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Dual motor current filter support

This commit is contained in:
Benjamin Vedder 2022-06-08 14:00:43 +02:00
parent 588f03be40
commit 5483947f46
3 changed files with 33 additions and 0 deletions
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6
hwconf/hw.h
View File

@ -265,6 +265,12 @@
#ifndef CURRENT_FILTER_OFF
#define CURRENT_FILTER_OFF()
#endif
#ifndef CURRENT_FILTER_ON_M2
#define CURRENT_FILTER_ON_M2()
#endif
#ifndef CURRENT_FILTER_OFF_M2
#define CURRENT_FILTER_OFF_M2()
#endif
#ifndef SENSOR_PORT_5V
#define SENSOR_PORT_5V()

1
motor/mcpwm.c
View File

@ -444,6 +444,7 @@ void mcpwm_init(volatile mc_configuration *configuration) {
utils_sys_unlock_cnt();
CURRENT_FILTER_ON();
CURRENT_FILTER_ON_M2();
// Calibrate current offset
ENABLE_GATE();

26
motor/mcpwm_foc.c
View File

@ -456,6 +456,7 @@ void mcpwm_foc_init(mc_configuration *conf_m1, mc_configuration *conf_m2) {
utils_sys_unlock_cnt();
CURRENT_FILTER_ON();
CURRENT_FILTER_ON_M2();
ENABLE_GATE();
DCCAL_OFF();
@ -2991,7 +2992,16 @@ void mcpwm_foc_adc_int_handler(void *p, uint32_t flags) {
}
// HFI Restore
#ifdef HW_HAS_DUAL_MOTORS
if (is_second_motor) {
CURRENT_FILTER_ON_M2();
} else {
CURRENT_FILTER_ON();
}
#else
CURRENT_FILTER_ON();
#endif
motor_now->m_hfi.ind = 0;
motor_now->m_hfi.ready = false;
motor_now->m_hfi.double_integrator = 0.0;
@ -3872,7 +3882,15 @@ static void control_current(motor_all_state_t *motor, float dt) {
// HFI
if (do_hfi) {
#ifdef HW_HAS_DUAL_MOTORS
if (motor == &m_motor_2) {
CURRENT_FILTER_OFF_M2();
} else {
CURRENT_FILTER_OFF();
}
#else
CURRENT_FILTER_OFF();
#endif
float mod_alpha_v7 = state_m->mod_alpha_raw;
float mod_beta_v7 = state_m->mod_beta_raw;
@ -4057,7 +4075,15 @@ static void control_current(motor_all_state_t *motor, float dt) {
motor->m_duty_next_set = true;
}
} else {
#ifdef HW_HAS_DUAL_MOTORS
if (motor == &m_motor_2) {
CURRENT_FILTER_ON_M2();
} else {
CURRENT_FILTER_ON();
}
#else
CURRENT_FILTER_ON();
#endif
motor->m_hfi.ind = 0;
motor->m_hfi.ready = false;
motor->m_hfi.is_samp_n = false;