2015-12-08 12:01:23 -08:00
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/*
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2017-09-04 12:12:43 -07:00
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Copyright 2016 - 2017 Benjamin Vedder benjamin@vedder.se
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2015-12-08 12:01:23 -08:00
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2016-11-04 07:18:34 -07:00
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This file is part of the VESC firmware.
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The VESC firmware is free software: you can redistribute it and/or modify
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2015-12-08 12:01:23 -08:00
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it under the terms of the GNU General Public License as published by
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the Free Software Foundation, either version 3 of the License, or
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(at your option) any later version.
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2016-11-04 07:18:34 -07:00
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The VESC firmware is distributed in the hope that it will be useful,
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2015-12-08 12:01:23 -08:00
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but WITHOUT ANY WARRANTY; without even the implied warranty of
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MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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GNU General Public License for more details.
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You should have received a copy of the GNU General Public License
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along with this program. If not, see <http://www.gnu.org/licenses/>.
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2017-09-04 12:12:43 -07:00
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*/
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2015-12-08 12:01:23 -08:00
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#include "mc_interface.h"
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#include "mcpwm.h"
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#include "mcpwm_foc.h"
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2016-01-30 06:57:51 -08:00
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#include "ledpwm.h"
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2015-12-08 12:01:23 -08:00
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#include "stm32f4xx_conf.h"
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#include "hw.h"
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#include "terminal.h"
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#include "utils.h"
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#include "ch.h"
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#include "hal.h"
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2016-01-30 06:57:51 -08:00
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#include "commands.h"
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2016-02-24 12:17:39 -08:00
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#include "encoder.h"
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2017-09-04 12:12:43 -07:00
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#include "drv8301.h"
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2018-03-18 04:12:04 -07:00
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#include "drv8320.h"
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2017-09-04 12:12:43 -07:00
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#include "buffer.h"
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2015-12-08 12:01:23 -08:00
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#include <math.h>
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2016-11-06 09:14:06 -08:00
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// Macros
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#define DIR_MULT (m_conf.m_invert_direction ? -1.0 : 1.0)
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2015-12-08 12:01:23 -08:00
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// Global variables
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volatile uint16_t ADC_Value[HW_ADC_CHANNELS];
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volatile int ADC_curr_norm_value[3];
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// Private variables
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2016-01-30 06:57:51 -08:00
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static volatile mc_configuration m_conf;
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static mc_fault_code m_fault_now;
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static int m_ignore_iterations;
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static volatile unsigned int m_cycles_running;
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static volatile bool m_lock_enabled;
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static volatile bool m_lock_override_once;
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static volatile float m_motor_current_sum;
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static volatile float m_input_current_sum;
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static volatile float m_motor_current_iterations;
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static volatile float m_input_current_iterations;
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2016-11-04 07:18:34 -07:00
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static volatile float m_motor_id_sum;
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static volatile float m_motor_iq_sum;
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static volatile float m_motor_id_iterations;
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static volatile float m_motor_iq_iterations;
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static volatile float m_amp_seconds;
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static volatile float m_amp_seconds_charged;
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static volatile float m_watt_seconds;
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static volatile float m_watt_seconds_charged;
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static volatile float m_position_set;
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2017-09-04 12:12:43 -07:00
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static volatile float m_temp_fet;
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static volatile float m_temp_motor;
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2016-01-30 06:57:51 -08:00
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// Sampling variables
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#define ADC_SAMPLE_MAX_LEN 2000
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__attribute__((section(".ram4"))) static volatile int16_t m_curr0_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_curr1_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_ph1_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_ph2_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_ph3_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_vzero_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile uint8_t m_status_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_curr_fir_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int16_t m_f_sw_samples[ADC_SAMPLE_MAX_LEN];
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__attribute__((section(".ram4"))) static volatile int8_t m_phase_samples[ADC_SAMPLE_MAX_LEN];
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static volatile int m_sample_len;
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static volatile int m_sample_int;
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static volatile debug_sampling_mode m_sample_mode;
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static volatile debug_sampling_mode m_sample_mode_last;
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static volatile int m_sample_now;
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2017-09-04 12:12:43 -07:00
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static volatile int m_sample_trigger;
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static volatile float m_last_adc_duration_sample;
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2015-12-08 12:01:23 -08:00
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// Private functions
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static void update_override_limits(volatile mc_configuration *conf);
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// Function pointers
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static void(*pwn_done_func)(void) = 0;
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// Threads
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static THD_WORKING_AREA(timer_thread_wa, 1024);
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static THD_FUNCTION(timer_thread, arg);
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2016-01-30 06:57:51 -08:00
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static THD_WORKING_AREA(sample_send_thread_wa, 1024);
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static THD_FUNCTION(sample_send_thread, arg);
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static thread_t *sample_send_tp;
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2015-12-08 12:01:23 -08:00
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void mc_interface_init(mc_configuration *configuration) {
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2016-01-30 06:57:51 -08:00
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m_conf = *configuration;
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m_fault_now = FAULT_CODE_NONE;
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m_ignore_iterations = 0;
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m_cycles_running = 0;
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m_lock_enabled = false;
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m_lock_override_once = false;
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m_motor_current_sum = 0.0;
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m_input_current_sum = 0.0;
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m_motor_current_iterations = 0.0;
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m_input_current_iterations = 0.0;
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2016-11-04 07:18:34 -07:00
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m_motor_id_sum = 0.0;
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m_motor_iq_sum = 0.0;
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m_motor_id_iterations = 0.0;
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m_motor_iq_iterations = 0.0;
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2016-01-30 06:57:51 -08:00
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m_amp_seconds = 0.0;
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m_amp_seconds_charged = 0.0;
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m_watt_seconds = 0.0;
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m_watt_seconds_charged = 0.0;
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m_position_set = 0.0;
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m_last_adc_duration_sample = 0.0;
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2017-09-04 12:12:43 -07:00
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m_temp_fet = 0.0;
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m_temp_motor = 0.0;
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2016-01-30 06:57:51 -08:00
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m_sample_len = 1000;
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m_sample_int = 1;
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m_sample_now = 0;
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2017-09-04 12:12:43 -07:00
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m_sample_trigger = 0;
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m_sample_mode = DEBUG_SAMPLING_OFF;
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m_sample_mode_last = DEBUG_SAMPLING_OFF;
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2015-12-08 12:01:23 -08:00
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// Start threads
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chThdCreateStatic(timer_thread_wa, sizeof(timer_thread_wa), NORMALPRIO, timer_thread, NULL);
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2016-01-30 06:57:51 -08:00
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chThdCreateStatic(sample_send_thread_wa, sizeof(sample_send_thread_wa), NORMALPRIO - 1, sample_send_thread, NULL);
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2015-12-08 12:01:23 -08:00
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2017-09-04 12:12:43 -07:00
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#ifdef HW_HAS_DRV8301
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drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
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drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
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#endif
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2018-03-18 04:12:04 -07:00
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#ifdef HW_HAS_DRV8320
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drv8320_set_oc_mode(configuration->m_drv8301_oc_mode);
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drv8320_set_oc_adj(configuration->m_drv8301_oc_adj);
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#endif
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2017-09-04 12:12:43 -07:00
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2016-04-27 06:32:32 -07:00
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// Initialize encoder
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#if !WS2811_ENABLE
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switch (m_conf.m_sensor_port_mode) {
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2017-09-04 12:12:43 -07:00
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case SENSOR_PORT_MODE_ABI:
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encoder_init_abi(m_conf.m_encoder_counts);
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break;
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2016-04-27 06:32:32 -07:00
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2017-09-04 12:12:43 -07:00
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case SENSOR_PORT_MODE_AS5047_SPI:
