feedc0de/bobbycar-controller-firmware
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feedc0de:master feedc0de:no-pwm-margin feedc0de:wno-volatile feedc0de:feature-uvlo feedc0de:peters_platine_shunt feedc0de:feature-ab-bootloader feedc0de:led_fet_branch feedc0de:feature-can feedc0de:test_firmware_peters_platine feedc0de:peter-rebased feedc0de:test_firmware feedc0de:angleDelta
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compare: feedc0de:no-pwm-margin
Branches Tags
feedc0de:master feedc0de:no-pwm-margin feedc0de:wno-volatile feedc0de:feature-uvlo feedc0de:peters_platine_shunt feedc0de:feature-ab-bootloader feedc0de:led_fet_branch feedc0de:feature-can feedc0de:test_firmware_peters_platine feedc0de:peter-rebased feedc0de:test_firmware feedc0de:angleDelta

1 Commits
master ... no-pwm-mar

Author SHA1 Message Date
Michael Ehrenreich
209cbca8ba Remove PWM margin for non-FOC control types 
See 2ab0699f1f
 2023-04-13 04:31:19 +02:00
2 changed files with 12 additions and 8 deletions
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2
CMakeLists.txt
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@ -11,7 +11,7 @@ SET(CMAKE_SYSTEM_NAME Generic)
set(COMMON_FLAGS "-mcpu=cortex-m3 -mthumb -Wall -fdata-sections -ffunction-sections")
set(CMAKE_ASM_FLAGS "${COMMON_FLAGS} -x assembler-with-cpp")
set(CMAKE_C_FLAGS "${COMMON_FLAGS}")
set(CMAKE_CXX_FLAGS "${COMMON_FLAGS} -Wno-volatile")
set(CMAKE_CXX_FLAGS "${COMMON_FLAGS}")
set(CMAKE_C_STANDARD 11)
set(CMAKE_CXX_STANDARD 20)

18
main.cpp
View File

@ -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 */