Added 10 CAN EPs, fixed brake knob, added ml draft.

Author: rombrew

bench/Makefile

@@ -42,6 +42,10 @@ run: $(TARGET)
 	@ echo "  RUN	" $(notdir $<)
 	@ $< bench
 
+data: $(TARGET)
+	@ echo "  DATA	" $(notdir $<)
+	@ $< data
+
 debug: $(TARGET)
 	@ echo "  GDB	" $(notdir $<)
 	@ $(GDB) $<

bench/bench.c

@@ -12,6 +12,7 @@
 
 #define TLM_FILE	"/tmp/pm-TLM"
 #define PWM_FILE	"/tmp/pm-PWM"
+#define MLD_FILE	"/tmp/pm-mldata"
 #define AGP_FILE	"/tmp/pm-auto.gp"
 
 #define TLM_SIZE	100
@@ -27,6 +28,7 @@ typedef struct {
 
 	FILE		*fd_tlm;
 	FILE		*fd_pwm;
+	FILE		*fd_mld;
 	FILE		*fd_gp;
 }
 tlm_t;
@@ -215,6 +217,31 @@ tlm_plot_grab()
 	if (tlm.fd_gp != NULL) { fclose(tlm.fd_gp); tlm.fd_gp = NULL; }
 
 	fwrite(tlm.y, sizeof(float), TLM_SIZE, tlm.fd_tlm);
+
+	if (tlm.fd_mld != NULL) {
+
+		D = cos(m.state[3]);
+		Q = sin(m.state[3]);
+
+		C = (m.pwm_A + m.pwm_B + m.pwm_C) / 3.;
+		A = (m.pwm_A - C) * m.state[6] / (double) m.pwm_resolution;
+		B = (m.pwm_B - C) * m.state[6] / (double) m.pwm_resolution;
+
+		B = 0.577350269189626 * A + 1.15470053837925 * B;
+
+		tlm.y[0] = D * m.state[0] + Q * m.state[1];	/* iX */
+		tlm.y[1] = D * m.state[1] - Q * m.state[0];	/* iY */
+		tlm.y[2] = A;					/* uX */
+		tlm.y[3] = B;					/* uY */
+		tlm.y[4] = D;					/* cos(\th) */
+		tlm.y[5] = Q;					/* sin(\th) */
+		tlm.y[6] = m.state[2];				/* \omega */
+		tlm.y[7] = m.state[4];				/* Tc */
+		tlm.y[8] = 0;
+		tlm.y[9] = 0;
+
+		fwrite(tlm.y, sizeof(float), 10, tlm.fd_mld);
+	}
 }
 
 static void
@@ -435,6 +462,61 @@ void bench_script()
 	tlm_PWM_grab();
 }
 
+void mld_script()
+{
+	blm_enable(&m);
+	blm_restart(&m);
+
+	tlm_restart();
+
+	m.Rs = 14.e-3;
+	m.Ld = 10.e-6;
+	m.Lq = 15.e-6;
+	m.Udc = 22.;
+	m.Rdc = 0.1;
+	m.Zp = 14;
+	m.lambda = blm_Kv_lambda(&m, 270.);
+	m.Jm = 4.e-4;
+
+	ts_script_default();
+	ts_script_base();
+	blm_restart(&m);
+
+	pm.config_LU_ESTIMATE = PM_FLUX_KALMAN;
+	pm.config_HFI_WAVETYPE = PM_HFI_SINE;
+
+	pm.fsm_req = PM_STATE_LU_STARTUP;
+	ts_wait_IDLE();
+
+	pm.s_setpoint_speed = 60.f;
+	sim_runtime(1.0);
+
+	tlm.fd_mld = fopen(MLD_FILE, "wb");
+
+	if (tlm.fd_mld == NULL) {
+
+		fprintf(stderr, "fopen: %s\n", strerror(errno));
+		abort();
+	}
+
+	pm.s_setpoint_speed = 60.f;
+	sim_runtime(1.0);
+
+	pm.s_setpoint_speed = 900.f;
+	sim_runtime(1.0);
+
+	pm.s_setpoint_speed = - 60.f;
+	sim_runtime(1.0);
+
+	pm.s_setpoint_speed = - 900.f;
+	sim_runtime(1.0);
+
+	pm.s_setpoint_speed = 5500.f;
+	sim_runtime(2.0);
+
+	fclose(tlm.fd_mld);
+}
+
 int main(int argc, char *argv[])
 {
 	if (argc < 2) {
@@ -452,6 +534,10 @@ int main(int argc, char *argv[])
 
 		bench_script();
 	}
+	else if (strcmp(argv[1], "data") == 0) {
+
+		mld_script();
+	}
 
