mirror of https://github.com/rusefi/bldc.git
Manually merged #166
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939634b9a2
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9781fb9563
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@ -3,6 +3,7 @@
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* Added COMM_GET_MCCONF_TEMP command.
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* Added bidirectional current command to VESC remote.
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* Fixed motor temperature reading on hw with ADC mux.
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* Added speed PID input ramping option.
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=== FW 5.01 ===
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* Fixed PPM bug in previous release.
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@ -118,6 +118,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
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buffer_append_float32_auto(buffer, conf->s_pid_kd_filter, &ind);
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buffer_append_float32_auto(buffer, conf->s_pid_min_erpm, &ind);
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buffer[ind++] = conf->s_pid_allow_braking;
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buffer_append_float32_auto(buffer, conf->s_pid_ramp_erpms_s, &ind);
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buffer_append_float32_auto(buffer, conf->p_pid_kp, &ind);
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buffer_append_float32_auto(buffer, conf->p_pid_ki, &ind);
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buffer_append_float32_auto(buffer, conf->p_pid_kd, &ind);
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@ -410,6 +411,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
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conf->s_pid_kd_filter = buffer_get_float32_auto(buffer, &ind);
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conf->s_pid_min_erpm = buffer_get_float32_auto(buffer, &ind);
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conf->s_pid_allow_braking = buffer[ind++];
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conf->s_pid_ramp_erpms_s = buffer_get_float32_auto(buffer, &ind);
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conf->p_pid_kp = buffer_get_float32_auto(buffer, &ind);
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conf->p_pid_ki = buffer_get_float32_auto(buffer, &ind);
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conf->p_pid_kd = buffer_get_float32_auto(buffer, &ind);
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@ -698,6 +700,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
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conf->s_pid_kd_filter = MCCONF_S_PID_KD_FILTER;
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conf->s_pid_min_erpm = MCCONF_S_PID_MIN_RPM;
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conf->s_pid_allow_braking = MCCONF_S_PID_ALLOW_BRAKING;
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conf->s_pid_ramp_erpms_s = MCCONF_S_PID_RAMP_ERPMS_S;
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conf->p_pid_kp = MCCONF_P_PID_KP;
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conf->p_pid_ki = MCCONF_P_PID_KI;
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conf->p_pid_kd = MCCONF_P_PID_KD;
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@ -8,7 +8,7 @@
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#include <stdbool.h>
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// Constants
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#define MCCONF_SIGNATURE 3698540221
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#define MCCONF_SIGNATURE 1775793947
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#define APPCONF_SIGNATURE 4090856534
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// Functions
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@ -321,6 +321,7 @@ typedef struct {
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float s_pid_kd_filter;
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float s_pid_min_erpm;
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bool s_pid_allow_braking;
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float s_pid_ramp_erpms_s;
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// Pos PID
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float p_pid_kp;
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float p_pid_ki;
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@ -136,6 +136,9 @@
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#ifndef MCCONF_S_PID_ALLOW_BRAKING
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#define MCCONF_S_PID_ALLOW_BRAKING true // Allow braking in speed control mode
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#endif
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#ifndef MCCONF_S_PID_RAMP_ERPMS_S
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#define MCCONF_S_PID_RAMP_ERPMS_S -1.0 // Default Speed Input Ramp
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#endif
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// Position PID parameters
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#ifndef MCCONF_P_PID_KP
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16
mcpwm_foc.c
16
mcpwm_foc.c
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@ -111,6 +111,7 @@ typedef struct {
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bool m_output_on;
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float m_pos_pid_set;
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float m_speed_pid_set_rpm;
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float m_speed_command_rpm;
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float m_phase_now_observer;
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float m_phase_now_observer_override;
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bool m_phase_observer_override;
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@ -798,6 +799,17 @@ void mcpwm_foc_set_duty_noramp(float dutyCycle) {
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* The electrical RPM goal value to use.
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*/
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void mcpwm_foc_set_pid_speed(float rpm) {
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if (motor_now()->m_conf->s_pid_ramp_erpms_s > 0.0 ) {
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if (motor_now()->m_control_mode != CONTROL_MODE_SPEED ||
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motor_now()->m_state != MC_STATE_RUNNING) {
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motor_now()->m_speed_pid_set_rpm = mcpwm_foc_get_rpm();
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}
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motor_now()->m_speed_command_rpm = rpm;
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} else {
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motor_now()->m_speed_pid_set_rpm = rpm;
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}
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motor_now()->m_control_mode = CONTROL_MODE_SPEED;
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motor_now()->m_speed_pid_set_rpm = rpm;
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@ -3632,6 +3644,10 @@ static void run_pid_control_speed(float dt, volatile motor_all_state_t *motor) {
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return;
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}
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if (conf_now->s_pid_ramp_erpms_s > 0.0) {
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utils_step_towards((float*)&motor->m_speed_pid_set_rpm, motor->m_speed_command_rpm, conf_now->s_pid_ramp_erpms_s * dt);
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}
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const float rpm = mcpwm_foc_get_rpm();
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float error = motor->m_speed_pid_set_rpm - rpm;
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