B4L/mppt-testbench
5
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

tooling: sync bench + debug console to live STM32 protocol

Browse Source 
The mppt-testbench Python tooling had drifted from the flashed firmware
(bundled fw e7a23a3 vs live 1b85532) and could no longer communicate:

- stm32_link.py: CRC8 -> CRC-16/CCITT-FALSE; telemetry 68B -> 78B
  (btemp, cmp_outer/inner, iout_slow, vfly_ofs_applied); add PTYPE_INT16
  and commands 0x12-0x18; replace PARAMS with the current 37-param map
  (single dt_normal, no dt brackets; test_corr/phase_ofs, phase PI,
  precharge PI, duty dither; vfly_active 0-3).
- tuner.py: retire per-bracket deadtime; sweep the single dt_normal.
- cli.py: update tune-deadtime, help/examples, btemp readout;
  default ports COM11 (load) / COM4 (stm32).
- debug console TUI: sync protocol.py/app.py/status_bar/telemetry_panel
  from live (new command keys, link RX/TX/loss stats, single dead-time,
  new telemetry fields, param-write auto-retry); add duty_fft.py.
- README: rewrite parameter table, deadtime section, ports, keybindings.

Verified: protocol round-trip self-tests + live `bench stm32-read`
reading all 37 params over COM4.

Co-Authored-By: Claude Opus 4.8 <noreply@anthropic.com>
This commit is contained in:
janik
2026-07-01 12:03:51 +07:00
co-authored by Claude Opus 4.8
parent 903fa78585
commit d2dfc73f9e
9 changed files with 656 additions and 266 deletions
Download Patch File Download Diff File Expand all files Collapse all files
code64/debug_console/protocol.py
+113 -50
View File
@@ -13,30 +13,32 @@ CMD_PARAM_READ_ALL = 0x04
CMD_PARAM_VALUE = 0x05
CMD_PING = 0x10
CMD_PONG = 0x11
CMD_SHUTDOWN = 0x12
CMD_RESET = 0x13
CMD_TEST_50 = 0x14
CMD_RELAY_ON = 0x15
CMD_RELAY_OFF = 0x16
CMD_HOLD_CONVERTER = 0x17
CMD_TOGGLE_PRECHARGE = 0x18
CMD_ERROR_MSG = 0xE0
PTYPE_FLOAT = 0
PTYPE_UINT16 = 1
PTYPE_UINT8 = 2
PTYPE_INT32 = 3
PTYPE_INT16 = 4 # wire format = sign-extended int32, stored firmware-side as int16_t
# CRC8 table (poly 0x07)
_CRC8_TABLE = [0] * 256
def _init_crc8():
for i in range(256):
crc = i
for _ in range(8):
if crc & 0x80:
crc = ((crc << 1) ^ 0x07) & 0xFF
else:
crc = (crc << 1) & 0xFF
_CRC8_TABLE[i] = crc
_init_crc8()
def crc8(data: bytes) -> int:
