Cleanups and added devid command

Author: Ultrawipf

Firmware/FFBoard/Inc/SystemCommands.h

@@ -11,7 +11,7 @@
 #include "CommandHandler.h"
 
 enum class FFBoardMain_commands : uint32_t{
-	help=0,save=1,reboot=2,dfu=3,swver=4,hwtype=5,lsmain,main,lsactive,format,errors,errorsclr,flashdump,flashraw,vint,vext,mallinfo,heapfree,taskstats,debug,minVerGui
+	help=0,save=1,reboot=2,dfu=3,swver=4,hwtype=5,lsmain,main,lsactive,format,errors,errorsclr,flashdump,flashraw,vint,vext,mallinfo,heapfree,taskstats,debug,devid
 };
 
 class SystemCommands : public CommandHandler {

Firmware/FFBoard/Src/AxesManager.cpp

@@ -135,22 +135,3 @@ void AxesManager::resetPosZero() {
 			axis->setPos(0);
 		}
 }
-
-
-// ---- AXis Commands ----
-
-//ParseStatus AxesManager::command(ParsedCommand* cmd,std::string* reply){
-//	if (cmd->axis >= 0 && cmd->axis < axes.size()) {
-//		return axes[cmd->axis]->command(cmd, reply);
-//	}
-//	return ParseStatus::NOT_FOUND;
-//}
-
-//void AxesManager::processHidCommand(HID_Custom_Data_t *data){
-//	uint8_t axis = (data->cmd >> 6) & 0x3;
-//	if(axis<axis_count) {
-//		return axes[axis]->processHidCommand(data);
-//	}else{
-//		return false;
-//	}
-//}

Firmware/FFBoard/Src/SystemCommands.cpp

@@ -65,6 +65,7 @@ void SystemCommands::registerCommands(){
 #endif
 	CommandHandler::registerCommand("format", FFBoardMain_commands::format, "set format=1 to erase all stored values",CMDFLAG_SET);
 	CommandHandler::registerCommand("debug", FFBoardMain_commands::debug, "Enable or disable debug commands",CMDFLAG_SET | CMDFLAG_GET);
+	CommandHandler::registerCommand("devid", FFBoardMain_commands::devid, "Get chip dev id and rev id",CMDFLAG_GET);
 }
 
 CommandStatus SystemCommands::internalCommand(const ParsedCommand& cmd,std::vector<CommandReply>& replies,CommandInterface* interface){
@@ -184,8 +185,15 @@ CommandStatus SystemCommands::internalCommand(const ParsedCommand& cmd,std::vect
 		case FFBoardMain_commands::hwtype:
 		{
 			replies.push_back(CommandReply(HW_TYPE,HW_TYPE_INT));
+			//replies.push_back(CommandReply(HAL_GetDEVID()));
 			break;
 		}
+		case FFBoardMain_commands::devid:
+			{
+				replies.push_back(CommandReply(HAL_GetDEVID(),HAL_GetREVID()));
+				break;
+			}
+
 
 		case FFBoardMain_commands::mallinfo: // UNUSED since freertos
 		{

Firmware/FFBoard/Src/cppmain.cpp

@@ -33,6 +33,19 @@ StaticTask_t usb_device_taskdef;
 RessourceManager ressourceManager = RessourceManager();
 
 void cppmain() {
+#ifdef FW_DEVID
+	if(HAL_GetDEVID() != FW_DEVID){
+		/**
+		 * Firmware is not intended for this chip!
+		 * This can be caused by accidentially flashing an incorrect firmware file and likely screws up clock and pin configs
+		 * Do not proceed.
+		 */
+		while(true){ // Block forever to prevent an incorrect firmware from damaging hardware
+			Error_Handler();
+		}
+	}
+#endif
+
 	// Flash init
 	HAL_FLASH_Unlock();
 	__HAL_FLASH_CLEAR_FLAG(FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);

Firmware/FFBoard/UserExtensions/Inc/TMC4671.h

@@ -72,17 +72,11 @@ struct TMC4671HardwareTypeConf{
 	bool temperatureEnabled = false; // Enables temperature readings
 	float temp_limit = 90;
 	float currentScaler = 2.5 / (0x7fff * 60.0 * 0.0015); // Converts from adc counts to current in Amps
-
+	uint16_t brakeLimLow = 50700;
+	uint16_t brakeLimHigh = 50900;
 	// Todo restrict allowed motor and encoder types
 };
 
-//#define TMCTEMP
-//TODO make this depend on the hw version
-//int thermistor_R2 = 1500, tmcOffset = 1000; //400? Offset is how many ADC counts too high does the tmc read due to current flowing from the ADC. Can be calculated by measuring the pin voltage with adc on and off.
-//
-//// Beta-Model
-//float thermistor_Beta = 4300, thermistor_R = 22000;
-//const float temp_limit = 100; //°C
 