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encoder_init_as5047p_spi();
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break;
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2016-04-27 06:32:32 -07:00
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2017-09-04 12:12:43 -07:00
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default:
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break;
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2016-04-27 06:32:32 -07:00
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}
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#endif
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2015-12-08 12:01:23 -08:00
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// Initialize selected implementation
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switch (m_conf.motor_type) {
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2017-09-04 12:12:43 -07:00
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case MOTOR_TYPE_BLDC:
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case MOTOR_TYPE_DC:
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mcpwm_init(&m_conf);
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break;
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2015-12-08 12:01:23 -08:00
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2017-09-04 12:12:43 -07:00
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case MOTOR_TYPE_FOC:
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mcpwm_foc_init(&m_conf);
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break;
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2015-12-08 12:01:23 -08:00
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2017-09-04 12:12:43 -07:00
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default:
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break;
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2015-12-08 12:01:23 -08:00
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}
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}
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const volatile mc_configuration* mc_interface_get_configuration(void) {
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return &m_conf;
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2015-12-08 12:01:23 -08:00
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}
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void mc_interface_set_configuration(mc_configuration *configuration) {
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2016-04-27 06:32:32 -07:00
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#if !WS2811_ENABLE
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if (m_conf.m_sensor_port_mode != configuration->m_sensor_port_mode) {
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encoder_deinit();
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switch (configuration->m_sensor_port_mode) {
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case SENSOR_PORT_MODE_ABI:
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encoder_init_abi(configuration->m_encoder_counts);
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break;
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case SENSOR_PORT_MODE_AS5047_SPI:
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encoder_init_as5047p_spi();
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break;
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default:
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break;
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}
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}
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if (configuration->m_sensor_port_mode == SENSOR_PORT_MODE_ABI) {
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encoder_set_counts(configuration->m_encoder_counts);
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}
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#endif
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2017-09-04 12:12:43 -07:00
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#ifdef HW_HAS_DRV8301
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drv8301_set_oc_mode(configuration->m_drv8301_oc_mode);
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drv8301_set_oc_adj(configuration->m_drv8301_oc_adj);
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#endif
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2016-01-30 06:57:51 -08:00
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if (m_conf.motor_type == MOTOR_TYPE_FOC
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2015-12-08 12:01:23 -08:00
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&& configuration->motor_type != MOTOR_TYPE_FOC) {
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mcpwm_foc_deinit();
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2016-01-30 06:57:51 -08:00
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m_conf = *configuration;
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mcpwm_init(&m_conf);
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} else if (m_conf.motor_type != MOTOR_TYPE_FOC
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2015-12-08 12:01:23 -08:00
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&& configuration->motor_type == MOTOR_TYPE_FOC) {
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mcpwm_deinit();
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2016-01-30 06:57:51 -08:00
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m_conf = *configuration;
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mcpwm_foc_init(&m_conf);
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2015-12-08 12:01:23 -08:00
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} else {
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2016-01-30 06:57:51 -08:00
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m_conf = *configuration;
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2015-12-08 12:01:23 -08:00
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}
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2016-01-30 06:57:51 -08:00
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update_override_limits(&m_conf);
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2015-12-08 12:01:23 -08:00
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2016-01-30 06:57:51 -08:00
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switch (m_conf.motor_type) {
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2015-12-08 12:01:23 -08:00
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case MOTOR_TYPE_BLDC:
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case MOTOR_TYPE_DC:
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2016-01-30 06:57:51 -08:00
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mcpwm_set_configuration(&m_conf);
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2015-12-08 12:01:23 -08:00
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break;
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case MOTOR_TYPE_FOC:
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2016-01-30 06:57:51 -08:00
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mcpwm_foc_set_configuration(&m_conf);
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2015-12-08 12:01:23 -08:00
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break;
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default:
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break;
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}
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}
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bool mc_interface_dccal_done(void) {
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bool ret = false;
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2016-01-30 06:57:51 -08:00
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switch (m_conf.motor_type) {
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2015-12-08 12:01:23 -08:00
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case MOTOR_TYPE_BLDC:
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case MOTOR_TYPE_DC:
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ret = mcpwm_is_dccal_done();
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break;
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case MOTOR_TYPE_FOC:
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ret = mcpwm_foc_is_dccal_done();
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break;
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default:
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break;
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}
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return ret;
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}
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/**
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* Set a function that should be called after each PWM cycle.
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*
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* @param p_func
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* The function to be called. 0 will not call any function.
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*/
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void mc_interface_set_pwm_callback(void (*p_func)(void)) {
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pwn_done_func = p_func;
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}
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/**
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* Lock the control by disabling all control commands.
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*/
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void mc_interface_lock(void) {
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2016-01-30 06:57:51 -08:00
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m_lock_enabled = true;
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2015-12-08 12:01:23 -08:00
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}
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/**
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* Unlock all control commands.
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*/
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void mc_interface_unlock(void) {
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2016-01-30 06:57:51 -08:00
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m_lock_enabled = false;
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2015-12-08 12:01:23 -08:00
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}
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/**
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* Allow just one motor control command in the locked state.
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*/
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void mc_interface_lock_override_once(void) {
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2016-01-30 06:57:51 -08:00
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m_lock_override_once = true;
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2015-12-08 12:01:23 -08:00
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}
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mc_fault_code mc_interface_get_fault(void) {
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2016-01-30 06:57:51 -08:00
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return m_fault_now;
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2015-12-08 12:01:23 -08:00
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}
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const char* mc_interface_fault_to_string(mc_fault_code fault) {
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switch (fault) {
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case FAULT_CODE_NONE: return "FAULT_CODE_NONE"; break;
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case FAULT_CODE_OVER_VOLTAGE: return "FAULT_CODE_OVER_VOLTAGE"; break;
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case FAULT_CODE_UNDER_VOLTAGE: return "FAULT_CODE_UNDER_VOLTAGE"; break;
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2017-09-04 12:12:43 -07:00
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case FAULT_CODE_DRV: return "FAULT_CODE_DRV"; break;
|
2015-12-08 12:01:23 -08:00
|
|
|
case FAULT_CODE_ABS_OVER_CURRENT: return "FAULT_CODE_ABS_OVER_CURRENT"; break;
|
|
|
|
case FAULT_CODE_OVER_TEMP_FET: return "FAULT_CODE_OVER_TEMP_FET"; break;
|
|
|
|
case FAULT_CODE_OVER_TEMP_MOTOR: return "FAULT_CODE_OVER_TEMP_MOTOR"; break;
|
|
|
|
default: return "FAULT_UNKNOWN"; break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
mc_state mc_interface_get_state(void) {
|
|
|
|
mc_state ret = MC_STATE_OFF;
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_state();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_state();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_set_duty(float dutyCycle) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_set_duty(DIR_MULT * dutyCycle);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_foc_set_duty(DIR_MULT * dutyCycle);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_set_duty_noramp(float dutyCycle) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_set_duty_noramp(DIR_MULT * dutyCycle);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_foc_set_duty_noramp(DIR_MULT * dutyCycle);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_set_pid_speed(float rpm) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_set_pid_speed(DIR_MULT * rpm);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_foc_set_pid_speed(DIR_MULT * rpm);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_set_pid_pos(float pos) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
m_position_set = pos;
|
2015-12-27 16:50:23 -08:00
|
|
|
|
2018-01-24 00:39:06 -08:00
|
|
|
pos *= DIR_MULT;
|
|
|
|
utils_norm_angle(&pos);
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
2018-01-24 00:39:06 -08:00
|
|
|
mcpwm_set_pid_pos(pos);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2018-01-24 00:39:06 -08:00
|
|
|
mcpwm_foc_set_pid_pos(pos);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_set_current(float current) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_set_current(DIR_MULT * current);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_foc_set_current(DIR_MULT * current);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_set_brake_current(float current) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_set_brake_current(DIR_MULT * current);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2016-11-06 09:14:06 -08:00
|
|
|
mcpwm_foc_set_brake_current(DIR_MULT * current);
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
/**
|
|
|
|
* Set current relative to the minimum and maximum current limits.
