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Added Sinusoidal Control Type

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Sinusoidal Control Type is now available is this branch. To select it go in config.h and change CTRL_TYP_SEL to 1. By default FOC control type is selcted.
Note: SPEED and TORQUE modes are not available for Sinusoidal control type.
This commit is contained in:
EmanuelFeru
2019-11-30 11:30:12 +01:00
parent 420b95e281
commit 6c8b7f001d
15 changed files with 1502 additions and 1242 deletions
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7
Src/main.c
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@@ -74,7 +74,7 @@ typedef struct{
uint16_t checksum;
} Serialcommand;
static volatile Serialcommand command;
static int16_t timeoutCnt = 0 // Timeout counter for Rx Serial command
static int16_t timeoutCnt = 0; // Timeout counter for Rx Serial command
#endif
static uint8_t timeoutFlag = 0; // Timeout Flag for Rx Serial command: 0 = OK, 1 = Problem detected (line disconnected or wrong Rx data)
@@ -99,7 +99,8 @@ static uint8_t serialSendCounter; // serial send counter
static uint8_t button1, button2;
#endif
uint8_t ctrlModReq = CTRL_MOD_REQ;
uint8_t ctrlModReqRaw = CTRL_MOD_REQ;
uint8_t ctrlModReq; // Final control mode request
static int cmd1; // normalized input value. -1000 to 1000
static int cmd2; // normalized input value. -1000 to 1000
static int16_t steer; // local variable for steering. -1000 to 1000
@@ -349,7 +350,7 @@ int main(void) {
cmd1 = 0;
cmd2 = 0;
} else {
ctrlModReq = CTRL_MOD_REQ; // Follow the Mode request
ctrlModReq = ctrlModReqRaw; // Follow the Mode request
}
timeout = 0;