From 97ef43cff8ab7f92a9767b40e6985dca4de72527 Mon Sep 17 00:00:00 2001 From: Benjamin Vedder Date: Sat, 1 Feb 2020 00:37:25 +0100 Subject: [PATCH] Leave debug mode on NRF5x after SWD upload, more TS5700N8501 encoder features, more CAN baud rates --- CHANGELOG | 7 ++ blackmagic/bm_if.c | 40 +++++++++-- blackmagic/bm_if.h | 1 + build_all/100_250/VESC_default.bin | Bin 393208 -> 393208 bytes .../100_250/VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/100_250/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/410_o_411_o_412/VESC_0005ohm.bin | Bin 393208 -> 393208 bytes build_all/410_o_411_o_412/VESC_default.bin | Bin 393208 -> 393208 bytes .../VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/410_o_411_o_412/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/410_o_411_o_412/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/46_o_47/VESC_0005ohm.bin | Bin 393208 -> 393208 bytes build_all/46_o_47/VESC_33k.bin | Bin 393208 -> 393208 bytes build_all/46_o_47/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/46_o_47/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/46_o_47/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/46_o_47/VESC_ws2811_33k.bin | Bin 393208 -> 393208 bytes build_all/48/VESC_0005ohm.bin | Bin 393208 -> 393208 bytes build_all/48/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/48/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/48/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/60/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/60/VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/60/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/60/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/60_MK3/VESC_default.bin | Bin 393208 -> 393208 bytes .../60_MK3/VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/60_MK3/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/60_MK3/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/75_300/VESC_default.bin | Bin 393208 -> 393208 bytes .../75_300/VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/75_300/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/75_300/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/75_300_R2/VESC_default.bin | Bin 393208 -> 393208 bytes .../75_300_R2/VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/75_300_R2/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/75_300_R2/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/A200S_V21/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/A200S_V22/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/AXIOM/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/DAS_RS/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/HD/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/HD/VESC_default_no_hw_limits.bin | Bin 393208 -> 393208 bytes build_all/HD/VESC_servoout.bin | Bin 393208 -> 393208 bytes build_all/HD/VESC_ws2811.bin | Bin 393208 -> 393208 bytes build_all/LUNA_BBSHD/VESC_default.bin | Bin 393208 -> 393208 bytes build_all/UAVC_OMEGA/VESC_default.bin | Bin 393208 -> 393208 bytes comm_can.c | 22 ++++++ commands.c | 1 + conf_general.h | 2 +- confgenerator.h | 4 +- datatypes.h | 9 ++- encoder.c | 64 +++++++++++++++--- encoder.h | 5 +- mc_interface.c | 4 +- mcpwm_foc.c | 10 ++- terminal.c | 32 ++++++--- 57 files changed, 170 insertions(+), 31 deletions(-) diff --git a/CHANGELOG b/CHANGELOG index 107de6907..25378e840 100644 --- a/CHANGELOG +++ b/CHANGELOG @@ -1,3 +1,10 @@ +=== FW 4.01 === +* Leave debug mode on NRF5x after disconnect to avoid excess power consumption before power cycle. +* Added encoder_clear_errors and encoder_clear_multiturn terminal commands. +* Initialize current offsets to 2048 to avoid a fault code to be logged at boot. +* Added 10K, 20K, 50K and 75K CAN baud rates. +* Added very basic