0209ccbf97ff77271` passed 11 archive, +negative-input and offline-engine checks in 36.69 s, preserving all 286 upstream +objects. Runtime SHA256 +`cc78c273e025f0738ed79f94d4bc6a70e504f2e7204b1ef694119e6a230b913a`. +Python runtime suite: 93 passed. Source `a661c4ecd4553728ab73d2cc`, SHA256 +`a616faf9f360066c4763fbbdd261c4e0955e5358d1bc45728770ad2016ec4e62`, +verified on Mini. All 15 Linux qualification jobs passed in 256.41 s. +Node 0.8.35-1 package SHA256 +`b95e050e38d347d139e16b37f33bdf2c9d9f9a828a01457d1dae38d4a6971ddc`. +Owner release `4d72eed539c3755b5cb14359`, SHA256 +`1c703adb207ea8373195ad0794905d80ab39941fa35f89e3a468894129936935`. +Fresh plan upgrades only Node 0.8.34-1 to 0.8.35-1; no added or removed packages. +Both VESC were online and inactive before launching the local installer. Ubuntu +owner authentication is pending. The diagnostic change is not a claim that the +missing powered reply is fixed; acceptance requires fresh observation after +installation. Both original calibrated configurations remain in the archive. + +The slow normal rsync transfer completed and matched the canonical source SHA +before a prepared compact transport fallback was needed; the fallback was not +executed on the Mini. The successful upstream Tool report is in build +`d1797bf1152f59ee14012ed5` and points to the qualified source/object tree in +`f611147350b77dfa0006b7d8`; the latter's original report is not successful. +Ops MCP still returns an HTTP transport error; local evidence is retained. + +### 2026-09-23 — 0.8.35 installed; idle native transport accepted + +Owner authenticated locally; installation completed 20:51:39 UTC in 18.44 s. +All steps passed, UI ready, services active and restart counters zero. Installed +engine SHA256 `9d2d6a87032e3c60f2666cadd5d5d1520edac05087e0dcb7a5ac3875f2ace325` +matches the qualified binary; both device sessions report VESC profile 0.6.3. +The first UI read-only check completed 400/400 replies in 10.015 s without +motion, faults or commands. Full RPC maxima LEFT 18.14 ms / RIGHT 20.47 ms; +native response maxima 1.28 / 1.24 ms. Powered diagnostic retry is awaiting the +owner's fresh observation readiness; no powered acceptance is claimed. + +### 2026-09-23 — 0.8.35 powered query emitted; RIGHT reply missing within deadline + +The observed UI group run (2000 ERPM, 30 A ceiling each, 30 s common rotation) +stopped 0.289636 s into its initial ramp. Two samples, common rotation 0 s; +owner confirms both motors remained still. RIGHT GET_VALUES command 4 was +emitted, one six-byte packet was written by QSerialPort at 0.491 ms, with no +decoded incoming packet before the 60 ms configured deadline (59.212 ms +measured by the coarse Qt timer). Port remained open/connected, serial error 0, +no pending output bytes. Python attachment pre-check took 3.802 ms and native +response wait 59.920 ms. The native process and exact USB attachment were alive. +No USB kernel events or service restarts occurred in the retained time window. + +This rules out a suppressed request for this failure. It does not distinguish a +late reply, framing loss, USB transport problem or controller-side delay. +Immediate RIGHT release/readback was unconfirmed; UI stop and explicit neutral +recovery completed at 20:55:37 UTC with authority ready and temporary limits +restored. Original failure receipt remains unchanged. No automatic powered +retry followed. Next discriminating check requested from the owner: interchange +only the two VESC USB plugs at the Mini, verify UUID-to-port mapping read-only, +then coordinate any new powered observation. This physical change is still +pending; neither the USB cable nor controller is declared faulty. + +### 2026-09-23 — first accepted simultaneous rotation after USB relocation + +Owner relocated both USB plugs to two different Mini ports (not a reciprocal +swap). Native UUID identity and the persisted LEFT/RIGHT profile bindings were +preserved automatically. No source, package, calibration, timeout or control +parameter changed between the failed and successful powered attempts. + +The UI idle link check received 400/400 replies in 10.015 s. Full RPC maxima +LEFT 14.93 ms / RIGHT 13.99 ms; native maxima 1.174 / 1.158 ms. The subsequent +owner-observed UI group test started 21:05:15 UTC and completed 21:06:02 UTC: +2000 ERPM, 30 A ceiling per motor, 30.047580 s common rotation, 342 samples +including 301 holding samples. LEFT held 1968–2012 ERPM (mean 1998.67), motor +current 2.48–2.71 A; RIGHT held 1974–2038 ERPM (mean 1999.84), motor current +2.07–2.43 A. Both fault codes stayed zero. Both zero-current releases were +confirmed and original temporary current scales restored. Kernel journal had +no event in the test interval; Node stayed active with zero restarts. + +Owner confirms both motors started together, ran evenly at matching apparent +speed for about 30 s and stopped together. This accepts this simultaneous, +unloaded test. USB relocation/reseating is correlated with the change in +outcome; it does not establish a defective port/cable or long-term transport +reliability. Original abrupt RC startup, loaded drive, damaged Hall wiring and +independent communication-loss torque-off remain separate outstanding checks. +No further automatic motor run followed. Private receipt, owner observation, +identity mapping, statistics and SHA256s are retained in acceptance-035-group.json. + +### 2026-09-23 — owner RC acceptance; follow-up Hall comparison blocked in preflight + +After the accepted common-speed test, the owner reports excellent operation of +both motors from the RC transmitter, in response to the requested gradual and +abrupt-start comparison. This is owner-observed unloaded acceptance; no RC +command/timing telemetry was captured. Working LEFT sensorless and RIGHT Hall +calibrations remain unchanged. + +Owner requested a separate comparison of Hall inputs and explicitly confirmed +transmitter off and observation of both sequential 5 A native measurements. +The LEFT UI request at 21:14:42 UTC failed during preparation, before a new +backup or Hall result. A subsequent ordinary telemetry read also failed. +LEFT then failed identity confirmation and became transport-local/degraded; +RIGHT retained its prior verified session. Linux still enumerated both USB +attachments with unchanged addresses and had no kernel event; both services +remained active with zero restarts. No new Hall procedure or configuration +write is evidenced; no powered retry was issued. Owner was asked whether main +power remained on. The prior LEFT four-state Hall result and RIGHT successful +six-state calibration table remain the available comparison, not new results. +This recurrence means the earlier port relocation cannot be treated as a +confirmed repair of remote transport reliability. + +### 2026-09-23 — USB reconnection retains identity; idle read failures recur + +Owner confirmed both VESC remained powered, unplugged LEFT USB and reconnected +it to the same port. Both native UUIDs and LEFT/RIGHT assignments were verified +again at 21:30 UTC. Linux logged descriptor/address errors (-71) during that +reconnection, then successfully enumerated the device. Those enumeration errors +are a separate observation, not proof of the cause of later missing replies. + +UI