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Added max ERPM in CC mode parameter (NOTE: Requires latest BLDC_Tool)

This commit is contained in:
Benjamin Vedder 2014-12-13 11:46:26 +01:00
parent bc4409ba14
commit 434cd04b86
5 changed files with 18 additions and 6 deletions
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2
commands.c
View File

@ -178,6 +178,7 @@ void commands_process_packet(unsigned char *data, unsigned char len) {
mcconf.l_min_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_max_erpm = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_max_erpm_fbrake = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_max_erpm_fbrake_cc = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_min_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_max_vin = (float)buffer_get_int32(data, &ind) / 1000.0;
mcconf.l_slow_abs_current = data[ind++];
@ -237,6 +238,7 @@ void commands_process_packet(unsigned char *data, unsigned char len) {
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_erpm_fbrake_cc * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_min_vin * 1000.0), &ind);
buffer_append_int32(send_buffer, (int32_t)(mcconf.l_max_vin * 1000.0), &ind);
send_buffer[ind++] = mcconf.l_slow_abs_current;

4
conf_general.c
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@ -69,6 +69,9 @@
#ifndef MCPWM_CURR_MAX_RPM_FBRAKE
#define MCPWM_CURR_MAX_RPM_FBRAKE 1500 // Maximum electrical RPM to use full brake at
#endif
#ifndef MCPWM_CURR_MAX_RPM_FBRAKE_CC
#define MCPWM_CURR_MAX_RPM_FBRAKE_CC 1500 // Maximum electrical RPM to use full brake at with current control
#endif
#ifndef MCPWM_SLOW_ABS_OVERCURRENT
#define MCPWM_SLOW_ABS_OVERCURRENT false // Use the filtered (and hence slower) current for the overcurrent fault detection
#endif
@ -239,6 +242,7 @@ void conf_general_read_mc_configuration(mc_configuration *conf) {
conf->l_min_erpm = MCPWM_RPM_MIN;
conf->l_max_erpm = MCPWM_RPM_MAX;
conf->l_max_erpm_fbrake = MCPWM_CURR_MAX_RPM_FBRAKE;
conf->l_max_erpm_fbrake_cc = MCPWM_CURR_MAX_RPM_FBRAKE_CC;
conf->l_min_vin = MCPWM_MIN_VOLTAGE;
conf->l_max_vin = MCPWM_MAX_VOLTAGE;
conf->l_slow_abs_current = MCPWM_SLOW_ABS_OVERCURRENT;

1
datatypes.h
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@ -86,6 +86,7 @@ typedef struct {
float l_min_erpm;
float l_max_erpm;
float l_max_erpm_fbrake;
float l_max_erpm_fbrake_cc;
float l_min_vin;
float l_max_vin;
bool l_slow_abs_current;

8
led_external.c
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@ -111,8 +111,8 @@ static msg_t led_thread(void *arg) {
while (state == state_last && !HAS_FAULT()) {
if ((chTimeNow() / (CH_FREQUENCY / 2)) % 2) {
ws2811_set_led_color(WS2811_LED_NUM / 2 - 1, COLOR_ORANGE);
ws2811_set_led_color(WS2811_LED_NUM / 2, COLOR_ORANGE);
ws2811_set_led_color(WS2811_LED_NUM / 2 - 1, 0xFF9900);
ws2811_set_led_color(WS2811_LED_NUM / 2, 0xFF9900);
} else {
ws2811_set_led_color(WS2811_LED_NUM / 2 - 1, COLOR_BLACK);
ws2811_set_led_color(WS2811_LED_NUM / 2, COLOR_BLACK);
@ -134,8 +134,8 @@ static msg_t led_thread(void *arg) {
while (state == state_last && !HAS_FAULT()) {
if ((chTimeNow() / (CH_FREQUENCY / 2)) % 2) {
ws2811_set_led_color(0, COLOR_ORANGE);
ws2811_set_led_color(WS2811_LED_NUM - 1, COLOR_ORANGE);
ws2811_set_led_color(0, 0xFF9900);
ws2811_set_led_color(WS2811_LED_NUM - 1, 0xFF9900);
} else {
ws2811_set_led_color(0, COLOR_BLACK);
ws2811_set_led_color(WS2811_LED_NUM - 1, COLOR_BLACK);

5
mcpwm.c
View File

@ -1840,8 +1840,13 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
// Lower truncation
if (fabsf(dutycycle_now_tmp) < MCPWM_MIN_DUTY_CYCLE) {
if (fabsf(rpm_now) < conf.l_max_erpm_fbrake_cc) {
dutycycle_now_tmp = 0.0;
dutycycle_set = dutycycle_now_tmp;
} else {
dutycycle_now_tmp = SIGN(dutycycle_now_tmp) * MCPWM_MIN_DUTY_CYCLE;
dutycycle_set = dutycycle_now_tmp;
}
}
} else {
utils_step_towards((float*)&dutycycle_now_tmp, dutycycle_set, ramp_step);