|
|
|
|
*
|
|
|
|
* @param current
|
|
|
|
* The relative current value, range [-1.0 1.0]
|
|
|
|
*/
|
|
|
|
void mc_interface_set_current_rel(float val) {
|
|
|
|
if (val > 0.0) {
|
|
|
|
mc_interface_set_current(val * m_conf.lo_current_motor_max_now);
|
|
|
|
} else {
|
|
|
|
mc_interface_set_current(val * fabsf(m_conf.lo_current_motor_min_now));
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Set brake current relative to the minimum current limit.
|
|
|
|
*
|
|
|
|
* @param current
|
|
|
|
* The relative current value, range [0.0 1.0]
|
|
|
|
*/
|
|
|
|
void mc_interface_set_brake_current_rel(float val) {
|
|
|
|
mc_interface_set_brake_current(val * m_conf.lo_current_motor_max_now);
|
|
|
|
}
|
|
|
|
|
2018-03-02 02:48:49 -08:00
|
|
|
/**
|
|
|
|
* Set open loop current vector to brake motor.
|
|
|
|
*
|
|
|
|
* @param current
|
|
|
|
* The current value.
|
|
|
|
*/
|
2016-11-04 07:18:34 -07:00
|
|
|
void mc_interface_set_handbrake(float current) {
|
|
|
|
if (mc_interface_try_input()) {
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
|
|
|
switch (m_conf.motor_type) {
|
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
// TODO: Not implemented yet, use brake mode for now.
|
|
|
|
mcpwm_set_brake_current(current);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
mcpwm_foc_set_handbrake(current);
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2018-03-02 02:48:49 -08:00
|
|
|
/**
|
|
|
|
* Set handbrake brake current relative to the minimum current limit.
|
|
|
|
*
|
|
|
|
* @param current
|
|
|
|
* The relative current value, range [0.0 1.0]
|
|
|
|
*/
|
|
|
|
void mc_interface_set_handbrake_rel(float val) {
|
|
|
|
mc_interface_set_handbrake(val * fabsf(m_conf.lo_current_motor_min_now));
|
|
|
|
}
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
void mc_interface_brake_now(void) {
|
|
|
|
mc_interface_set_duty(0.0);
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Disconnect the motor and let it turn freely.
|
|
|
|
*/
|
|
|
|
void mc_interface_release_motor(void) {
|
|
|
|
mc_interface_set_current(0.0);
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Stop the motor and use braking.
|
|
|
|
*/
|
|
|
|
float mc_interface_get_duty_cycle_set(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_duty_cycle_set();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_duty_cycle_set();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * ret;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_duty_cycle_now(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_duty_cycle_now();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_duty_cycle_now();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * ret;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
2016-04-27 06:32:32 -07:00
|
|
|
float mc_interface_get_sampling_frequency_now(void) {
|
2015-12-08 12:01:23 -08:00
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_switching_frequency_now();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
2016-11-04 07:18:34 -07:00
|
|
|
ret = mcpwm_foc_get_sampling_frequency_now();
|
2015-12-08 12:01:23 -08:00
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_rpm(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_rpm();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_rpm();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * ret;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Get the amount of amp hours drawn from the input source.
|
|
|
|
*
|
|
|
|
* @param reset
|
|
|
|
* If true, the counter will be reset after this call.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The amount of amp hours drawn.
|
|
|
|
*/
|
|
|
|
float mc_interface_get_amp_hours(bool reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
float val = m_amp_seconds / 3600;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
if (reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_amp_seconds = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
return val;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Get the amount of amp hours fed back into the input source.
|
|
|
|
*
|
|
|
|
* @param reset
|
|
|
|
* If true, the counter will be reset after this call.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The amount of amp hours fed back.
|
|
|
|
*/
|
|
|
|
float mc_interface_get_amp_hours_charged(bool reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
float val = m_amp_seconds_charged / 3600;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
if (reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_amp_seconds_charged = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
return val;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Get the amount of watt hours drawn from the input source.
|
|
|
|
*
|
|
|
|
* @param reset
|
|
|
|
* If true, the counter will be reset after this call.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The amount of watt hours drawn.
|
|
|
|
*/
|
|
|
|
float mc_interface_get_watt_hours(bool reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
float val = m_watt_seconds / 3600;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
if (reset) {
|
2017-09-04 12:12:43 -07:00
|
|
|
m_watt_seconds = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
return val;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Get the amount of watt hours fed back into the input source.
|
|
|
|
*
|
|
|
|
* @param reset
|
|
|
|
* If true, the counter will be reset after this call.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The amount of watt hours fed back.
|
|
|
|
*/
|
|
|
|
float mc_interface_get_watt_hours_charged(bool reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
float val = m_watt_seconds_charged / 3600;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
if (reset) {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_watt_seconds_charged = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
return val;
|
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_tot_current(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tot_current();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tot_current();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_tot_current_filtered(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tot_current_filtered();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tot_current_filtered();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_tot_current_directional(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tot_current_directional();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tot_current_directional();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * ret;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_tot_current_directional_filtered(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tot_current_directional_filtered();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tot_current_directional_filtered();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * ret;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_tot_current_in(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tot_current_in();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tot_current_in();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_get_tot_current_in_filtered(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tot_current_in_filtered();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tot_current_in_filtered();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
|
|
|
int mc_interface_get_tachometer_value(bool reset) {
|
2015-12-23 15:43:31 -08:00
|
|
|
int ret = 0;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tachometer_value(reset);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tachometer_value(reset);
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * ret;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
int mc_interface_get_tachometer_abs_value(bool reset) {
|
2015-12-23 15:43:31 -08:00
|
|
|
int ret = 0;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_tachometer_abs_value(reset);
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_tachometer_abs_value(reset);
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2015-12-23 15:43:31 -08:00
|
|
|
float mc_interface_get_last_inj_adc_isr_duration(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-23 15:43:31 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = mcpwm_get_last_inj_adc_isr_duration();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_last_inj_adc_isr_duration();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
return ret;
|
|
|
|
}
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
float mc_interface_read_reset_avg_motor_current(void) {
|
2016-01-30 06:57:51 -08:00
|
|
|
float res = m_motor_current_sum / m_motor_current_iterations;
|
2016-11-04 07:18:34 -07:00
|
|
|
m_motor_current_sum = 0.0;
|
|
|
|
m_motor_current_iterations = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
return res;
|
|
|
|
}
|
|
|
|
|
|
|
|
float mc_interface_read_reset_avg_input_current(void) {
|
2016-01-30 06:57:51 -08:00
|
|
|
float res = m_input_current_sum / m_input_current_iterations;
|
2016-11-04 07:18:34 -07:00
|
|
|
m_input_current_sum = 0.0;
|
|
|
|
m_input_current_iterations = 0.0;
|
|
|
|
return res;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Read and reset the average direct axis motor current. (FOC only)
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The average D axis current.
