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Removed some hard-coded parameters

This commit is contained in:
Benjamin Vedder 2014-06-26 19:41:57 +02:00
parent 22b900995c
commit a54a79a4d4
8 changed files with 25 additions and 19 deletions
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6
applications/app_rccar.c
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@ -77,9 +77,9 @@ static msg_t rccar_thread(void *arg) {
for(;;) {
chEvtWaitAny((eventmask_t) 1);
#define HYST 0.1
#define USE_PID 1
#define PID_MAX_RPM 10000
#define HYST 0.15
#define USE_PID 0
#define PID_MAX_RPM 15000
if (servodec_get_time_since_update() < 500) {
float servo_val = servodec_get_servo_as_float(0);

1
conf_general.h
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@ -29,6 +29,7 @@
* Settings
*/
#define AUTO_PRINT_FAULTS 0
#define SYSTEM_CORE_CLOCK 168000000
/*
* Select only one hardware version

8
hwconf/hw_40.h
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@ -80,9 +80,11 @@
// ADC macros and settings
// Component parameters
#define V_REG 3.3
#define VIN_R1 33000.0
#define VIN_R2 2200.0
#define V_REG 3.3
#define VIN_R1 33000.0
#define VIN_R2 2200.0
#define CURRENT_AMP_GAIN 10.0
#define CURRENT_SHUNT_RES 0.001
// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))

8
hwconf/hw_r2.h
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@ -90,9 +90,11 @@
// ADC macros and settings
// Component parameters
#define V_REG 3.3
#define VIN_R1 33000.0
#define VIN_R2 2200.0
#define V_REG 3.3
#define VIN_R1 33000.0
#define VIN_R2 2200.0
#define CURRENT_AMP_GAIN 10.0
#define CURRENT_SHUNT_RES 0.001
// Input voltage
#define GET_INPUT_VOLTAGE() ((V_REG / 4095.0) * (float)ADC_Value[ADC_IND_VIN_SENS] * ((VIN_R1 + VIN_R2) / VIN_R2))

16
mcpwm.c
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@ -270,7 +270,7 @@ void mcpwm_init(void) {
// Time Base configuration
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 168000000 / switching_frequency_now;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / switching_frequency_now;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
@ -407,7 +407,7 @@ void mcpwm_init(void) {
TIM_TimeBaseStructure.TIM_Prescaler = 0;
TIM_TimeBaseStructure.TIM_CounterMode = TIM_CounterMode_Up;
TIM_TimeBaseStructure.TIM_Period = 168000000 / switching_frequency_now;
TIM_TimeBaseStructure.TIM_Period = SYSTEM_CORE_CLOCK / switching_frequency_now;
TIM_TimeBaseStructure.TIM_ClockDivision = 0;
TIM_TimeBaseStructure.TIM_RepetitionCounter = 0;
TIM_TimeBaseInit(TIM8, &TIM_TimeBaseStructure);
@ -454,7 +454,7 @@ void mcpwm_init(void) {
// 32-bit timer for RPM measurement
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM2, ENABLE);
uint16_t PrescalerValue = (uint16_t) ((168000000 / 2) / 1000000) - 1;
uint16_t PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / 1000000) - 1;
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
@ -489,7 +489,7 @@ void mcpwm_init(void) {
// Various time measurements
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM4, ENABLE);
PrescalerValue = (uint16_t) ((168000000 / 2) / 10000000) - 1;
PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / 10000000) - 1;
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = 0xFFFFFFFF;
@ -662,7 +662,7 @@ float mcpwm_get_kv_filtered(void) {
* The motor current.
*/
float mcpwm_get_tot_current(void) {
return last_current_sample * (3.3 / 4095.0) / (0.001 * 10.0);
return last_current_sample * (3.3 / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN);
}
/**
@ -672,7 +672,7 @@ float mcpwm_get_tot_current(void) {
* The filtered motor current.
*/
float mcpwm_get_tot_current_filtered(void) {
return last_current_sample_filtered * (3.3 / 4095.0) / (0.001 * 10.0);
return last_current_sample_filtered * (3.3 / 4095.0) / (CURRENT_SHUNT_RES * CURRENT_AMP_GAIN);
}
/**
@ -915,7 +915,7 @@ static void set_duty_cycle_hw(float dutyCycle) {
MCPWM_SWITCH_FREQUENCY_MAX * fabsf(dutyCycle);
}
timer_tmp.top = 168000000 / switching_frequency_now;
timer_tmp.top = SYSTEM_CORE_CLOCK / switching_frequency_now;
update_adc_sample_pos(&timer_tmp);
set_next_timer_settings(&timer_tmp);
}
@ -1905,7 +1905,7 @@ static void set_switching_frequency(int frequency) {
switching_frequency_now = frequency;
mc_timer_struct timer_tmp;
memcpy(&timer_tmp, (void*)&timer_struct, sizeof(mc_timer_struct));
timer_tmp.top = 168000000 / switching_frequency_now;
timer_tmp.top = SYSTEM_CORE_CLOCK / switching_frequency_now;
update_adc_sample_pos(&timer_tmp);
set_next_timer_settings(&timer_tmp);
}

2
servo.c
View File

@ -83,7 +83,7 @@ static void servo_init_timer(void) {
// TIM7 clock enable
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM7, ENABLE);
PrescalerValue = (uint16_t) ((168e6L / 2) / SERVO_CNT_SPEED) - 1;
PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / SERVO_CNT_SPEED) - 1;
// Time base configuration
TIM_TimeBaseStructure.TIM_Period = 0xFFFF;

2
servo_dec.c
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@ -126,7 +126,7 @@ void servodec_init(void (*d_func)(void)) {
/* TIM3 clock enable */
RCC_APB1PeriphClockCmd(RCC_APB1Periph_TIM3, ENABLE);
PrescalerValue = (uint16_t) ((168000000 / 2) / TIMER_FREQ) - 1;
PrescalerValue = (uint16_t) ((SYSTEM_CORE_CLOCK / 2) / TIMER_FREQ) - 1;
/* Time base configuration */
TIM_TimeBaseStructure.TIM_Period = 65535;

1
servo_dec.h
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@ -26,6 +26,7 @@
#define SERVO_DEC_H_
#include <stdint.h>
#include <conf_general.h>
// Servo function indexes
#define SERVODEC_IND_STEERING 0