feedc0de/bobbycar-foc-model
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DC Link converted to fixed-point

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EmanuelFeru
2019-10-12 19:51:31 +02:00
parent d87e9d68c6
commit f6fc825e5f
3 changed files with 13 additions and 14 deletions
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8
Src/bldc.c
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@@ -1,5 +1,5 @@
/*
* This file has been re-implemented FOC motor control.
* This file implements FOC motor control.
* This control method offers superior performanace
* compared to previous cummutation method. The new method features:
* ► reduced noise and vibrations
@@ -66,7 +66,7 @@ static uint32_t buzzerTimer = 0;
uint8_t enable = 0;
static uint8_t enableFin = 0;
static const uint16_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
static const uint16_t pwm_res = 64000000 / 2 / PWM_FREQ; // = 2000
static uint16_t offsetcount = 0;
static int16_t offsetrl1 = 2000;
@@ -113,7 +113,7 @@ void DMA1_Channel1_IRQHandler(void) {
curR_DC = (int16_t)(adc_buffer.dcr - offsetdcr);
// Disable PWM when current limit is reached (current chopping)
if(ABS(curL_DC * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
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 {
@@ -121,7 +121,7 @@ void DMA1_Channel1_IRQHandler(void) {
//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
if(ABS(curR_DC * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > TIMEOUT || enable == 0) {
if(ABS(curR_DC) > I_DC_MAX || timeout > TIMEOUT || enable == 0) {
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
} else {
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;