crc = 0x00
# CRC-16/CCITT-FALSE: poly 0x1021, init 0xFFFF, no reflection, no XOR-out.
# Matches STM32 hardware CRC configured in main.c MX_CRC_Init.
def crc16(data: bytes) -> int:
crc = 0xFFFF
for b in data:
crc = _CRC8_TABLE[crc ^ b]
crc ^= b << 8
for _ in range(8):
if crc & 0x8000:
crc = ((crc << 1) ^ 0x1021) & 0xFFFF
else:
crc = (crc << 1) & 0xFFFF
return crc
@@ -48,9 +50,11 @@ class TelemetryData:
iout: float = 0.0
vfly: float = 0.0
etemp: float = 0.0
btemp: float = 0.0
last_tmp: int = 0
VREF: int = 0
vfly_correction: int = 0
cmp_outer: int = 0 # HRTIM Timer F CMP1xR (outer pair, T1/T4)
vfly_integral: float = 0.0
vfly_avg_debug: float = 0.0
cc_output_f: float = 0.0
@@ -59,9 +63,12 @@ class TelemetryData:
mppt_last_iin: float = 0.0
p_in: float = 0.0
p_out: float = 0.0
iout_slow: float = 0.0
seq: int = 0
cmp_inner: int = 0 # HRTIM Timer E CMP1xR (inner pair, T2/T3)
vfly_ofs_applied: int = 0 # master-phase offset last written, signed ticks
TELEMETRY_FMT = "<6f hHh h 6f 2f B3x" # 68 bytes
TELEMETRY_FMT = "<7f hHhH 6f 3f BxH h" # 78 bytes
TELEMETRY_SIZE = struct.calcsize(TELEMETRY_FMT)
def decode_telemetry(payload: bytes) -> Optional[TelemetryData]:
@@ -70,21 +77,25 @@ def decode_telemetry(payload: bytes) -> Optional[TelemetryData]:
vals = struct.unpack(TELEMETRY_FMT, payload[:TELEMETRY_SIZE])
return TelemetryData(
vin=vals[0], vout=vals[1], iin=vals[2], iout=vals[3],
vfly=vals[4], etemp=vals[5],
last_tmp=vals[6], VREF=vals[7], vfly_correction=vals[8],
# vals[9] is pad
vfly_integral=vals[10], vfly_avg_debug=vals[11],
cc_output_f=vals[12], mppt_iref=vals[13],
mppt_last_vin=vals[14], mppt_last_iin=vals[15],
p_in=vals[16], p_out=vals[17],
seq=vals[18],
vfly=vals[4], etemp=vals[5], btemp=vals[6],
last_tmp=vals[7], VREF=vals[8], vfly_correction=vals[9],
cmp_outer=vals[10],
vfly_integral=vals[11], vfly_avg_debug=vals[12],
cc_output_f=vals[13], mppt_iref=vals[14],
mppt_last_vin=vals[15], mppt_last_iin=vals[16],
p_in=vals[17], p_out=vals[18],
iout_slow=vals[19],
seq=vals[20],
cmp_inner=vals[21],
vfly_ofs_applied=vals[22],
)
def build_frame(cmd: int, payload: bytes = b"") -> bytes:
header = bytes([SYNC_BYTE, cmd, len(payload)])
frame_no_crc = header + payload
return frame_no_crc + bytes([crc8(frame_no_crc)])
crc = crc16(frame_no_crc)
return frame_no_crc + bytes([(crc >> 8) & 0xFF, crc & 0xFF]) # big-endian
def build_param_write(param_id: int, param_type: int, value) -> bytes:
@@ -96,6 +107,8 @@ def build_param_write(param_id: int, param_type: int, value) -> bytes:
val_bytes = struct.pack("<Bxxx", int(value))
elif param_type == PTYPE_INT32:
val_bytes = struct.pack("<i", int(value))
elif param_type == PTYPE_INT16:
val_bytes = struct.pack("<i", int(value)) # sign-extended 32-bit wire
else:
val_bytes = struct.pack("<I", int(value))
payload = struct.pack("<BBxx", param_id, param_type) + val_bytes
@@ -106,6 +119,34 @@ def build_ping() -> bytes:
return build_frame(CMD_PING)
def build_shutdown() -> bytes:
return build_frame(CMD_SHUTDOWN)
def build_reset() -> bytes:
return build_frame(CMD_RESET)
def build_test_50() -> bytes:
return build_frame(CMD_TEST_50)
def build_relay_on() -> bytes:
return build_frame(CMD_RELAY_ON)
def build_relay_off() -> bytes:
return build_frame(CMD_RELAY_OFF)
def build_hold_converter() -> bytes:
return build_frame(CMD_HOLD_CONVERTER)
def build_toggle_precharge() -> bytes:
return build_frame(CMD_TOGGLE_PRECHARGE)
def build_param_read_all() -> bytes:
return build_frame(CMD_PARAM_READ_ALL)
@@ -125,6 +166,8 @@ def decode_param_value(payload: bytes) -> Optional[tuple[int, float]]:
value = float(value_bytes[0])
elif param_type == PTYPE_INT32:
value = float(struct.unpack("<i", value_bytes)[0])
elif param_type == PTYPE_INT16:
value = float(struct.unpack("<i", value_bytes)[0]) # sign-extended 32-bit wire
else:
value = float(struct.unpack("<I", value_bytes)[0])
return (param_id, value)
@@ -137,7 +180,8 @@ class FrameParser:
WAIT_CMD = 1
WAIT_LEN = 2
WAIT_PAYLOAD = 3
WAIT_CRC = 4
WAIT_CRC_HI = 4
WAIT_CRC_LO = 5
def __init__(self):
self.state = self.WAIT_SYNC
@@ -146,6 +190,7 @@ class FrameParser:
self.buf = bytearray()
self.payload = bytearray()
self.idx = 0
self.crc_hi = 0
def feed(self, data: bytes):
"""Feed bytes, yield (cmd, payload) tuples for complete frames."""