TS5700N8501 multiturn mode. + === FW 4.00 === * Added support for HFI to track motor position at 0 speed without sensors. This is the main new feature of FW 4. * Fixed CAN-bug in VESC Remote. diff --git a/blackmagic/bm_if.c b/blackmagic/bm_if.c index d1963e9ef..930657ff6 100644 --- a/blackmagic/bm_if.c +++ b/blackmagic/bm_if.c @@ -24,6 +24,8 @@ #include "commands.h" #include "terminal.h" #include "exception.h" +#include "target_internal.h" +#include "adiv5.h" // Global variables long cortexm_wait_timeout = 2000; /* Timeout to wait for Cortex to react on halt command. */ @@ -141,17 +143,25 @@ static int idcode_to_device(uint32_t idcode) { return ret; } +static int swdp_scan_twice(void) { + int devs = adiv5_swdp_scan(); + + if(devs <= 0) { + devs = adiv5_swdp_scan(); + } + + return devs; +} + // Terminal commands static void terminal_swdp_scan(int argc, const char **argv) { (void)argc; (void)argv; target_print_en = true; - bm_set_enabled(true); - target_print_en = true; - int devs = adiv5_swdp_scan(); + int devs = swdp_scan_twice(); if(devs <= 0) { commands_printf("SW-DP scan failed!"); @@ -356,7 +366,7 @@ int bm_connect(void) { bm_set_enabled(true); target_print_en = false; - int devs = adiv5_swdp_scan(); + int devs = swdp_scan_twice(); if (devs > 0) { cur_target = target_attach_n(1, &gdb_controller); @@ -512,6 +522,26 @@ int bm_reboot(void) { return ret; } +/** + * Leave debug mode of NRF5x device. Will reduce the sleep power consumption + * significantly. + */ +void bm_leave_nrf_debug_mode(void) { + bm_set_enabled(true); + + if (!target_list) { + swdp_scan_twice(); + } + + if (target_list) { + if (strncmp(target_list[0].driver, "Nordic", 6) == 0) { + adiv5_dp_write(((ADIv5_AP_t**)target_list[0].priv)[0]->dp, ADIV5_DP_CTRLSTAT, 0); + } + } + + bm_set_enabled(false); +} + /** * Disconnect from target and release SWD bus */ @@ -523,6 +553,8 @@ void bm_disconnect(void) { cur_target = 0; } + bm_leave_nrf_debug_mode(); + bm_set_enabled(false); } diff --git a/blackmagic/bm_if.h b/blackmagic/bm_if.h index 3576c58f4..d7aeb83ef 100644 --- a/blackmagic/bm_if.h +++ b/blackmagic/bm_if.h @@ -31,6 +31,7 @@ int bm_erase_flash_all(void); int bm_write_flash(uint32_t addr, const void *data, uint32_t len); int bm_mem_read(uint32_t addr, void *data, uint32_t len); int bm_reboot(void); +void bm_leave_nrf_debug_mode(void); void bm_disconnect(void); void bm_change_swd_pins(stm32_gpio_t *swdio_port, int swdio_pin, stm32_gpio_t *swclk_port, int swclk_pin); diff --git a/build_all/100_250/VESC_default.bin b/build_all/100_250/VESC_default.bin index 8c58bb82313efc7387f6926cef41adbc3e743220..db1bbe797faecfa03723de2d03f286ed236f1394 100755 GIT binary patch delta 47874 zcmZsD30&00`~PP?yDZDfvD}BKyMPFSisF5)XzL;>c+}U_3eyaa63tA>Ts$%*EfsX| zN-ZnEBfP>}D@(I1C@VWmD-}%_2LwN#z5nm|K<4-N|HA8;d7fwP`8+c_^UO0Ndn09U zWaYIpV(*m)|2)$-Ojq4etzB|S(4OgdF!6^|f#TZKgE#-$s1jMngNtjsiK0H`;DOs2 z8eLk7TAKqfr5yC!>*gcQN;%lAsjp5nq!z#EodECP1+RmM3sS1SAmn2oF+a6xu`kIW zVs2{Hr&^*B#kAC_3p(H|F)=pz=U(wpJL<*#v&YcA;}yFYu6<6}uuNGr=-4!;&ft==>0P!!ObM9@Z(pA=F z>eTE9hn6|rQ<1Y4H96%Kll)It)d>jA(+LKFJ>~IdTfFp_NYX#I1ZC~35gBu7*%xjt zi&e_3s0m=hyjphBt-98VJqzrJ+n;qt=|^e(Gl2E<{##}t%KX56w^q-#Ag7(~ zT}q2~bfWX4NTPYV#}NPAvMI|V*mYUM-bG$oS76e>YJnYc=ay;MU{7wDKf8(Y!`uSv z>(sH8P7(Yc+(Lp_7RiV`ifwn(Kch&u2)BKkO|4Uv>R4~b$g;NVDQ7$OtAlooCNp$9 zI^(+na=XxXqDfE98T3BuM1P4U1sVhRX`ShW7-G=;=?