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Merge branch 'EFeru:master' into master

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Candas1
2022-03-06 18:19:48 +01:00
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parent 79bf9ef768 7bb9a4b3f0
commit 8ee426e335
8 changed files with 109 additions and 98 deletions
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41
.github/workflows/build_on_commit.yml vendored Normal file
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name: Build
on:
push:
branches: [ master ]
pull_request:
branches: [ master ]
jobs:
build:
runs-on: ubuntu-latest
steps:
# Get required packages
- uses: actions/checkout@v2
- uses: fiam/arm-none-eabi-gcc@v1
with:
release: '9-2019-q4'
# Build with make
- name: make
env:
VARIANT: VARIANT_ADC
run: make
# Build with Platformio
- name: PlatformIO Install
run: |
python -m pip install --upgrade pip
pip install --upgrade platformio
- name: PlatformIO Run
run: pio run
- name: 'Upload Build Artifact'
uses: actions/upload-artifact@v3
with:
path: ${{github.workspace}}/.pio/build/**
name: ${{github.event.repository.name}}_build_${{github.run_number}}
retention-days: 5

55
.travis.yml
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@ -1,55 +0,0 @@
notifications:
email: true
os: linux
jobs:
fast_finish: true
include:
- name: make (gcc-arm-none-eabi-7)
script: make
env: VARIANT=VARIANT_ADC
language: c
addons:
apt:
packages:
- libc6-i386
install:
- pushd .
- cd ~
- mkdir arm-gcc-toolchain
- wget -O $HOME/arm-gcc-toolchain/gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/7-2018q2/gcc-arm-none-eabi-7-2018-q2-update-linux.tar.bz2?revision=bc2c96c0-14b5-4bb4-9f18-bceb4050fee7?product=GNU%20Arm%20Embedded%20Toolchain,64-bit,,Linux,7-2018-q2-update
- cd arm-gcc-toolchain
- tar -jxf gcc.tar.bz2 --strip=1
- popd
- export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
before_script: arm-none-eabi-gcc --version
- name: make (gcc-arm-none-eabi-5)
script: make
env: VARIANT=VARIANT_ADC
language: c
addons:
apt:
packages:
- libc6-i386
install:
- pushd .
- cd ~
- mkdir arm-gcc-toolchain
- wget -O $HOME/arm-gcc-toolchain/gcc.tar.bz2 https://developer.arm.com/-/media/Files/downloads/gnu-rm/5_4-2016q3/gcc-arm-none-eabi-5_4-2016q3-20160926-linux.tar.bz2?revision=111dee36-f88b-4672-8ac6-48cf41b4d375?product=GNU%20Arm%20Embedded%20Toolchain,32-bit,,Linux,5-2016-q3-update
- cd arm-gcc-toolchain
- tar -jxf gcc.tar.bz2 --strip=1
- popd
- export PATH=$HOME/arm-gcc-toolchain/bin:$PATH
before_script: arm-none-eabi-gcc --version
- name: platformio
script: platformio run
language: python
install:
- pip install -U platformio
- platformio update
cache:
- directories: "~/.platformio"

4
Inc/BLDC_controller.h
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

4
Inc/rtwtypes.h
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

16
README.md
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@ -1,5 +1,5 @@
# hoverboard-firmware-hack-FOC
[![Build Status](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC.svg?branch=master)](https://app.travis-ci.com/EFeru/hoverboard-firmware-hack-FOC)
[![Build status](https://github.com/EFeru/hoverboard-firmware-hack-FOC/actions/workflows/build_on_commit.yml/badge.svg)](https://github.com/EFeru/hoverboard-firmware-hack-FOC/actions/workflows/build_on_commit.yml)
[![License: GPL v3](https://img.shields.io/badge/License-GPLv3-blue.svg)](https://www.gnu.org/licenses/gpl-3.0)
[![paypal](https://www.paypalobjects.com/en_US/i/btn/btn_donate_SM.gif)](https://www.paypal.com/cgi-bin/webscr?cmd=_donations&business=CU2SWN2XV9SCY&currency_code=EUR&source=url)
@ -8,14 +8,13 @@ This repository implements Field Oriented Control (FOC) for stock hoverboards. C
- smooth torque output and improved motor efficiency. Thus, lower energy consumption
- field weakening to increase maximum speed range
Table of Contents
=======================
* **Wiki:** please check the wiki pages for [Getting Started](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#getting-started) and for [Troubleshooting](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#troubleshooting)
* [Hardware](#hardware)
* [FOC Firmware](#foc-firmware)
* [Example Variants](#example-variants)
* [Wiki](#wiki)
* [Projects and Links](#projects-and-links)
* [Contributions](#contributions)
@ -97,6 +96,12 @@ In all FOC control modes, the controller features maximum motor speed and maximu
- The controller parameters are given in [this table](https://github.com/EFeru/bldc-motor-control-FOC/blob/master/02_Figures/paramTable.png)
### FOC Webview
To explore the controller without a Matlab/Simulink installation click on the link below:
[https://eferu.github.io/bldc-motor-control-FOC/](https://eferu.github.io/bldc-motor-control-FOC/)
---
## Example Variants
@ -114,11 +119,6 @@ In all FOC control modes, the controller features maximum motor speed and maximu
Of course the firmware can be further customized for other needs or projects.
---
## Wiki
Please check the wiki for [Getting Started](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#getting-started) and for [Troubleshooting](https://github.com/EFeru/hoverboard-firmware-hack-FOC/wiki#troubleshooting)
---
## Projects and Links

