fix FOC on left motor

config.h

@@ -1,6 +1,6 @@
 #pragma once
 
-#define PWM_FREQ            16000     // PWM frequency in Hz
+#define PWM_FREQ            10000     // PWM frequency in Hz
 #define DEAD_TIME              48     // PWM deadtime
 #ifdef VARIANT_TRANSPOTTER
   #define DELAY_IN_MAIN_LOOP    2

defines.h

@@ -39,22 +39,25 @@
 #define RIGHT_HALL_W_PORT GPIOC
 
 #define LEFT_TIM TIM8
+
 #define LEFT_TIM_U CCR1
 #define LEFT_TIM_UH_PIN GPIO_PIN_6
 #define LEFT_TIM_UH_PORT GPIOC
 #define LEFT_TIM_UL_PIN GPIO_PIN_7
 #define LEFT_TIM_UL_PORT GPIOA
+
 #define LEFT_TIM_V CCR2
-#define LEFT_TIM_VH_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_PIN GPIO_PIN_7
 #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_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_U CCR1
 #define RIGHT_TIM_UH_PIN GPIO_PIN_8

main.cpp

@@ -165,7 +165,7 @@ int main()
     HAL_ADC_Start(&hadc2);
 
     left.rtP = rtP_Left;
-    left.rtP.b_selPhaABCurrMeas  = 1;            // Left motor measured current phases = {iA, iB} -> do NOT change
+    left.rtP.b_selPhaABCurrMeas  = 0;            // Left motor measured current phases = {iA, iB} -> do NOT change
     left.rtP.z_ctrlTypSel        = uint8_t(left.state.ctrlTyp);
     left.rtP.b_diagEna           = DIAG_ENA;
     left.rtP.i_max               = (left.state.iMotMax * A2BIT_CONV) << 4;        // fixdt(1,16,4)
@@ -212,34 +212,54 @@ int main()
 //#define UART_DMA_CHANNEL DMA1_Channel2
     //UART3_Init();
 
-    HAL_UART_Receive_DMA(&huart2, (uint8_t *)&command, sizeof(command));
+    int pwm = 0;
+    int8_t dir = 1;
+
+    const int pwmMax = 400;
 
     for (;;) {
-        HAL_Delay(DELAY_IN_MAIN_LOOP); //delay in ms
-
-        parseCommand();
+        HAL_Delay(DELAY_IN_MAIN_LOOP ); //delay in ms
 
         timeout = 0;
 
+        left.state.enable = true;
+        left.state.ctrlMod = ControlMode::Voltage;//FieldOrientedControl
+        left.state.ctrlTyp = ControlType::FieldOrientedControl;//Sinusoidal;
+        left.state.pwm = pwm;
+        left.state.iMotMax = 10;
+
+        right.state.enable = true;
+        right.state.ctrlMod = ControlMode::Voltage;
+        right.state.ctrlTyp = ControlType::FieldOrientedControl;
+        right.state.pwm = pwm;
+        right.state.iMotMax = 10;
+
+        pwm += dir;
+        if (pwm > pwmMax) {
+          pwm = pwmMax;
+          dir = -1;
+        } else if (pwm < -pwmMax) {
+          pwm = -pwmMax;
+          dir = 1;
+        }
+
         // ####### CALC BOARD TEMPERATURE #######
         filtLowPass32(adc_buffer.temp, TEMP_FILT_COEF, &board_temp_adcFixdt);
         board_temp_adcFilt  = (int16_t)(board_temp_adcFixdt >> 20);  // convert fixed-point to integer
         board_temp_deg_c    = (TEMP_CAL_HIGH_DEG_C - TEMP_CAL_LOW_DEG_C) * (board_temp_adcFilt - TEMP_CAL_LOW_ADC) / (TEMP_CAL_HIGH_ADC - TEMP_CAL_LOW_ADC) + TEMP_CAL_LOW_DEG_C;
 
-        sendFeedback();
-
-        if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
-        {
-            left.state.enable = right.state.enable = 0;           // disable motors
-
-            while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}    // wait until button is released
-
-            if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST)) {               // do not power off after software reset (from a programmer/debugger)
-                __HAL_RCC_CLEAR_RESET_FLAGS();                      // clear reset flags
-            } else {
-                poweroff();                                         // release power-latch
-            }
-        }
+//        if (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN))
+//        {
+//            left.state.enable = right.state.enable = 0;           // disable motors
+//
+//            while (HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN)) {}    // wait until button is released
+//
+//            if(__HAL_RCC_GET_FLAG(RCC_FLAG_SFTRST)) {               // do not power off after software reset (from a programmer/debugger)
+//                __HAL_RCC_CLEAR_RESET_FLAGS();                      // clear reset flags
+//            } else {
+//                poweroff();                                         // release power-latch
+//            }
+//        }
 
         main_loop_counter++;
         timeout++;
@@ -268,13 +288,13 @@ void updateMotors()
     }
 
     // Get Left motor currents
-    int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1);
-    int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2);
+    int16_t curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1)*2;
+    int16_t curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2)*2;
     int16_t curL_DC   = (int16_t)(offsetdcl - adc_buffer.dcl);
 
     // Get Right motor currents
-    int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1);
-    int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2);
+    int16_t curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1)*2;
+    int16_t curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2)*2;
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
     const int8_t chopL = std::abs(curL_DC) > (left.state.iDcMax * A2BIT_CONV);
@@ -323,7 +343,7 @@ void updateMotors()
     constexpr int32_t pwm_margin = 100;        /* This margin allows to always have a window in the PWM signal for proper Phase currents measurement */
 
     /* Make sure to stop BOTH motors in case of an error */
-    const bool enableLFin = left.state.enable && left.rtY.z_errCode == 0 && right.rtY.z_errCode == 0;
+    const bool enableLFin = left.state.enable && left.rtY.z_errCode == 0 && left.rtY.z_errCode == 0;
     const bool enableRFin = right.state.enable && left.rtY.z_errCode == 0 && right.rtY.z_errCode == 0;
 
     // ========================= LEFT MOTOR ============================
@@ -772,7 +792,7 @@ void MX_TIM_Init() {
     sConfigOC.OCMode       = TIM_OCMODE_PWM1;
     sConfigOC.Pulse        = 0;
     sConfigOC.OCPolarity   = TIM_OCPOLARITY_HIGH;
-    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_LOW;
+    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
     sConfigOC.OCFastMode   = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState  = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;
@@ -813,7 +833,7 @@ void MX_TIM_Init() {
     sConfigOC.OCMode       = TIM_OCMODE_PWM1;
     sConfigOC.Pulse        = 0;
     sConfigOC.OCPolarity   = TIM_OCPOLARITY_HIGH;
-    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_LOW;
+    sConfigOC.OCNPolarity  = TIM_OCNPOLARITY_HIGH;
     sConfigOC.OCFastMode   = TIM_OCFAST_DISABLE;
     sConfigOC.OCIdleState  = TIM_OCIDLESTATE_RESET;
     sConfigOC.OCNIdleState = TIM_OCNIDLESTATE_SET;