 	if (tlm.fd_tlm != NULL) {
 

bench/data.gp

@@ -0,0 +1,28 @@
+#!/usr/bin/env gp
+# vi:ft=conf
+
+load 0 0 float 10 "/tmp/pm-mldata"
+
+group 0 0
+deflabel 0 "(s)"
+
+page "XY Current"
+label 1 "(A)"
+figure -1 0 "iX"
+figure -1 1 "iY"
+
+page "XY Voltage"
+label 1 "(V)"
+figure -1 2 "uX"
+figure -1 3 "uY"
+
+page "SIN/COS Position"
+figure -1 4 "COS"
+figure -1 5 "SIN"
+
+page "Electrical Speed"
+figure -1 6 "\omega"
+
+page "Machine Temperature"
+label 1 "(C)"
+figure -1 7 "Tc"

bench/keras.py

@@ -0,0 +1,61 @@
+#!/usr/bin/python3
+
+import tensorflow as tf
+import os, random, keras, numpy as np
+
+f = open('/tmp/pm-mldata', 'rb')
+raw = np.fromfile(f, dtype=np.float32).reshape((-1, 10))
+
+f.close()
+
+data = raw[:, :6] / np.array([50, 50, 20, 20, 1, 1])
+
+fmean = np.mean(data, axis=0)
+fstd = np.max(data, axis=0) - np.min(data, axis=0)
+data = (data - fmean) / fstd
+
+print(fmean)
+print(fstd)
+
+length = data.shape[0]
+episode = 2000
+
+train = []
+valid = []
+
+random.seed(10)
+
+for index in range(0, length, episode):
+    if index + episode < length:
+        if random.uniform(0, 100) < 70:
+            train.append(data[index:index + episode, :])
+        else:
+            valid.append(data[index:index + episode, :])
+
+train_data = np.stack(train)
+valid_data = np.stack(valid)
+
+X = train_data[:, :, :4]
+Y = train_data[:, :, 4:6]
+vX = valid_data[:, :, :4]
+vY = valid_data[:, :, 4:6]
+
+print(X.shape)
+print(Y.shape)
+print(vX.shape)
+print(vY.shape)
+
+inputs = keras.layers.Input(shape=(None, 4))
+gru_out = keras.layers.GRU(20, return_sequences=True) (inputs)
+sincos = keras.layers.Dense(2, activation='tanh') (gru_out)
+outputs = [sincos]
+model = keras.models.Model(inputs, outputs)
+
+model.compile(optimizer=keras.optimizers.Adam(),
+        loss=keras.losses.MeanSquaredError())
+
+model.summary()
+
+model.fit(X, Y, validation_data=(vX, vY), epochs=300, batch_size=8)
+
+#callbacks=keras.callbacks.EarlyStopping(patience=10)

bench/plot.gp

@@ -27,7 +27,7 @@ page "E.Position Error"
 label 1 "(°)"
 figure 0 14 "m.theta - pm.lu_Fg"
 
-page "Motor Temperature"
+page "Machine Temperature"
 label 1 "(C)"
 figure 0 5 "m.Tc"
 

bench/tsfunc.c

@@ -892,7 +892,7 @@ void ts_script_test()
 	m.Rdc = 0.1;
 	m.Zp = 14;
 	m.lambda = blm_Kv_lambda(&m, 270.);
-	m.Jm = 3.e-4;
+	m.Jm = 4.e-4;
 
 	ts_script_default();
 	ts_script_base();

doc/IntegritySelfTest.md

@@ -58,6 +58,7 @@ settings and depends on transient precess in power stages.
 It may be useful to enable PWM with constant DC when testing and debugging a
 new hardware.
 
+	(pmc) hal_PWM_set_Z 0
 	(pmc) hal_PWM_set_DC <xDC>
 
 ## See also

pgui/config.c

@@ -245,7 +245,7 @@ void config_default(struct config_phobia *fe)
 
 	strcpy(fe->fuzzy, "setpoint");
 
-	fe->regfile = 500;
+	fe->regfile = 600;
 }
 
 void config_storage_path(struct config_phobia *fe, char *lbuf, const char *file)

pgui/gp/async.c

@@ -1,6 +1,6 @@
 /*
    Graph Plotter is a tool to analyse numerical data.
-   Copyright (C) 2025 Roman Belov <romblv@gmail.com>
+   Copyright (C) 2026 Roman Belov <romblv@gmail.com>
 
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by

pgui/gp/async.h

@@ -1,6 +1,6 @@
 /*
    Graph Plotter is a tool to analyse numerical data.
-   Copyright (C) 2025 Roman Belov <romblv@gmail.com>
+   Copyright (C) 2026 Roman Belov <romblv@gmail.com>
 
    This program is free software: you can redistribute it and/or modify
    it under the terms of the GNU General Public License as published by