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Merge pull request #242 from Jfriesen222/dev_fw_5_02 

Changed stormcore config to use cleaner turn on routine
This commit is contained in:
Benjamin Vedder 2020-12-06 21:57:08 +01:00 committed by GitHub
parent 7207fcec98 ba097e171e
commit 9c96de54a9
No known key found for this signature in database
GPG Key ID: 4AEE18F83AFDEB23
5 changed files with 92 additions and 23 deletions
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36
hwconf/hw_stormcore_100d.c
View File

@ -354,7 +354,7 @@ static THD_FUNCTION(mux_thread, arg) {
ENABLE_V_BATT_DIV();
chThdSleepMicroseconds(300);
chThdSleepMicroseconds(400);
ADC_Value[ADC_IND_V_BATT] = ADC_Value[ADC_IND_ADC_MUX];
}
}
@ -371,11 +371,15 @@ void smart_switch_keep_on(void) {
}
void smart_switch_shut_down(void) {
mc_interface_select_motor_thread(2);
mc_interface_set_current(0);
mc_interface_lock();
mc_interface_select_motor_thread(1);
mc_interface_set_current(0);
mc_interface_lock();
switch_state = SWITCH_SHUTTING_DOWN;
palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
#ifdef HW_HAS_STORMCORE_SWITCH
palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
#endif
return;
}
@ -405,7 +409,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
utils_fast_sincos_better(angle + 6.28/3.0, &s, &c);
switch_red = 0.75* c*c;
ledpwm_set_intensity(LED_HW3,switch_bright*switch_red);
chThdSleepMilliseconds(10);
chThdSleepMilliseconds(4);
}
float switch_red_old = switch_red_old;
float switch_green_old = switch_green;
@ -430,7 +434,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
ledpwm_set_intensity(LED_HW1, switch_bright*blue_now);
ledpwm_set_intensity(LED_HW2, switch_bright*green_now);
ledpwm_set_intensity(LED_HW3, switch_bright*red_now);
chThdSleepMilliseconds(10);
chThdSleepMilliseconds(2);
}
for (;;) {
@ -494,8 +498,28 @@ static THD_FUNCTION(smart_switch_thread, arg) {
break;
case SWITCH_TURN_ON_DELAY_ACTIVE:
switch_state = SWITCH_HELD_AFTER_TURN_ON;
chThdSleepMilliseconds(5000);
mc_interface_select_motor_thread(2);
mc_interface_set_current(0);
mc_interface_lock();
mc_interface_select_motor_thread(1);
mc_interface_set_current(0);
mc_interface_lock();
int cts = 0;
while((ADC_Value[ADC_IND_V_BATT] < 1 || ADC_Value[ADC_IND_VIN_SENS] < 1) && (cts < 50)){
chThdSleepMilliseconds(100);
cts++;
}
cts = 0;
while(((GET_BATT_VOLTAGE() - GET_INPUT_VOLTAGE()) > 8.0) && (cts < 50)){
chThdSleepMilliseconds(100);
cts++;
}
palSetPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
mc_interface_select_motor_thread(2);
mc_interface_unlock();
mc_interface_select_motor_thread(1);
mc_interface_unlock();
break;
case SWITCH_HELD_AFTER_TURN_ON:
smart_switch_keep_on();

4
hwconf/hw_stormcore_100d.h
View File

@ -233,9 +233,11 @@
#define CURRENT_SHUNT_RES 0.001
#endif
#define VBATT_R1 360000.0
#define VBATT_R2 10000.0
// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))
#define GET_BATT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_V_BATT] * ((VIN_R1 + VIN_R2) / VIN_R2))
#define GET_BATT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_V_BATT] * ((VBATT_R1 + VBATT_R2) / VBATT_R2))
#define GET_VM_SENSE_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VM_SENSE] * ((VIN_R1 + VIN_R2) / VIN_R2))
// Voltage on ADC channel

