SCPI implementation header file. More...

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include "src/SCPI_Parser/SCPI_Parser.h"
#include <Arduino.h>
#include <avr/io.h>
#include "main.h"

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Macros
#define	__AVR_ATmega32U4__ 1
	Define macro for ATmega32U4 micro controller.

#define	SCPI_INPUT_BUFFER_LENGTH 64

#define	SCPI_ERROR_QUEUE_SIZE 4
	The SCPI error queue size or the maximum number of error retained in memory.

#define	SCPI_IDN1 "NEXPERIA"
	The manufacturer's name for the identification SCPI query.

#define	SCPI_IDN2 "NEVB-MCTRL-100-xx"
	The device's model number for the identification SCPI query.

#define	SCPI_IDN3 NULL
	The device's serial number for the identification SCPI query.

#define	SCPI_IDN4 "NEVC-MCTRL-100-t01-1.0.0"
	The software verion for the identification SCPI query.

Functions
void	TimersInit (void)
	Initializes and synchronizes Timers.

void	ConfigsInit (void)
	Initializes motorConfigs.

size_t	SCPI_Write (scpi_t context, const char data, size_t len)
	Writes data to the SCPI interface.

int	SCPI_Error (scpi_t *context, int_fast16_t err)
	Handles SCPI errors and outputs them to the Serial interface.

scpi_result_t	SCPI_Control (scpi_t *context, scpi_ctrl_name_t ctrl, scpi_reg_val_t val)
	Handles control messages for the SCPI interface (dummy)

scpi_result_t	SCPI_Reset (scpi_t *context)
	Resets the SCPI context.

scpi_result_t	SCPI_Flush (scpi_t *context)
	Flushes the Serial interface buffer.

Variables
const scpi_command_t	scpi_commands []
	Array of SCPI commands.

scpi_interface_t	scpi_interface
	SCPI interface structure.

char	scpi_input_buffer []
	SCPI input buffer.

scpi_error_t	scpi_error_queue_data []
	SCPI error queue data array.

scpi_t	scpi_context
	SCPI context structure.

volatile motorconfigs_t	motorConfigs
	Motor Configs.

volatile motorflags_t	motorFlags
	Motor control flags placed in I/O space for fast access.

volatile faultflags_t	faultFlags
	Fault flags placed in I/O space for fast access.

volatile uint16_t	lastCommutationTicks
	The number of 'ticks' between two hall sensor changes (store).

volatile uint16_t	current
	Current measurement (Register Value).

volatile uint16_t	gateVref
	Gate voltage measurement (Register Value)

volatile uint8_t	speedInput
	The most recent "speed" input measurement.

Detailed Description

SCPI implementation header file.

This file contains all the defines for configurations and function prototypes related to the SCPI implementation.

This file depends on the base SCPI parser library v2 (commit #4e87990) by Jan Breuer which was then ported by Scott Feister to the Arduino IDE, SCPI Parser Arduino Library.

Further modifications were made to the base library to allow for memory optimisation and support for the avr-gcc compiler.

Author: Nexperia: http://www.nexperia.com

Support Page: For additional support, visit: https://www.nexperia.com/support

Author: Aanas Sayed

Date: 2024/03/08

Definition in file scpi.h.

Macro Definition Documentation

◆ __AVR_ATmega32U4__

#define __AVR_ATmega32U4__ 1

Define macro for ATmega32U4 micro controller.

Definition at line 34 of file scpi.h.

◆ SCPI_ERROR_QUEUE_SIZE

#define SCPI_ERROR_QUEUE_SIZE 4

The SCPI error queue size or the maximum number of error retained in memory.

Definition at line 50 of file scpi.h.

◆ SCPI_IDN1

#define SCPI_IDN1 "NEXPERIA"

The manufacturer's name for the identification SCPI query.

Definition at line 53 of file scpi.h.

◆ SCPI_IDN2

#define SCPI_IDN2 "NEVB-MCTRL-100-xx"

The device's model number for the identification SCPI query.

Definition at line 55 of file scpi.h.

◆ SCPI_IDN3

#define SCPI_IDN3 NULL

The device's serial number for the identification SCPI query.

Definition at line 57 of file scpi.h.

◆ SCPI_IDN4

#define SCPI_IDN4 "NEVC-MCTRL-100-t01-1.0.0"

The software verion for the identification SCPI query.

Definition at line 59 of file scpi.h.

◆ SCPI_INPUT_BUFFER_LENGTH

#define SCPI_INPUT_BUFFER_LENGTH 64

The SCPI input buffer length or the maximum characters allowed at for a single command.

Definition at line 47 of file scpi.h.

