refine parameter (based on measurements)

.github/workflows/workflow.yml

@@ -15,7 +15,7 @@ jobs:
     strategy:
       fail-fast: false
       matrix:
-        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash, pcbv2_front, pcbv2_back, pcbv2_test, commander_v2_front, commander_v2_back]
+        config: [motortest, motortest_peter, feedcode-front, feedcode-back, greyhash]
     steps:
       - uses: actions/checkout@v2
         with:

CMakeLists.txt

@@ -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)
@@ -80,6 +80,7 @@ target_compile_options(motortest.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
 #    -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -106,6 +107,7 @@ target_compile_options(motortest_peter.elf PRIVATE
     #    -DPWM_FREQ_12KHZ
     #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
     #     -DFEATURE_INVERT_HALL
     #    -DHUART2
     #    -DHUART3
@@ -134,6 +136,7 @@ target_compile_options(feedcode-front.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -160,6 +163,7 @@ target_compile_options(feedcode-back.elf PRIVATE
 #    -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
 #    -DHUART3
 #    -DFEATURE_SERIAL_CONTROL
@@ -174,61 +178,6 @@ add_custom_command(OUTPUT feedcode-back.bin COMMAND arm-none-eabi-objcopy -O bin
 add_custom_target(feedcode-back ALL SOURCES feedcode-back.hex feedcode-back.bin)
 add_custom_target(flash-feedcode-back COMMAND st-flash --reset write feedcode-back.bin 0x8000000 SOURCES feedcode-back.bin DEPENDS feedcode-back.bin)
 
-
-#
-# feedc0de 2 front
-#
-add_executable(feedcode2-front.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode2-front.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode2-front.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DLEFT_HALL_ABC
-    -DRIGHT_HALL_ABC
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-#    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode2-front.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-front.elf feedcode2-front.hex DEPENDS feedcode2-front.elf)
-add_custom_command(OUTPUT feedcode2-front.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-front.elf feedcode2-front.bin DEPENDS feedcode2-front.elf)
-add_custom_target(feedcode2-front ALL SOURCES feedcode2-front.hex feedcode2-front.bin)
-add_custom_target(flash-feedcode2-front COMMAND st-flash --reset write feedcode2-front.bin 0x8000000 SOURCES feedcode2-front.bin DEPENDS feedcode2-front.bin)
-
-#
-# feedc0de 2 back
-#
-add_executable(feedcode2-back.elf config.h defines.h main.cpp)
-target_link_libraries(feedcode2-back.elf stm32_hal emanuel_foc_model bobbycar-protocol)
-target_compile_options(feedcode2-back.elf PRIVATE
-#    -DMOTOR_TEST
-    -DFEATURE_IGNORE_OTHER_MOTOR
-    -DLEFT_HALL_ACB
-    -DRIGHT_HALL_ACB
-#    -DPWM_FREQ_12KHZ
-#    -DFEATURE_BUTTON
-    -DPETERS_PLATINE
-#    -DHUART2
-#    -DHUART3
-#    -DFEATURE_SERIAL_CONTROL
-#    -DFEATURE_SERIAL_FEEDBACK
-#    -DLOG_TO_SERIAL
-    -DFEATURE_CAN
-#    -DCAN_LOG_UNKNOWN_ADDR
-    -DIS_BACK
-)
-add_custom_command(OUTPUT feedcode2-back.hex COMMAND arm-none-eabi-objcopy -O ihex feedcode2-back.elf feedcode2-back.hex DEPENDS feedcode2-back.elf)
-add_custom_command(OUTPUT feedcode2-back.bin COMMAND arm-none-eabi-objcopy -O binary -S feedcode2-back.elf feedcode2-back.bin DEPENDS feedcode2-back.elf)
-add_custom_target(feedcode2-back ALL SOURCES feedcode2-back.hex feedcode2-back.bin)
-add_custom_target(flash-feedcode2-back COMMAND st-flash --reset write feedcode2-back.bin 0x8000000 SOURCES feedcode2-back.bin DEPENDS feedcode2-back.bin)
-
 #
 # greyhash
 #
@@ -241,6 +190,7 @@ target_compile_options(greyhash.elf PRIVATE
     -DPWM_FREQ_12KHZ
 #    -DFEATURE_BUTTON
     -DPETERS_PLATINE
+#    -DSHUNT_4_MILLIOHM
 #    -DHUART2
     -DHUART3
     -DFEATURE_SERIAL_CONTROL
@@ -267,6 +217,7 @@ target_compile_options(pcbv2_front.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -294,6 +245,7 @@ target_compile_options(pcbv2_back.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -321,6 +273,7 @@ target_compile_options(pcbv2_test.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        #    -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -371,6 +324,7 @@ target_compile_options(commander_v2_front.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL
@@ -421,6 +375,7 @@ target_compile_options(commander_v2_back.elf PRIVATE
         #    -DPWM_FREQ_12KHZ
         #    -DFEATURE_BUTTON
         -DPETERS_PLATINE
+        -DSHUNT_4_MILLIOHM
         #    -DHUART2
         #    -DHUART3
         #    -DFEATURE_SERIAL_CONTROL

main.cpp

@@ -464,15 +464,15 @@ void updateMotors()
     static int16_t offsetdcl{2000};
     static int16_t offsetdcr{2000};
 
-    if (offsetcount < 2000) // calibrate ADC offsets
+    if (offsetcount < 20000) // calibrate ADC offsets
     {
         offsetcount++;
-        offsetrl1 = (adc_buffer.rl1 + offsetrl1) / 2;
-        offsetrl2 = (adc_buffer.rl2 + offsetrl2) / 2;
-        offsetrr1 = (adc_buffer.rr1 + offsetrr1) / 2;
-        offsetrr2 = (adc_buffer.rr2 + offsetrr2) / 2;
-        offsetdcl = (adc_buffer.dcl + offsetdcl) / 2;
-        offsetdcr = (adc_buffer.dcr + offsetdcr) / 2;
+        offsetrl1 = (adc_buffer.rl1 + offsetrl1 * 9) / 10;
+        offsetrl2 = (adc_buffer.rl2 + offsetrl2 * 9) / 10;
+        offsetrr1 = (adc_buffer.rr1 + offsetrr1 * 9) / 10;
+        offsetrr2 = (adc_buffer.rr2 + offsetrr2 * 9) / 10;
+        offsetdcl = (adc_buffer.dcl + offsetdcl * 9) / 10;
+        offsetdcr = (adc_buffer.dcr + offsetdcr * 9) / 10;
         return;
     }
 
@@ -496,6 +496,12 @@ void updateMotors()
 #endif
     int16_t curR_DC   = (int16_t)(offsetdcr - adc_buffer.dcr);
 
+
+#ifdef SHUNT_4_MILLIOHM
+    curL_DC *= 2.276;
+    curR_DC *= 2.276;
+#endif
+
     const bool chopL = std::abs(curL_DC) > (left.iDcMax.load() * AMPERE2BIT_CONV);
     if (chopL)
         left.chops++;