Some fixes in register enumeration.

bench/bench.c

@@ -172,8 +172,8 @@ tlm_plot_grab()
 	sym_GP(atan2(pm.flux_F[1], pm.flux_F[0]) * kDEG, "pm.flux_F", "deg");
 	fmk_GP(pm.flux_wS, kRPM, "rpm");
 
-	fmt_GP(pm.kalman_E[0], "A");
-	fmt_GP(pm.kalman_E[1], "A");
+	fmt_GP(pm.kalman_rsu[0], "A");
+	fmt_GP(pm.kalman_rsu[1], "A");
 	fmt_GP(pm.kalman_bias_Q, "V");
 	fmk_GP(pm.kalman_lpf_wS, kRPM, "rpm");
 

doc/CommandLineInterface.md

@@ -108,9 +108,19 @@ responsible for selecting one of several possible options. The textual
 transcription corresponds to the enumeration in the source code of PMC.
 
 	(pmc) reg pm.config_IFB
-	1 [151] pm.config_IFB = 2 (PM_IFB_ABC_INLINE)
+	1  [153] pm.config_IFB = 2 (PM_IFB_ABC_INLINE)
 
-## Examples
+Use `enum_reg` command to show all of allowed values and its transcriptions.
+
+	(pmc) enum_reg pm.config_IFB
+	9  [103] pm.config_IFB = 0 (PM_IFB_AB_INLINE)
+	9  [103] pm.config_IFB = 1 (PM_IFB_AB_GND)
+	9  [103] pm.config_IFB = 2 (PM_IFB_ABC_INLINE)
+	9  [103] pm.config_IFB = 3 (PM_IFB_ABC_GND)
+	9  [103] pm.config_IFB = 4
+	1  [103] pm.config_IFB = 2 (PM_IFB_ABC_INLINE)
+
+## Examples with registers
 
 Show all raw feedback values that PMC uses in control loops.
 

doc/MachineProbe.md

@@ -51,7 +51,7 @@ measurement channels between phases.
 	(pmc) pm_self_adjust
 
 This is enough to do it once and store the values in the flash. But we recommend
-to do it again if you change DC link voltage rating.
+to do it again if you change DC link voltage.
 
 Also look into [Integrity Self Test](IntegritySelfTest.md) page to get more
 info about self-adjustment functions.

doc/MachineTuning.md

@@ -116,7 +116,7 @@ Quite different in the case of current control. You should enable
 `CC_SPEED_TRACK` feature to apply above speed loop constraints to actual speed
 and acceleration.
 
-    (pmc) reg pm.config_CC_SPEED_TRACK 1
+	(pmc) reg pm.config_CC_SPEED_TRACK 1
 
 Here trackpoint is driven by actual speed estimate with acceleration
 constraint. For system stability we have introduced a linear regulation region
@@ -125,7 +125,7 @@ backlash in case of direction change.
 
 Also you can tune PID regulator and load torque gains manually.
 
-    (pmc) reg pm.lu_gain_mq_LP <x>
+	(pmc) reg pm.lu_gain_mq_LP <x>
 	(pmc) reg pm.s_gain_P <x>
 	(pmc) reg pm.s_gain_I <x>
 	(pmc) reg pm.s_gain_D <x>

pgui/link.c

@@ -299,10 +299,9 @@ link_reg_postproc(struct link_pmc *lp, struct link_reg *reg)
 			&& (reg->mode & LINK_REG_TYPE_INT) != 0
 			&& strlen(reg->um) >= 7
 			&& strlen(reg->um) < LINK_NAME_MAX
-			&& reg->lval >= 0
-			&& reg->lval < LINK_COMBO_MAX) {
+			&& reg->lval >= 0 && reg->lval < LINK_COMBO_MAX) {
 