|
|
|
|
*/
|
|
|
|
float mc_interface_read_reset_avg_id(void) {
|
|
|
|
float res = m_motor_id_sum / m_motor_id_iterations;
|
|
|
|
m_motor_id_sum = 0.0;
|
|
|
|
m_motor_id_iterations = 0.0;
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * res; // TODO: DIR_MULT?
|
2016-11-04 07:18:34 -07:00
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Read and reset the average quadrature axis motor current. (FOC only)
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The average Q axis current.
|
|
|
|
*/
|
|
|
|
float mc_interface_read_reset_avg_iq(void) {
|
|
|
|
float res = m_motor_iq_sum / m_motor_iq_iterations;
|
|
|
|
m_motor_iq_sum = 0.0;
|
|
|
|
m_motor_iq_iterations = 0.0;
|
2016-11-06 09:14:06 -08:00
|
|
|
return DIR_MULT * res;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
2016-02-24 12:17:39 -08:00
|
|
|
float mc_interface_get_pid_pos_set(void) {
|
2016-01-30 06:57:51 -08:00
|
|
|
return m_position_set;
|
|
|
|
}
|
|
|
|
|
2016-02-24 12:17:39 -08:00
|
|
|
float mc_interface_get_pid_pos_now(void) {
|
|
|
|
float ret = 0.0;
|
|
|
|
|
|
|
|
switch (m_conf.motor_type) {
|
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
ret = encoder_read_deg();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
ret = mcpwm_foc_get_pid_pos_now();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2018-01-24 00:39:06 -08:00
|
|
|
ret *= DIR_MULT;
|
|
|
|
utils_norm_angle(&ret);
|
|
|
|
|
|
|
|
return ret;
|
2016-02-24 12:17:39 -08:00
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
float mc_interface_get_last_sample_adc_isr_duration(void) {
|
|
|
|
return m_last_adc_duration_sample;
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
void mc_interface_sample_print_data(debug_sampling_mode mode, uint16_t len, uint8_t decimation) {
|
2016-01-30 06:57:51 -08:00
|
|
|
if (len > ADC_SAMPLE_MAX_LEN) {
|
|
|
|
len = ADC_SAMPLE_MAX_LEN;
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
if (mode == DEBUG_SAMPLING_SEND_LAST_SAMPLES) {
|
|
|
|
chEvtSignal(sample_send_tp, (eventmask_t) 1);
|
2016-01-30 06:57:51 -08:00
|
|
|
} else {
|
2017-09-04 12:12:43 -07:00
|
|
|
m_sample_trigger = -1;
|
2016-01-30 06:57:51 -08:00
|
|
|
m_sample_now = 0;
|
2017-09-04 12:12:43 -07:00
|
|
|
m_sample_len = len;
|
|
|
|
m_sample_int = decimation;
|
|
|
|
m_sample_mode = mode;
|
2016-01-30 06:57:51 -08:00
|
|
|
}
|
2015-12-27 16:50:23 -08:00
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
/**
|
|
|
|
* Get filtered MOSFET temperature. The temperature is pre-calculated, so this
|
|
|
|
* functions is fast.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The filtered MOSFET temperature.
|
|
|
|
*/
|
|
|
|
float mc_interface_temp_fet_filtered(void) {
|
|
|
|
return m_temp_fet;
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Get filtered motor temperature. The temperature is pre-calculated, so this
|
|
|
|
* functions is fast.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The filtered motor temperature.
|
|
|
|
*/
|
|
|
|
float mc_interface_temp_motor_filtered(void) {
|
|
|
|
return m_temp_motor;
|
|
|
|
}
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
// MC implementation functions
|
2016-11-04 07:18:34 -07:00
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
/**
|
|
|
|
* A helper function that should be called before sending commands to control
|
|
|
|
* the motor. If the state is detecting, the detection will be stopped.
|
|
|
|
*
|
|
|
|
* @return
|
|
|
|
* The amount if milliseconds left until user commands are allowed again.
|
|
|
|
*
|
|
|
|
*/
|
|
|
|
int mc_interface_try_input(void) {
|
|
|
|
// TODO: Remove this later
|
|
|
|
if (mc_interface_get_state() == MC_STATE_DETECTING) {
|
|
|
|
mcpwm_stop_pwm();
|
2016-01-30 06:57:51 -08:00
|
|
|
m_ignore_iterations = MCPWM_DETECT_STOP_TIME;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
int retval = m_ignore_iterations;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
if (!m_ignore_iterations && m_lock_enabled) {
|
|
|
|
if (!m_lock_override_once) {
|
2015-12-08 12:01:23 -08:00
|
|
|
retval = 1;
|
|
|
|
} else {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_lock_override_once = false;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
switch (m_conf.motor_type) {
|
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
if (!mcpwm_init_done()) {
|
|
|
|
retval = 1;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
if (!mcpwm_foc_init_done()) {
|
|
|
|
retval = 1;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
return retval;
|
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_fault_stop(mc_fault_code fault) {
|
2016-11-04 07:18:34 -07:00
|
|
|
if (m_fault_now == fault) {
|
|
|
|
m_ignore_iterations = m_conf.m_fault_stop_time_ms;
|
|
|
|
return;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
if (mc_interface_dccal_done() && m_fault_now == FAULT_CODE_NONE) {
|
2015-12-08 12:01:23 -08:00
|
|
|
// Sent to terminal fault logger so that all faults and their conditions
|
|
|
|
// can be printed for debugging.
