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merge into: feedc0de:test_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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pull from: feedc0de:peter-rebased
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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

2 Commits
test_firmw ... peter-reba

Author SHA1 Message Date
greyhash
aa589cb565 Updated Model and did some changes in main.cpp so it works with the new model 2020-10-19 17:42:21 +02:00
Peter
985cfdd802 change timers 2020-10-19 15:45:11 +02:00
4 changed files with 27 additions and 24 deletions
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2
bobbycar-foc-model

Submodule bobbycar-foc-model updated: 24e9a0af18...e41c8c605c

2
config.h
View File

@ -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

17
defines.h
View File

@ -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

30
main.cpp
View File

@ -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.z_selPhaCurMeasABC = 1; // 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)
@ -181,7 +181,7 @@ int main()
left.rtM.outputs = &left.rtY;
right.rtP = rtP_Left;
right.rtP.b_selPhaABCurrMeas = 0; // Left motor measured current phases = {iB, iC} -> do NOT change
right.rtP.z_selPhaCurMeasABC = 1; // Left motor measured current phases = {iB, iC} -> do NOT change
right.rtP.z_ctrlTypSel = uint8_t(right.state.ctrlTyp);
right.rtP.b_diagEna = DIAG_ENA;
right.rtP.i_max = (right.state.iMotMax * A2BIT_CONV) << 4; // fixdt(1,16,4)
@ -218,21 +218,21 @@ int main()
const int pwmMax = 1000;
for (;;) {
HAL_Delay(DELAY_IN_MAIN_LOOP * 2); //delay in ms
HAL_Delay(DELAY_IN_MAIN_LOOP ); //delay in ms
timeout = 0;
left.state.enable = false;
left.state.ctrlMod = ControlMode::Voltage;
left.state.ctrlTyp = ControlType::Sinusoidal;
left.state.enable = true;
left.state.ctrlMod = ControlMode::Voltage;//FieldOrientedControl
left.state.ctrlTyp = ControlType::FieldOrientedControl;//Sinusoidal;
left.state.pwm = pwm;
left.state.iMotMax = 1;
left.state.iMotMax = 10;
right.state.enable = true;
right.state.ctrlMod = ControlMode::Voltage;
right.state.ctrlTyp = ControlType::Sinusoidal;
right.state.ctrlTyp = ControlType::FieldOrientedControl;
right.state.pwm = pwm;
right.state.iMotMax = 1;
right.state.iMotMax = 10;
pwm += dir;
if (pwm > pwmMax) {
@ -288,13 +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_phaB = (int16_t)(offsetrl1 - adc_buffer.rl1)*2;
int16_t curL_phaA = (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);
@ -792,7 +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;
@ -833,7 +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;