rusefi
/
bldc
mirror of https://github.com/rusefi/bldc.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
CHANGELOG
View File

@ -12,6 +12,7 @@
* Added bm_reset terminal command.
* Added bm support for STM32F30x and STM32L47x.
* App Balance updates. See https://github.com/vedderb/bldc/pull/193
* Motor current now based on magnitude of both axes.
=== FW 5.01 ===
* 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) {
#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;
return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq) * motor->m_motor_state.i_abs;
#else
(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
}
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) *
sqrtf( SQ(motor->m_motor_state.iq_filter) + SQ(motor->m_motor_state.id_filter) );
return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq_filter) * motor->m_motor_state.i_abs_filter;
#else
(void)is_second_motor;
return SIGN(m_motor_1.m_motor_state.vq) *
sqrtf( SQ(m_motor_1.m_motor_state.iq_filter) + SQ(m_motor_1.m_motor_state.id_filter) );
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;
#endif
}
@ -1185,7 +1183,8 @@ float mcpwm_foc_get_rpm_faster(void) {
* The motor current.
*/
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.
*/
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;
}
/**