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Fixed bug introduced in PR and calculate motor current from magnitude of both axes

This commit is contained in:
Benjamin Vedder 2020-07-21 09:23:48 +02:00
parent 0b6ccb17f9
commit 80b5e7071f
2 changed files with 9 additions and 8 deletions
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1
CHANGELOG
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@ -12,6 +12,7 @@
* Added bm_reset terminal command. * Added bm_reset terminal command.
* Added bm support for STM32F30x and STM32L47x. * Added bm support for STM32F30x and STM32L47x.
* App Balance updates. See https://github.com/vedderb/bldc/pull/193 * App Balance updates. See https://github.com/vedderb/bldc/pull/193
* Motor current now based on magnitude of both axes.
=== FW 5.01 === === FW 5.01 ===
* Fixed PPM bug in previous release. * Fixed PPM bug in previous release.

16
mcpwm_foc.c
View File

@ -1084,22 +1084,20 @@ bool mcpwm_foc_is_using_encoder(void) {
float mcpwm_foc_get_tot_current_motor(bool is_second_motor) { float mcpwm_foc_get_tot_current_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS #ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1; 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; return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq) * motor->m_motor_state.i_abs;
#else #else
(void)is_second_motor; (void)is_second_motor;
return SIGN(m_motor_1.m_motor_state.vq) * m_motor_1.m_motor_state.iq; return SIGN(m_motor_1.m_motor_state.vq * m_motor_1.m_motor_state.iq) * m_motor_1.m_motor_state.i_abs;
#endif #endif
} }
float mcpwm_foc_get_tot_current_filtered_motor(bool is_second_motor) { float mcpwm_foc_get_tot_current_filtered_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS #ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1; volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
return SIGN(motor->m_motor_state.vq) * return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq_filter) * motor->m_motor_state.i_abs_filter;
sqrtf( SQ(motor->m_motor_state.iq_filter) + SQ(motor->m_motor_state.id_filter) );
#else #else
(void)is_second_motor; (void)is_second_motor;
return SIGN(m_motor_1.m_motor_state.vq) * return SIGN(m_motor_1.m_motor_state.vq * m_motor_1.m_motor_state.iq_filter) * m_motor_1.m_motor_state.i_abs_filter;
sqrtf( SQ(m_motor_1.m_motor_state.iq_filter) + SQ(m_motor_1.m_motor_state.id_filter) );
#endif #endif
} }
@ -1185,7 +1183,8 @@ float mcpwm_foc_get_rpm_faster(void) {
* The motor current. * The motor current.
*/ */
float mcpwm_foc_get_tot_current(void) { float mcpwm_foc_get_tot_current(void) {
return SIGN(motor_now()->m_motor_state.vq) * motor_now()->m_motor_state.iq; volatile motor_all_state_t *motor = motor_now();
return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq) * motor->m_motor_state.i_abs;
} }
/** /**
@ -1197,7 +1196,8 @@ float mcpwm_foc_get_tot_current(void) {
* The filtered motor current. * The filtered motor current.
*/ */
float mcpwm_foc_get_tot_current_filtered(void) { float mcpwm_foc_get_tot_current_filtered(void) {
return SIGN(motor_now()->m_motor_state.vq) * motor_now()->m_motor_state.iq_filter; volatile motor_all_state_t *motor = motor_now();
return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq_filter) * motor->m_motor_state.i_abs_filter;
} }
/** /**