read-only link checks at 21:34:17 and 21:51:53 UTC each failed on the first +GET_DECODED_PPM request to both controllers. In both checks, the native adapter +reported an emitted request and six serial bytes written, open/connected port, +no serial error, and zero decoded reply packets within the 500 ms diagnostic +deadline. No motor command or configuration write was sent. Both services +remained active with zero restarts. USB power/control was on, runtime active, +and suspended time zero; both tty devices carried ModemManager ignore flags. + +Automatic native reconnect temporarily restored verified identities, and an +ordinary LEFT telemetry read succeeded at 21:36:57 UTC (50.3 V, PWM zero, +fault zero). A separate UI link-check attempt did not receive confirmation +during a stale board-link interval and is not counted as a completed test. +Identity verification alone therefore does not establish current command-channel +health. Neither USB hardware nor our adapter is exonerated by these observations. + +No additional Hall measurement started. After renewed observation confirmation, +LEFT was again unavailable and its UI action remained disabled. Owner was asked +for one complete power cycle of both controllers with USB also disconnected, +then reconnection to the same ports. That recovery is pending; working motor +calibrations are not changed. The private receipts and kernel journal are +retained under hall-035-*; Ops MCP remains unavailable with an HTTP transport +error, so this update has not been published to the project card. + +### 2026-09-23 — owner requires diagnosis on the running installation + +Owner declined the proposed power cycle and further reconnection. That request +is withdrawn; no board reboot, physical reset, service restart or installation +was performed. Hall comparison remains incomplete. Existing calibration and +the accepted unloaded/RC observations must not be conflated with USB reliability. + +Separate ordinary input reads were submitted through Mission Core's existing +vesc.input.read operation, with no motor/configuration commands. LEFT failed +with the installed generic error. RIGHT completed at 21:59:42 UTC: decoded +level -0.065999, pulse length 1.466 ms. Its accepted application configuration +sets PPM hysteresis to 0.15. FW 5.02 app_ppm.c exposes input_val before applying +utils_deadband, but our host tests used a fixed 0.02 threshold. This is a +confirmed mismatch that can falsely label an input inside the VESC neutral +band as an RC motor command. It does not explain USB query timeouts, and a PPM +value does not establish whether the transmitter's radio link is present. + +Candidate Node 0.8.36-1 / profile 0.6.4 reads each device's admitted PPM band +from configuration for preflight, single/group motion and Hall monitoring. +Recovery rereads/verifies application configuration; missing/invalid bands +block motion. The idle link diagnostic reads application configuration too. +Actual input beyond that device's band still preempts and latches RC authority. +No VESC configuration is changed by this correction. Ordinary and preflight +native errors retain command/stage/transport/history in receipt result.failure; +native traces identify the exact USB attachment. Product errors remain concise. + +99 local synthetic tests passed, including different per-device bands, changed +configuration between operations, active RC preemption, no-write link checks, +failure evidence persistence and idempotency. Existing native Tool binary and +all motor deadlines remain unchanged. Candidate is not installed or accepted +on hardware; preparing it does not authorize restarting the running services. + +The immutable candidate source is `6cd91f87045f3fb2bb8d9f14`, SHA256 +`954f19c2ace4c0186c5a0e96eb2196637481a4818bb871c1d857a86b7492b1ca`. +All 15 bounded Ubuntu build/qualification jobs passed in 276.20 s. Package +0.8.36-1 SHA256 +`ca471e1cfd90eea4e71014b7be020e0a0459fea017668cd657e7e01d9dab05d4`; +owner release `f1d300d6ca0954ba007e7a50`, SHA256 +`f990e5d2a3a1c7a4e2bc8c1f71720c6a9ee6393a8756437645fd9e056ef6171c`. +Only the release's `--plan` ran: APT proposes one Node upgrade, no added/removed +packages. No installer window was launched. Installed Node remains 0.8.35-1; +Node and VESC service PIDs are unchanged and restart counters remain zero. + +Applying this existing Node installer would restart Node/VESC and monitoring, +including its monitoring database, and cycle the configured optional device +services according to preinst/postinst. It is not a restart-free hot patch and +is not described as only a VESC restart. Physical power/USB changes and a Linux +reboot are not part of that update. Owner agreement on software service +interruption is needed before applying under the current no-restart constraint. diff --git a/docs/node/18_VESC_TOOL_NATIVE_BACKEND.md b/docs/node/18_VESC_TOOL_NATIVE_BACKEND.md new file mode 100644 index 0000000..0e6fea8 --- /dev/null +++ b/docs/node/18_VESC_TOOL_NATIVE_BACKEND.md @@ -0,0 +1,176 @@ +# VESC Tool as the onboard engine + +Owner decision, 2026-09-23: Mission Core supplies the local and remote product +interface; upstream VESC Tool supplies firmware compatibility, configuration +schemas/codecs and motor calibration. Do not continue a separate Python +implementation of Tool algorithms. Node 0.8.29-1's separate Hall/speed experiment +was built but withheld before installation. Installed hardware remains on +0.8.28-1. Calibration and sustained-rotation acceptance are still outstanding. + +## Upstream boundary + +Use the stable [Tool 7.00 source](https://github.com/vedderb/vesc_tool/tree/01d5f10901116c311e3fb84d5a1541f663d3ce20) +unchanged. This is a Qt application, not an existing HTTP service or a documented +standalone SDK. A small C++ process adapter is necessary; it calls the actual +`VescInterface`, `Commands`, `ConfigParams` and `Utility` implementations. It +must not replace them with translations of their algorithms. Keep upstream +license and corresponding source/build provenance with the combined payload. + +Mission Core owns device identity/position, exclusive access, operation and +configuration history, session authority, local/paired transport and UI composed +from Design Guideline components. Device parameter definitions, groups, labels, +units, limits and enum options come from native `ConfigParams`; they must not +be copied into a second permanent hand-maintained schema. + +Updates change a pinned upstream source plus its matching resources and rerun +compatibility/replay acceptance. Neither a Tool update nor connecting to a board +automatically authorizes firmware flashing or replacing controller settings. + +## Verified native execution + +`plugins/vesc/native/offline_main.cpp` links the existing unmodified Tool object +files, substituting only the application entry point. It has no admitted serial, +TCP, Bluetooth or powered-operation entry point and does not start an event loop. +The versioned `packaging/build_native_probe.py` / `native_probe.py` artifact +compiles under an unprivileged 3 GiB user scope; it neither installs dependencies +nor touches running services. Separate private Qt settings prevent inheriting an +operator's saved connection. + +The adapter replays archived identity