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Some optimizations to make mc_interface timer ISR run faster

This commit is contained in:
Benjamin Vedder 2020-03-20 21:48:21 +01:00
parent a61e74db82
commit 68163a88b6
5 changed files with 109 additions and 26 deletions
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1
hwconf/hw_stormcore_100d.h
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@ -34,7 +34,6 @@
//#define HW_DEAD_TIME_NSEC 360.0 // Dead time
#define HW_HAS_DUAL_MOTOR
//Switch Pins
#define HW_HAS_STORMCORE_SWITCH
#define HW_HAS_RGB_SWITCH

1
hwconf/hw_stormcore_60d.h
View File

@ -34,7 +34,6 @@
//#define HW_DEAD_TIME_NSEC 360.0 // Dead time
#define HW_HAS_DUAL_MOTOR
//Switch Pins
#define HW_HAS_STORMCORE_SWITCH
#define HW_HAS_RGB_SWITCH

63
mc_interface.c
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@ -80,6 +80,7 @@ typedef struct {
float m_gate_driver_voltage;
float m_motor_current_unbalance;
float m_motor_current_unbalance_error_rate;
float m_f_samp_now;
} motor_if_state_t;
// Private variables
@ -1583,24 +1584,22 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
wrong_voltage_iterations = 0;
}
// Monitor currents balance. The sum of the 3 currents should be zero
#ifdef HW_HAS_3_SHUNTS
if (!motor->m_conf.foc_sample_high_current) { // This won't work when high current sampling is used
motor->m_motor_current_unbalance = mc_interface_get_abs_motor_current_unbalance();
if (motor->m_motor_current_unbalance > MCCONF_MAX_CURRENT_UNBALANCE) {
UTILS_LP_FAST(motor->m_motor_current_unbalance_error_rate, 1.0, (1 / 20000.0));
// Fetch these values here in a config-specific code to avoid some overheat of the general
// function. That will make this interrupt run a bit faster.
mc_state state;
float current;
float current_in;
if (motor->m_conf.motor_type == MOTOR_TYPE_FOC) {
state = mcpwm_foc_get_state_motor(is_second_motor);
current = mcpwm_foc_get_tot_current_filtered_motor(is_second_motor);
current_in = mcpwm_foc_get_tot_current_in_filtered_motor(is_second_motor);
} else {
UTILS_LP_FAST(motor->m_motor_current_unbalance_error_rate, 0.0, (1 / 20000.0));
state = mcpwm_get_state();
current = mcpwm_get_tot_current_filtered();
current_in = mcpwm_get_tot_current_in_filtered();
}
if (motor->m_motor_current_unbalance_error_rate > MCCONF_MAX_CURRENT_UNBALANCE_RATE) {
mc_interface_fault_stop(FAULT_CODE_UNBALANCED_CURRENTS, is_second_motor);
}
}
#endif
if (mc_interface_get_state() == MC_STATE_RUNNING) {
if (state == MC_STATE_RUNNING) {
motor->m_cycles_running++;
} else {
motor->m_cycles_running = 0;
@ -1610,8 +1609,6 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
pwn_done_func();
}
const float current = mc_interface_get_tot_current_filtered();
const float current_in = mc_interface_get_tot_current_in_filtered();
motor->m_motor_current_sum += current;
motor->m_input_current_sum += current_in;
motor->m_motor_current_iterations++;
@ -1631,8 +1628,8 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
float abs_current_filtered = current;
if (motor->m_conf.motor_type == MOTOR_TYPE_FOC) {
// TODO: Make this more general
abs_current = mcpwm_foc_get_abs_motor_current();
abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered();
abs_current = mcpwm_foc_get_abs_motor_current_motor(is_second_motor);
abs_current_filtered = mcpwm_foc_get_abs_motor_current_filtered_motor(is_second_motor);
}
// Current fault code
@ -1671,8 +1668,9 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
}
#endif
float f_samp = motor->m_f_samp_now;
// Watt and ah counters
const float f_samp = mc_interface_get_sampling_frequency_now();
if (fabsf(current) > 1.0) {
// Some extra filtering
static float curr_diff_sum = 0.0;
@ -1714,7 +1712,7 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
break;
case DEBUG_SAMPLING_START:
if (mc_interface_get_state() == MC_STATE_RUNNING || m_sample_now > 0) {
if (state == MC_STATE_RUNNING || m_sample_now > 0) {
sample = true;
}
@ -1752,7 +1750,7 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
m_sample_mode = DEBUG_SAMPLING_OFF;
}
if (mc_interface_get_state() == MC_STATE_RUNNING && m_sample_trigger < 0) {
if (state == MC_STATE_RUNNING && m_sample_trigger < 0) {
m_sample_trigger = m_sample_now;
}
} break;
@ -1818,7 +1816,7 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
m_phase_samples[m_sample_now] = 0;
}
if (mc_interface_get_state() == MC_STATE_DETECTING) {
if (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];
@ -2100,6 +2098,8 @@ static volatile motor_if_state_t *motor_now(void) {
static void run_timer_tasks(volatile motor_if_state_t *motor) {
bool is_motor_1 = motor == &m_motor_1;
motor->m_f_samp_now = mc_interface_get_sampling_frequency_now();
// Decrease fault iterations
if (motor->m_ignore_iterations > 0) {
motor->m_ignore_iterations--;
@ -2193,6 +2193,23 @@ static void run_timer_tasks(volatile motor_if_state_t *motor) {
}
#endif
}
// Monitor currents balance. The sum of the 3 currents should be zero
#ifdef HW_HAS_3_SHUNTS
if (!motor->m_conf.foc_sample_high_current) { // This won't work when high current sampling is used
motor->m_motor_current_unbalance = mc_interface_get_abs_motor_current_unbalance();
if (motor->m_motor_current_unbalance > MCCONF_MAX_CURRENT_UNBALANCE) {
UTILS_LP_FAST(motor->m_motor_current_unbalance_error_rate, 1.0, (1 / 1000.0));
} else {
UTILS_LP_FAST(motor->m_motor_current_unbalance_error_rate, 0.0, (1 / 1000.0));
}
if (motor->m_motor_current_unbalance_error_rate > MCCONF_MAX_CURRENT_UNBALANCE_RATE) {
mc_interface_fault_stop(FAULT_CODE_UNBALANCED_CURRENTS, !is_motor_1);
}
}
#endif
}
static THD_FUNCTION(timer_thread, arg) {

