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Locking around stop code, added mc_interface_set_current_off_delay

This commit is contained in:
Benjamin Vedder 2021-05-15 15:24:39 +02:00
parent b3ed7a67d7
commit 934d7b9751
4 changed files with 26 additions and 3 deletions
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2
conf_general.h
View File

@ -24,7 +24,7 @@
#define FW_VERSION_MAJOR 5
#define FW_VERSION_MINOR 03
// Set to 0 for building a release and iterate during beta test builds
#define FW_TEST_VERSION_NUMBER 34
#define FW_TEST_VERSION_NUMBER 35
#include "datatypes.h"

20
mc_interface.c
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@ -1559,6 +1559,26 @@ void mc_interface_ignore_input_both(int time_ms) {
#endif
}
void mc_interface_set_current_off_delay(float delay_sec) {
if (mc_interface_try_input()) {
return;
}
switch (motor_now()->m_conf.motor_type) {
case MOTOR_TYPE_BLDC:
case MOTOR_TYPE_DC:
break;
case MOTOR_TYPE_FOC:
mcpwm_foc_set_current_off_delay(delay_sec);
break;
default:
break;
}
}
// MC implementation functions
/**

2
mc_interface.h
View File

@ -96,6 +96,8 @@ void mc_interface_set_odometer(uint64_t new_odometer_meters);
void mc_interface_ignore_input(int time_ms);
void mc_interface_ignore_input_both(int time_ms);
void mc_interface_set_current_off_delay(float delay_sec);
// MC implementation functions
void mc_interface_fault_stop(mc_fault_code fault, bool is_second_motor, bool is_isr);
int mc_interface_try_input(void);

5
mcpwm_foc.c
View File

@ -3090,10 +3090,10 @@ static void run_fw(volatile motor_all_state_t *motor, float dt) {
static void timer_update(volatile motor_all_state_t *motor, float dt) {
run_fw(motor, dt);
utils_step_towards((float*)&motor->m_current_off_delay, 0.0, dt);
// Check if it is time to stop the modulation. Notice that modulation is kept on as long as there is
// field weakening current.
utils_sys_lock_cnt();
utils_step_towards((float*)&motor->m_current_off_delay, 0.0, dt);
if (!motor->m_phase_override && motor->m_state == MC_STATE_RUNNING &&
(motor->m_control_mode == CONTROL_MODE_CURRENT ||
motor->m_control_mode == CONTROL_MODE_CURRENT_BRAKE ||
@ -3108,6 +3108,7 @@ static void timer_update(volatile motor_all_state_t *motor, float dt) {
stop_pwm_hw(motor);
}
}
utils_sys_unlock_cnt();
// Use this to study the openloop timers under experiment plot
#if 0