-		reg->mode |= LINK_REG_TYPE_ENUM;
+		reg->mode |= LINK_REG_TYPE_ENUMERATE;
 
 		if (reg->combo[reg->lval] == NULL) {
 
@@ -317,6 +316,10 @@ link_reg_postproc(struct link_pmc *lp, struct link_reg *reg)
 				? reg->lval : reg->lmax_combo;
 		}
 	}
+	else if (reg->enumerated != 0) {
+
+		reg->mode |= LINK_REG_TYPE_ENUMERATE;
+	}
 }
 
 static void
@@ -325,7 +328,7 @@ link_fetch_reg_format(struct link_pmc *lp)
 	struct link_priv	*priv = lp->priv;
 	char			ldup[LINK_MESSAGE_MAX], *sp = ldup;
 	const char		*tok, *sym;
-	int			reg_mode, reg_ID, n;
+	int			reg_mode, reg_ID, N;
 
 	strcpy(ldup, priv->lbuf);
 
@@ -335,18 +338,18 @@ link_fetch_reg_format(struct link_pmc *lp)
 
 	if (strlen(tok) <= 2) {
 
-		if (lk_stoi(&n, tok) != NULL) {
+		if (lk_stoi(&N, tok) != NULL) {
 
-			reg_mode = n;
+			reg_mode = N;
 
 			tok = lk_token(&sp);
 
 			if (		strlen(tok) <= 3
 					&& tok[-1] == '[') {
 
-				if (lk_stoi(&n, lk_space(tok)) != NULL) {
+				if (lk_stoi(&N, lk_space(tok)) != NULL) {
 
-					reg_ID = n;
+					reg_ID = N;
 				}
 			}
 		}
@@ -361,12 +364,19 @@ link_fetch_reg_format(struct link_pmc *lp)
 
 		if (strcmp(tok, "=") == 0) {
 
-			char		text[80];
+			char			text[80];
+			struct link_reg		local;
 
 			sprintf(text, "%.79s", sp = (char *) lk_space(sp));
 
 			reg->mode = reg_mode;
 
+			if (reg->mode & LINK_REG_HIDDEN) {
+
+				local = *reg;
+				reg = &local;
+			}
+
 			sprintf(reg->sym, "%.79s", sym);
 			sprintf(reg->val, "%.79s", lk_token(&sp));
 			sprintf(reg->um,  "%.79s", lk_token(&sp));
@@ -383,6 +393,17 @@ link_fetch_reg_format(struct link_pmc *lp)
 				reg->um[0] = 0;
 			}
 
+			if (reg->mode & LINK_REG_HIDDEN) {
+
+				reg = lp->reg + reg_ID;
+
+				reg->mode = local.mode;
+				reg->lmax_combo = local.lmax_combo;
+
+				for (N = 0; N <= reg->lmax_combo; ++N)
+					reg->combo[N] = local.combo[N];
+			}
+
 			reg->fetched = lp->clock;
 			reg->queued = 0;
 
@@ -804,15 +825,25 @@ int link_fetch(struct link_pmc *lp, int clock)
 
 	if (priv->link_mode != LINK_MODE_DATA_GRAB) {
 
-		if (lp->keep + 2000 < lp->clock) {
+		if (lp->active + 12000 < lp->clock) {
 
-			if (lp->active + 12000 < lp->clock) {
+			link_close(lp);
 
-				link_close(lp);
+			return N;
+		}
+		else if (lp->active + 1000 < lp->clock) {
+
+			if (lp->keep + 1000 < lp->clock) {
+
+				sprintf(priv->lbuf, "ap_time" LINK_EOL);
+				serial_fputs(priv->fd, priv->lbuf);
 
-				return N;
+				lp->keep = lp->clock;
 			}
-			else {
+		}
+		else {
+			if (lp->keep + 5000 < lp->clock) {
+
 				sprintf(priv->lbuf, "ap_time" LINK_EOL);
 				serial_fputs(priv->fd, priv->lbuf);
 