through native firmware negotiation, +checks archive hash/command/length against the native firmware schema, passes +the original configuration packets to `Commands::processPacket`, and exports +the resulting native parameter groups and XML. Native serialization must +reproduce the original binary configuration exactly. Unsupported firmware, +corrupt hashes, wrong signatures and truncated payloads must fail closed. + +An offline `Commands::detectAllFoc` serialization probe also demonstrates the +real compatibility behavior: Tool automatically halves a 100 W example to +50 W on the wire for FW 5.02. No bytes are delivered to hardware. This correction +comes from `VescInterface::fwVersionReceived` and `Commands::detectAllFoc`; +implementing only the documented-looking command packet would miss it. + +Tool's own XML writer rounds floating point text (`QString::number` default +precision). XML is suitable for native import/export but is not a byte-exact +archive. Preserve the original binary snapshots alongside native XML. Native +`ConfigParams::checkDifference` supplies the comparison tolerance; do not call +XML conversion a lossless binary backup. + +This proves engine reuse and offline compatibility, not a shipped hardware +backend. Production dependency closure, installer integration, USB ownership +handoff, operation API and physical calibration remain separate acceptance work. + +## Canonical calibration for this 1×1 rover + +The [upstream motor wizard](https://vesc-project.com/node/180) distinguishes +motor setup from the [input wizard](https://vesc-project.com/node/181). +The current desktop implementation is +[`DetectAllFocDialog::runDetect`](https://github.com/vedderb/vesc_tool/blob/01d5f10901116c311e3fb84d5a1541f663d3ce20/widgets/detectallfocdialog.cpp), +calling the actual +[`Utility::detectAllFoc`](https://github.com/vedderb/vesc_tool/blob/01d5f10901116c311e3fb84d5a1541f663d3ce20/utility.cpp). + +1. Confirm each controller's own identity, take motor and application backups, + inspect faults and retain existing battery protections. The problematic motor + is LEFT; RIGHT works normally from RC. Do not copy right-side Hall calibration + to the left or use software-induced right-side stops as a hardware diagnosis. +2. Determine actual connection topology. Two motors, or a Mission Core 1×1 + layout, do not imply CAN master/slave. There are two USB connections and two + receiver inputs (CH3 presumed left, CH2 right). Previous native CAN discovery + returned no peers. Calibrate each directly connected device separately until + another topology is evidenced; do not enable CAN forwarding merely because + the rover has two motors. +3. Choose the appropriate native motor procedure. The full auto-FOC wizard + prepares parameters, temporarily adjusts battery cutoffs, detects R/L, flux + and sensors, writes resulting settings, restores cutoffs and checks direction. + It is not equivalent to invoking a Hall command or only starting a motor. + Its `maxPowerLoss` is motor heating allowance, not rated shaft power; a + remembered 500 W nameplate is not an instruction to pass 500 W here. +4. For diagnosis without changing battery settings, use upstream's individual + `measureRLBlocking`, `measureLinkageOpenloopBlocking` and + `measureHallFocBlocking` procedures. The necessary current/start parameters + and actual effects must be explicit. Use upstream calculation/application + functions when measurements are accepted; never silently transplant a new + Hall table or overwrite unmeasured settings. +5. Inspect the resulting sensor mode and measurement status. Firmware 5.02 + autodetection can report success with a sensorless fallback when Hall/encoder + detection fails. That is not proof that the broken Hall pin was repaired or + that loaded low-speed startup is acceptable. Firmware Hall measurement locks + ordinary motor controls during the cycle; do not promise an RC or USB stop + that the firmware cannot perform. +6. Read back and archive the applied result, then coordinate a visible direction + and startup test. Assign the physical position in the existing Mission Core + profile only from observation. Finish motor setup before changing receiver + endpoints, neutral, deadband or direction. The receiver remains connected. +7. Verify sustained rotation using native motor control with current limits and + a speed setpoint. Requested duration means measured rotation after settling; + startup, stalled motion and an early guard stop do not count as completed + time. A torque/current command alone cannot promise 30 seconds of rotation. + +The full auto wizard includes configuration writes beyond measurements. In +particular, blindly executing its battery stage from stale configuration metadata +is unsuitable here: saved battery metadata says 3S / 6 Ah while observed input is +about 50 V. Existing cutoffs are approximately 44.2 / 39 V. Retaining these +settings for motor diagnosis is distinct from validating their suitability. + +Battery brand/capacity are not prerequisites for motor identification. Chemistry +and series count are needed when recalculating voltage protection; pack/BMS +charge and discharge ratings are needed when changing battery current limits. +Do not block native engine preparation or motor-only diagnosis on unknown Ah. + +## Hardware evidence and uncertainty + +Owner photos show UNITE branding and model family BM1418HQF on one motor; the +other marking is worn. Owner recalls approximately 0.5 kW per motor, tentatively. +The [manufacturer catalog](https://m.unitemotorco.com/brushless-motor/) lists +350/500/650/750 W variants with several voltage options. This confirms the +family, not the exact rating of this unit. Do not select a direct-drive hub +profile based solely on the saved 46-pole / gear-ratio fields. + +Owner reports a nominal 48 V CATL-cell battery and a verbally ambiguous capacity +around 120 Ah. The photo shows 13 visible cell bodies, but labels and the complete +electrical topology are not visible. Chemistry, exact S/P count and BMS ratings +remain unconfirmed. Raw photos, controller identities and native replay outputs +stay in private evidence, outside normal Git/Ops. + +## Remaining implementation acceptance + +- Carry the native engine and its qualified runtime dependencies through the + existing versioned Node installer; no ad-hoc board package/library repair. +- Admit one hardware owner at a time. Existing Python serial descriptors must + not compete with VescInterface, and background polling must not interleave + another session's calibration commands. +- Expose explicit operation requests/results and native parameter metadata on + the private onboard boundary; reuse the existing Node and paired Core path. +- Keep backups, compatibility checks, timeouts, durable unknown-operation state, + readback and observed sensor mode in the receipt. No automatic retry of motion. +- Before each powered agent test obtain a fresh observing reply and announce + target/parameters. Existing authorization does not establish that the owner is + still watching after a build. +- Qualify native device reads before calibration, then verify left and right + startup/direction and actual sustained rotation separately. Do not mark the + rover calibrated from offline