@@ -164,7 +209,7 @@ class FrameParser:
self.payload = bytearray()
self.idx = 0
if b == 0:
self.state = self.WAIT_CRC
self.state = self.WAIT_CRC_HI
elif b > 128:
self.state = self.WAIT_SYNC
else:
@@ -174,11 +219,15 @@ class FrameParser:
self.buf.append(b)
self.idx += 1
if self.idx >= self.length:
self.state = self.WAIT_CRC
elif self.state == self.WAIT_CRC:
expected = crc8(bytes(self.buf))
self.state = self.WAIT_CRC_HI
elif self.state == self.WAIT_CRC_HI:
self.crc_hi = b
self.state = self.WAIT_CRC_LO
elif self.state == self.WAIT_CRC_LO:
received = (self.crc_hi << 8) | b
expected = crc16(bytes(self.buf))
self.state = self.WAIT_SYNC
if b == expected:
if received == expected:
yield (self.cmd, bytes(self.payload))
@@ -195,13 +244,17 @@ class ParamDef:
PARAMS = [
# Compensator
ParamDef(0x25, "VREF", PTYPE_UINT16, "Compensator", 3100, 3700, ".0f"),
ParamDef(0x25, "VREF", PTYPE_UINT16, "Compensator", 2340, 3500, ".0f"),
# Vfly
ParamDef(0x20, "vfly_kp", PTYPE_FLOAT, "Vfly", -10, 10, ".4f"),
ParamDef(0x21, "vfly_ki", PTYPE_FLOAT, "Vfly", -10, 10, ".6f"),
ParamDef(0x62, "vfly_kp_phase", PTYPE_FLOAT, "Vfly", -10, 10, ".4f"), # mode 2: P gain, error -> phase
ParamDef(0x63, "vfly_phase_clamp", PTYPE_UINT16, "Vfly", 0, 10000, ".0f"), # mode 2: phase offset clamp
ParamDef(0x22, "vfly_clamp", PTYPE_UINT16, "Vfly", 0, 10000, ".0f"),
ParamDef(0x23, "vfly_loop_trig", PTYPE_UINT16, "Vfly", 1, 10000, ".0f"),
ParamDef(0x24, "vfly_active", PTYPE_UINT8, "Vfly", 0, 1, ".0f"),
ParamDef(0x24, "vfly_active", PTYPE_UINT8, "Vfly", 0, 3, ".0f"), # 0=off 1=auto duty-asymmetry 2=auto phase offset 3=manual both
ParamDef(0x26, "test_corr", PTYPE_INT16, "Vfly", -3000, 3000, ".0f"), # mode-3 manual duty asymmetry
ParamDef(0x27, "phase_ofs", PTYPE_INT16, "Vfly", -3000, 3000, ".0f"), # master-phase: mode-3 manual, mode-2 P-driven (readback)
# CC
ParamDef(0x30, "cc_target", PTYPE_FLOAT, "CC", 0, 60000, ".0f"),
ParamDef(0x31, "cc_gain", PTYPE_FLOAT, "CC", -1, 1, ".4f"),
@@ -210,23 +263,33 @@ PARAMS = [
ParamDef(0x34, "cc_loop_trig", PTYPE_UINT16, "CC", 1, 10000, ".0f"),
ParamDef(0x35, "cc_active", PTYPE_INT32, "CC", 0, 1, ".0f"),
# MPPT
ParamDef(0x40, "mppt_step", PTYPE_FLOAT, "MPPT", 0, 10000, ".1f"),
ParamDef(0x41, "mppt_iref_min", PTYPE_FLOAT, "MPPT", 0, 60000, ".0f"),
ParamDef(0x42, "mppt_iref_max", PTYPE_FLOAT, "MPPT", 0, 60000, ".0f"),
ParamDef(0x43, "mppt_dv_thresh", PTYPE_FLOAT, "MPPT", 0, 10000, ".1f"),
ParamDef(0x44, "mppt_loop_trig", PTYPE_UINT16, "MPPT", 1, 10000, ".0f"),
ParamDef(0x40, "mppt_step", PTYPE_FLOAT, "MPPT", 1, 200, ".0f"),
ParamDef(0x41, "mppt_duty_min", PTYPE_FLOAT, "MPPT", 0, 6800, ".0f"),
ParamDef(0x42, "mppt_duty_max", PTYPE_FLOAT, "MPPT", 0, 6800, ".0f"),
ParamDef(0x44, "mppt_loop_trig", PTYPE_UINT16, "MPPT", 1, 50000, ".0f"),
