запущен проект motor identification c терминалкой

Core/Inc/ad_parameter_identification.h

@@ -0,0 +1,129 @@
+#ifndef AD_PARAMETER_IDENTIFICATION_H
+#define AD_PARAMETER_IDENTIFICATION_H
+
+#include <stdint.h>
+
+#ifndef AD_PARAM_ID_ENABLE_POWER_TESTS
+#define AD_PARAM_ID_ENABLE_POWER_TESTS 0
+#endif
+
+#define AD_PARAM_ID_TIMEOUT_US_DEFAULT (5000000UL)
+
+#define AD_MOTOR_PARAM_VALID_RS              (1UL << 0)
+#define AD_MOTOR_PARAM_VALID_RR              (1UL << 1)
+#define AD_MOTOR_PARAM_VALID_LS              (1UL << 2)
+#define AD_MOTOR_PARAM_VALID_LR              (1UL << 3)
+#define AD_MOTOR_PARAM_VALID_LM              (1UL << 4)
+#define AD_MOTOR_PARAM_VALID_LL              (1UL << 5)
+#define AD_MOTOR_PARAM_VALID_J               (1UL << 6)
+#define AD_MOTOR_PARAM_VALID_B               (1UL << 7)
+#define AD_MOTOR_PARAM_VALID_NOMINALS        (1UL << 8)
+
+#define AD_MEAS_STATUS_OVERCURRENT           (1UL << 0)
+#define AD_MEAS_STATUS_OVERVOLTAGE           (1UL << 1)
+#define AD_MEAS_STATUS_UNDERVOLTAGE          (1UL << 2)
+#define AD_MEAS_STATUS_OVERTEMPERATURE       (1UL << 3)
+#define AD_MEAS_STATUS_DRIVER_FAULT          (1UL << 4)
+#define AD_MEAS_STATUS_EMERGENCY_STOP        (1UL << 5)
+
+#define AD_PARAM_ID_STATUS_ACTIVE            (1UL << 0)
+#define AD_PARAM_ID_STATUS_POWER_TEST_BLOCKED (1UL << 1)
+#define AD_PARAM_ID_STATUS_POWER_STAGE_ARMED (1UL << 2)
+#define AD_PARAM_ID_STATUS_FAULT_LATCHED     (1UL << 3)
+#define AD_PARAM_ID_STATUS_TIMEOUT           (1UL << 4)
+#define AD_PARAM_ID_STATUS_LOCKED_ROTOR_BLOCKED (1UL << 5)
+#define AD_PARAM_ID_STATUS_SAFETY_LIMITS_UNKNOWN (1UL << 6)
+#define AD_PARAM_ID_STATUS_DATA_VALID        (1UL << 7)
+
+#define AD_PARAM_ID_FAULT_OVERCURRENT        (1UL << 0)
+#define AD_PARAM_ID_FAULT_OVERVOLTAGE        (1UL << 1)
+#define AD_PARAM_ID_FAULT_UNDERVOLTAGE       (1UL << 2)
+#define AD_PARAM_ID_FAULT_OVERTEMPERATURE    (1UL << 3)
+#define AD_PARAM_ID_FAULT_DRIVER             (1UL << 4)
+#define AD_PARAM_ID_FAULT_EMERGENCY_STOP     (1UL << 5)
+#define AD_PARAM_ID_FAULT_TIMEOUT            (1UL << 6)
+#define AD_PARAM_ID_FAULT_NULL_INPUT         (1UL << 7)
+
+typedef enum
+{
+    AD_PARAM_ID_MODE_IDLE = 0,
+    AD_PARAM_ID_MODE_STATOR_RESISTANCE = 1,
+    AD_PARAM_ID_MODE_NO_LOAD_MAGNETIZING = 2,
+    AD_PARAM_ID_MODE_LOCKED_ROTOR_LEAKAGE = 3,
+    AD_PARAM_ID_MODE_INERTIA_FRICTION = 4,
+    AD_PARAM_ID_MODE_DATA_LOGGING = 5
+} AD_ParamID_Mode_t;
+
+typedef struct
+{
+    float Rs_ohm;
+    float Rr_ohm;
+    float Ls_H;
+    float Lr_H;
+    float Lm_H;
+    float Ll_H;
+    float J_kg_m2;
+    float B_Nm_s;
+    float pole_pairs;
+    float nominal_voltage_V;
+    float nominal_current_A;
+    float nominal_frequency_Hz;
+    float nominal_power_W;
+    float nominal_speed_rpm;
+    uint32_t valid_mask;
+} AD_MotorParameters_t;
+
+typedef struct
+{
+    float ia_A;
+    float ib_A;
+    float ic_A;
+    float vdc_V;
+    float va_V;
+    float vb_V;
+    float vc_V;
+    float speed_rpm;
+    float temperature_C;
+    uint32_t timestamp_us;
+    uint32_t status_flags;
+} AD_Measurements_t;
+
+typedef struct
+{
+    uint8_t enable;
+    uint8_t test_mode;
+    uint8_t reset_faults;
+    float pwm_duty_limit;
+    float current_limit_A;
+    float voltage_limit_V;
+    float speed_limit_rpm;
+} AD_Command_t;
+
+typedef struct
+{
+    float overcurrent_A;
+    float overvoltage_V;
+    float undervoltage_V;
+    float overtemperature_C;
+    float speed_limit_rpm;
+    uint32_t timeout_us;
+} AD_ParamID_SafetyLimits_t;
+
+void AD_ParamID_Init(void);
+void AD_ParamID_Reset(void);
+void AD_ParamID_Start(uint8_t mode);
+void AD_ParamID_Stop(void);
+void AD_ParamID_StepFast(const AD_Measurements_t *meas);
+void AD_ParamID_StepSlow(void);
+const AD_MotorParameters_t* AD_ParamID_GetParameters(void);
+uint32_t AD_ParamID_GetStatus(void);
+
+uint8_t AD_ParamID_GetMode(void);
+uint32_t AD_ParamID_GetFaults(void);
+void AD_ParamID_SetSafetyLimits(const AD_ParamID_SafetyLimits_t *limits);
+void AD_ParamID_SetSoftwareEnable(uint8_t enable);
+void AD_ParamID_SetLockedRotorAllowed(uint8_t enable);
+uint8_t AD_ParamID_IsPowerStageAllowed(void);
+void AD_ParamID_EmergencyStop(uint32_t fault_flags);
+
+#endif