tests. + +## Native runtime candidate 0.4.0 + +The per-device `native/engine_main.cpp` now implements bounded JSON requests +on private inherited pipes. Native VescInterface owns and exclusively locks the +actual serial descriptor; the service never opens a competing descriptor. +Configuration reads verify upstream serialization against the original bytes. +The admitted native methods cover identity/telemetry/configuration/CAN/PPM reads, +short app-output leases, current release, bounded current and speed, volatile +current scales, native parameter/XML export and upstream blocking Hall detection. +No arbitrary packet, firmware flash or general command execution API is exposed. + +`runtime/native_link.py` owns subprocess lifetime and attachment checks. An +unmatched/lost response closes the stream; no powered command is retried. +Reconnection creates a fresh device session. Pending measurements and current +limit restoration remain durable across process failures. During Hall detection +only its status, telemetry/PPM reads and release/leases are allowed; none is +represented as cancelling firmware's non-interruptible measurement. + +The versioned runtime carries private Qt/offscreen dependencies and source/license +provenance. `native_check.py` verifies the installed files and runs the disconnected +engine as the service account before USB discovery. Qualification and actual +installation/measurement outcomes are recorded in the installation ledger. +Full auto-FOC, application of measured calibration, general parameter editing +and physical motor acceptance remain outstanding; do not equate this API with +complete VESC Tool UI parity. diff --git a/docs/node/19_VESC_OPERATOR_CALIBRATION.md b/docs/node/19_VESC_OPERATOR_CALIBRATION.md new file mode 100644 index 0000000..28ec7ae --- /dev/null +++ b/docs/node/19_VESC_OPERATOR_CALIBRATION.md @@ -0,0 +1,72 @@ +# Калибровка VESC через Mission Core + +Проверено на Node 0.8.35-1 / VESC plugin 0.6.3, VESC Tool 7.00 и прошивке +контроллеров 5.02. Это описание доступного процесса; журнал конкретных +испытаний находится в `17_VESC_INSTALLATION_LEDGER.md`. + +## Действия оператора + +Открыть «Аппараты», нужный аппарат, устройства его бортового компьютера, +нужный VESC и «Настройка VESC». В блоке «Калибровка мотора» проверить выбранный +контроллер, параметр допустимых потерь, подтвердить наблюдение и нажать +«Откалибровать мотор». Дождаться результата записи, проверки конфигурации +и снятия тока. Для второго контроллера открыть его карточку и выполнить +отдельную калибровку. Профиль 1×1 сам по себе не запускает групповую калибровку. + +Моторы должны свободно вращаться, пульт — быть выключен. В прошивке 5.02 +нативное измерение нельзя прервать обычной кнопкой остановки или пультом; +оператор должен иметь возможность отключить силовое питание. + +Перед процедурой сохраняются конфигурации подключённых контроллеров. +Мастер измеряет электрические параметры выбранного мотора, определяет +датчики, рассчитывает настройки FOC и записывает результат. Mission Core +проверяет прочитанную обратно конфигурацию и сохраняет версии до/после. +Настройки другого мотора, аккумулятора и приёмника защищены от незапрошенного +изменения. Полная процедура повторно не нужна перед обычным запуском мотора. + +## Что означает 50 Вт + +«Допустимые потери в моторе» — входной параметр штатного мастера VESC Tool. +Он задаёт расчётные резистивные потери на нагрев при предельном токе. По нему +и измеренному сопротивлению мастер выбирает токи измерения и рассчитывает +сохраняемый предел тока мотора. Это не напряжение аккумулятора, не полезная +механическая мощность и не паспортная мощность мотора. Увеличение значения +может увеличить ток и нагрев; вводить сюда номинальные 500 Вт автоматически +неправильно. Параметр не заменяет измерение температуры и тепловую проверку. + +В принятой калибровке двух моторов при 50 Вт мастер установил примерно +34,21 и 34,41 А. Это результат конкретных измерений, а не универсальный +допустимый ток всех моторов. Поправку совместимости с прошивкой 5.02 +выполняет сам VESC Tool. Она не воспроизводится отдельной формулой Mission Core. + +Источник: [объяснение автора VESC](https://www.vesc-project.com/node/1029), +[влияние параметра на токи измерения](https://vesc-project.com/node/1640), +`Commands::detectAllFoc` и `Utility::detectAllFoc` в закреплённом исходнике Tool. + +## Датчики Холла и отдельное измерение + +Датчики сообщают контроллеру положение ротора. При автоопределении FOC мастер +уже проверяет датчики и может выбрать работу без них. Успешная калибровка в +режиме без датчиков не доказывает исправность проводки Холлов. + +Кнопка «Измерить датчики Холла» выполняет отдельную диагностику выбранного +мотора: штатный цикл при 5 А с медленными смещениями получает таблицу +состояний. Она не применяется автоматически, рабочая конфигурация сохраняется. +Это проверка для поиска неисправности, а не обязательный второй этап каждой +калибровки. Неполная таблица требует различать проблемы датчиков/соединений +и недостаточное движение при измерении. Номер физического сломанного контакта +не определяется по таблице без проверки распиновки и проводки. + +## Назначение и проверка вращения + +Назначение «левый/правый» связывает постоянный UUID VESC с местом мотора на +аппарате. Оно нужно для адресного и общего управления, но не влияет на +измеряемое сопротивление или параметр потерь. После смены USB-порта назначение +сохраняется. Общий список назначений сейчас отображается в каждой карточке +VESC; это обзор профиля аппарата, а не перечень моторов внутри одного VESC. + +«Проверка вращения» запускается отдельно от калибровки. Скорость задаётся +в ERPM, ток задаёт верхний предел, длительность считается после разгона +и удержания скорости. Выбор всех моторов профиля запускает совместную +проверку; для 1×1 это два мотора. Успешная проверка на вывешенном приводе +не заменяет проверку под нагрузкой или надёжности связи. diff --git a/docs/runbooks/ROVER_006_ENGINEERING_ACCESS.md b/docs/runbooks/ROVER_006_ENGINEERING_ACCESS.md new file mode 100644 index 0000000..52372b9 --- /dev/null +++ b/docs/runbooks/ROVER_006_ENGINEERING_ACCESS.md @@ -0,0 +1,75 @@ +# Rover 006: инженерный SSH и административные действия + +Проверено 23.09.2026 около 11:02 UTC. Источник: живой paired inventory Core, +Tailscale, сравнение SSH host key с ранее доверенной записью и успешный SSH. + +## Проверенный путь + +Текущий Ubuntu Mission Core Node и исторический Device Edge — разные записи +доступа. Для текущего борта подтверждён пользователь **`dcsudo`** и основной +персональный ключ оператора `~/.ssh/id_ed25519`. Приватный ключ не копируется. +Обычный вход работает с `BatchMode=yes`, без ввода пароля и без `sudo`. + +Сохранённый в операторском `~/.ssh/config` alias `nodedc-edge` относится к +прежней записи с пользователем `ndcsudo` и старым LAN-адресом. Он не является +источником адреса/пользователя нынешнего Rover 006. Не менять его вслепую: +другие задачи могут использовать историческую запись. + +На текущем операторском Mac создан и проверен отдельный приватный профиль: + +`/Users/dcconstructions/Downloads/mnt/NODEDC/outputs/rover-006-vesc-context-20260923/ssh-config` + +Он выбирает `rover-006`, актуальное MagicDNS-имя, `dcsudo`, персональный ключ, +`IdentitiesOnly=yes`, `BatchMode=yes`, `StrictHostKeyChecking=yes` и