Function Documentation

◆ SCPI_Control()

scpi_result_t SCPI_Control	(	scpi_t *	context,
		scpi_ctrl_name_t	ctrl,
		scpi_reg_val_t	val )

Handles control messages for the SCPI interface (dummy)

This function processes control messages such as SRQ (Service Request) or other control signals. It outputs relevant information to the Serial interface. Used as a callback in the SCPI interface structure.

Note: Dummy function implemented here.

Parameters

context	The SCPI context
ctrl	The control name/type
val	The control value

Returns: SCPI result code indicating successful operation

Definition at line 605 of file scpi.cpp.

{
  (void)context;
 
  return SCPI_RES_OK;
}

◆ SCPI_Error()

int SCPI_Error	(	scpi_t *	context,
		int_fast16_t	err )

Handles SCPI errors and outputs them to the Serial interface.

This function processes and displays SCPI error messages. It is used as a callback in the SCPI interface structure for error handling.

Parameters

context	The SCPI context
err	The error code

Returns: Always returns 0

Definition at line 581 of file scpi.cpp.

{
  (void)context;
#if (REMOTE_DEBUG_MODE == TRUE)
  Serial.print(err);
  Serial.print(", \"");
  Serial.print(SCPI_ErrorTranslate(err));
  Serial.println("\"");
#endif
  return 0;
}

◆ SCPI_Flush()

scpi_result_t SCPI_Flush ( scpi_t * context )

Flushes the Serial interface buffer.

This function ensures that all pending Serial data is transmitted. It acts as a callback for the SCPI interface structure.

Parameters

context The SCPI context

Returns: SCPI result code indicating successful operation

Definition at line 565 of file scpi.cpp.

{
  (void)context;
  Serial.flush();
  return SCPI_RES_OK;
}

◆ SCPI_Reset()

scpi_result_t SCPI_Reset ( scpi_t * context )

Resets the SCPI context.

This function is called to reset the SCPI environment. It outputs a reset message to the Serial interface and is used as a callback in the SCPI interface structure.

Parameters

context The SCPI context

Returns: SCPI result code indicating successful operation

Definition at line 622 of file scpi.cpp.

{
  (void)context;
 
  // Clear the enable pin
  PORTD &= ~(1 << ENABLE_PIN);
 
  // Wait until motor is stopped
  while (faultFlags.motorStopped == FALSE)
  {
    ;
  }
 
  // Reset configurations
  ConfigsInit();
 
  // Re-init timers
  TimersInit();
 
  return SCPI_RES_OK;
}

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◆ SCPI_Write()

size_t SCPI_Write	(	scpi_t *	context,
		const char *	data,
		size_t	len )

Writes data to the SCPI interface.

This function is responsible for writing data to the Serial interface. It is used as a callback in the SCPI interface structure.

Parameters

context	The SCPI context
data	Pointer to the data to be written
len	Length of the data to be written

Returns: The number of bytes written

Definition at line 549 of file scpi.cpp.

{
  (void)context;
  Serial.write(data, len);
  return len;
}

◆ TimersInit()

void TimersInit ( void )

extern

Initializes and synchronizes Timers.

This function sets the correct pre-scaler and starts all required timers.

Timer 1 is used to trigger the fault multiplexing on overflow. Timer 3 is used, if EMULATE_HALL is set, to trigger the change in hall output on overflow. Timer 4 is used to generate PWM outputs for the gates and trigger the commutation tick counter and check if the motor is spinning on overflow. The overflow event interrupt for Timer 4 is set outside this function at the end of the main initialization function.

See also: EMULATE_HALL, TIM3_FREQ, TimersSetModeBlockCommutation(), TimersSetModeBrake()

Definition at line 405 of file main.ino.

{
  // Set Timer1 accordingly.
  TCCR1A = (1 << WGM11) | (0 << WGM10);
  TCCR1B = (0 << WGM13) | (1 << WGM12);
  TIMSK1 = (1 << TOIE1);
 
  // Start Timer1.
  TCCR1B |= TIM1_CLOCK_DIV_64;
 
#if (EMULATE_HALL == TRUE)
  // Set Timer3 accordingly.
  TCCR3A = (1 << WGM31) | (1 << WGM30);
  TCCR3B = (1 << WGM33) | (1 << WGM32);
  TIMSK3 = (1 << TOIE3);
 
  // Set top value of Timer/counter3.
  OCR3AH = (uint8_t)(TIM3_TOP >> 8);
  OCR3AL = (uint8_t)(0xff & TIM3_TOP);
 
  // Start Timer3.
  TCCR3B |= TIM1_CLOCK_DIV_8;
#endif
  // Set Timer4 in "PWM6 / Dual-slope" mode. Does not enable outputs yet.
  TCCR4A = (0 << COM4A1) | (1 << COM4A0) | (0 << COM4B1) | (1 << COM4B0) | (1 << PWM4A) | (1 << PWM4B);
  TCCR4B = DT_PRESCALER_DIV_PATTERN(CHOOSE_DT_PRESCALER(motorConfigs.tim4DeadTime));
  TCCR4C |= (0 << COM4D1) | (1 << COM4D0) | (1 << PWM4D);
  TCCR4E = (1 << ENHC4);
 