|
2016-11-04 07:18:34 -07:00
|
|
|
utils_sys_lock_cnt();
|
2015-12-08 12:01:23 -08:00
|
|
|
volatile int val_samp = TIM8->CCR1;
|
|
|
|
volatile int current_samp = TIM1->CCR4;
|
|
|
|
volatile int tim_top = TIM1->ARR;
|
2016-11-04 07:18:34 -07:00
|
|
|
utils_sys_unlock_cnt();
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
fault_data fdata;
|
|
|
|
fdata.fault = fault;
|
|
|
|
fdata.current = mc_interface_get_tot_current();
|
|
|
|
fdata.current_filtered = mc_interface_get_tot_current_filtered();
|
|
|
|
fdata.voltage = GET_INPUT_VOLTAGE();
|
|
|
|
fdata.duty = mc_interface_get_duty_cycle_now();
|
|
|
|
fdata.rpm = mc_interface_get_rpm();
|
|
|
|
fdata.tacho = mc_interface_get_tachometer_value(false);
|
2016-01-30 06:57:51 -08:00
|
|
|
fdata.cycles_running = m_cycles_running;
|
2015-12-08 12:01:23 -08:00
|
|
|
fdata.tim_val_samp = val_samp;
|
|
|
|
fdata.tim_current_samp = current_samp;
|
|
|
|
fdata.tim_top = tim_top;
|
|
|
|
fdata.comm_step = mcpwm_get_comm_step();
|
2016-11-04 07:18:34 -07:00
|
|
|
fdata.temperature = NTC_TEMP(ADC_IND_TEMP_MOS);
|
2017-09-04 12:12:43 -07:00
|
|
|
#ifdef HW_HAS_DRV8301
|
|
|
|
if (fault == FAULT_CODE_DRV) {
|
|
|
|
fdata.drv8301_faults = drv8301_read_faults();
|
|
|
|
}
|
|
|
|
#endif
|
2015-12-08 12:01:23 -08:00
|
|
|
terminal_add_fault_data(&fdata);
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
m_ignore_iterations = m_conf.m_fault_stop_time_ms;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
mcpwm_stop_pwm();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
mcpwm_foc_stop_pwm();
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
m_fault_now = fault;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_mc_timer_isr(void) {
|
2016-01-30 06:57:51 -08:00
|
|
|
ledpwm_update_pwm(); // LED PWM Driver update
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
const float input_voltage = GET_INPUT_VOLTAGE();
|
|
|
|
|
|
|
|
// Check for faults that should stop the motor
|
|
|
|
static int wrong_voltage_iterations = 0;
|
2016-01-30 06:57:51 -08:00
|
|
|
if (input_voltage < m_conf.l_min_vin ||
|
|
|
|
input_voltage > m_conf.l_max_vin) {
|
2015-12-08 12:01:23 -08:00
|
|
|
wrong_voltage_iterations++;
|
|
|
|
|
|
|
|
if ((wrong_voltage_iterations >= 8)) {
|
2016-01-30 06:57:51 -08:00
|
|
|
mc_interface_fault_stop(input_voltage < m_conf.l_min_vin ?
|
2015-12-08 12:01:23 -08:00
|
|
|
FAULT_CODE_UNDER_VOLTAGE : FAULT_CODE_OVER_VOLTAGE);
|
|
|
|
}
|
|
|
|
} else {
|
|
|
|
wrong_voltage_iterations = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (mc_interface_get_state() == MC_STATE_RUNNING) {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_cycles_running++;
|
2015-12-08 12:01:23 -08:00
|
|
|
} else {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_cycles_running = 0;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
if (pwn_done_func) {
|
|
|
|
pwn_done_func();
|
|
|
|
}
|
|
|
|
|
|
|
|
const float current = mc_interface_get_tot_current_filtered();
|
|
|
|
const float current_in = mc_interface_get_tot_current_in_filtered();
|
2016-01-30 06:57:51 -08:00
|
|
|
m_motor_current_sum += current;
|
|
|
|
m_input_current_sum += current_in;
|
|
|
|
m_motor_current_iterations++;
|
|
|
|
m_input_current_iterations++;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
m_motor_id_sum += mcpwm_foc_get_id();
|
|
|
|
m_motor_iq_sum += mcpwm_foc_get_iq();
|
|
|
|
m_motor_id_iterations++;
|
|
|
|
m_motor_iq_iterations++;
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
float abs_current = mc_interface_get_tot_current();
|
|
|
|
float abs_current_filtered = current;
|
2016-01-30 06:57:51 -08:00
|
|
|
if (m_conf.motor_type == MOTOR_TYPE_FOC) {
|
2015-12-08 12:01:23 -08:00
|
|
|
// TODO: Make this more general
|
|
|
|
abs_current = mcpwm_foc_get_abs_motor_current();
|
2015-12-23 15:43:31 -08:00
|
|
|
abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered();
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
// Current fault code
|
2016-01-30 06:57:51 -08:00
|
|
|
if (m_conf.l_slow_abs_current) {
|
|
|
|
if (fabsf(abs_current_filtered) > m_conf.l_abs_current_max) {
|
2015-12-08 12:01:23 -08:00
|
|
|
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
|
|
|
|
}
|
|
|
|
} else {
|
2016-01-30 06:57:51 -08:00
|
|
|
if (fabsf(abs_current) > m_conf.l_abs_current_max) {
|
2015-12-08 12:01:23 -08:00
|
|
|
mc_interface_fault_stop(FAULT_CODE_ABS_OVER_CURRENT);
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
// DRV fault code
|
|
|
|
if (IS_DRV_FAULT()) {
|
|
|
|
mc_interface_fault_stop(FAULT_CODE_DRV);
|
|
|
|
}
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
// Watt and ah counters
|
2016-04-27 06:32:32 -07:00
|
|
|
const float f_samp = mc_interface_get_sampling_frequency_now();
|
2015-12-08 12:01:23 -08:00
|
|
|
if (fabsf(current) > 1.0) {
|
|
|
|
// Some extra filtering
|
|
|
|
static float curr_diff_sum = 0.0;
|
|
|
|
static float curr_diff_samples = 0;
|
|
|
|
|
2016-04-27 06:32:32 -07:00
|
|
|
curr_diff_sum += current_in / f_samp;
|
|
|
|
curr_diff_samples += 1.0 / f_samp;
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
if (curr_diff_samples >= 0.01) {
|
|
|
|
if (curr_diff_sum > 0.0) {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_amp_seconds += curr_diff_sum;
|
|
|
|
m_watt_seconds += curr_diff_sum * input_voltage;
|
2015-12-08 12:01:23 -08:00
|
|
|
} else {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_amp_seconds_charged -= curr_diff_sum;
|
|
|
|
m_watt_seconds_charged -= curr_diff_sum * input_voltage;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
curr_diff_samples = 0.0;
|
|
|
|
curr_diff_sum = 0.0;
|
|
|
|
}
|
|
|
|
}
|
2016-01-30 06:57:51 -08:00
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
bool sample = false;
|
|
|
|
|
|
|
|
switch (m_sample_mode) {
|
|
|
|
case DEBUG_SAMPLING_NOW:
|
|
|
|