-L39$FYfqI$-Ag`?V&t=LDN z?8d_Ulee^{_RM%%IITTQj2cTK`_MH#AixaFniu5J`DTv 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1); break; + case CAN_BAUD_75K: set_timing(39, 10, 1); break; default: break; } } @@ -1226,6 +1230,24 @@ static void send_packet_wrapper(unsigned char *data, unsigned int len) { } #endif +/** + * Set the CAN timing. The CAN is clocked at 42 MHz, and the baud rate can be + * calculated with + * + * 42000000 / ((brp + 1) * (ts1 + ts2 + 3)) + * + * ts1 should be larger than ts2 in general to take the sample after the + * signal had time to stabilize. + * + * @param brp + * Prescaler. + * + * @param ts1 + * TS1. + * + * @param ts2 + * TS2. + */ static void set_timing(int brp, int ts1, int ts2) { brp &= 0b1111111111; ts1 &= 0b1111; diff --git a/commands.c b/commands.c index 5f661bca1..650af0955 100644 --- a/commands.c +++ b/commands.c @@ -1504,6 +1504,7 @@ static THD_FUNCTION(blocking_thread, arg) { case COMM_BM_DISCONNECT: { bm_disconnect(); + bm_leave_nrf_debug_mode(); int32_t ind = 0; send_buffer[ind++] = packet_id; diff --git a/conf_general.h b/conf_general.h index d61ee4975..3c6c46157 100644 --- a/conf_general.h +++ b/conf_general.h @@ -22,7 +22,7 @@ // Firmware version #define FW_VERSION_MAJOR 4 -#define FW_VERSION_MINOR 00 +#define FW_VERSION_MINOR 01 #include "datatypes.h" diff --git a/confgenerator.h b/confgenerator.h index 7fbf5f109..e95f58c7f 100644 --- a/confgenerator.h +++ b/confgenerator.h @@ -8,8 +8,8 @@ #include // Constants -#define MCCONF_SIGNATURE 657785302 -#define APPCONF_SIGNATURE 511269002 +#define MCCONF_SIGNATURE 3632471335 +#define APPCONF_SIGNATURE 2964134872 // Functions int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *conf); diff --git a/datatypes.h b/datatypes.h index 0802a777b..eb2e42036 100644 --- a/datatypes.h +++ b/datatypes.h @@ -156,7 +156,8 @@ typedef enum { SENSOR_PORT_MODE_AS5047_SPI, SENSOR_PORT_MODE_AD2S1205, SENSOR_PORT_MODE_SINCOS, - SENSOR_PORT_MODE_TS5700N8501 + SENSOR_PORT_MODE_TS5700N8501, + SENSOR_PORT_MODE_TS5700N8501_MULTITURN } sensor_port_mode; typedef struct { @@ -191,7 +192,11 @@ typedef enum { CAN_BAUD_125K = 0, CAN_BAUD_250K, CAN_BAUD_500K, - CAN_BAUD_1M + CAN_BAUD_1M, + CAN_BAUD_10K, + CAN_BAUD_20K, + CAN_BAUD_50K, + CAN_BAUD_75K } CAN_BAUD; typedef enum { diff --git a/encoder.c b/encoder.c index 294024fdf..168c8339e 100644 --- a/encoder.c +++ b/encoder.c @@ -24,7 +24,7 @@ #include "hw.h" #include "mc_interface.h" #include "utils.h" -#include "math.h" +#include // Defines #define AS5047P_READ_ANGLECOM (0x3FFF | 0x4000 | 0x8000) // This is just ones @@ -34,7 +34,6 @@ #define SINCOS_MIN_AMPLITUDE 1.0 // sqrt(sin^2 + cos^2) has to be larger than this #define SINCOS_MAX_AMPLITUDE 1.65 // sqrt(sin^2 + cos^2) has to be smaller than this - #if (AS5047_USE_HW_SPI_PINS || AD2S1205_USE_HW_SPI_PINS) #ifdef HW_SPI_DEV #define SPI_SW_MISO_GPIO HW_SPI_PORT_MISO @@ -112,13 +111,15 @@ static THD_WORKING_AREA(ts5700n8501_thread_wa, 512); static volatile bool ts5700n8501_stop_now = true; static volatile bool ts5700n8501_is_running = false; static volatile uint8_t ts5700n8501_raw_status[8] = {0}; +static volatile bool ts5700n8501_reset_errors = false; +static volatile bool ts5700n8501_reset_multiturn = false; // Private functions static void spi_transfer(uint16_t *in_buf, const uint16_t *out_buf, int length); static void spi_begin(void); static void spi_end(void); static void spi_delay(void); -void TS5700N8501_send_byte(uint8_t b); +static void TS5700N8501_send_byte(uint8_t b); uint32_t encoder_spi_get_error_cnt(void) { return spi_error_cnt; @@ -176,10 +177,17 @@ uint8_t* encoder_ts5700n8501_get_raw_status(void) { return (uint8_t*)ts5700n8501_raw_status; } -uint32_t encoder_ts57n8501_get_abm(void) { - return (uint32_t)ts5700n8501_raw_status[4] + - ((uint32_t)ts5700n8501_raw_status[5] << 8) + - ((uint32_t)ts5700n8501_raw_status[6] << 16); +int16_t encoder_ts57n8501_get_abm(void) { + return (uint16_t)ts5700n8501_raw_status[4] | + ((uint16_t)ts5700n8501_raw_status[5] << 8); +} + +void encoder_ts57n8501_reset_errors(void) { + ts5700n8501_reset_errors = true; +} + +void encoder_ts57n8501_reset_multiturn(void) { + ts5700n8501_reset_multiturn = true; } void encoder_deinit(void) { @@ -451,6 +459,26 @@ float encoder_read_deg(void) { return angle; } +/* + * Note: This is not a good solution and needs a proper implementation later... + */ +float encoder_read_deg_multiturn(void) { + if (mode == ENCODER_MODE_TS5700N8501) { + encoder_ts57n8501_get_abm(); + float ts_mt = (float)encoder_ts57n8501_get_abm(); + if (fabsf(ts_mt) > 5000.0) { + ts_mt = 0; + encoder_ts57n8501_reset_multiturn(); + } + + ts_mt += 5000; + + return encoder_read_deg() / 10000.0 + (360 * ts_mt) / 10000.0; + } else { + return encoder_read_deg(); + } +} + /** * Reset the encoder counter. Should be called from the index interrupt. */ @@ -678,7 +706,7 @@ void TS5700N8501_delay_uart(void) { * the system is locked, but it should finish fast enough to not cause problems for other * things due to the high baud rate. */ -void TS5700N8501_send_byte(uint8_t b) { +static void TS5700N8501_send_byte(uint8_t b) { utils_sys_lock_cnt(); #ifdef HW_ADC_EXT_GPIO palSetPad(HW_ADC_EXT_GPIO, HW_ADC_EXT_PIN); @@ -736,9 +764,27 @@ static THD_FUNCTION(ts5700n8501_thread, arg) { return; } + if (ts5700n8501_reset_errors) { + for (int i = 0;i < 20;i++) { + TS5700N8501_send_byte(0b01011101); + chThdSleep(2); + } + + ts5700n8501_reset_errors = false; + } + + if (ts5700n8501_reset_multiturn) { + for (int i = 0;i < 20;i++) { + TS5700N8501_send_byte(0b01000110); + chThdSleep(2); + } + + ts5700n8501_reset_multiturn = false; + } + TS5700N8501_send_byte(0b01011000); - chThdSleep(1); + chThdSleep(2); uint8_t reply[11]; int reply_ind = 0; diff --git a/encoder.h b/encoder.h index 661085595..3e5dcc59a 100644 --- a/encoder.h +++ b/encoder.h @@ -32,6 +32,7 @@ void encoder_init_sincos(float sin_gain, float sin_offset, void encoder_init_ts5700n8501(void); bool encoder_is_configured(void); float encoder_read_deg(void); +float encoder_read_deg_multiturn(void); void encoder_reset(void); void encoder_tim_isr(void); void encoder_set_counts(uint32_t counts); @@ -51,6 +52,8 @@ uint32_t encoder_sincos_get_signal_above_max_error_cnt(void); float encoder_sincos_get_signal_below_min_error_rate(void); float encoder_sincos_get_signal_above_max_error_rate(void); uint8_t* encoder_ts5700n8501_get_raw_status(void); -uint32_t encoder_ts57n8501_get_abm(void); +int16_t encoder_ts57n8501_get_abm(void); +void encoder_ts57n8501_reset_errors(void); +void encoder_ts57n8501_reset_multiturn(void); #endif /* ENCODER_H_ */ diff --git a/mc_interface.c b/mc_interface.c index 9d1ada367..d5c2f5581 100644 --- a/mc_interface.c +++ b/mc_interface.c @@ -192,6 +192,7 @@ void mc_interface_init(mc_configuration *configuration) { break; case SENSOR_PORT_MODE_TS5700N8501: + case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: conf_general_read_app_configuration(&m_tmp_appconf); if (m_tmp_appconf.app_to_use == APP_ADC || m_tmp_appconf.app_to_use == APP_UART || @@ -255,7 +256,8 @@ void mc_interface_set_configuration(mc_configuration *configuration) { m_conf.foc_encoder_sincos_filter_constant); break; - case SENSOR_PORT_MODE_TS5700N8501: { + case SENSOR_PORT_MODE_TS5700N8501: + case SENSOR_PORT_MODE_TS5700N8501_MULTITURN: { m_tmp_appconf = *app_get_configuration(); if (m_tmp_appconf.app_to_use == APP_ADC || m_tmp_appconf.app_to_use == APP_UART || diff --git a/mcpwm_foc.c b/mcpwm_foc.c index 5e16affca..9fb28ef22 100644 --- a/mcpwm_foc.c +++ b/mcpwm_foc.c @@ -297,7 +297,9 @@ void mcpwm_foc_init(volatile mc_configuration *configuration) { m_duty3_next = 0; m_duty_next_set = false; memset((void*)m_curr_sum, 0, sizeof(m_curr_sum)); - memset((void*)m_curr_ofs, 0, sizeof(m_curr_ofs)); + m_curr_ofs[0] = 2048; + m_curr_ofs[1] = 2048; + m_curr_ofs[2] = 2048; m_speed_est_fast = 0.0; m_hfi_plot_en = 0; @@ -2348,7 +2350,11 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) { // TODO: Have another look at this. float angle_now = 0.0; if (encoder_is_configured()) { - angle_now = enc_ang; + if (m_conf->m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501_MULTITURN) { + angle_now = encoder_read_deg_multiturn(); + } else { + angle_now = enc_ang; + } } else { angle_now = m_motor_state.phase * (180.0 / M_PI); } diff --git a/terminal.c b/terminal.c index 3e035cc65..349945776 100644 --- a/terminal.c +++ b/terminal.c @@ -684,29 +684,31 @@ void terminal_process_string(char *str) { } else if (strcmp(argv[0], "encoder") == 0) { if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_AS5047_SPI || mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_AD2S1205 || - mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501) { + mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501 || + mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501_MULTITURN) { commands_printf("SPI encoder value: %d, errors: %d, error rate: %.3f %%", (unsigned int)encoder_spi_get_val(), encoder_spi_get_error_cnt(), (double)encoder_spi_get_error_rate() * (double)100.0); - if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501) { + if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501 || + mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_TS5700N8501_MULTITURN) { char sf[9]; char almc[9]; utils_byte_to_binary(encoder_ts5700n8501_get_raw_status()[0], sf); utils_byte_to_binary(encoder_ts5700n8501_get_raw_status()[7], almc); - commands_printf("TS5700N8501 ABM: %d, SF: %s, ALMC: %s\n", encoder_ts57n8501_get_abm, sf, almc); + commands_printf("TS5700N8501 ABM: %d, SF: %s, ALMC: %s\n", encoder_ts57n8501_get_abm(), sf, almc); } } if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_SINCOS) { - commands_printf("Sin/Cos encoder signal below minimum amplitude: errors: %d, error rate: %.3f %%", - encoder_sincos_get_signal_below_min_error_cnt(), - (double)encoder_sincos_get_signal_below_min_error_rate() * (double)100.0); + commands_printf("Sin/Cos encoder signal below minimum amplitude: errors: %d, error rate: %.3f %%", + encoder_sincos_get_signal_below_min_error_cnt(), + (double)encoder_sincos_get_signal_below_min_error_rate() * (double)100.0); - commands_printf("Sin/Cos encoder signal above maximum amplitude: errors: %d, error rate: %.3f %%", - encoder_sincos_get_signal_above_max_error_cnt(), - (double)encoder_sincos_get_signal_above_max_error_rate() * (double)100.0); + commands_printf("Sin/Cos encoder signal above maximum amplitude: errors: %d, error rate: %.3f %%", + encoder_sincos_get_signal_above_max_error_cnt(), + (double)encoder_sincos_get_signal_above_max_error_rate() * (double)100.0); } if (mcconf.m_sensor_port_mode == SENSOR_PORT_MODE_AD2S1205) { @@ -720,6 +722,12 @@ void terminal_process_string(char *str) { encoder_resolver_loss_of_signal_error_cnt(), (double)encoder_resolver_loss_of_signal_error_rate() * (double)100.0); } + } else if (strcmp(argv[0], "encoder_clear_errors") == 0) { + encoder_ts57n8501_reset_errors(); + commands_printf("Done!\n"); + } else if (strcmp(argv[0], "encoder_clear_multiturn") == 0) { + encoder_ts57n8501_reset_multiturn(); + commands_printf("Done!\n"); } else if (strcmp(argv[0], "uptime") == 0) { commands_printf("Uptime: %.2f s\n", (double)chVTGetSystemTimeX() / (double)CH_CFG_ST_FREQUENCY); } @@ -837,6 +845,12 @@ void terminal_process_string(char *str) { commands_printf("encoder"); commands_printf(" Prints the status of the AS5047, AD2S1205, or TS5700N8501 encoder."); + commands_printf("encoder_clear_errors"); + commands_printf(" Clear error of the TS5700N8501 encoder.)"); + + commands_printf("encoder_clear_multiturn"); + commands_printf(" Clear multiturn counter of the TS5700N8501 encoder.)"); + commands_printf("uptime"); commands_printf(" Prints how many seconds have passed since boot.");

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