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Adjust pwm_margin #153

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EmanuelFeru
2021-03-27 11:42:53 +01:00
parent e73f0535d5
commit 2ab0699f1f
1 changed files with 9 additions and 1 deletions
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10
Src/bldc.c
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@@ -39,13 +39,14 @@ extern RT_MODEL *const rtM_Right;
extern DW rtDW_Left; /* Observable states */ extern DW rtDW_Left; /* Observable states */
extern ExtU rtU_Left; /* External inputs */ extern ExtU rtU_Left; /* External inputs */
extern ExtY rtY_Left; /* External outputs */ extern ExtY rtY_Left; /* External outputs */
extern P rtP_Left;
extern DW rtDW_Right; /* Observable states */ extern DW rtDW_Right; /* Observable states */
extern ExtU rtU_Right; /* External inputs */ extern ExtU rtU_Right; /* External inputs */
extern ExtY rtY_Right; /* External outputs */ extern ExtY rtY_Right; /* External outputs */
// ############################################################################### // ###############################################################################
static int16_t pwm_margin = 110; /* This margin allows to always have a window in the PWM signal for proper Phase currents measurement */ static int16_t pwm_margin; /* This margin allows to have a window in the PWM signal for proper FOC Phase currents measurement */
extern uint8_t ctrlModReq; extern uint8_t ctrlModReq;
static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV); static int16_t curDC_max = (I_DC_MAX * A2BIT_CONV);
@@ -146,6 +147,13 @@ void DMA1_Channel1_IRQHandler(void) {
buzzerPrev = 0; buzzerPrev = 0;
} }
// Adjust pwm_margin depending on the selected Control Type
if (rtP_Left.z_ctrlTypSel == FOC_CTRL) {
pwm_margin = 110;
} else {
pwm_margin = 0;
}
// ############################### MOTOR CONTROL ############################### // ############################### MOTOR CONTROL ###############################
int ul, vl, wl; int ul, vl, wl;