ParamDef(0x45, "mppt_active", PTYPE_INT32, "MPPT", 0, 1, ".0f"),
ParamDef(0x46, "mppt_init_iref", PTYPE_FLOAT, "MPPT", 0, 60000, ".0f"),
ParamDef(0x47, "mppt_deadband", PTYPE_FLOAT, "MPPT", 0, 1, ".4f"),
# Global
ParamDef(0x50, "vin_min_ctrl", PTYPE_FLOAT, "Global", 0, 90000, ".0f"),
# Deadtime
ParamDef(0x60, "dt 0-3A", PTYPE_UINT8, "Deadtime", 14, 200, ".0f"),
ParamDef(0x61, "dt 3-5A", PTYPE_UINT8, "Deadtime", 14, 200, ".0f"),
ParamDef(0x62, "dt 5-10A", PTYPE_UINT8, "Deadtime", 14, 200, ".0f"),
ParamDef(0x63, "dt 10-20A", PTYPE_UINT8, "Deadtime", 14, 200, ".0f"),
ParamDef(0x64, "dt 20-30A", PTYPE_UINT8, "Deadtime", 14, 200, ".0f"),
ParamDef(0x65, "dt 30-45A", PTYPE_UINT8, "Deadtime", 14, 200, ".0f"),
ParamDef(0x46, "cv_threshold", PTYPE_FLOAT, "MPPT", 20000, 30000, ".0f"),
ParamDef(0x47, "cv_hysteresis", PTYPE_FLOAT, "MPPT", 0, 5000, ".0f"),
ParamDef(0x48, "cc_threshold", PTYPE_FLOAT, "MPPT", 0, 55000, ".0f"),
ParamDef(0x50, "cc_hysteresis", PTYPE_FLOAT, "MPPT", 0, 10000, ".0f"),
# Deadtime (single static value, dt register units)
ParamDef(0x60, "dt_normal", PTYPE_UINT16, "Deadtime", 14, 200, ".0f"),
# Manual fixed-duty mode (base duty in CMP ticks; D = override_duty/7158, 716..6442 = 10..90%)
ParamDef(0x64, "override_duty", PTYPE_UINT16, "Manual", 716, 6442, ".0f"), # enable manual_duty_en first (seeds at current duty), then sweep
ParamDef(0x65, "manual_duty_en", PTYPE_UINT8, "Manual", 0, 1, ".0f"), # 1 = fixed duty, supervisor parked; FMAC balancer still runs per vfly_active
# Duty dither: avoid the V_fly de-stack band by delta-sigma modulating the commanded
# duty between two out-of-band anchors in the FMAC ISR (all CMP ticks). Defaults bracket
# the Vin=75 collapse band 3686..3801 (D 0.515..0.531) with anchors 3643/3844 (D 0.509/0.537).
# Closed-loop precharge: PI controller drives the precharge FET PWM (TIM3_CH1) to Vin/2.
ParamDef(0x76, "precharge_kp", PTYPE_FLOAT, "Precharge", 0, 100, ".3f"), # P: CCR ticks per mV of (Vin/2 - Vfly)
ParamDef(0x78, "precharge_ki", PTYPE_FLOAT, "Precharge", 0, 10, ".4f"), # I: CCR ticks per mV per ~1 kHz tick
ParamDef(0x77, "precharge_reg_en", PTYPE_UINT8, "Precharge", 0, 1, ".0f"), # 1 = closed-loop precharge on
ParamDef(0x70, "dither_en", PTYPE_UINT8, "Dither", 0, 1, ".0f"),
ParamDef(0x71, "dither_band_lo", PTYPE_UINT16, "Dither", 716, 6442, ".0f"),
ParamDef(0x72, "dither_band_hi", PTYPE_UINT16, "Dither", 716, 6442, ".0f"),
ParamDef(0x73, "dither_anear", PTYPE_UINT16, "Dither", 716, 6442, ".0f"),
ParamDef(0x74, "dither_afar", PTYPE_UINT16, "Dither", 716, 6442, ".0f"),
ParamDef(0x75, "dither_dzero", PTYPE_UINT16, "Dither", 716, 6442, ".0f"), # |e| fold center (D=0.5); covers both lobes
]
PARAM_BY_ID = {p.id: p for p in PARAMS}