42
hwconf/hw_stormcore_60d.c
View File

@ -357,21 +357,19 @@ static THD_FUNCTION(mux_thread, arg) {
void smart_switch_keep_on(void) {
palSetPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
//#ifdef HW_HAS_RGB_SWITCH
// LED_SWITCH_B_ON();
// ledpwm_set_intensity(SWITCH_LED_B, 1.0);
//#else
// ledpwm_set_intensity(SWITCH_LED, 1.0);
// ledpwm_set_switch_intensity(0.6);
//#endif
}
void smart_switch_shut_down(void) {
mc_interface_select_motor_thread(2);
mc_interface_set_current(0);
mc_interface_lock();
mc_interface_select_motor_thread(1);
mc_interface_set_current(0);
mc_interface_lock();
switch_state = SWITCH_SHUTTING_DOWN;
palClearPad(SWITCH_OUT_GPIO, SWITCH_OUT_PIN);
#ifdef HW_HAS_STORMCORE_SWITCH
palClearPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
#endif
return;
}
@ -401,7 +399,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
utils_fast_sincos_better(angle + 6.28/3.0, &s, &c);
switch_red = 0.75* c*c;
ledpwm_set_intensity(LED_HW3,switch_bright*switch_red);
chThdSleepMilliseconds(10);
chThdSleepMilliseconds(4);
}
float switch_red_old = switch_red_old;
float switch_green_old = switch_green;
@ -426,7 +424,7 @@ static THD_FUNCTION(switch_color_thread, arg) {
ledpwm_set_intensity(LED_HW1, switch_bright*blue_now);
ledpwm_set_intensity(LED_HW2, switch_bright*green_now);
ledpwm_set_intensity(LED_HW3, switch_bright*red_now);
chThdSleepMilliseconds(10);
chThdSleepMilliseconds(2);
}
for (;;) {
@ -491,8 +489,28 @@ static THD_FUNCTION(smart_switch_thread, arg) {
break;
case SWITCH_TURN_ON_DELAY_ACTIVE:
switch_state = SWITCH_HELD_AFTER_TURN_ON;
chThdSleepMilliseconds(5000);
mc_interface_select_motor_thread(2);
mc_interface_set_current(0);
mc_interface_lock();
mc_interface_select_motor_thread(1);
mc_interface_set_current(0);
mc_interface_lock();
int cts = 0;
while((ADC_Value[ADC_IND_V_BATT] < 1 || ADC_Value[ADC_IND_VIN_SENS] < 1) && (cts < 50)){
chThdSleepMilliseconds(100);
cts++;
}
cts = 0;
while(((GET_BATT_VOLTAGE() - GET_INPUT_VOLTAGE()) > 8.0) && (cts < 50)){
chThdSleepMilliseconds(100);
cts++;
}
palSetPad(SWITCH_PRECHARGED_GPIO, SWITCH_PRECHARGED_PIN);
mc_interface_select_motor_thread(2);
mc_interface_unlock();
mc_interface_select_motor_thread(1);
mc_interface_unlock();
break;
case SWITCH_HELD_AFTER_TURN_ON:
smart_switch_keep_on();

3
hwconf/hw_stormcore_60d.h
View File

@ -378,6 +378,9 @@
#ifndef MCCONF_M_DRV8301_OC_ADJ
#define MCCONF_M_DRV8301_OC_ADJ 14
#endif
#ifndef MCCONF_L_DUTY_START
#define MCCONF_L_DUTY_START 0.9 // Start limiting current at this duty cycle
#endif
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 200.0 // The maximum absolute current above which a fault is generated
#endif

30
hwconf/hw_unity.h
View File

@ -17,9 +17,18 @@
#ifndef HW_UNITY_H_
#define HW_UNITY_H_
#define HW_NAME "UNITY"
#ifdef HW_DUAL_CONFIG_PARALLEL
#define HW_HAS_DUAL_PARALLEL
#else
#define HW_HAS_DUAL_MOTORS
#endif
#ifdef HW_HAS_DUAL_PARALLEL
#define HW_NAME "UNITY_PARALLEL"
#else
#define HW_NAME "UNITY"
#endif
#define HW_HAS_DRV8301
//#define HW_HAS_3_SHUNTS
//#define HW_HAS_PHASE_SHUNTS
@ -305,9 +314,22 @@
#endif
// Setting limits
#define HW_LIM_CURRENT -150.0, 150.0
#define HW_LIM_CURRENT_IN -120.0, 120.0
#ifdef HW_HAS_DUAL_PARALLEL
#define HW_LIM_CURRENT -300.0, 300.0
#define HW_LIM_CURRENT_ABS 800.0, 804.0
#define HW_LIM_CURRENT_IN -200.0, 200.0
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 400.0 // The maximum absolute current above which a fault is generated
#endif
#else
#define HW_LIM_CURRENT -150.0, 150.0
#define HW_LIM_CURRENT_ABS 400.0, 402.0
#define HW_LIM_CURRENT_IN -100.0, 100.0
#ifndef MCCONF_L_MAX_ABS_CURRENT
#define MCCONF_L_MAX_ABS_CURRENT 200.0 // The maximum absolute current above which a fault is generated
#endif
#endif
#define HW_LIM_VIN 6.0, 59.0
#define HW_LIM_ERPM -200e3, 200e3
#define HW_LIM_DUTY_MIN 0.0, 0.1