прежнюю +доверенную запись через `HostKeyAlias`. Команда проверки: + +```sh +ssh -F /Users/dcconstructions/Downloads/mnt/NODEDC/outputs/rover-006-vesc-context-20260923/ssh-config rover-006 'id -un; hostname' +``` + +Адреса, полный host-key fingerprint и USB-идентификаторы не включаются в +переносимую документацию. Приватный профиль не содержит пароля или содержимого +ключа. Его отсутствие на другом Mac не означает отказ борта. + +## Как восстанавливать контекст + +1. Прочитать MISSIONCOR-76 и последнее дополнение об инженерном доступе. +2. Проверить `GET http://127.0.0.1:8000/api/v1/fleet`: выбрать именно сопряжённый + Rover 006, проверить свежесть inventory, hostname, node identity и адреса. +3. Сопоставить эту машину с текущим Tailscale peer. Worker 006 и старый Device + Edge не являются бортом. Не сканировать подсеть. +4. Использовать проверенный профиль. При новом адресе сначала сравнить ключ с + известной доверенной записью. `ssh-keyscan` сам по себе не устанавливает + доверие; 23.09 ключ совпал побайтово с ранее сохранённым ключом Ubuntu Mini. +5. Если получен `Permission denied`, проверить **пользователя и выбранный ключ** + до обсуждения пароля/sudo. Не подбирать аккаунты, не сбрасывать ключи и не + выключать host-key checking. Если доказанного пути нет, использовать + существующий GUI Node «Система → SSH · доверенные устройства». + +Sandbox `Operation not permitted` и отказ запуска локального Tailscale CLI +не доказывают сетевой отказ. Повторить конкретное read-only действие с +разрешением инструмента, не менять маршруты и VPN на основании такой ошибки. + +## SSH не равен sudo + +Подтверждение владельцем пароля на экране Mini относится к административному +действию Ubuntu/установщика. Оно не требуется для обычного инженерного чтения. +Успешный SSH и членство в группе sudo не доказывают беспарольное повышение прав. + +Установка и изменения runtime выполняются штатным versioned installer/profile. +Если такой шаг требует системного подтверждения, сначала подготовить точный +артефакт и объяснить действие, затем использовать существующий системный диалог. +Не просить пароль в чате; не добавлять NOPASSWD, глобальный dialout/chmod или +новый канал обхода ради диагностики. На этапе первоначального аудита sudo не вызывался. Позднее 23.09 владелец +ввёл пароль локально в versioned установщике Node0.8.22-1; установка +подтверждена report.json и фактической версией пакета. + +Продуктовое управление устройствами проходит Core → mTLS → Node → plugin. +SSH остаётся инженерным инструментом, а не транспортом моторных команд. + +## Результат 23.09 + +Подтверждены Ubuntu 24.04.4 LTS, kernel 7.0.0-31-generic, Node 0.8.21-3, +K1 0.1.14, X4 0.1.3-9. Повторный вход через отдельный профиль вернул +правильного пользователя и hostname. SSH/sshd, учётные записи, доверие, +Tailscale, VPN и sudo policy не изменялись. diff --git a/packages/sensor-ui/src/BoardSections.tsx b/packages/sensor-ui/src/BoardSections.tsx new file mode 100644 index 0000000..9f21564 --- /dev/null +++ b/packages/sensor-ui/src/BoardSections.tsx @@ -0,0 +1,23 @@ +import {useEffect,useSyncExternalStore,type ReactNode} from 'react'; +import {Button,Icon,Inspector,LoadingRegion} from '@nodedc/ui-react'; +import type {BoardLayoutStore} from './boardLayout'; + +export interface BoardSectionsProps { + layout:BoardLayoutStore; + computer:ReactNode; + description?:string; +} +export function BoardSections({layout,computer,description,settings,devices}:BoardSectionsProps&{settings:ReactNode;devices:ReactNode}){ + const state=useSyncExternalStore(layout.subscribe,layout.getSnapshot); + useEffect(()=>{void layout.load();},[layout]); + return
    + {state.error&&

    {state.error}

    } + + ,disabled:!state.ready,content:computer}, + {id:'settings',label:'Настройки борта',icon:,disabled:!state.ready,content:settings}, + {id:'devices',label:'Устройства аппарата',icon:,disabled:!state.ready,content:devices}, + ]}/> + +
    ; +} 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/boardLayout.ts b/packages/sensor-ui/src/boardLayout.ts new file mode 100644 index 0000000..c1681ed --- /dev/null +++ b/packages/sensor-ui/src/boardLayout.ts @@ -0,0 +1,66 @@ +export const boardSections = ['computer', 'settings', 'devices'] as const; +export type BoardSection = typeof boardSections[number]; +export interface BoardLayout {schema:'missioncore.board-layout/v1';revision:number;open_sections:BoardSection[]} +export interface BoardLayoutTransport { + read:()=>Promise; + patch:(section:BoardSection,open:boolean)=>Promise; +} +export const defaultBoardLayout:BoardLayout={schema:'missioncore.board-layout/v1',revision:0,open_sections:[...boardSections]}; +type Change={section:BoardSection;open:boolean}; +type Snapshot={value:BoardLayout;ready:boolean;error:string|null;saving:boolean}; +function apply(value:BoardLayout,change:Change):BoardLayout { + const open=new Set(value.open_sections); + if(change.open)open.add(change.section);else open.delete(change.section); + return {...value,open_sections:boardSections.filter(section=>open.has(section))}; +} +function validate(value:BoardLayout):BoardLayout { + if(value.schema!==defaultBoardLayout.schema||!Number.isSafeInteger(value.revision)||value.revision<0|| + !Array.isArray(value.open_sections)||new Set(value.open_sections).size!==value.open_sections.length|| + value.open_sections.some(id=>!boardSections.includes(id)))throw new Error('Не удалось прочитать раскладку блоков.'); + return value; +} +// The queue belongs to the application resource, not a mounted accordion. +// Navigation cannot discard a pending save or let an older reply win a toggle. +export function createBoardLayoutStore(transport:BoardLayoutTransport){ + let saved=defaultBoardLayout; + let snapshot:Snapshot={value:saved,ready:false,error:null,saving:false}; + let pending:Change[]=[]; + let reading:Promise|null=null; + let writing=false; + const listeners=new Set<()=>void>(); + const emit=(patch:Partial={})=>{ + snapshot={...snapshot,...patch,value:pending.reduce(apply,saved),saving:writing||pending.length>0}; + listeners.forEach(listener=>listener()); + }; + const load=():Promise=>{ + if(reading)return reading; + if(writing)return Promise.resolve(); + reading=transport.read().then(value=>{saved=validate(value);emit({ready:true,error:null});}) + .catch(()=>emit({error:'Раскладка блоков не загружена. Повторите подключение.'})) + .finally(()=>{reading=null;}); + return reading; + }; + const flush=async()=>{ + if(writing)return; + writing=true;emit({error:null}); + while(pending.length){ + const change=pending[0]; + try{saved=validate(await transport.patch(change.section,change.open));pending.shift();emit();} + catch{pending=[];emit({error:'Не удалось сохранить раскладку блоков. Изменение отменено.'});break;} + } + writing=false;emit(); + }; + return { + getSnapshot:()=>snapshot, + subscribe:(listener:()=>void)=>{listeners.add(listener);return()=>{listeners.delete(listener);};}, + load, + change:(open:string[])=>{ + if(!snapshot.ready||reading)return; + for(const section of boardSections){ + if(open.includes(section)!