mirror of https://github.com/rusefi/bldc.git
Correct location of current limit truncate for openloop. Previously limit was not respected.
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@ -2882,13 +2882,14 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
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motor_now->m_observer_state.x1 = motor_now->m_observer_x1_override;
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motor_now->m_observer_state.x1 = motor_now->m_observer_x1_override;
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motor_now->m_observer_state.x2 = motor_now->m_observer_x2_override;
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motor_now->m_observer_state.x2 = motor_now->m_observer_x2_override;
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iq_set_tmp += conf_now->foc_sl_openloop_boost_q * SIGN(iq_set_tmp);
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iq_set_tmp += conf_now->foc_sl_openloop_boost_q * SIGN(iq_set_tmp);
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if (conf_now->foc_sl_openloop_max_q > conf_now->cc_min_current) {
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utils_truncate_number_abs(&iq_set_tmp, conf_now->foc_sl_openloop_max_q);
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}
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} else {
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} else {
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motor_now->m_motor_state.phase = motor_now->m_phase_now_observer;
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motor_now->m_motor_state.phase = motor_now->m_phase_now_observer;
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}
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}
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if (conf_now->foc_sl_openloop_max_q > conf_now->cc_min_current) {
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utils_truncate_number_abs(&iq_set_tmp, conf_now->foc_sl_openloop_max_q);
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}
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if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
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if (!motor_now->m_phase_override && motor_now->m_control_mode != CONTROL_MODE_OPENLOOP_PHASE) {
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id_set_tmp = 0.0;
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id_set_tmp = 0.0;
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}
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}
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