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change timers

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This commit is contained in:
Peter
2020-10-19 15:45:11 +02:00
parent 23612d410d
commit 985cfdd802
3 changed files with 25 additions and 22 deletions
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2
config.h
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@ -1,6 +1,6 @@
#pragma once #pragma once
#define PWM_FREQ 16000 // PWM frequency in Hz #define PWM_FREQ 10000 // PWM frequency in Hz
#define DEAD_TIME 48 // PWM deadtime #define DEAD_TIME 48 // PWM deadtime
#ifdef VARIANT_TRANSPOTTER #ifdef VARIANT_TRANSPOTTER
#define DELAY_IN_MAIN_LOOP 2 #define DELAY_IN_MAIN_LOOP 2

17
defines.h
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@ -39,22 +39,25 @@
#define RIGHT_HALL_W_PORT GPIOC #define RIGHT_HALL_W_PORT GPIOC
#define LEFT_TIM TIM8 #define LEFT_TIM TIM8
#define LEFT_TIM_U CCR1 #define LEFT_TIM_U CCR1
#define LEFT_TIM_UH_PIN GPIO_PIN_6 #define LEFT_TIM_UH_PIN GPIO_PIN_6
#define LEFT_TIM_UH_PORT GPIOC #define LEFT_TIM_UH_PORT GPIOC
#define LEFT_TIM_UL_PIN GPIO_PIN_7 #define LEFT_TIM_UL_PIN GPIO_PIN_7
#define LEFT_TIM_UL_PORT GPIOA #define LEFT_TIM_UL_PORT GPIOA
#define LEFT_TIM_V CCR2 #define LEFT_TIM_V CCR2
#define LEFT_TIM_VH_PIN GPIO_PIN_7 #define LEFT_TIM_WH_PIN GPIO_PIN_7
#define LEFT_TIM_VH_PORT GPIOC
#define LEFT_TIM_VL_PIN GPIO_PIN_0
#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 #define LEFT_TIM_WH_PORT GPIOC
#define LEFT_TIM_WL_PIN GPIO_PIN_1 #define LEFT_TIM_WL_PIN GPIO_PIN_0
#define LEFT_TIM_WL_PORT GPIOB #define LEFT_TIM_WL_PORT GPIOB
#define LEFT_TIM_W CCR3
#define LEFT_TIM_VH_PIN GPIO_PIN_8
#define LEFT_TIM_VH_PORT GPIOC
#define LEFT_TIM_VL_PIN GPIO_PIN_1
#define LEFT_TIM_VL_PORT GPIOB
#define RIGHT_TIM TIM1 #define RIGHT_TIM TIM1
#define RIGHT_TIM_U CCR1 #define RIGHT_TIM_U CCR1
#define RIGHT_TIM_UH_PIN GPIO_PIN_8 #define RIGHT_TIM_UH_PIN GPIO_PIN_8

28
main.cpp
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@ -215,24 +215,24 @@ int main()
int pwm = 0; int pwm = 0;
int8_t dir = 1; int8_t dir = 1;
const int pwmMax = 1000; const int pwmMax = 400;
for (;;) { for (;;) {
HAL_Delay(DELAY_IN_MAIN_LOOP * 2); //delay in ms HAL_Delay(DELAY_IN_MAIN_LOOP ); //delay in ms
timeout = 0; timeout = 0;
left.state.enable = false; left.state.enable = true;
left.state.ctrlMod = ControlMode::Voltage; left.state.ctrlMod = ControlMode::Voltage;//FieldOrientedControl
left.state.ctrlTyp = ControlType::Sinusoidal; left.state.ctrlTyp = ControlType::FieldOrientedControl;//Sinusoidal;
left.state.pwm = pwm; left.state.pwm = pwm;
left.state.iMotMax = 1; left.state.iMotMax = 10;
right.state.enable = true; right.state.enable = true;
right.state.ctrlMod = ControlMode::Voltage; right.state.ctrlMod = ControlMode::Voltage;
right.state.ctrlTyp = ControlType::Sinusoidal; right.state.ctrlTyp = ControlType::FieldOrientedControl;
right.state.pwm = pwm; right.state.pwm = pwm;
right.state.iMotMax = 1; right.state.iMotMax = 10;
pwm += dir; pwm += dir;
if (pwm > pwmMax) { if (pwm > pwmMax) {
@ -288,13 +288,13 @@ void updateMotors()
} }
// Get Left motor currents // Get Left motor currents
int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1); int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1)*2;
int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2); int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2)*2;
int16_t curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl); int16_t curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl);
// Get Right motor currents // Get Right motor currents
int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1); int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1)*2;
int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2); int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2)*2;
int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr); int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
const int8_t chopL = std::abs(curL_DC) > (left.state.iDcMax * A2BIT_CONV); const int8_t chopL = std::abs(curL_DC) > (left.state.iDcMax * A2BIT_CONV);
@ -792,7 +792,7 @@ void MX_TIM_Init() {
sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0; sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW; sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET; sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
@ -833,7 +833,7 @@ void MX_TIM_Init() {
sConfigOC.OCMode = TIM_OCMODE_PWM1; sConfigOC.OCMode = TIM_OCMODE_PWM1;
sConfigOC.Pulse = 0; sConfigOC.Pulse = 0;
sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH; sConfigOC.OCPolarity = TIM_OCPOLARITY_HIGH;
sConfigOC.OCNPolarity = TIM_OCNPOLARITY_LOW; sConfigOC.OCNPolarity = TIM_OCNPOLARITY_HIGH;
sConfigOC.OCFastMode = TIM_OCFAST_DISABLE; sConfigOC.OCFastMode = TIM_OCFAST_DISABLE;
sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET; sConfigOC.OCIdleState = TIM_OCIDLESTATE_RESET;
sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET; sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;