==snapshot.value.open_sections.includes(section))pending.push({section,open:open.includes(section)}); + } + emit();void flush(); + }, + }; +} +export type BoardLayoutStore=ReturnType; 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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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..568a6fc --- /dev/null +++ b/plugins/vesc/native/engine_main.cpp @@ -0,0 +1,363 @@ +// 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; + + Engine() { + 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") { vesc.commands()->disableAppOutput(250, false); flush(); return {}; } + if (method == "release") { vesc.commands()->setCurrent(0); flush(); return {}; } + require(!procedureRunning && !procedureUncertain, "Native procedure owns this controller"); + if (method == "current") { + 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") { vesc.commands()->setRpm(int(number(request, "erpm", 0, 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..d0679be --- /dev/null +++ b/plugins/vesc/native/offline_main.cpp @@ -0,0 +1,85 @@ +// 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}}); + 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..e8618e4 --- /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": 50352726, + "sha256": 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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..34f2def --- /dev/null +++ b/plugins/vesc/packaging/native_probe.py @@ -0,0 +1,183 @@ +"""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") + 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..6f5851b --- /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": "0.6.3", "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..89c21a1 --- /dev/null +++ b/plugins/vesc/runtime/__init__.py @@ -0,0 +1,5 @@ +"""Onboard VESC discovery, archive and bounded motor identification service.""" + +VERSION = "0.6.3" +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..8c2a8bf --- /dev/null +++ b/plugins/vesc/runtime/drive_profile.py @@ -0,0 +1,47 @@ +"""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.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", "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.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..7eeb9eb --- /dev/null +++ b/plugins/vesc/runtime/foc_calibration.py @@ -0,0 +1,153 @@ +"""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 + + +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") + 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..a660744 --- /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): + 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(abs(level) > .02 for level, _ in observed.values()): + 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", + "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..31bbbc9 --- /dev/null +++ b/plugins/vesc/runtime/hall_detection.py @@ -0,0 +1,98 @@ +"""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): + 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 abs(incoming["level"]) > 0.02: + 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", + "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/link_check.py b/plugins/vesc/runtime/link_check.py new file mode 100644 index 0000000..cd3431c --- /dev/null +++ b/plugins/vesc/runtime/link_check.py @@ -0,0 +1,79 @@ +"""Bounded idle transport measurement through the installed native owners. + +Only 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 + + +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} + failure = None + stop_reason = "complete" + 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 = abs(reading["level"]) <= .02 + 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 {"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", [])} + 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") + # 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): + cycle = monotonic() + cancelled = service.motor.cancelled_at + if cancelled is not None and cancelled >= datetime.fromisoformat(command["requested_at"].replace("Z", "+00:00")): + stop_reason = "stopped"; break + if monotonic()-started >= 25 or (deadline-datetime.now(timezone.utc)).total_seconds() < 2: + stop_reason = "deadline"; 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(), + "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..b5a93d6 --- /dev/null +++ b/plugins/vesc/runtime/motor_test.py @@ -0,0 +1,343 @@ +"""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 + + +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): + 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"]) + 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] + if not math.isfinite(actual) or not low <= actual <= high: + raise LimitExceeded(field, actual, low, high, label, unit, scale) + + +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.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 abs(value["level"]) > 0.02: + self.state("rc") + raise Rejected("Приёмник передаёт команду. Управление удерживается за пультом.") + + def run(self, command, devices, target, release=False): + 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: + 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 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: + 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 = {}, {}, [], {} + 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") + check_configuration(identity, motor, 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 command["parameters"]["erpm"] > min(SPEED_LIMITS["max_erpm"], motor["l_max_erpm"] * 0.8): + raise Rejected("Заданная скорость превышает настроенный диапазон контроллера.") + if speed_mode and 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))) + 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) + self.sleep(0.1) + if release: + self.state("ready") + return {"authority": "ready", "observed_at": self.utc(), "backups": backups, "calibration_recovered": recovered} + if hall_mode: + from .hall_detection import measure + return measure(self, devices, target, target_raw, backups, unchanged) + 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: + from .group_test import run + return run(self, command, devices, moving, originals, backups, unchanged) + 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, + "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..97e0c1b --- /dev/null +++ b/plugins/vesc/runtime/native_link.py @@ -0,0 +1,169 @@ +"""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)} + 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..cc87d76 --- /dev/null +++ b/plugins/vesc/runtime/protocol.py @@ -0,0 +1,153 @@ +"""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"} + + +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 0 <= 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/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..ef66839 --- /dev/null +++ b/plugins/vesc/runtime/server.py @@ -0,0 +1,130 @@ +"""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 + + +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 == "/operation": + 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)) + 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") + 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) + + 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() + 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..aac6c38 --- /dev/null +++ b/plugins/vesc/runtime/service.py @@ -0,0 +1,347 @@ +"""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.config.backup", "vesc.input.read", "vesc.can.read", "vesc.drive.assign", "vesc.drive.unassign", "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"], "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}, "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"} | ({"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 in ("vesc.motor.run", "vesc.drive.run") and (type(params["erpm"]) not in (int, float) or not SPEED_LIMITS["min_erpm"] <= 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 set() + 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 extra 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"): + 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"): + 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.