  // Set top value of Timer/counter4.
  TC4H = (uint8_t)(motorConfigs.tim4Top >> 8);
  OCR4C = (uint8_t)(0xff & motorConfigs.tim4Top);
 
  // Set the dead time.
  DT4 = (DEAD_TIME_HALF(motorConfigs.tim4DeadTime) << 4) | DEAD_TIME_HALF(motorConfigs.tim4DeadTime);
 
  // Start Timer4.
  TCCR4B |= TIM4_PRESCALER_DIV_PATTERN(CHOOSE_TIM4_PRESCALER(TIM4_FREQ));
}

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Variable Documentation

◆ current

volatile uint16_t current

extern

Current measurement (Register Value).

The most recent current measurement is stored in this variable.

The range is 0-1023.

This value is not scaled and represents the raw ADC register value. To obtain the scaled current value in amperes, you can use the formula:

\[ \text{Current (A)} = \frac{\text{REGISTER_VALUE} \times 0.004887586 \times 1000000}{\text{CURRENT_GAIN} \times \text{CURRENT_SENSE_RESISTOR}} \]

Where:

REGISTER_VALUE : The raw ADC register value stored in this variable.
0.004887586 : The conversion factor for a 10-bit ADC with a Vref of 5V.
CURRENT_GAIN : The gain of the current sense operational amplifier.
CURRENT_SENSE_RESISTOR : The value of the shunt resistor in micro-ohms (μΩ).

The NEVB-3INV-001-01 comes with a current op-amp with a gain factor of 50 and a current sense resistor of value 2 mΩ. This corresponds to approximately 0.049 amperes (A) per register value.

See also: CURRENT_WARNING_THRESHOLD, CURRENT_ERROR_THRESHOLD

Definition at line 161 of file main.ino.

◆ faultFlags

volatile faultflags_t faultFlags

extern

Fault flags placed in I/O space for fast access.

This variable contains all the flags used for faults. It is placed in GPIOR1 register, which allows usage of several fast bit manipulation/branch instructions.

Definition at line 84 of file main.ino.

◆ gateVref

volatile uint16_t gateVref

extern

Gate voltage measurement (Register Value)

The most recent gate voltage measurement is stored in this variable.

The range is 0-1023.

This value is not scaled and represents the raw ADC register value. To obtain the scaled gate voltage in volts, you can use the formula:

\[ \text{Voltage (V)} = \frac{\text{REGISTER_VALUE} \times 0.004887586 \times (\text{GATE_RTOP} + \text{GATE_RBOTTOM})}{\text{GATE_RBOTTOM}} \]

Where:

REGISTER_VALUE : The raw ADC register value stored in this variable.
0.004887586 : The conversion factor for a 10-bit ADC with a Vref of 5V.
GATE_RTOP : The top resistor value in ohms (Ω) in the potential divider.
GATE_RBOTTOM : The bottom resistor value in ohms (Ω) in the potential divider.

NEVB-3INV-001-01 has a resistor divider with RTOP of 1 MΩ and RBOTTOM of 71.5 kΩ, so it corresponds to approximately 0.0732 volts (V) per register value.

Note: It is not used for any significant purpose in this implementation, but the measurement is updated.

Definition at line 190 of file main.ino.

◆ lastCommutationTicks

volatile uint16_t lastCommutationTicks

extern

The number of 'ticks' between two hall sensor changes (store).

This variable is used to store the number of 'ticks' between each hall sensor change. It is set to the value in commutationTicks before it is cleared when the hall sensor change occurs.

One 'tick' is one PWM period. The speed of the motor is inversely proportional to this value.

See also: commutationTicks

Definition at line 118 of file main.ino.

◆ motorConfigs

volatile motorconfigs_t motorConfigs

extern

Motor Configs.

This variable contains some of the motor configurations.

Definition at line 90 of file main.ino.

◆ motorFlags

volatile motorflags_t motorFlags

extern

Motor control flags placed in I/O space for fast access.

This variable contains all the flags used for motor control. It is placed in GPIOR0 register, which allows usage of several fast bit manipulation/branch instructions.

Definition at line 76 of file main.ino.

◆ scpi_commands

const scpi_command_t scpi_commands[]

extern

Array of SCPI commands.

This array contains the definitions of all SCPI commands that the system recognizes. Each command is defined with its pattern, callback function, and associated context. The array is stored in program memory (PROGMEM) to optimize memory usage.

Definition at line 504 of file scpi.cpp.