Core/Inc/simulink_interface.h

@@ -0,0 +1,75 @@
+#ifndef SIMULINK_INTERFACE_H
+#define SIMULINK_INTERFACE_H
+
+#include <stddef.h>
+#include <stdint.h>
+
+#include "ad_parameter_identification.h"
+
+#define SIMULINK_INTERFACE_VERSION       (1U)
+#define SIMULINK_TELEMETRY_MAGIC         (0x41444944UL)
+#define SIMULINK_TELEMETRY_MAX_BYTES     (256U)
+
+typedef struct
+{
+    AD_Measurements_t measurements;
+    AD_MotorParameters_t motor_parameters;
+    uint32_t param_id_status;
+    uint32_t param_id_faults;
+    uint8_t param_id_mode;
+    uint8_t reserved[3];
+} SimulinkInterface_InputBus_t;
+
+typedef struct
+{
+    AD_Command_t command;
+    uint32_t telemetry_size_bytes;
+    uint8_t telemetry_ready;
+    uint8_t reserved[3];
+} SimulinkInterface_OutputBus_t;
+
+typedef struct
+{
+    uint32_t magic;
+    uint16_t version;
+    uint16_t payload_size;
+    uint32_t sequence;
+    uint16_t crc16;
+    uint16_t reserved;
+} SimulinkTelemetryHeader_t;
+
+typedef struct
+{
+    AD_Measurements_t measurements;
+    AD_MotorParameters_t motor_parameters;
+    uint32_t param_id_status;
+    uint32_t param_id_faults;
+    uint8_t param_id_mode;
+    uint8_t command_enable;
+    uint8_t command_test_mode;
+    uint8_t reserved;
+} SimulinkTelemetryPayload_t;
+
+typedef struct
+{
+    SimulinkTelemetryHeader_t header;
+    SimulinkTelemetryPayload_t payload;
+} SimulinkTelemetryPacket_t;
+
+void SimulinkInterface_Init(void);
+void SimulinkInterface_StepFast(void);
+void SimulinkInterface_StepSlow(void);
+void SimulinkInterface_UpdateInputs(void);
+void SimulinkInterface_UpdateOutputs(void);
+void SimulinkInterface_PackTelemetry(void);
+void SimulinkInterface_UnpackCommand(void);
+
+void SimulinkInterface_SetMeasurements(const AD_Measurements_t *meas);
+void SimulinkInterface_SetCommand(const AD_Command_t *command);
+const SimulinkInterface_InputBus_t* SimulinkInterface_GetInputBus(void);
+SimulinkInterface_OutputBus_t* SimulinkInterface_GetOutputBus(void);
+const SimulinkTelemetryPacket_t* SimulinkInterface_GetTelemetryPacket(void);
+const uint8_t* SimulinkInterface_GetTelemetryBytes(void);
+size_t SimulinkInterface_GetTelemetrySize(void);
+
+#endif