@@ -905,8 +936,8 @@ void link_push(struct link_pmc *lp)
 				break;
 			}
 
-			if (		(reg->mode & LINK_REG_TYPE_ENUM) != 0
-					&& reg->enumerated == 0) {
+			if (		(reg->mode & LINK_REG_TYPE_ENUMERATE) != 0
+					&& reg->enumerated + 10000 < reg->shown) {
 
 				sprintf(priv->lbuf, "enum_reg %i" LINK_EOL, reg_ID);
 

pgui/link.h

@@ -16,10 +16,10 @@ enum {
 	LINK_REG_LINKED		= 4U,
 	LINK_REG_HIDDEN		= 8U,
 
-	LINK_REG_TYPE_INT	= (1UL << 8),
-	LINK_REG_TYPE_FLOAT	= (1UL << 9),
+	LINK_REG_TYPE_INT		= (1U << 8),
+	LINK_REG_TYPE_FLOAT		= (1U << 9),
 
-	LINK_REG_TYPE_ENUM	= (1UL << 10)
+	LINK_REG_TYPE_ENUMERATE		= (1U << 10)
 };
 
 enum {

pgui/nksdl.c

@@ -22,7 +22,7 @@
  * SOFTWARE.
 */
 
-/* Adapted from sdl2surface_rawfb.h for use in Phobia by Roman Belov.
+/* Adapted from sdl2surface_rawfb.h to use in Phobia by Roman Belov.
  * */
 
 #include <stdlib.h>

pgui/phobia.c

@@ -5711,12 +5711,16 @@ int main(int argc, char **argv)
 
 				struct nk_color		header;
 
-				if (strstr(lp->hwinfo, "does NOT match") == NULL) {
+				if (strstr(lp->hwinfo, "does NOT match") != NULL) {
 
-					header = nk->table[NK_COLOR_ENABLED];
+					header = nk->table[NK_COLOR_FLICKER_ALERT];
+				}
+				else if (lp->active + 2000 < lp->clock) {
+
+					header = nk->table[NK_COLOR_FLICKER_LIGHT];
 				}
 				else {
-					header = nk->table[NK_COLOR_FLICKER_ALERT];
+					header = nk->table[NK_COLOR_ENABLED];
 				}
 
 				nk->ctx.style.window.header.active = nk_style_item_color(header);

src/phobia/lse.c

@@ -10,7 +10,7 @@
 
 #define LSE_RM_TOP(ls)		((ls)->rm + (ls)->n_cascades - 1)
 
-/* Define external math functions.
+/* Define which external math functions to use in LSE.
  * */
 #define lse_fabsf(x)		m_fabsf(x)
 #define lse_sqrtf(x)		m_sqrtf(x)

src/phobia/pm.c

@@ -142,12 +142,12 @@ pm_auto_config_default(pmc_t *pm)
 	pm->config_EABI_FRONTEND = PM_EABI_INCREMENTAL;
 	pm->config_SINCOS_FRONTEND = PM_SINCOS_ANALOG;
 
-	pm->tm_transient_slow = 40.f;		/* (ms) */
-	pm->tm_transient_fast = 4.f;		/* (ms) */
+	pm->tm_transient_slow = 50.f;		/* (ms) */
+	pm->tm_transient_fast = 2.f;		/* (ms) */
 	pm->tm_voltage_hold = 100.f;		/* (ms) */
 	pm->tm_current_hold = 200.f;		/* (ms) */
 	pm->tm_current_ramp = 900.f;		/* (ms) */
-	pm->tm_instant_probe = 4.f;		/* (ms) */
+	pm->tm_instant_probe = 2.f;		/* (ms) */
 	pm->tm_average_probe = 200.f;		/* (ms) */
 	pm->tm_average_drift = 100.f;		/* (ms) */
 	pm->tm_average_inertia = 900.f;		/* (ms) */
@@ -650,7 +650,7 @@ pm_torque_approx_MTPA(pmc_t *pm, float iD, float iQ)
 	Wq = pm->quick_WiL4 * pm->quick_WiL4;
 	Bq = (bD < bQ) ? bD + bQ : bQ + bQ;
 