if (m_sample_now == m_sample_len) {
|
|
|
|
m_sample_mode = DEBUG_SAMPLING_OFF;
|
|
|
|
m_sample_mode_last = DEBUG_SAMPLING_NOW;
|
|
|
|
chSysLockFromISR();
|
|
|
|
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
|
|
|
|
chSysUnlockFromISR();
|
|
|
|
} else {
|
|
|
|
sample = true;
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case DEBUG_SAMPLING_START:
|
|
|
|
if (mc_interface_get_state() == MC_STATE_RUNNING || m_sample_now > 0) {
|
|
|
|
sample = true;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (m_sample_now == m_sample_len) {
|
|
|
|
m_sample_mode_last = m_sample_mode;
|
|
|
|
m_sample_mode = DEBUG_SAMPLING_OFF;
|
|
|
|
chSysLockFromISR();
|
|
|
|
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
|
|
|
|
chSysUnlockFromISR();
|
|
|
|
}
|
|
|
|
break;
|
|
|
|
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_START:
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_START_NOSEND: {
|
|
|
|
sample = true;
|
|
|
|
|
|
|
|
int sample_last = -1;
|
|
|
|
if (m_sample_trigger >= 0) {
|
|
|
|
sample_last = m_sample_trigger - m_sample_len;
|
|
|
|
if (sample_last < 0) {
|
|
|
|
sample_last += ADC_SAMPLE_MAX_LEN;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (m_sample_now == sample_last) {
|
|
|
|
m_sample_mode_last = m_sample_mode;
|
|
|
|
sample = false;
|
|
|
|
|
|
|
|
if (m_sample_mode == DEBUG_SAMPLING_TRIGGER_START) {
|
|
|
|
chSysLockFromISR();
|
|
|
|
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
|
|
|
|
chSysUnlockFromISR();
|
|
|
|
}
|
|
|
|
|
|
|
|
m_sample_mode = DEBUG_SAMPLING_OFF;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (mc_interface_get_state() == MC_STATE_RUNNING && m_sample_trigger < 0) {
|
|
|
|
m_sample_trigger = m_sample_now;
|
|
|
|
}
|
|
|
|
} break;
|
|
|
|
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_FAULT:
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND: {
|
|
|
|
sample = true;
|
|
|
|
|
|
|
|
int sample_last = -1;
|
|
|
|
if (m_sample_trigger >= 0) {
|
|
|
|
sample_last = m_sample_trigger - m_sample_len;
|
|
|
|
if (sample_last < 0) {
|
|
|
|
sample_last += ADC_SAMPLE_MAX_LEN;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
if (m_sample_now == sample_last) {
|
|
|
|
m_sample_mode_last = m_sample_mode;
|
|
|
|
sample = false;
|
|
|
|
|
|
|
|
if (m_sample_mode == DEBUG_SAMPLING_TRIGGER_FAULT) {
|
|
|
|
chSysLockFromISR();
|
|
|
|
chEvtSignalI(sample_send_tp, (eventmask_t) 1);
|
|
|
|
chSysUnlockFromISR();
|
|
|
|
}
|
|
|
|
|
|
|
|
m_sample_mode = DEBUG_SAMPLING_OFF;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (m_fault_now != FAULT_CODE_NONE && m_sample_trigger < 0) {
|
|
|
|
m_sample_trigger = m_sample_now;
|
|
|
|
}
|
|
|
|
} break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
2016-01-30 06:57:51 -08:00
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
if (sample) {
|
|
|
|
static int a = 0;
|
2016-01-30 06:57:51 -08:00
|
|
|
a++;
|
2017-09-04 12:12:43 -07:00
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
if (a >= m_sample_int) {
|
|
|
|
a = 0;
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
if (m_sample_now >= ADC_SAMPLE_MAX_LEN) {
|
|
|
|
m_sample_now = 0;
|
|
|
|
}
|
|
|
|
|
|
|
|
int16_t zero;
|
|
|
|
if (m_conf.motor_type == MOTOR_TYPE_FOC) {
|
|
|
|
zero = (ADC_V_L1 + ADC_V_L2 + ADC_V_L3) / 3;
|
|
|
|
m_phase_samples[m_sample_now] = (uint8_t)(mcpwm_foc_get_phase() / 360.0 * 250.0);
|
|
|
|
// m_phase_samples[m_sample_now] = (uint8_t)(mcpwm_foc_get_phase_observer() / 360.0 * 250.0);
|
|
|
|
// float ang = utils_angle_difference(mcpwm_foc_get_phase_observer(), mcpwm_foc_get_phase_encoder()) + 180.0;
|
|
|
|
// m_phase_samples[m_sample_now] = (uint8_t)(ang / 360.0 * 250.0);
|
|
|
|
} else {
|
|
|
|
zero = mcpwm_vzero;
|
|
|
|
m_phase_samples[m_sample_now] = 0;
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
if (mc_interface_get_state() == MC_STATE_DETECTING) {
|
|
|
|
m_curr0_samples[m_sample_now] = (int16_t)mcpwm_detect_currents[mcpwm_get_comm_step() - 1];
|
|
|
|
m_curr1_samples[m_sample_now] = (int16_t)mcpwm_detect_currents_diff[mcpwm_get_comm_step() - 1];
|
|
|
|
|
|
|
|
m_ph1_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[0];
|
|
|
|
m_ph2_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[1];
|
|
|
|
m_ph3_samples[m_sample_now] = (int16_t)mcpwm_detect_voltages[2];
|
|
|
|
} else {
|
|
|
|
m_curr0_samples[m_sample_now] = ADC_curr_norm_value[0];
|
|
|
|
m_curr1_samples[m_sample_now] = ADC_curr_norm_value[1];
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
m_ph1_samples[m_sample_now] = ADC_V_L1 - zero;
|
|
|
|
m_ph2_samples[m_sample_now] = ADC_V_L2 - zero;
|
|
|
|
m_ph3_samples[m_sample_now] = ADC_V_L3 - zero;
|
2016-01-30 06:57:51 -08:00
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
m_vzero_samples[m_sample_now] = zero;
|
|
|
|
m_curr_fir_samples[m_sample_now] = (int16_t)(mc_interface_get_tot_current() * (8.0 / FAC_CURRENT));
|
2016-04-27 06:32:32 -07:00
|
|
|
m_f_sw_samples[m_sample_now] = (int16_t)(f_samp / 10.0);
|
2016-01-30 06:57:51 -08:00
|
|
|
m_status_samples[m_sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3);
|
|
|
|
|
|
|
|
m_sample_now++;
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
m_last_adc_duration_sample = mc_interface_get_last_sample_adc_isr_duration();
|
2016-01-30 06:57:51 -08:00
|
|
|
}
|
|
|
|
}
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
void mc_interface_adc_inj_int_handler(void) {
|
2016-01-30 06:57:51 -08:00
|
|
|
switch (m_conf.motor_type) {
|
2015-12-08 12:01:23 -08:00
|
|
|
case MOTOR_TYPE_BLDC:
|
|
|
|
case MOTOR_TYPE_DC:
|
|
|
|
mcpwm_adc_inj_int_handler();
|
|
|
|
break;
|
|
|
|
|
|
|
|
case MOTOR_TYPE_FOC:
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* Update the override limits for a configuration based on MOSFET temperature etc.
|
|
|
|
*
|
|
|
|
* @param conf
|
|
|
|
* The configaration to update.
