feedc0de/bobbycar-controller-firmware
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Remove PWM margin for non-FOC control types

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See 2ab0699f1f
This commit is contained in:
Michael Ehrenreich
2023-04-13 04:12:54 +02:00
parent 1125ab934c
commit 209cbca8ba
1 changed files with 11 additions and 7 deletions
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18
main.cpp
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@ -530,7 +530,11 @@ void updateMotors()
OverrunFlag = true;
constexpr int32_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
constexpr int32_t pwm_margin = 100; /* This margin allows to always have a window in the PWM signal for proper Phase currents measurement */
constexpr int32_t foc_pwm_margin = 100; /* This margin allows to always have a window in the PWM signal for proper Phase currents measurement */
using bobbycar::protocol::ControlType;
const int32_t pwm_margin_l = (left.rtP.z_ctrlTypSel == uint8_t(ControlType::FieldOrientedControl)) ? foc_pwm_margin : 0;
const int32_t pwm_margin_r = (right.rtP.z_ctrlTypSel == uint8_t(ControlType::FieldOrientedControl)) ? foc_pwm_margin : 0;
/* Make sure to stop BOTH motors in case of an error */
@ -575,9 +579,9 @@ void updateMotors()
int wl = left.rtY.DC_phaC;
/* Apply commands */
LEFT_TIM->LEFT_TIM_U = (uint16_t)std::clamp(ul + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_V = (uint16_t)std::clamp(vl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_W = (uint16_t)std::clamp(wl + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
LEFT_TIM->LEFT_TIM_U = (uint16_t)std::clamp(ul + pwm_res / 2, pwm_margin_l, pwm_res-pwm_margin_l);
LEFT_TIM->LEFT_TIM_V = (uint16_t)std::clamp(vl + pwm_res / 2, pwm_margin_l, pwm_res-pwm_margin_l);
LEFT_TIM->LEFT_TIM_W = (uint16_t)std::clamp(wl + pwm_res / 2, pwm_margin_l, pwm_res-pwm_margin_l);
// =================================================================
@ -612,9 +616,9 @@ void updateMotors()
int wr = right.rtY.DC_phaC;
/* Apply commands */
RIGHT_TIM->RIGHT_TIM_U = (uint16_t)std::clamp(ur + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_V = (uint16_t)std::clamp(vr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_W = (uint16_t)std::clamp(wr + pwm_res / 2, pwm_margin, pwm_res-pwm_margin);
RIGHT_TIM->RIGHT_TIM_U = (uint16_t)std::clamp(ur + pwm_res / 2, pwm_margin_r, pwm_res-pwm_margin_r);
RIGHT_TIM->RIGHT_TIM_V = (uint16_t)std::clamp(vr + pwm_res / 2, pwm_margin_r, pwm_res-pwm_margin_r);
RIGHT_TIM->RIGHT_TIM_W = (uint16_t)std::clamp(wr + pwm_res / 2, pwm_margin_r, pwm_res-pwm_margin_r);
// =================================================================
/* Indicate task complete */