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Deadband fix, configurable temperature limit

This commit is contained in:
Benjamin Vedder 2014-11-25 21:05:46 +01:00
parent d9c5ed7ac3
commit 33c81db930
10 changed files with 62 additions and 26 deletions
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11
applications/app_nunchuk.c
View File

@ -182,16 +182,7 @@ static msg_t output_thread(void *arg) {
}
float out_val = app_nunchuk_get_decoded_chuk();
out_val /= (1.0 - hysteres);
if (out_val > hysteres) {
out_val -= hysteres;
} else if (out_val < -hysteres) {
out_val += hysteres;
} else {
out_val = 0.0;
}
utils_deadband(&out_val, hysteres, 1.0);
// If c is pressed and no throttle is used, maintain the current speed with PID control
static bool was_pid = false;

10
applications/app_ppm.c
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@ -123,15 +123,7 @@ static msg_t ppm_thread(void *arg) {
break;
}
servo_val /= (1.0 - hysteres);
if (servo_val > hysteres) {
servo_val -= hysteres;
} else if (servo_val < -hysteres) {
servo_val += hysteres;
} else {
servo_val = 0.0;
}
utils_deadband(&servo_val, hysteres, 1.0);
float current = 0;
bool current_mode = false;

8
commands.c
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@ -182,6 +182,10 @@ void commands_process_packet(unsigned char *data, unsigned char len) {
mcconf.l_max_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_slow_abs_current = data[ind++];
mcconf.l_rpm_lim_neg_torque = data[ind++];
mcconf.l_temp_fet_start = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_temp_fet_end = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_temp_motor_start = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_temp_motor_end = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.lo_current_max = mcconf.l_current_max;
mcconf.lo_current_min = mcconf.l_current_min;
@ -236,6 +240,10 @@ void commands_process_packet(unsigned char *data, unsigned char len) {
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_vin * 1000.0), &ind);
send_buffer[ind++] = mcconf.l_slow_abs_current;
send_buffer[ind++] = mcconf.l_rpm_lim_neg_torque;
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_fet_end * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_start * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_temp_motor_end * 1000.0), &ind);
send_buffer[ind++] = mcconf.sl_is_sensorless;
buffer_append_int32(send_buffer, (int32_t)(mcconf.sl_min_erpm * 1000.0), &ind);

24
conf_general.c
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@ -84,6 +84,18 @@
#ifndef MCPWM_FAULT_STOP_TIME
#define MCPWM_FAULT_STOP_TIME 3000 // Ignore commands for this duration in msec when faults occur
#endif
#ifndef MCPWM_LIM_TEMP_FET_START
#define MCPWM_LIM_TEMP_FET_START 80.0 // MOSFET temperature where current limiting should begin
#endif
#ifndef MCPWM_LIM_TEMP_FET_END
#define MCPWM_LIM_TEMP_FET_END 100.0 // MOSFET temperature where everything should be shut off
#endif
#ifndef MCPWM_LIM_TEMP_MOTOR_START
#define MCPWM_LIM_TEMP_MOTOR_START 80.0 // MOTOR temperature where current limiting should begin
#endif
#ifndef MCPWM_LIM_TEMP_MOTOR_END
#define MCPWM_LIM_TEMP_MOTOR_END 100.0 // MOTOR temperature where everything should be shut off
#endif
// EEPROM settings
#define EEPROM_BASE_MCCONF 1000
@ -106,6 +118,8 @@ void conf_general_init(void) {
}
FLASH_Unlock();
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
EE_Init();
}
@ -170,6 +184,9 @@ bool conf_general_store_app_configuration(app_configuration *conf) {
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
for (unsigned int i = 0;i < (sizeof(app_configuration) / 2);i++) {
var = (conf_addr[2 * i] << 8) & 0xFF00;
var |= conf_addr[2 * i + 1] & 0xFF;
@ -223,6 +240,10 @@ void conf_general_read_mc_configuration(mc_configuration *conf) {
conf->l_max_vin = MCPWM_MAX_VOLTAGE;
conf->l_slow_abs_current = MCPWM_SLOW_ABS_OVERCURRENT;
conf->l_rpm_lim_neg_torque = MCPWM_RPM_LIMIT_NEG_TORQUE;
conf->l_temp_fet_start = MCPWM_LIM_TEMP_FET_START;
conf->l_temp_fet_end = MCPWM_LIM_TEMP_FET_END;
conf->l_temp_motor_start = MCPWM_LIM_TEMP_MOTOR_START;
conf->l_temp_motor_end = MCPWM_LIM_TEMP_MOTOR_END;
conf->lo_current_max = conf->l_current_max;
conf->lo_current_min = conf->l_current_min;
@ -270,6 +291,9 @@ bool conf_general_store_mc_configuration(mc_configuration *conf) {
uint8_t *conf_addr = (uint8_t*)conf;
uint16_t var;
FLASH_ClearFlag(FLASH_FLAG_OPERR | FLASH_FLAG_WRPERR | FLASH_FLAG_PGAERR |
FLASH_FLAG_PGPERR | FLASH_FLAG_PGSERR);
for (unsigned int i = 0;i < (sizeof(mc_configuration) / 2);i++) {
var = (conf_addr[2 * i] << 8) & 0xFF00;
var |= conf_addr[2 * i + 1] & 0xFF;