|
|
|
|
*/
|
|
|
|
static void update_override_limits(volatile mc_configuration *conf) {
|
|
|
|
const float v_in = GET_INPUT_VOLTAGE();
|
2016-11-04 07:18:34 -07:00
|
|
|
const float rpm_now = mc_interface_get_rpm();
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
UTILS_LP_FAST(m_temp_fet, NTC_TEMP(ADC_IND_TEMP_MOS), 0.1);
|
2017-09-06 12:13:28 -07:00
|
|
|
UTILS_LP_FAST(m_temp_motor, NTC_TEMP_MOTOR(conf->m_ntc_motor_beta), 0.1);
|
2017-09-04 12:12:43 -07:00
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
// Temperature MOSFET
|
|
|
|
float lo_max_mos = 0.0;
|
|
|
|
float lo_min_mos = 0.0;
|
2017-09-04 12:12:43 -07:00
|
|
|
if (m_temp_fet < conf->l_temp_fet_start) {
|
2016-11-04 07:18:34 -07:00
|
|
|
lo_min_mos = conf->l_current_min;
|
|
|
|
lo_max_mos = conf->l_current_max;
|
2017-09-04 12:12:43 -07:00
|
|
|
} else if (m_temp_fet > conf->l_temp_fet_end) {
|
2016-11-04 07:18:34 -07:00
|
|
|
lo_min_mos = 0.0;
|
|
|
|
lo_max_mos = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_FET);
|
|
|
|
} else {
|
|
|
|
float maxc = fabsf(conf->l_current_max);
|
|
|
|
if (fabsf(conf->l_current_min) > maxc) {
|
|
|
|
maxc = fabsf(conf->l_current_min);
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
maxc = utils_map(m_temp_fet, conf->l_temp_fet_start, conf->l_temp_fet_end, maxc, 0.0);
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
if (fabsf(conf->l_current_max) > maxc) {
|
2016-11-04 07:18:34 -07:00
|
|
|
lo_max_mos = SIGN(conf->l_current_max) * maxc;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
if (fabsf(conf->l_current_min) > maxc) {
|
2016-11-04 07:18:34 -07:00
|
|
|
lo_min_mos = SIGN(conf->l_current_min) * maxc;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
// Temperature MOTOR
|
|
|
|
float lo_max_mot = 0.0;
|
|
|
|
float lo_min_mot = 0.0;
|
2017-09-04 12:12:43 -07:00
|
|
|
if (m_temp_motor < conf->l_temp_motor_start) {
|
2016-11-04 07:18:34 -07:00
|
|
|
lo_min_mot = conf->l_current_min;
|
|
|
|
lo_max_mot = conf->l_current_max;
|
2017-09-04 12:12:43 -07:00
|
|
|
} else if (m_temp_motor > conf->l_temp_motor_end) {
|
2016-11-04 07:18:34 -07:00
|
|
|
lo_min_mot = 0.0;
|
|
|
|
lo_max_mot = 0.0;
|
|
|
|
mc_interface_fault_stop(FAULT_CODE_OVER_TEMP_MOTOR);
|
|
|
|
} else {
|
|
|
|
float maxc = fabsf(conf->l_current_max);
|
|
|
|
if (fabsf(conf->l_current_min) > maxc) {
|
|
|
|
maxc = fabsf(conf->l_current_min);
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
maxc = utils_map(m_temp_motor, conf->l_temp_motor_start, conf->l_temp_motor_end, maxc, 0.0);
|
2016-11-04 07:18:34 -07:00
|
|
|
|
|
|
|
if (fabsf(conf->l_current_max) > maxc) {
|
|
|
|
lo_max_mot = SIGN(conf->l_current_max) * maxc;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (fabsf(conf->l_current_min) > maxc) {
|
|
|
|
lo_min_mot = SIGN(conf->l_current_min) * maxc;
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2017-10-27 12:29:12 -07:00
|
|
|
// Decreased temperatures during acceleration
|
|
|
|
// in order to still have braking torque available
|
|
|
|
const float temp_fet_accel_start = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_fet_start, 25.0);
|
|
|
|
const float temp_fet_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_fet_end, 25.0);
|
|
|
|
const float temp_motor_accel_start = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_start, 25.0);
|
|
|
|
const float temp_motor_accel_end = utils_map(conf->l_temp_accel_dec, 0.0, 1.0, conf->l_temp_motor_end, 25.0);
|
|
|
|
|
|
|
|
float lo_fet_temp_accel = 0.0;
|
|
|
|
if (m_temp_fet < temp_fet_accel_start) {
|
|
|
|
lo_fet_temp_accel = conf->l_current_max;
|
|
|
|
} else if (m_temp_fet > temp_fet_accel_end) {
|
|
|
|
lo_fet_temp_accel = 0.0;
|
|
|
|
} else {
|
|
|
|
lo_fet_temp_accel = utils_map(m_temp_fet, temp_fet_accel_start,
|
|
|
|
temp_fet_accel_end, conf->l_current_max, 0.0);
|
|
|
|
}
|
|
|
|
|
|
|
|
float lo_motor_temp_accel = 0.0;
|
|
|
|
if (m_temp_motor < temp_motor_accel_start) {
|
|
|
|
lo_motor_temp_accel = conf->l_current_max;
|
|
|
|
} else if (m_temp_motor > temp_motor_accel_end) {
|
|
|
|
lo_motor_temp_accel = 0.0;
|
|
|
|
} else {
|
|
|
|
lo_motor_temp_accel = utils_map(m_temp_motor, temp_motor_accel_start,
|
|
|
|
temp_motor_accel_end, conf->l_current_max, 0.0);
|
|
|
|
}
|
|
|
|
|
2016-11-04 07:18:34 -07:00
|
|
|
// RPM max
|
|
|
|
float lo_max_rpm = 0.0;
|
|
|
|
const float rpm_pos_cut_start = conf->l_max_erpm * conf->l_erpm_start;
|
|
|
|
const float rpm_pos_cut_end = conf->l_max_erpm;
|
|
|
|
if (rpm_now < rpm_pos_cut_start) {
|
|
|
|
lo_max_rpm = conf->l_current_max;
|
|
|
|
} else if (rpm_now > rpm_pos_cut_end) {
|
|
|
|
lo_max_rpm = 0.0;
|
|
|
|
} else {
|
|
|
|
lo_max_rpm = utils_map(rpm_now, rpm_pos_cut_start, rpm_pos_cut_end, conf->l_current_max, 0.0);
|
|
|
|
}
|
|
|
|
|
|
|
|
// RPM min
|
|
|
|
float lo_min_rpm = 0.0;
|
|
|
|
const float rpm_neg_cut_start = conf->l_min_erpm * conf->l_erpm_start;
|
|
|
|
const float rpm_neg_cut_end = conf->l_min_erpm;
|
|
|
|
if (rpm_now > rpm_neg_cut_start) {
|
|
|
|
lo_min_rpm = conf->l_current_max;
|
|
|
|
} else if (rpm_now < rpm_neg_cut_end) {
|
|
|
|
lo_min_rpm = 0.0;
|
|
|
|
} else {
|
|
|
|
lo_min_rpm = utils_map(rpm_now, rpm_neg_cut_start, rpm_neg_cut_end, conf->l_current_max, 0.0);
|
|
|
|
}
|
|
|
|
|
|
|
|
float lo_max = utils_min_abs(lo_max_mos, lo_max_mot);
|
|
|
|
float lo_min = utils_min_abs(lo_min_mos, lo_min_mot);
|
|
|
|
|
|
|
|
lo_max = utils_min_abs(lo_max, lo_max_rpm);
|
|
|
|
lo_max = utils_min_abs(lo_max, lo_min_rpm);
|
2017-10-27 12:29:12 -07:00
|
|
|
lo_max = utils_min_abs(lo_max, lo_fet_temp_accel);
|
|
|
|
lo_max = utils_min_abs(lo_max, lo_motor_temp_accel);
|
2016-11-04 07:18:34 -07:00
|
|
|
|
|
|
|
if (lo_max < conf->cc_min_current) {
|
|
|
|
lo_max = conf->cc_min_current;
|
|
|
|
}
|
|
|
|
|
|
|
|
if (lo_min > -conf->cc_min_current) {
|
|
|
|
lo_min = -conf->cc_min_current;
|
|
|
|
}
|
|
|
|
|
|
|
|
conf->lo_current_max = lo_max;
|
|
|
|
conf->lo_current_min = lo_min;
|
|
|
|
|
2015-12-08 12:01:23 -08:00
|
|
|
// Battery cutoff
|
2017-09-04 12:12:43 -07:00
|
|
|
float lo_in_max_batt = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
if (v_in > conf->l_battery_cut_start) {
|
2017-09-04 12:12:43 -07:00
|
|
|
lo_in_max_batt = conf->l_in_current_max;
|
2015-12-08 12:01:23 -08:00
|
|
|
} else if (v_in < conf->l_battery_cut_end) {
|
2017-09-04 12:12:43 -07:00
|
|
|
lo_in_max_batt = 0.0;
|
2015-12-08 12:01:23 -08:00
|
|
|
} else {
|
2017-09-04 12:12:43 -07:00
|
|
|
lo_in_max_batt = utils_map(v_in, conf->l_battery_cut_start,
|
2015-12-08 12:01:23 -08:00
|
|
|
conf->l_battery_cut_end, conf->l_in_current_max, 0.0);
|
|
|
|
}
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
// Wattage limits
|
|
|
|
const float lo_in_max_watt = conf->l_watt_max / v_in;
|
|
|
|
const float lo_in_min_watt = conf->l_watt_min / v_in;
|
|
|
|
|
|
|
|
const float lo_in_max = utils_min_abs(lo_in_max_watt, lo_in_max_batt);
|
|
|
|
const float lo_in_min = lo_in_min_watt;
|
|
|
|
|
|
|
|
conf->lo_in_current_max = utils_min_abs(conf->l_in_current_max, lo_in_max);
|
|
|
|
conf->lo_in_current_min = utils_min_abs(conf->l_in_current_min, lo_in_min);
|
|
|
|
|
|
|
|
// Maximum current right now
|
2017-10-27 12:29:12 -07:00
|
|
|
// float duty_abs = fabsf(mc_interface_get_duty_cycle_now());
|
|
|
|
//
|
|
|
|
// // TODO: This is not an elegant solution.
