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Added 4 milliohm shunt resistor config #20

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peterpoetzi wants to merge 3 commits from peters_platine_shunt into master
pull from: peters_platine_shunt
merge into: feedc0de:master
Conversation 0 Commits 3 Files Changed 2 +23 -7
2 changed files with 23 additions and 7 deletions
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10
CMakeLists.txt
View File

@ -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
@ -186,6 +190,7 @@ target_compile_options(greyhash.elf PRIVATE
-DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2
-DHUART3
-DFEATURE_SERIAL_CONTROL
@ -212,6 +217,7 @@ target_compile_options(pcbv2_front.elf PRIVATE
# -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2
# -DHUART3
# -DFEATURE_SERIAL_CONTROL
@ -239,6 +245,7 @@ target_compile_options(pcbv2_back.elf PRIVATE
# -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2
# -DHUART3
# -DFEATURE_SERIAL_CONTROL
@ -266,6 +273,7 @@ target_compile_options(pcbv2_test.elf PRIVATE
# -DPWM_FREQ_12KHZ
# -DFEATURE_BUTTON
-DPETERS_PLATINE
# -DSHUNT_4_MILLIOHM
# -DHUART2
# -DHUART3
# -DFEATURE_SERIAL_CONTROL
@ -316,6 +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
@ -366,6 +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

20
main.cpp
View File

@ -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++;