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Floating-point converted to fixed-point

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The follwing were converted to fixed-point
- battery voltage
- board temperature
- filters for steer and speed
- mixer calculation

Starting from this moment, the firmware is floating point free, meaning it runs more efficiently.
This commit is contained in:
EmanuelFeru
2019-10-20 13:31:47 +02:00
parent f6fc825e5f
commit 8771742558
6 changed files with 471 additions and 116 deletions
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16
Src/bldc.c
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@@ -76,7 +76,9 @@ static int16_t offsetrr2 = 2000;
static int16_t offsetdcl = 2000;
static int16_t offsetdcr = 2000;
float batteryVoltage = BAT_NUMBER_OF_CELLS * 4.0;
int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
static int16_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 4; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
//scan 8 channels with 2ADCs @ 20 clk cycles per sample
//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
@@ -98,27 +100,27 @@ void DMA1_Channel1_IRQHandler(void) {
return;
}
if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time
batteryVoltage = batteryVoltage * 0.99f + ((float)adc_buffer.batt1 * ((float)BAT_CALIB_REAL_VOLTAGE / (float)BAT_CALIB_ADC)) * 0.01f;
if (buzzerTimer % 1000 == 0) { // because you get float rounding errors if it would run every time -> not any more, everything converted to fixed-point
filtLowPass16(adc_buffer.batt1, BAT_FILT_COEF, &batVoltageFixdt);
batVoltage = batVoltageFixdt >> 4; // convert fixed-point to integer
}
// Get Left motor currents
curL_phaA = (int16_t)(offsetrl1 - adc_buffer.rl1);
curL_phaB = (int16_t)(offsetrl2 - adc_buffer.rl2);
curL_DC = (int16_t)(adc_buffer.dcl - offsetdcl);
curL_DC = (int16_t)(offsetdcl - adc_buffer.dcl);
// Get Right motor currents
curR_phaB = (int16_t)(offsetrr1 - adc_buffer.rr1);
curR_phaC = (int16_t)(offsetrr2 - adc_buffer.rr2);
curR_DC = (int16_t)(adc_buffer.dcr - offsetdcr);
curR_DC = (int16_t)(offsetdcr - adc_buffer.dcr);
// Disable PWM when current limit is reached (current chopping)
// This is the Level 2 of current protection. The Level 1 should kick in first given by I_MOT_MAX
if(ABS(curL_DC) > I_DC_MAX || timeout > TIMEOUT || enable == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
} else {
LEFT_TIM->BDTR |= TIM_BDTR_MOE;
//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
if(ABS(curR_DC) > I_DC_MAX || timeout > TIMEOUT || enable == 0) {