 // Mapping of bits in status flag register and mask
 union StatusFlags {
@@ -187,7 +181,7 @@ struct TMC4671FlashAddrs{
 };
 
 struct TMC4671ABNConf{
-	uint32_t cpr = 8192;
+	uint32_t cpr = 10000;
 	bool apol 	= true;
 	bool bpol 	= true;
 	bool npol	= true;
@@ -255,7 +249,7 @@ class TMC4671 : public MotorDriver, public PersistentStorage, public Encoder, pu
 		torqueP,torqueI,fluxP,fluxI,velocityP,velocityI,posP,posI,
 		tmctype,pidPrec,phiesrc,fluxoffset,seqpi,tmcIscale,encdir,temp,reg
 	};
-//pidprec "bit0=I bit1=P. 0=Q8.8 1= Q4.12";
+
 public:
 
 	static ClassIdentifier info;
@@ -265,19 +259,13 @@ class TMC4671 : public MotorDriver, public PersistentStorage, public Encoder, pu
 	static TMC4671MotConf decodeMotFromInt(uint16_t val);
 	static uint16_t encodeMotToInt(TMC4671MotConf mconf);
 
-//	static uint8_t checkSpiAddrNotInUse(uint8_t requestedChannel);
-//	void recordSpiAddrUsed(uint8_t chan);
-//	static uint8_t getSpiAddrInUseForAxis(char axis);
 
-	//SPI_HandleTypeDef* spi = &HSPIDRV,GPIO_TypeDef* csport=SPI1_SS1_GPIO_Port,uint16_t cspin=SPI1_SS1_Pin
-	//TMC4671(SPI_HandleTypeDef* spi,GPIO_TypeDef* csport,uint16_t cspin,TMC4671MainConfig conf);
 	TMC4671(SPIPort& spiport,OutputPin cspin = OutputPin(*SPI1_SS1_GPIO_Port, SPI1_SS1_Pin),uint8_t address=1);
 
 	void setHwType(TMC_HW_Ver type);
 
 	void setAddress(uint8_t address);
-//	void setAxis(char axis);
-//	uint8_t getAxis();
+
 	uint8_t getSpiAddr();
 	bool setSpiAddr(uint8_t chan);
 	virtual ~TMC4671();

Firmware/FFBoard/UserExtensions/Src/FFBWheel.cpp

@@ -88,7 +88,9 @@ void FFBWheel::restoreFlash(){
 	}
 
 }
-// Saves parameters to flash
+/**
+ * Save parameters to flash
+ */
 void FFBWheel::saveFlash(){
 
 	Flash_Write(ADR_FFBWHEEL_BUTTONCONF,this->btnsources);
@@ -151,9 +153,7 @@ void FFBWheel::update(){
 // Buttons
 void FFBWheel::clearBtnTypes(){
 	// Destruct all button sources
-//	for(ButtonSource* btn : this->btns){
-//		delete btn;
-//	}
+
 	this->btns.clear();
 }
 
@@ -184,9 +184,7 @@ void FFBWheel::addBtnType(uint16_t id){
 // Analog
 void FFBWheel::clearAinTypes(){
 	// Destruct all button sources
-//	for(auto &ain : this->analog_inputs){
-//		delete ain;
-//	}
+
 	this->analog_inputs.clear();
 }
 

Firmware/FFBoard/UserExtensions/Src/TMC4671.cpp

@@ -49,10 +49,6 @@ ClassIdentifier TMC4671::info = {
 TMC4671::TMC4671(SPIPort& spiport,OutputPin cspin,uint8_t address) :CommandHandler("tmc", CLSID_MOT_TMC0), SPIDevice{motor_spi,cspin},Thread("TMC", TMC_THREAD_MEM, TMC_THREAD_PRIO){
 	setAddress(address);
 	setInstance(address-1);
-//	this->cspin = SPI1_SS1_Pin;
-//	this->csport = SPI1_SS1_GPIO_Port;
-//	this->spi = &HSPIDRV;
-
 	spiConfig.peripheral.Mode = SPI_MODE_MASTER;
 	spiConfig.peripheral.Direction = SPI_DIRECTION_2LINES;
 	spiConfig.peripheral.DataSize = SPI_DATASIZE_8BIT;
@@ -233,23 +229,22 @@ bool TMC4671::initialize(){
 		return false;
 	}
 	// brake res failsafe.
-	/*
-	 * Single ended input raw value
-	 * 0V = 0x7fff
-	 * 4.7k / (360k+4.7k) Divider on old board.
-	 * 1.5k / (71.5k+1.5k) 16.121 counts 60V new. 100V VM => 2V
-	 * 13106 counts/V input.
-	 */
-	if(oldTMCdetected){
-		setBrakeLimits(52400,52800);
-	}else{
-		setBrakeLimits(50700,50900); // Activates around 60V as last resort failsave. Check offsets from tmc leakage. ~ 1.426V
-	}
+//	/*
+//	 * Single ended input raw value
+//	 * 0V = 0x7fff
+//	 * 4.7k / (360k+4.7k) Divider on old board.
+//	 * 1.5k / (71.5k+1.5k) 16.121 counts 60V new. 100V VM => 2V
+//	 * 13106 counts/V input.
+//	 */
+	setBrakeLimits(this->conf.hwconf.brakeLimLow,this->conf.hwconf.brakeLimHigh); // update limit from previously loaded constants or defaults
 