                                               {
    /* IEEE Mandated Commands (SCPI std V1999.0 4.1.1) */
    {"*CLS", SCPI_CoreCls, 0},
    {"*IDN?", SCPI_CoreIdnQ, 0},
    {"*RST", SCPI_CoreRst, 0},
 
    /* Required SCPI commands (SCPI std V1999.0 4.2.1) */
    {"SYSTem:ERRor[:NEXT]?", SCPI_SystemErrorNextQ, 0},
    {"SYSTem:ERRor:COUNt?", SCPI_SystemErrorCountQ, 0},
    {"SYSTem:VERSion?", SCPI_SystemVersionQ, 0},
 
    /* Motor */
    {"CONFigure:MOTOr:ENABle", ConfigureMotorEnable, 0},
    {"CONFigure:MOTOr:ENABle?", GetConfigureMotorEnable, 0},
#if (SPEED_CONTROL_METHOD == SPEED_CONTROL_OPEN_LOOP)
    {"CONFigure:MOTOr:GATE:DUTYcycle:SOURce", ConfigureMotorDutyCycleSource, 0},
    {"CONFigure:MOTOr:GATE:DUTYcycle", ConfigureMotorDutyCycle, 0},
#else
    {"CONFigure:MOTOr:SPEED:SOURce", ConfigureMotorSpeedSource, 0},
    {"CONFigure:MOTOr:SPEED", ConfigureMotorSpeed, 0},
#endif
    {"CONFigure:MOTOr:GATE:FREQuency", ConfigureMotorFrequency, 0},
    {"CONFigure:MOTOr:GATE:FREQuency?", GetConfigureMotorFrequency, 0},
    {"CONFigure:MOTOr:GATE:DEADtime", ConfigureMotorDeadTime, 0},
    {"CONFigure:MOTOr:GATE:DEADtime?", GetConfigureMotorDeadTime, 0},
    {"CONFigure:MOTOr:DIREction", ConfigureMotorDirection, 0},
    {"CONFigure:MOTOr:DIREction?", GetConfigureMotorDirection, 0},
    {"MEASure:MOTOr:SPEEd?", MeasureMotorSpeed, 0},
    {"MEASure:MOTOr:CURRent?", MeasureMotorCurrent, 0},
    {"MEASure:MOTOr:DIREction?", MeasureMotorDirection, 0},
    {"MEASure:MOTOr:GATE:VOLTage?", MeasureGateVoltage, 0},
    {"MEASure:MOTOr:GATE:DUTYcycle?", MeasureGateDutyCycle, 0},
 
    SCPI_CMD_LIST_END};

◆ scpi_context

scpi_t scpi_context

extern

SCPI context structure.

This structure holds the context for SCPI operations, encapsulating state and configuration information.

Definition at line 681 of file scpi.cpp.

◆ scpi_error_queue_data

scpi_error_t scpi_error_queue_data[]

extern

SCPI error queue data array.

Array for storing SCPI errors. Its size is defined by SCPI_ERROR_QUEUE_SIZE.

Definition at line 673 of file scpi.cpp.

◆ scpi_input_buffer

char scpi_input_buffer[]

extern

SCPI input buffer.

Array for storing incoming SCPI commands. Its size is defined by SCPI_INPUT_BUFFER_LENGTH.

Definition at line 665 of file scpi.cpp.

◆ scpi_interface

scpi_interface_t scpi_interface

extern

SCPI interface structure.

This structure defines the callbacks for various SCPI interface operations like error handling, writing to an output, control functions, flushing the output, and resetting the interface.

Definition at line 651 of file scpi.cpp.

                                  {
    /*.error = */ SCPI_Error,     
    /*.write = */ SCPI_Write,     
    /*.control = */ SCPI_Control, 
    /*.flush = */ SCPI_Flush,     
    /*.reset = */ SCPI_Reset,     
};

◆ speedInput

volatile uint8_t speedInput

extern

The most recent "speed" input measurement.

This variable is set by the ADC from the speed input reference pin. The range is 0-255.

Definition at line 125 of file main.ino.

Macros

Functions

Variables

Detailed Description

Macro Definition Documentation

◆ __AVR_ATmega32U4__

◆ SCPI_ERROR_QUEUE_SIZE

◆ SCPI_IDN1

◆ SCPI_IDN2

◆ SCPI_IDN3

◆ SCPI_IDN4

◆ SCPI_INPUT_BUFFER_LENGTH

Function Documentation

◆ SCPI_Control()

◆ SCPI_Error()

◆ SCPI_Flush()

◆ SCPI_Reset()

◆ SCPI_Write()

◆ TimersInit()

Variable Documentation

◆ current

◆ faultFlags

◆ gateVref

◆ lastCommutationTicks

◆ motorConfigs

◆ motorFlags

◆ scpi_commands

◆ scpi_context

◆ scpi_error_queue_data

◆ scpi_input_buffer

◆ scpi_interface

◆ speedInput