feedc0de/bobbycar-controller-firmware
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Made some updates

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This commit is contained in:
CommanderRedYT
2022-08-27 16:53:03 +02:00
parent b307e1bc79
commit f01a34c109
5 changed files with 174 additions and 36 deletions
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56
main.cpp
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@ -317,6 +317,7 @@ int main()
enum { CurrentMeasAB, CurrentMeasBC, CurrentMeasAC };
#ifndef FEATURE_BETTER_FOC_CONFIG
#ifdef PETERS_PLATINE
left.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
@ -324,6 +325,23 @@ int main()
#endif
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
#ifdef LEFT_PHASE_MEAS_AB
left.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
#elif LEFT_PHASE_MEAS_BC
left.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
left.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
#endif
#ifdef RIGHT_PHASE_MEAS_AB
right.rtP.z_selPhaCurMeasABC = CurrentMeasAB;
#elif RIGHT_PHASE_MEAS_BC
right.rtP.z_selPhaCurMeasABC = CurrentMeasBC;
#else
right.rtP.z_selPhaCurMeasABC = CurrentMeasAC;
#endif
#endif
}
applyDefaultSettings();
@ -477,11 +495,11 @@ void updateMotors()
#endif
int16_t curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * A2BIT_CONV);
const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
if (chopL)
left.chops++;
const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * A2BIT_CONV);
const bool chopR = std::abs(curR_DC) > (right.iDcMax.load() * AMPERE2BIT_CONV);
if (chopR)
right.chops++;
@ -1403,22 +1421,22 @@ void doMotorTest()
left.enable = true;
left.rtU.r_inpTgt = pwm;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
left.rtU.z_ctrlModReq = uint8_t(ControlMode::Torque);
left.rtP.i_max = (2 * A2BIT_CONV) << 4;
left.rtP.z_ctrlTypSel = uint8_t(ControlType::Sinusoidal);
left.rtU.z_ctrlModReq = uint8_t(ControlMode::Voltage);
left.rtP.i_max = (2 * AMPERE2BIT_CONV) << 4;
left.iDcMax = 8;
left.rtP.n_max = 1000 << 4;
left.rtP.id_fieldWeakMax = (0 * A2BIT_CONV) << 4;
left.rtP.id_fieldWeakMax = (0 * AMPERE2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = 40 << 4;
right.enable = true;
right.rtU.r_inpTgt = -pwm;
right.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
right.rtU.z_ctrlModReq = uint8_t(ControlMode::Torque);
right.rtP.i_max = (2 * A2BIT_CONV) << 4;
right.rtU.z_ctrlModReq = uint8_t(ControlMode::Voltage);
right.rtP.i_max = (2 * AMPERE2BIT_CONV) << 4;
right.iDcMax = 8;
right.rtP.n_max = 1000 << 4;
right.rtP.id_fieldWeakMax = (0 * A2BIT_CONV) << 4;
right.rtP.id_fieldWeakMax = (0 * AMPERE2BIT_CONV) << 4;
right.rtP.a_phaAdvMax = 40 << 4;
constexpr auto pwmMax = 400;
@ -1471,9 +1489,9 @@ void parseCommand()
left.iDcMax = command.left.iDcMax;
left.rtP.z_ctrlTypSel = uint8_t(command.left.ctrlTyp);
left.rtP.i_max = (int16_t(command.left.iMotMax) * A2BIT_CONV) << 4;
left.rtP.i_max = (int16_t(command.left.iMotMax) * AMPERE2BIT_CONV) << 4;
left.rtP.n_max = command.left.nMotMax << 4;
left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * A2BIT_CONV) << 4;
left.rtP.id_fieldWeakMax = (int16_t(command.left.fieldWeakMax) * AMPERE2BIT_CONV) << 4;
left.rtP.a_phaAdvMax = command.left.phaseAdvMax << 4;
left.rtU.z_ctrlModReq = uint8_t(command.left.ctrlMod);
left.rtU.r_inpTgt = command.left.pwm;
@ -1481,9 +1499,9 @@ void parseCommand()
right.iDcMax = command.right.iDcMax;
right.rtP.z_ctrlTypSel = uint8_t(command.right.ctrlTyp);
right.rtP.i_max = (int16_t(command.right.iMotMax) * A2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.i_max = (int16_t(command.right.iMotMax) * AMPERE2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.n_max = command.right.nMotMax << 4; // fixdt(1,16,4)
right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * A2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.id_fieldWeakMax = (int16_t(command.right.fieldWeakMax) * AMPERE2BIT_CONV) << 4; // fixdt(1,16,4)
right.rtP.a_phaAdvMax = command.right.phaseAdvMax << 4; // fixdt(1,16,4)
right.rtU.z_ctrlModReq = uint8_t(command.right.ctrlMod);
right.rtU.r_inpTgt = command.right.pwm;
@ -1624,14 +1642,14 @@ void applyIncomingCanMessage()
case MotorController<isBackBoard, true> ::Command::CtrlTyp: right.rtP.z_ctrlTypSel = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::CtrlMod: left .rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true> ::Command::CtrlMod: right.rtU.z_ctrlModReq = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::IMotMax: right.rtP.i_max = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IMotMax: left .rtP.i_max = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::IMotMax: right.rtP.i_max = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::IDcMax: left .iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, true> ::Command::IDcMax: right.iDcMax = *((uint8_t*)buf); break;
case MotorController<isBackBoard, false>::Command::NMotMax: left .rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true> ::Command::NMotMax: right.rtP.n_max = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * A2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::FieldWeakMax: left .rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, true> ::Command::FieldWeakMax: right.rtP.id_fieldWeakMax = (int16_t(*((uint8_t*)buf)) * AMPERE2BIT_CONV) << 4; break;
case MotorController<isBackBoard, false>::Command::PhaseAdvMax: left .rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, true> ::Command::PhaseAdvMax: right.rtP.a_phaAdvMax = *((uint16_t*)buf) << 4; break;
case MotorController<isBackBoard, false>::Command::CruiseCtrlEna: left .rtP.b_cruiseCtrlEna = *((bool*)buf); break;
@ -1815,10 +1833,10 @@ void applyDefaultSettings()
motor.rtU.r_inpTgt = 0;
motor.rtP.z_ctrlTypSel = uint8_t(ControlType::FieldOrientedControl);
motor.rtU.z_ctrlModReq = uint8_t(ControlMode::OpenMode);
motor.rtP.i_max = (5 * A2BIT_CONV) << 4;
motor.rtP.i_max = (5 * AMPERE2BIT_CONV) << 4;
motor.iDcMax = 7;
motor.rtP.n_max = 1000 << 4;
motor.rtP.id_fieldWeakMax = (1 * A2BIT_CONV) << 4;
motor.rtP.id_fieldWeakMax = (1 * AMPERE2BIT_CONV) << 4;
motor.rtP.a_phaAdvMax = 40 << 4;
motor.rtP.b_cruiseCtrlEna = false;
motor.rtP.n_cruiseMotTgt = 0;