EFeru/hoverboard-firmware-hack-SIN
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ADD: comments from TomTinkering

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This commit is contained in:
Niklas Fauth
2018-05-08 12:51:01 +02:00
parent 47f243b2fe
commit aff32b2bb4
2 changed files with 30 additions and 53 deletions
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35
Src/bldc.c
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@@ -143,6 +143,9 @@ int timer = 0;
const int max_time = PWM_FREQ / 10;
volatile int vel = 0;
//scan 8 channels with 2ADCs @ 20 clk cycles per sample
//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
//=640 cpu cycles
void DMA1_Channel1_IRQHandler() {
DMA1->IFCR = DMA_IFCR_CTCIF1;
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
@@ -174,7 +177,7 @@ void DMA1_Channel1_IRQHandler() {
#endif
//disable PWM when current limit is reached (current chopping)
if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
@@ -192,6 +195,7 @@ void DMA1_Channel1_IRQHandler() {
int ul, vl, wl;
int ur, vr, wr;
//determine next position based on hall sensors
uint8_t hall_ul = !(LEFT_HALL_U_PORT->IDR & LEFT_HALL_U_PIN);
uint8_t hall_vl = !(LEFT_HALL_V_PORT->IDR & LEFT_HALL_V_PIN);
uint8_t hall_wl = !(LEFT_HALL_W_PORT->IDR & LEFT_HALL_W_PIN);
@@ -215,8 +219,8 @@ void DMA1_Channel1_IRQHandler() {
//setScopeChannel(2, (adc_buffer.rl1 - offsetrl1) / 8);
//setScopeChannel(3, (adc_buffer.rl2 - offsetrl2) / 8);
//create square wave for buzzer
buzzerTimer++;
if (buzzerFreq != 0 && (buzzerTimer / 5000) % (buzzerPattern + 1) == 0) {
if (buzzerTimer % buzzerFreq == 0) {
HAL_GPIO_TogglePin(BUZZER_PORT, BUZZER_PIN);
@@ -225,33 +229,10 @@ void DMA1_Channel1_IRQHandler() {
HAL_GPIO_WritePin(BUZZER_PORT, BUZZER_PIN, 0);
}
// //measure vel
// timer++;
// if(timer > max_time){
// timer = max_time;
// vel = 0;
// }
// if(posl != last_pos){
// vel = 1000 * PWM_FREQ / timer / P / 6 * 2;
// if((posl - last_pos + 6) % 6 > 2){
// vel = -vel;
// }
// timer = 0;
// }
// last_pos = posl;
//YOLOTEST
// errorl = cmdl - curl;
// pwml = kp * errorl;
//update PWM channels based on position
blockPWM(pwml, posl, &ul, &vl, &wl);
blockPWM(pwmr, posr, &ur, &vr, &wr);
int weakul, weakvl, weakwl;
if (pwml > 0) {
blockPWM(weakl, (posl+5) % 6, &weakul, &weakvl, &weakwl);
@@ -271,7 +252,6 @@ void DMA1_Channel1_IRQHandler() {
ur += weakur;
vr += weakvr;
wr += weakwr;
// blockPWM(pwmr, posr, &ur, &vr, &wr);
LEFT_TIM->LEFT_TIM_U = CLAMP(ul + pwm_res / 2, 10, pwm_res-10);
LEFT_TIM->LEFT_TIM_V = CLAMP(vl + pwm_res / 2, 10, pwm_res-10);
@@ -280,5 +260,4 @@ void DMA1_Channel1_IRQHandler() {
RIGHT_TIM->RIGHT_TIM_U = CLAMP(ur + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_V = CLAMP(vr + pwm_res / 2, 10, pwm_res-10);
RIGHT_TIM->RIGHT_TIM_W = CLAMP(wr + pwm_res / 2, 10, pwm_res-10);
// HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);blockPhaseCurrent
}