83
Src/BLDC_controller.c
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex
@ -1019,6 +1019,8 @@ void BLDC_controller_step(RT_MODEL *const rtM)
int32_T rtb_Sum1_jt;
int16_T rtb_Merge_m;
int16_T rtb_Merge1;
uint16_T rtb_Divide14_e;
uint16_T rtb_Divide1_f;
int16_T rtb_TmpSignalConversionAtLow_Pa[2];
int32_T rtb_Switch1;
int32_T rtb_Sum1;
@ -2116,20 +2118,15 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Switch: '<S44>/Switch2' */
/* Switch: '<S42>/Switch2' incorporates:
* Constant: '<S1>/z_ctrlTypSel'
* Constant: '<S42>/CTRL_COMM2'
* Constant: '<S42>/a_phaAdvMax'
* Constant: '<S42>/id_fieldWeakMax'
* RelationalOperator: '<S42>/Relational Operator1'
/* Product: '<S42>/Divide14' incorporates:
* Constant: '<S42>/r_fieldWeakHi'
* Constant: '<S42>/r_fieldWeakLo'
* Sum: '<S42>/Sum1'
* Sum: '<S42>/Sum3'
*/
if (rtP->z_ctrlTypSel == 2) {
rtb_Saturation1 = rtP->id_fieldWeakMax;
} else {
rtb_Saturation1 = rtP->a_phaAdvMax;
}
/* End of Switch: '<S42>/Switch2' */
rtb_Divide14_e = (uint16_T)(((int16_T)(DataTypeConversion2 -
rtP->r_fieldWeakLo) << 15) / (int16_T)(rtP->r_fieldWeakHi -
rtP->r_fieldWeakLo));
/* Switch: '<S43>/Switch2' incorporates:
* Constant: '<S42>/n_fieldWeakAuthHi'
@ -2151,25 +2148,53 @@ void BLDC_controller_step(RT_MODEL *const rtM)
/* End of Switch: '<S43>/Switch2' */
/* Product: '<S42>/Divide3' incorporates:
/* Product: '<S42>/Divide1' incorporates:
* Constant: '<S42>/n_fieldWeakAuthHi'
* Constant: '<S42>/n_fieldWeakAuthLo'
* Constant: '<S42>/r_fieldWeakHi'
* Constant: '<S42>/r_fieldWeakLo'
* Product: '<S42>/Divide1'
* Product: '<S42>/Divide14'
* Product: '<S42>/Divide2'
* Sum: '<S42>/Sum1'
* Sum: '<S42>/Sum2'
* Sum: '<S42>/Sum3'
* Sum: '<S42>/Sum4'
*/
rtDW->Divide3 = (int16_T)(((uint16_T)(((uint32_T)(uint16_T)(((int16_T)
(DataTypeConversion2 - rtP->r_fieldWeakLo) << 15) / (int16_T)
(rtP->r_fieldWeakHi - rtP->r_fieldWeakLo)) * (uint16_T)(((int16_T)
(rtb_Saturation - rtP->n_fieldWeakAuthLo) << 15) / (int16_T)
(rtP->n_fieldWeakAuthHi - rtP->n_fieldWeakAuthLo))) >> 15) *
rtb_Saturation1) >> 15);
rtb_Divide1_f = (uint16_T)(((int16_T)(rtb_Saturation -
rtP->n_fieldWeakAuthLo) << 15) / (int16_T)(rtP->n_fieldWeakAuthHi -
rtP->n_fieldWeakAuthLo));
/* Switch: '<S42>/Switch1' incorporates:
* MinMax: '<S42>/MinMax1'
* RelationalOperator: '<S42>/Relational Operator6'
*/
if (rtb_Divide14_e < rtb_Divide1_f) {
/* MinMax: '<S42>/MinMax' */
if (!(rtb_Divide14_e > rtb_Divide1_f)) {
rtb_Divide14_e = rtb_Divide1_f;
}
/* End of MinMax: '<S42>/MinMax' */
} else {
if (rtb_Divide1_f < rtb_Divide14_e) {
/* MinMax: '<S42>/MinMax1' */
rtb_Divide14_e = rtb_Divide1_f;
}
}
/* End of Switch: '<S42>/Switch1' */
/* Switch: '<S42>/Switch2' incorporates:
* Constant: '<S1>/z_ctrlTypSel'
* Constant: '<S42>/CTRL_COMM2'
* Constant: '<S42>/a_phaAdvMax'
* Constant: '<S42>/id_fieldWeakMax'
* RelationalOperator: '<S42>/Relational Operator1'
*/
if (rtP->z_ctrlTypSel == 2) {
rtb_Saturation1 = rtP->id_fieldWeakMax;
} else {
rtb_Saturation1 = rtP->a_phaAdvMax;
}
/* End of Switch: '<S42>/Switch2' */
/* Product: '<S42>/Divide3' */
rtDW->Divide3 = (int16_T)((rtb_Saturation1 * rtb_Divide14_e) >> 15);
/* End of Outputs for SubSystem: '<S6>/Field_Weakening_Enabled' */
}

4
Src/BLDC_controller_data.c
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@ -3,9 +3,9 @@
*
* Code generated for Simulink model 'BLDC_controller'.
*
* Model version : 1.1296
* Model version : 1.1297
* Simulink Coder version : 8.13 (R2017b) 24-Jul-2017
* C/C++ source code generated on : Tue Oct 20 17:29:57 2020
* C/C++ source code generated on : Sun Mar 6 11:02:11 2022
*
* Target selection: ert.tlc
* Embedded hardware selection: ARM Compatible->ARM Cortex

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