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ADD: abs for current measure

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This commit is contained in:
Niklas Fauth
2018-02-17 00:19:10 +01:00
parent 6842f7b7fe
commit b988e09e3e
3 changed files with 291 additions and 282 deletions
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6
Src/bldc.c
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@@ -153,9 +153,9 @@ void DMA1_Channel1_IRQHandler() {
return;
}
batteryVoltage = batteryVoltage * 0.99 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.01;
batteryVoltage = batteryVoltage * 0.999 + ((float)adc_buffer.batt1 * ADC_BATTERY_VOLT) * 0.001;
if((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
if(ABS((adc_buffer.dcl - offsetdcl) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
LEFT_TIM->BDTR &= ~TIM_BDTR_MOE;
//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 1);
} else {
@@ -163,7 +163,7 @@ void DMA1_Channel1_IRQHandler() {
//HAL_GPIO_WritePin(LED_PORT, LED_PIN, 0);
}
if((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
if(ABS((adc_buffer.dcr - offsetdcr) * MOTOR_AMP_CONV_DC_AMP) > DC_CUR_LIMIT || timeout > 50 || enable == 0) {
RIGHT_TIM->BDTR &= ~TIM_BDTR_MOE;
} else {
RIGHT_TIM->BDTR |= TIM_BDTR_MOE;