 	// Status mask
 	if(oldTMCdetected){
 		setStatusMask(0); // ES Version status output is broken
 	}else{
+		/*
+		 * Enable adc clipping and pll errors
+		 */
 		statusMask.asInt = 0;
 		statusMask.flags.adc_i_clipped = 1;
 		statusMask.flags.not_PLL_locked = 1;
@@ -319,9 +314,10 @@ void TMC4671::Run(){
 			if(tick - lastStatTime > 2000){ // Every 2s
 				lastStatTime = tick;
 				statusCheck();
-				// Get enable input
-				bool tmc_en = (readReg(0x76) >> 15) & 0x01;
-				if(!tmc_en && active){ // Hardware emergency. If tmc does not reply the enable will still read false
+				// Get enable input. If tmc does not reply the result will read 0 or 0xffffffff (not possible normally)
+				uint32_t pins = readReg(0x76);
+				bool tmc_en = ((pins >> 15) & 0x01) && pins != 0xffffffff;
+				if(!tmc_en && active){ // Hardware emergency.
 					this->estopTriggered = true;
 					this->emergencyStop();
 					changeState(TMC_ControlState::HardError);
@@ -1834,9 +1830,10 @@ void TMC4671::setHwType(TMC_HW_Ver type){
 			.temperatureEnabled = true,
 			.temp_limit = 90,
 			.currentScaler = 2.5 / (0x7fff * 0.1), // w. TMCS1100A2 sensor 100mV/A
+			.brakeLimLow = 50700,
+			.brakeLimHigh = 50900,
 		};
 		this->conf.hwconf = newHwConf;
-		setBrakeLimits(50700,50900);
 	break;
 	}
 	case TMC_HW_Ver::v1_2_1_LEM20:
@@ -1851,9 +1848,10 @@ void TMC4671::setHwType(TMC_HW_Ver type){
 			.temperatureEnabled = true,
 			.temp_limit = 90,
 			.currentScaler = 2.5 / (0x7fff * 0.04), // w. LEM 20 sensor 40mV/A
+			.brakeLimLow = 50700,
+			.brakeLimHigh = 50900
 		};
 		this->conf.hwconf = newHwConf;
-		setBrakeLimits(50700,50900);
 	break;
 	}
 	case TMC_HW_Ver::v1_2_1:
@@ -1868,9 +1866,10 @@ void TMC4671::setHwType(TMC_HW_Ver type){
 			.temperatureEnabled = true,
 			.temp_limit = 90,
 			.currentScaler = 2.5 / (0x7fff * 0.08), // w. LEM 10 sensor 80mV/A
+			.brakeLimLow = 50700,
+			.brakeLimHigh = 50900,
 		};
 		this->conf.hwconf = newHwConf;
-		setBrakeLimits(50700,50900);
 	break;
 	}
 
@@ -1885,10 +1884,11 @@ void TMC4671::setHwType(TMC_HW_Ver type){
 			.temperatureEnabled = true,
 			.temp_limit = 90,
 			.currentScaler = 2.5 / (0x7fff * 60.0 * 0.0015), // w. 60x 1.5mOhm sensor
+			.brakeLimLow = 50700,
+			.brakeLimHigh = 50900,
 		};
 		this->conf.hwconf = newHwConf;
-		setBrakeLimits(50700,50900); // Activates around 60V as last resort failsave. Check offsets from tmc leakage. ~ 1.426V
-
+		// Activates around 60V as last resort failsave. Check offsets from tmc leakage. ~ 1.426V
 	break;
 	}
 
@@ -1904,9 +1904,11 @@ void TMC4671::setHwType(TMC_HW_Ver type){
 			.temperatureEnabled = false,
 			.temp_limit = 90,
 			.currentScaler = 2.5 / (0x7fff * 60.0 * 0.0015), // w. 60x 1.5mOhm sensor
+			.brakeLimLow = 52400,
+			.brakeLimHigh = 52800,
 		};
 		this->conf.hwconf = newHwConf;
-		setBrakeLimits(52400,52800);
+
 	break;
 	}
 
@@ -1922,6 +1924,7 @@ void TMC4671::setHwType(TMC_HW_Ver type){
 		break;
 	}
 	}
+	setBrakeLimits(this->conf.hwconf.brakeLimLow,this->conf.hwconf.brakeLimHigh);
 }
 
 void TMC4671::registerCommands(){

Firmware/Targets/F407VG/Core/Inc/target_constants.h

@@ -15,6 +15,8 @@
 // Hardware name string
 #define HW_TYPE "F407VG"
 #define HW_TYPE_INT 2
+#define FW_DEVID 0x413 // F407
+
 #include "main.h"
 
 // Enabled features

Firmware/Targets/F411RE/Core/Inc/target_constants.h

@@ -15,6 +15,9 @@
 // Hardware name string
 #define HW_TYPE "F411RE"
 #define HW_TYPE_INT 1
+#define FW_DEVID 0x431 // Firmware should run on this chip devid
+
+
 // Enabled features
 
 // Main classes