4
conf_general.h
View File

@ -38,8 +38,8 @@
*/
//#define HW_VERSION_BW
//#define HW_VERSION_40
#define HW_VERSION_45
//#define HW_VERSION_46
//#define HW_VERSION_45
#define HW_VERSION_46
//#define HW_VERSION_R2
//#define HW_VERSION_VICTOR_R1A

4
datatypes.h
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@ -90,6 +90,10 @@ typedef struct {
float l_max_vin;
bool l_slow_abs_current;
bool l_rpm_lim_neg_torque;
float l_temp_fet_start;
float l_temp_fet_end;
float l_temp_motor_start;
float l_temp_motor_end;
// Overridden limits (Computed during runtime)
float lo_current_max;
float lo_current_min;

6
mcpwm.c
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@ -528,10 +528,10 @@ static void do_dc_cal(void) {
static void update_override_limits(volatile mc_configuration *conf) {
float temp = NTC_TEMP(ADC_IND_TEMP_MOS1);
if (temp < MCPWM_OVERTEMP_LIM_START) {
if (temp < conf->l_temp_fet_start) {
conf->lo_current_min = conf->l_current_min;
conf->lo_current_max = conf->l_current_max;
} else if (temp > MCPWM_OVERTEMP_LIM_END) {
} else if (temp > conf->l_temp_fet_end) {
conf->lo_current_min = 0.0;
conf->lo_current_max = 0.0;
} else {
@ -540,7 +540,7 @@ static void update_override_limits(volatile mc_configuration *conf) {
maxc = fabsf(conf->l_current_min);
}
maxc = utils_map(temp, MCPWM_OVERTEMP_LIM_START, MCPWM_OVERTEMP_LIM_END, maxc, conf->cc_min_current);
maxc = utils_map(temp, conf->l_temp_fet_start, temp > conf->l_temp_fet_end, maxc, conf->cc_min_current);
if (fabsf(conf->l_current_max) > maxc) {
conf->lo_current_max = SIGN(conf->l_current_max) * maxc;

2
mcpwm.h
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@ -100,8 +100,6 @@ extern volatile int mcpwm_vzero;
#define MCPWM_CURRENT_LIMIT_GAIN 2.0 // The error gain of the current limiting algorithm
#define MCPWM_CMD_STOP_TIME 0 // Ignore commands for this duration in msec after a stop has been sent
#define MCPWM_DETECT_STOP_TIME 500 // Ignore commands for this duration in msec after a detect command
#define MCPWM_OVERTEMP_LIM_START 90.0 // Temperature where current limiting should begin
#define MCPWM_OVERTEMP_LIM_END 110.0 // Temperature where everything should be shut off
// Speed PID parameters
#define MCPWM_PID_TIME_K 0.001 // Pid controller sample time in seconds

18
utils.c
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@ -80,6 +80,24 @@ float utils_map(float x, float in_min, float in_max, float out_min, float out_ma
return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min;
}
/**
* Truncate absolute values less than tres to zero. The value
* tres will be mapped to 0 and the value max to max.
*/
void utils_deadband(float *value, float tres, float max) {
if (fabsf(*value) < tres) {
*value = 0.0;
} else {
float k = max / (max - tres);
if (*value > 0.0) {
*value = k * *value + max * (1.0 - k);
} else {
*value = -(k * -*value + max * (1.0 - k));
}
}
}
/**
* A system locking function with a counter. For every lock, a corresponding unlock must
* exist to unlock the system. That means, if lock is called five times, unlock has to

1
utils.h
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@ -30,6 +30,7 @@ float utils_calc_ratio(float low, float high, float val);
void utils_norm_angle(float *angle);
int utils_truncate_number(float *number, float min, float max);
float utils_map(float x, float in_min, float in_max, float out_min, float out_max);
void utils_deadband(float *value, float tres, float max);
void utils_sys_lock_cnt(void);
void utils_sys_unlock_cnt(void);