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Ramping bug fixes

This commit is contained in:
Benjamin Vedder 2014-01-23 13:03:57 +01:00
parent 572603516c
commit 9da8785080
4 changed files with 16 additions and 26 deletions
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build/BLDC_4_ChibiOS.bin
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4
main.c
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@ -118,13 +118,13 @@ static msg_t periodic_thread(void *arg) {
if (pwr < MIN_PWR) {
mcpwm_use_pid(0);
mcpwm_set_duty(0);
mcpwm_set_duty(0.0);
} else {
mcpwm_use_pid(0);
mcpwm_set_duty(pwr);
}
#endif
chThdSleepMilliseconds(1);
chThdSleepMilliseconds(20);
}
return 0;

34
mcpwm.c
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@ -562,8 +562,13 @@ void mcpwm_set_duty(float dutyCycle) {
dutycycle_set = dutyCycle;
if (state != MC_STATE_RUNNING) {
set_duty_cycle(dutyCycle);
if (state != MC_STATE_RUNNING && dutyCycle > MCPWM_MIN_DUTY_CYCLE) {
if (dutyCycle > 0.0) {
dutycycle_now = (MCPWM_MIN_DUTY_CYCLE + 0.01);
} else {
dutycycle_now = -(MCPWM_MIN_DUTY_CYCLE + 0.01);
}
set_duty_cycle(dutycycle_now);
}
}
@ -734,6 +739,7 @@ static void set_duty_cycle(float dutyCycle) {
if (dutyCycle < MCPWM_MIN_DUTY_CYCLE) {
switch (state) {
case MC_STATE_STARTING:
case MC_STATE_RUNNING:
state = MC_STATE_OFF;
if (MCPWM_FULL_BRAKE_AT_STOP) {
mcpwm_full_brake();
@ -747,13 +753,6 @@ static void set_duty_cycle(float dutyCycle) {
stop_pwm(); // TODO: Full break?
break;
case MC_STATE_RUNNING:
if (!MCPWM_FULL_BRAKE_AT_STOP) {
state = MC_STATE_OFF;
stop_pwm();
}
break;
default:
break;
}
@ -1235,29 +1234,20 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
if (fabsf(dutycycle_now) <= MCPWM_MIN_DUTY_CYCLE) {
if (dutycycle_set_tmp > MCPWM_MIN_DUTY_CYCLE) {
dutycycle_now = MCPWM_MIN_DUTY_CYCLE + 0.01;
#if MCPWM_IS_SENSORLESS
direction = 1;
set_open_loop();
#endif
} else if (dutycycle_set_tmp < -MCPWM_MIN_DUTY_CYCLE) {
dutycycle_now = -MCPWM_MIN_DUTY_CYCLE - 0.01;
#if MCPWM_IS_SENSORLESS
direction = 0;
set_open_loop();
#endif
}
}
set_duty_cycle(dutycycle_now);
if (state == MC_STATE_RUNNING &&
fabsf(dutycycle_set) < MCPWM_MIN_DUTY_CYCLE &&
fabsf(dutycycle_now) <= MCPWM_MIN_DUTY_CYCLE + 0.03) {
state = MC_STATE_OFF;
dutycycle_now = 0.0;
dutycycle_set = 0.0;
if (MCPWM_FULL_BRAKE_AT_STOP) {
mcpwm_full_brake();
} else {
stop_pwm();
}
}
}
main_dma_adc_handler();

4
mcpwm.h
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@ -86,7 +86,7 @@ extern volatile int ADC_curr_norm_value[];
*/
#define MCPWM_SWITCH_FREQUENCY 40000 // Switching frequency in HZ
#define MCPWM_DEAD_TIME_CYCLES 80 // Dead time
#define MCPWM_PWM_MODE PWM_MODE_BIPOLAR // Default PWM mode
#define MCPWM_PWM_MODE PWM_MODE_SYNCHRONOUS // Default PWM mode
#define MCPWM_MIN_DUTY_CYCLE 0.01 // Minimum duty cycle
#define MCPWM_MAX_DUTY_CYCLE 0.95 // Maximum duty cycle
#define MCPWM_AVG_COM_RPM 6 // Number of commutations to average RPM over
@ -94,7 +94,7 @@ extern volatile int ADC_curr_norm_value[];
#define MCPWM_HALL_SENSOR_ORDER 5 // Order in which hall sensors are connected
#define MCPWM_RAMP_STEP 0.005 // Ramping step (1000 times/sec)
#define MCPWM_CURRENT_MAX 30.0 // Current limit in Amperes
#define MCPWM_CURRENT_MIN -10.0 // Current limit in Amperes
#define MCPWM_CURRENT_MIN -30.0 // Current limit in Amperes
#define MCPWM_IN_CURRENT_LIMIT 20.0 // Input current limit in Amperes
#define MCPWM_FULL_BRAKE_AT_STOP 0 // Brake the motor when the power is set to stopped