59
mcpwm_foc.c
View File

@ -1051,6 +1051,65 @@ bool mcpwm_foc_is_using_encoder(void) {
return motor_now()->m_using_encoder;
}
float mcpwm_foc_get_tot_current_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
return SIGN(motor->m_motor_state.vq) * motor->m_motor_state.iq;
#else
return SIGN(m_motor_1.m_motor_state.vq) * m_motor_1.m_motor_state.iq;
#endif
}
float mcpwm_foc_get_tot_current_filtered_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
return SIGN(motor->m_motor_state.vq) * motor->m_motor_state.iq_filter;
#else
return SIGN(m_motor_1.m_motor_state.vq) * m_motor_1.m_motor_state.iq_filter;
#endif
}
float mcpwm_foc_get_tot_current_in_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_bus;
#else
return m_motor_1.m_motor_state.i_bus;
#endif
}
float mcpwm_foc_get_tot_current_in_filtered_motor(bool is_second_motor) {
// TODO: Filter current?
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_bus;
#else
return m_motor_1.m_motor_state.i_bus;
#endif
}
float mcpwm_foc_get_abs_motor_current_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_abs;
#else
return m_motor_1.m_motor_state.i_abs;
#endif
}
float mcpwm_foc_get_abs_motor_current_filtered_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_abs_filter;
#else
return m_motor_1.m_motor_state.i_abs_filter;
#endif
}
mc_state mcpwm_foc_get_state_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_state;
#else
return m_motor_1.m_state;
#endif
}
/**
* Calculate the current RPM of the motor. This is a signed value and the sign
* depends on the direction the motor is rotating in. Note that this value has

9
mcpwm_foc.h
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@ -91,6 +91,15 @@ void mcpwm_foc_set_current_offsets(
float mcpwm_foc_get_ts(void);
bool mcpwm_foc_is_using_encoder(void);
// Functions where the motor can be selected
float mcpwm_foc_get_tot_current_motor(bool is_second_motor);
float mcpwm_foc_get_tot_current_filtered_motor(bool is_second_motor);
float mcpwm_foc_get_tot_current_in_motor(bool is_second_motor);
float mcpwm_foc_get_tot_current_in_filtered_motor(bool is_second_motor);
float mcpwm_foc_get_abs_motor_current_motor(bool is_second_motor);
float mcpwm_foc_get_abs_motor_current_filtered_motor(bool is_second_motor);
mc_state mcpwm_foc_get_state_motor(bool is_second_motor);
// Interrupt handlers
void mcpwm_foc_tim_sample_int_handler(void);
void mcpwm_foc_adc_int_handler(void *p, uint32_t flags);