feedc0de/bobbycar-controller-firmware
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added 4 milliohm config

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This commit is contained in:
Peter Poetzi
2022-10-02 18:17:09 +02:00
parent cae4a46d18
commit 1a810d1d93
2 changed files with 16 additions and 0 deletions
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10
CMakeLists.txt
View File

@ -80,6 +80,7 @@ target_compile_options(motortest.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
# -DPETERS_PLATINE # -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -106,6 +107,7 @@ target_compile_options(motortest_peter.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DFEATURE_INVERT_HALL # -DFEATURE_INVERT_HALL
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
@ -134,6 +136,7 @@ target_compile_options(feedcode-front.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -160,6 +163,7 @@ target_compile_options(feedcode-back.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -186,6 +190,7 @@ target_compile_options(greyhash.elf PRIVATE
-DPWM_FREQ_12KHZ -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
-DHUART3 -DHUART3
-DFEATURE_SERIAL_CONTROL -DFEATURE_SERIAL_CONTROL
@ -212,6 +217,7 @@ target_compile_options(pcbv2_front.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -239,6 +245,7 @@ target_compile_options(pcbv2_back.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -266,6 +273,7 @@ target_compile_options(pcbv2_test.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -316,6 +324,7 @@ target_compile_options(commander_v2_front.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
-DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL
@ -366,6 +375,7 @@ target_compile_options(commander_v2_back.elf PRIVATE
# -DPWM_FREQ_12KHZ # -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON # -DFEATURE_BUTTON
-DPETERS_PLATINE -DPETERS_PLATINE
-DSHUNT_4_MILLIOHM
# -DHUART2 # -DHUART2
# -DHUART3 # -DHUART3
# -DFEATURE_SERIAL_CONTROL # -DFEATURE_SERIAL_CONTROL

6
main.cpp
View File

@ -496,6 +496,12 @@ void updateMotors()
#endif #endif
int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr); int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
#ifdef SHUNT_4_MILLIOHM
curL_DC *= 2;
curR_DC *= 2;
#endif
const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV); const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
if (chopL) if (chopL)
left.chops++; left.chops++;