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.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."} + 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..5bc4ac2 --- /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) <= 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 = min(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..7f95d06 --- /dev/null +++ b/plugins/vesc/runtime/temporary_limits.py @@ -0,0 +1,86 @@ +"""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)) + if abs(state["motor_current_a"]) > 1 or abs(ppm(device.link.query(31))["level"]) > 0.02: + 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..f95e280 --- /dev/null +++ b/plugins/vesc/tests/test_drive_profile.py @@ -0,0 +1,61 @@ +"""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 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..3896098 --- /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' + 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' + 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' + 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..c50ae44 --- /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, + 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_link_check.py b/plugins/vesc/tests/test_link_check.py new file mode 100644 index 0000000..806d8d2 --- /dev/null +++ b/plugins/vesc/tests/test_link_check.py @@ -0,0 +1,87 @@ +"""No-power read measurements and failure attribution; no USB hardware.""" +from unittest.mock import patch +import unittest +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),400) + self.assertEqual({r[1] for r in self.reads},{31,4}) + self.assertTrue(all(r[2]==.5 for r in self.reads)) + 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] + def query(code,timeout=2): + 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},{31}) + + 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),400) + 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..7aca8f4 --- /dev/null +++ b/plugins/vesc/tests/test_native_link.py @@ -0,0 +1,90 @@ +"""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 + + +class NativeBoundaryTests(unittest.TestCase): + def link(self, handler): + value = object.__new__(NativeLink) + 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['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_speed_and_hall.py b/plugins/vesc/tests/test_speed_and_hall.py new file mode 100644 index 0000000..094a47e --- /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) + 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,'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,'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,'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'),-1,3001,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/board_layout.py b/src/k1link/fleet/board_layout.py new file mode 100644 index 0000000..ad3415b --- /dev/null +++ b/src/k1link/fleet/board_layout.py @@ -0,0 +1,45 @@ +"""Operator presentation only; never transported to a motor controller.""" +import hashlib +import json +from pathlib import Path + +from .trust import atomic_private + +SCHEMA = "missioncore.board-layout/v1" +SECTIONS = ("computer", "settings", "devices") + + +def path(root: Path, vehicle: str) -> Path: + return root / "board-layouts" / (hashlib.sha256(vehicle.encode()).hexdigest() + ".json") + + +def read(root: Path, vehicle: str) -> dict: + target = path(root, vehicle) + if not target.exists(): + return {"schema": SCHEMA, "revision": 0, "open_sections": list(SECTIONS)} + if target.is_symlink() or target.stat().st_size > 4096: + raise ValueError("Invalid layout file") + value = json.loads(target.read_bytes()) + if (not isinstance(value, dict) or set(value) != {"schema", "revision", "open_sections"} + or value["schema"] != SCHEMA or type(value["revision"]) is not int + or not 0 <= value["revision"] < 2**53-1 + or not isinstance(value["open_sections"], list) + or any(item not in SECTIONS for item in value["open_sections"]) + or len(set(value["open_sections"])) != len(value["open_sections"])): + raise ValueError("Invalid layout document") + return value + + +def update(root: Path, vehicle: str, section: str, opened: bool) -> dict: + # Caller holds the fleet writer lock. A patch cannot lose another section. + if section not in SECTIONS or type(opened) is not bool: + raise ValueError("Invalid layout change") + value = read(root, vehicle) + opened_sections = set(value["open_sections"]) + if opened: + opened_sections.add(section) + else: + opened_sections.discard(section) + value.update(revision=value["revision"]+1, open_sections=[s for s in SECTIONS if s in opened_sections]) + atomic_private(path(root, vehicle), (json.dumps(value, indent=2)+"\n").encode()) + return value 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/rover_control.py b/src/k1link/fleet/rover_control.py new file mode 100644 index 0000000..fd3f5f9 --- /dev/null +++ b/src/k1link/fleet/rover_control.py @@ -0,0 +1,135 @@ +"""Ephemeral operator leases. No motor calls, command queue or persisted motion.""" +from __future__ import annotations + +import copy +import math +import secrets +import threading +import time + + +class RoverControl: + def __init__(self, clock=time.monotonic): + self.clock = clock + self.lock = threading.RLock() + self.changed = threading.Condition(self.lock) + self.boards = {} + self.clock_id = secrets.token_hex(16) + + def _board(self, node): + return self.boards.setdefault(node, {"seen": -1e9, "watch": 0, "snapshot": {}, + "session": None, "relay": None}) + + def view(self, node): + with self.lock: + b = self._board(node) + b["watch"] = self.clock() + 2 + fresh = self.clock() - b["seen"] < 1 + self._expire(b) + return {"fresh": fresh, "snapshot": copy.deepcopy(b["snapshot"]) if fresh else {}, + "controlling": b["session"] is not None} + + def _expire(self, b): + if b["session"] and self.clock() >= b["session"]["until"]: + b["session"] = None + + def arm(self, node, body): + if (set(body) != {"standstill_confirmed", "current_a", "max_erpm"} + or body["standstill_confirmed"] is not True + or type(body["current_a"]) not in (int, float) + or not .5 <= body["current_a"] <= 30 + or type(body["max_erpm"]) not in (int, float) + or not 300 <= body["max_erpm"] <= 3000): + raise ValueError("Подтвердите остановку и выберите допустимые пределы.") + with self.lock: + b = self._board(node) + self._expire(b) + if b["session"]: + raise ValueError("Аппаратом уже управляют. Сначала остановите управление.") + snapshot = b["snapshot"] + if self.clock() - b["seen"] >= 