-	if (pm->quick_WiL4 < 0.f) {
+	if (unlikely(pm->quick_WiL4 < 0.f)) {
 
 		iD = - pm->quick_WiL4 - m_sqrtf(Wq + Bq * 0.5f);
 	}
@@ -663,14 +663,15 @@ pm_torque_approx_MTPA(pmc_t *pm, float iD, float iQ)
 
 float pm_torque_feasible(pmc_t *pm, float iQ)
 {
-	float		MTPA_iD, mQ;
+	float		iD, mQ;
 
 	if (pm->config_RELUCTANCE == PM_ENABLED) {
 
-		MTPA_iD = pm_torque_approx_MTPA(pm, 0.f, iQ);
-		MTPA_iD = pm_torque_approx_MTPA(pm, MTPA_iD, iQ);
+		iD = pm_torque_approx_MTPA(pm, 0.f, iQ);
+		iD = pm_torque_approx_MTPA(pm, iD, iQ);
+		iD = pm_torque_approx_MTPA(pm, iD, iQ);
 
-		mQ = pm_torque_equation(pm, MTPA_iD, iQ);
+		mQ = pm_torque_equation(pm, iD, iQ);
 	}
 	else {
 		mQ = pm_torque_equation(pm, 0.f, iQ);
@@ -687,15 +688,15 @@ pm_torque_get_current(pmc_t *pm, float mQ)
 	if (pm->config_RELUCTANCE == PM_ENABLED) {
 
 		if (		pm->const_lambda < M_EPSILON
-				&& pm->mtpa_approx_D < 1.f) {
+				&& pm->mtpa_load_D < 1.f) {
 
-			pm->mtpa_approx_D = 1.f;
+			pm->mtpa_load_D = 1.f;
 		}
 
-		rel = (pm->const_im_Ld - pm->const_im_Lq) * pm->mtpa_approx_D;
+		rel = (pm->const_im_Ld - pm->const_im_Lq) * pm->mtpa_load_D;
 		iQ = mQ / (pm->k_KWAT * (pm->const_lambda + rel));
 
-		pm->mtpa_approx_D = pm_torque_approx_MTPA(pm, pm->mtpa_approx_D, iQ);
+		pm->mtpa_load_D = pm_torque_approx_MTPA(pm, pm->mtpa_load_D, iQ);
 	}
 	else {
 		if (pm->const_lambda > M_EPSILON) {
@@ -1235,7 +1236,7 @@ pm_flux_kalman(pmc_t *pm)
 {
 	const float		*K = pm->kalman_K;
 	float			*A = pm->kalman_A;
-	float			*E = pm->kalman_E;
+	float			*E = pm->kalman_rsu;
 
 	float			tA, dA = 0.f;
 
@@ -1819,12 +1820,12 @@ pm_lu_FSM(pmc_t *pm)
 	if (		pm->config_LU_FORCED == PM_ENABLED
 			&& pm->config_LU_DRIVE == PM_DRIVE_CURRENT) {
 
-		float		wSP;
+		float		wSP, iSP = pm->i_setpoint_current;
 
 		/* Derive the speed SETPOINT in case of current control.
 		 * */
-		wSP = (pm->i_setpoint_current < - M_EPSILON) ? - pm->forced_reverse
-			: (pm->i_setpoint_current > M_EPSILON) ? pm->forced_maximal : 0.f;
+		wSP = (iSP < - M_EPSILON) ? - pm->forced_reverse
+			: (iSP > M_EPSILON) ? pm->forced_maximal : 0.f;
 
 		pm->s_setpoint_speed = wSP;
 	}

src/phobia/pm.h

@@ -417,7 +417,7 @@ typedef struct {
 	float		kalman_P[15];
 	float		kalman_A[10];
 	float		kalman_K[10];
-	float		kalman_E[2];
+	float		kalman_rsu[2];
 	float		kalman_bias_Q;
 	float		kalman_lpf_wS;
 	float		kalman_gain_Q[4];
@@ -545,7 +545,7 @@ typedef struct {
 	float		i_gain_P;
 	float		i_gain_I;
 
-	float		mtpa_approx_D;
+	float		mtpa_load_D;
 	float		mtpa_D;
 	float		mtpa_gain_LP;