|
|
|
|
// if (m_conf.motor_type == MOTOR_TYPE_FOC) {
|
|
|
|
// duty_abs *= SQRT3_BY_2;
|
|
|
|
// }
|
|
|
|
//
|
2017-09-21 12:12:09 -07:00
|
|
|
// if (duty_abs > 0.001) {
|
|
|
|
// conf->lo_current_motor_max_now = utils_min_abs(conf->lo_current_max, conf->lo_in_current_max / duty_abs);
|
|
|
|
// conf->lo_current_motor_min_now = utils_min_abs(conf->lo_current_min, conf->lo_in_current_min / duty_abs);
|
|
|
|
// } else {
|
|
|
|
// conf->lo_current_motor_max_now = conf->lo_current_max;
|
|
|
|
// conf->lo_current_motor_min_now = conf->lo_current_min;
|
|
|
|
// }
|
|
|
|
|
|
|
|
// Note: The above code should work, but many people have reported issues with it. Leaving it
|
|
|
|
// disabled for now until I have done more investigation.
|
|
|
|
conf->lo_current_motor_max_now = conf->lo_current_max;
|
|
|
|
conf->lo_current_motor_min_now = conf->lo_current_min;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
|
|
|
|
static THD_FUNCTION(timer_thread, arg) {
|
|
|
|
(void)arg;
|
|
|
|
|
|
|
|
chRegSetThreadName("mcif timer");
|
|
|
|
|
|
|
|
for(;;) {
|
|
|
|
// Decrease fault iterations
|
2016-01-30 06:57:51 -08:00
|
|
|
if (m_ignore_iterations > 0) {
|
|
|
|
m_ignore_iterations--;
|
2015-12-08 12:01:23 -08:00
|
|
|
} else {
|
|
|
|
if (!IS_DRV_FAULT()) {
|
2016-01-30 06:57:51 -08:00
|
|
|
m_fault_now = FAULT_CODE_NONE;
|
2015-12-08 12:01:23 -08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2016-01-30 06:57:51 -08:00
|
|
|
update_override_limits(&m_conf);
|
2015-12-08 12:01:23 -08:00
|
|
|
|
|
|
|
chThdSleepMilliseconds(1);
|
|
|
|
}
|
|
|
|
}
|
2016-01-30 06:57:51 -08:00
|
|
|
|
|
|
|
static THD_FUNCTION(sample_send_thread, arg) {
|
|
|
|
(void)arg;
|
|
|
|
|
|
|
|
chRegSetThreadName("SampleSender");
|
|
|
|
|
|
|
|
sample_send_tp = chThdGetSelfX();
|
|
|
|
|
|
|
|
for(;;) {
|
|
|
|
chEvtWaitAny((eventmask_t) 1);
|
|
|
|
|
2017-09-04 12:12:43 -07:00
|
|
|
int len = 0;
|
|
|
|
int offset = 0;
|
|
|
|
|
|
|
|
switch (m_sample_mode_last) {
|
|
|
|
case DEBUG_SAMPLING_NOW:
|
|
|
|
case DEBUG_SAMPLING_START:
|
|
|
|
len = m_sample_len;
|
|
|
|
break;
|
|
|
|
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_START:
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_FAULT:
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_START_NOSEND:
|
|
|
|
case DEBUG_SAMPLING_TRIGGER_FAULT_NOSEND:
|
|
|
|
len = ADC_SAMPLE_MAX_LEN;
|
|
|
|
offset = m_sample_trigger - m_sample_len;
|
|
|
|
break;
|
|
|
|
|
|
|
|
default:
|
|
|
|
break;
|
|
|
|
}
|
|
|
|
|
|
|
|
for (int i = 0;i < len;i++) {
|
|
|
|
uint8_t buffer[40];
|
|
|
|
int32_t index = 0;
|
|
|
|
int ind_samp = i + offset;
|
|
|
|
|
|
|
|
while (ind_samp >= ADC_SAMPLE_MAX_LEN) {
|
|
|
|
ind_samp -= ADC_SAMPLE_MAX_LEN;
|
|
|
|
}
|
|
|
|
|
|
|
|
while (ind_samp < 0) {
|
|
|
|
ind_samp += ADC_SAMPLE_MAX_LEN;
|
|
|
|
}
|
|
|
|
|
|
|
|
buffer[index++] = COMM_SAMPLE_PRINT;
|
|
|
|
buffer_append_float32_auto(buffer, (float)m_curr0_samples[ind_samp] * FAC_CURRENT, &index);
|
|
|
|
buffer_append_float32_auto(buffer, (float)m_curr1_samples[ind_samp] * FAC_CURRENT, &index);
|
|
|
|
buffer_append_float32_auto(buffer, ((float)m_ph1_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
|
|
|
|
buffer_append_float32_auto(buffer, ((float)m_ph2_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
|
|
|
|
buffer_append_float32_auto(buffer, ((float)m_ph3_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
|
|
|
|
buffer_append_float32_auto(buffer, ((float)m_vzero_samples[ind_samp] / 4096.0 * V_REG) * ((VIN_R1 + VIN_R2) / VIN_R2), &index);
|
|
|
|
buffer_append_float32_auto(buffer, (float)m_curr_fir_samples[ind_samp] / (8.0 / FAC_CURRENT), &index);
|
|
|
|
buffer_append_float32_auto(buffer, (float)m_f_sw_samples[ind_samp] * 10.0, &index);
|
|
|
|
buffer[index++] = m_status_samples[ind_samp];
|
|
|
|
buffer[index++] = m_phase_samples[ind_samp];
|
|
|
|
|
|
|
|
commands_send_packet(buffer, index);
|
2016-01-30 06:57:51 -08:00
|
|
|
}
|
|
|
|
}
|
|
|
|
}
|