1 or snapshot.get("supported") is not True: + raise ValueError("Канал управления бортом недоступен.") + if snapshot.get("state") in ("preparing", "ready", "driving", "stopping"): + raise ValueError("Дождитесь завершения предыдущего управления.") + identifier = secrets.token_hex(16) + b["session"] = {"id": identifier, "sequence": 0, "until": self.clock()+.4, + "left": 0, "right": 0, "settings": copy.deepcopy(body)} + self.changed.notify_all() + return {"session_id": identifier} + + def command(self, node, body): + if set(body) != {"session_id", "sequence", "left", "right", "stop"}: + raise ValueError("Некорректная команда управления.") + if (type(body["sequence"]) is not int or not 1 <= body["sequence"] < 2**53 + or type(body["stop"]) is not bool + or any(type(body[k]) not in (int,float) or not math.isfinite(body[k]) + or abs(body[k]) > 1 for k in ("left", "right"))): + raise ValueError("Некорректные значения команды.") + with self.lock: + b = self._board(node) + self._expire(b) + s = b["session"] + if not s or not secrets.compare_digest(str(body["session_id"]), s["id"]): + raise ValueError("Управление завершено. Включите его заново.") + if body["sequence"] <= s["sequence"]: + raise ValueError("Устаревшая команда отклонена.") + if body["stop"]: + b["session"] = None + else: + s.update(sequence=body["sequence"], left=body["left"], right=body["right"], + until=self.clock()+.4) + self.changed.notify_all() + return {"accepted_sequence": body["sequence"]} + + def exchange(self, node, body): + """Called only after normal paired-certificate/binding authentication.""" + snapshot = body.get("rover") + relay = body.get("relay_id") + if not isinstance(snapshot, dict) or not isinstance(relay, str) or len(relay) != 32: + raise ValueError("Invalid rover exchange") + with self.lock: + b = self._board(node) + if b["relay"] != relay: + b["session"] = None # No resume after relay restart/rebind. + if b["snapshot"].get("instance") != snapshot.get("instance"): + b["session"] = None # Driver restarts also revoke the browser lease. + b.update(relay=relay, snapshot=copy.deepcopy(snapshot), seen=self.clock()) + self._expire(b) + s = b["session"] + if s and snapshot.get("session_id") == s["id"] and snapshot.get("state") in ( + "stopped", "fault", "receiver"): + b["session"] = s = None + command = None + if s: + command = {k: copy.deepcopy(v) for k,v in s.items() if k != "until"} + command["ttl_ms"] = max(0, min(400, int((s["until"]-self.clock())*1000))) + return {"watch": self.clock() < b["watch"] or s is not None, "command": command, + "control_clock": self._clock()} + + def _clock(self): + return {"instance": self.clock_id, "monotonic_ms": self.clock()*1000} + + def wait_for_intent(self, node, relay, previous, timeout=.05): + """Wake on a new intent, including updates between write and wait.""" + previous = previous or {} + def changed(): + board = self._board(node) + current = (board["session"] if board["relay"] == relay else None) or {} + return (current.get("id"), current.get("sequence")) != (previous.get("id"), previous.get("sequence")) + with self.changed: + self.changed.wait_for(changed, timeout) + + def stream(self, node, relay): + """Latest intent only. Telemetry round trips never pace command delivery.""" + with self.lock: + b = self._board(node) + self._expire(b) + if self.clock() - b["seen"] >= 1: + b["session"] = None + s = b["session"] if b["relay"] == relay else None + command = None + if s: + command = {k: copy.deepcopy(v) for k,v in s.items() if k != "until"} + command["expires_mono_ms"] = s["until"]*1000 + return {"watch": self.clock() < b["watch"] or s is not None, + "command": command, "control_clock": self._clock()} 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 b4eb7d3..e496379 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 @@ -1004,6 +1005,7 @@ 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/src/k1link/web/planning_live_api.py b/src/k1link/web/planning_live_api.py index 0682444..510fc85 100644 --- a/src/k1link/web/planning_live_api.py +++ b/src/k1link/web/planning_live_api.py @@ -1,9 +1,11 @@ """Planning-profile preparation and preview; never an acquisition endpoint.""" +import gzip from typing import Literal from uuid import UUID -from fastapi import APIRouter, HTTPException, Query, Response +from fastapi import APIRouter, HTTPException, Query, Request, Response +from fastapi.responses import JSONResponse from pydantic import BaseModel, ConfigDict, Field from starlette.concurrency import run_in_threadpool @@ -47,8 +49,25 @@ def build_planning_live_router(service): raise HTTPException(409, str(exc)) from exc @router.get("/active") - async def active(): - return await call(service.get) + async def active(request: Request): + accepts_gzip = "gzip" in request.headers.get("accept-encoding", "") + + def encoded(): + # A completed report can contain megabytes of numerical evidence. + # Returning its dict sends it through FastAPI's recursive encoder + # and gzip on the event loop, delaying unrelated control requests. + # Keep the exact JSON contract, but finish both operations here. + response = JSONResponse(service.get(), headers={"Cache-Control": "no-store"}) + if accepts_gzip and len(response.body) >= 1024: + return Response( + gzip.compress(response.body, compresslevel=5, mtime=0), + media_type="application/json", + headers={"Content-Encoding": "gzip", "Vary": "Accept-Encoding", + "Cache-Control": "no-store"}, + ) + return response + + return await call(encoded) @router.get("") async def history(): diff --git a/src/k1link/web/rover_api.py b/src/k1link/web/rover_api.py new file mode 100644 index 0000000..edd4988 --- /dev/null +++ b/src/k1link/web/rover_api.py @@ -0,0 +1,40 @@ +"""Local operator BFF for the paired Node's bounded control channel.""" +from typing import Annotated +from fastapi import APIRouter, Depends, HTTPException, Response +from k1link.fleet.registry import FleetRegistry +from k1link.fleet.trust import PairingError +from .fleet_api import local_operator + +router = APIRouter(prefix="/api/v1/fleet", tags=["fleet"]) + +def node(fleet, vehicle): + with fleet.lock: + row = fleet.find(vehicle) + if row["enrollment"] != "paired": + raise ValueError("Борт не привязан.") + return row["node_id"] + +@router.get("/{vehicle_id}/rover") +def rover_state(vehicle_id: str, response: Response, + fleet: Annotated[FleetRegistry, Depends(local_operator)]): + response.headers["Cache-Control"] = "no-store" + try: + return fleet.rover_control.view(node(fleet, vehicle_id)) + except (ValueError, PairingError) as error: + raise HTTPException(409, str(error)) from None + +@router.post("/{vehicle_id}/rover/arm") +def rover_arm(vehicle_id: str, body: dict, + fleet: Annotated[FleetRegistry, Depends(local_operator)]): + try: + return fleet.rover_control.arm(node(fleet, vehicle_id), body) + except (ValueError, PairingError) as error: + raise HTTPException(409, str(error)) from None + +@router.post("/{vehicle_id}/rover/command") +def rover_command(vehicle_id: str, body: dict, + fleet: Annotated[FleetRegistry, Depends(local_operator)]): + try: + return fleet.rover_control.command(node(fleet, vehicle_id), body) + except (ValueError, PairingError) as error: + raise HTTPException(409, str(error)) from None 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