Changing structure names and hardware configuration of IVY VESC#756
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TaixiLu wants to merge 26 commits into
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Changing structure names and hardware configuration of IVY VESC#756TaixiLu wants to merge 26 commits into
TaixiLu wants to merge 26 commits into
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applications/app_ppm_brake.c: custom user app combining PPM throttle, proportional ADC2 brake, and ADC1 as a 0..1 gain knob scaling both throttle and brake, plus reverse (UART_RX) and cruise (UART_TX) buttons. Brake has priority and bypasses safe-start + PPM signal-loss timeout; safe-start gates the PPM throttle only and arms on the pre-gain stick. Single signed output ramp; throttle ramp from PPM page, brake ramp from ADC page. Enabled via APP_CUSTOM_TO_USE in the board header. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Values-only tuning (no reformatting), on top of the PPM+brake custom app: - HW_DEAD_TIME_NSEC 1000 -> 300 - MCCONF_L_MIN_VOLTAGE 12 -> 20 ; MCCONF_L_MAX_VOLTAGE 110 -> 100 - HW_LIM_CURRENT +/-500 -> +/-1200 ; HW_LIM_CURRENT_ABS 650 -> 1500 - HW_LIM_VIN min 6 -> 20 ; HW_LIM_TEMP_FET max 110 -> 90 Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Better reflects the app: PPM throttle + ADC2 brake + ADC1 gain knob. Renames the file, the APP_CUSTOM_TO_USE reference, the thread function/ working area symbols, and the registered thread name. No behavior change. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…witch - ppm_adc_dbg terminal command prints the LIVE PPM/ADC1/ADC2/gain/brake/ throttle/cmd values. VESC Tool's ADC RT tab reads dormant ADC-app telemetry (0 under a custom app), so this is the real on-device probe. - USE_ADC1_GAIN compile switch (default 1). Set to 0 to force gain=1.0 so PPM-only bench testing works when nothing is wired to ADC1 (otherwise a low/unwired ADC1 maps to gain 0 and zeroes the throttle). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
app_adc_get_voltage()/voltage2() returned a static updated only by the ADC app thread, so VESC Tool's ADC readout showed a stale 0 under any other app (e.g. a custom app). Fall back to the live ADC_VOLTS() pin when !is_running so the readout reflects the real hardware voltage. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Reverts 55699a8 so app_adc.c stays identical to upstream (mergeable). Live ADC visibility for the custom app is provided by the in-file ppm_adc_dbg terminal command instead of touching shared code. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Self-contained live telemetry with no shared-code (app_adc/commands) edits. ppm_adc_plot terminal command (1=on/0=off/toggle) streams ADC1 V, ADC2 V, gain, throttle and brake as 5 curves to VESC Tool's Realtime Data -> Experiment tab, throttled to ~20 Hz. This is the official custom-app way to visualise live data (commands_init_plot / commands_send_plot_points), since the built-in ADC RT tab is hard-wired to the dormant app_adc getters. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…igger stack
- PPM throttle now uses full stick travel: throttle = (servo+1)/2. servodec
maps pulse_start..pulse_end to -1..1; the old truncate(0,1) discarded the
lower half so the throttle only responded past mid-stick ("press deep").
- Add USE_ADC2_BRAKE switch (default 1, #ifndef-guarded like USE_ADC1_GAIN).
Set 0 when ADC2 is not wired so a floating brake pin can't force brake
priority (which blocks throttle and injects brake current at standstill).
- Bump thread stack 1024 -> 2048 as headroom for the plot/printf paths.
Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
…start telemetry Root cause of "motor only runs after connecting VESC Tool": we never fed the global timeout on PPM pulses. If has_timeout latched during the boot/arming window, the drive gate bailed to brake WITHOUT calling timeout_reset(), so it stayed latched until an external reset (VESC Tool COMM_ALIVE). Now reset the timeout on every PPM pulse (servo_func sets ppm_rx), matching the stock PPM app. Also: - Force throttle 0 when no valid PPM signal (servo_pos defaults to 0 which the new (servo+1)/2 mapping turned into 0.5); lets safe-start arm during the no-signal boot window and removes a phantom mid-throttle. - Add safe-start/PPM-signal status to ppm_adc_dbg and a "armed" curve + "cmd" curve to the Experiment plot (graphs: ADC1 V, ADC2 V, throttle, cmd, armed). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Value-only change (no reformatting). Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
Stops editors with format-on-save from reformatting the tab-indented VESC sources, which caused whole-file whitespace diffs and merge conflicts. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
The ADC1 power-ratio (gain) and the reverse direction are now re-sampled only while the motor is at standstill AND the throttle is released, then held for the whole ride. Prevents changing power level or flipping direction mid-drive. "Standstill" = |erpm| < PPM-page max_erpm_for_dir (fallback 2000). Latched values shown in ppm_adc_dbg. Change is entirely within the custom app; no stock apps touched. Co-Authored-By: Claude Opus 4.8 (1M context) <noreply@anthropic.com>
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