Implemented PETERS_PLATINE

CMakeLists.txt

@@ -36,6 +36,7 @@ include_directories(
 #add_definitions(-DMOTOR_TEST)
 #add_definitions(-DFEATURE_IGNORE_OTHER_MOTOR)
 add_definitions(-DFEATURE_BUTTON)
+#add_definitions(-DPETERS_PLATINE)
 
 add_executable(firmware.elf
     STM32CubeF1/Drivers/STM32F1xx_HAL_Driver/Src/stm32f1xx_hal.c

config.h

@@ -1,12 +1,16 @@
 #pragma once
 
-#define PWM_FREQ            16000     // PWM frequency in Hz
+#ifdef PETERS_PLATINE
-#define DEAD_TIME              48     // PWM deadtime
+#define PWM_FREQ            10000     // PWM frequency in Hz
-#ifdef MOTOR_TEST
-  #define DELAY_IN_MAIN_LOOP    10
 #else
-  #define DELAY_IN_MAIN_LOOP    5
+#define PWM_FREQ            16000     // PWM frequency in Hz
 #endif
+#define DEAD_TIME              48     // PWM deadtime
+//#ifdef MOTOR_TEST
+//  #define DELAY_IN_MAIN_LOOP    10
+//#else
+  #define DELAY_IN_MAIN_LOOP    5
+//#endif
 #define TIMEOUT                 5     // number of wrong / missing input commands before emergency off
 #define A2BIT_CONV             50     // A to bit for current conversion on ADC. Example: 1 A = 50, 2 A = 100, etc
 

defines.h

@@ -45,14 +45,23 @@
 #define LEFT_TIM_UL_PIN GPIO_PIN_7
 #define LEFT_TIM_UL_PORT GPIOA
 #define LEFT_TIM_V CCR2
+#ifdef PETERS_PLATINE
+#define LEFT_TIM_VH_PIN GPIO_PIN_8
+#define LEFT_TIM_VL_PIN GPIO_PIN_1
+#else
 #define LEFT_TIM_VH_PIN GPIO_PIN_7
-#define LEFT_TIM_VH_PORT GPIOC
 #define LEFT_TIM_VL_PIN GPIO_PIN_0
+#endif
+#define LEFT_TIM_VH_PORT GPIOC
 #define LEFT_TIM_VL_PORT GPIOB
 #define LEFT_TIM_W CCR3
 #define LEFT_TIM_WH_PIN GPIO_PIN_8
 #define LEFT_TIM_WH_PORT GPIOC
+#ifdef PETERS_PLATINE
+#define LEFT_TIM_WL_PIN GPIO_PIN_0
+#else
 #define LEFT_TIM_WL_PIN GPIO_PIN_1
+#endif
 #define LEFT_TIM_WL_PORT GPIOB
 
 #define RIGHT_TIM TIM1

main.cpp

@@ -229,17 +229,17 @@ int main()
         timeout = 0;
 
 #ifdef MOTOR_TEST
-        left.state.enable = false;
+        left.state.enable = true;
-        left.state.ctrlMod = ControlMode::Voltage;
+        left.state.ctrlMod = ControlMode::Torque;
-        left.state.ctrlTyp = ControlType::Sinusoidal;
+        left.state.ctrlTyp = ControlType::FieldOrientedControl;
         left.state.pwm = pwm;
-        left.state.iMotMax = 1;
+        left.state.iMotMax = 10;
 
         right.state.enable = true;
-        right.state.ctrlMod = ControlMode::Voltage;
+        right.state.ctrlMod = ControlMode::Torque;
-        right.state.ctrlTyp = ControlType::Sinusoidal;
+        right.state.ctrlTyp = ControlType::FieldOrientedControl;
         right.state.pwm = pwm;
-        right.state.iMotMax = 1;
+        right.state.iMotMax = 10;
 
         constexpr auto pwmMax = 500;
 
@@ -302,13 +302,23 @@ void updateMotors()
     }
 
     // Get Left motor currents
+#ifdef PETERS_PLATINE
+    int16_t curL_phaB = (int16_t)(offsetrl1 - adc_buffer.rl1)*2;
+    int16_t curL_phaA = (int16_t)(offsetrl2 - adc_buffer.rl2)*2;
+#else
     int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1);
     int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2);
+#endif
     int16_t curL_DC   = (int16_t)(offsetdcl - adc_buffer.dcl);
 
     // Get Right motor currents
+#ifdef PETERS_PLATINE
+    int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1)*2;
+    int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2)*2;
+#else
     int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1);
     int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2);
+#endif
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
     const int8_t chopL = std::abs(curL_DC) > (left.state.iDcMax * A2BIT_CONV);
@@ -813,7 +823,11 @@ void MX_TIM_Init() {
     sConfigOC.OCMode       = TIM_OCMODE_PWM1;
     sConfigOC.Pulse        = 0;
     sConfigOC.OCPolarity   = TIM_OCPOLARITY_HIGH;
+#ifdef PETERS_PLATINE
+    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
+#else
     sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_LOW;
+#endif
     sConfigOC.OCFastMode   = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState  = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
@@ -854,7 +868,11 @@ void MX_TIM_Init() {
     sConfigOC.OCMode       = TIM_OCMODE_PWM1;
     sConfigOC.Pulse        = 0;
     sConfigOC.OCPolarity   = TIM_OCPOLARITY_HIGH;
+#ifdef PETERS_PLATINE
+    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
+#else
     sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_LOW;
+#endif
     sConfigOC.OCFastMode   = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState  = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;