Remove PWM margin for non-FOC control types

See 2ab0699f1f

.github/workflows/workflow.yml

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

CMakeLists.txt

@@ -174,6 +174,61 @@ 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
 #

main.cpp

@@ -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 */