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Fixes and timer update optimization

This commit is contained in:
Benjamin Vedder 2014-04-02 15:44:15 +02:00
parent cfbc6ae583
commit b6f905b28b
1 changed files with 21 additions and 5 deletions
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26
mcpwm.c
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@ -867,9 +867,9 @@ static void set_duty_cycle_hl(float dutyCycle) {
if (fabsf(dutyCycle) > MCPWM_MIN_DUTY_CYCLE) {
if (fabsf(dutycycle_now) < MCPWM_MIN_DUTY_CYCLE) {
if (dutyCycle > 0.0) {
dutycycle_now = (MCPWM_MIN_DUTY_CYCLE + 0.01);
dutycycle_now = (MCPWM_MIN_DUTY_CYCLE + 0.001);
} else {
dutycycle_now = -(MCPWM_MIN_DUTY_CYCLE + 0.01);
dutycycle_now = -(MCPWM_MIN_DUTY_CYCLE + 0.001);
}
}
@ -1453,7 +1453,6 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
dutycycle_now_tmp += step;
// TODO: Change and test this.
if (fabsf(dutycycle_now_tmp) < MCPWM_MIN_DUTY_CYCLE) {
if (dutycycle_now_tmp < 0.0 && current_set > 0.0) {
dutycycle_now_tmp = MCPWM_MIN_DUTY_CYCLE + 0.001;
@ -1466,7 +1465,6 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
// The set dutycycle should be in the correct direction in case the output is lower
// than the minimum duty cycle and the mechanism below gets activated.
// TODO: remove depending on the change above.
dutycycle_set = dutycycle_now_tmp > 0 ? MCPWM_MIN_DUTY_CYCLE + 0.001 : -(MCPWM_MIN_DUTY_CYCLE + 0.001);
} else {
step_towards((float*)&dutycycle_now_tmp, dutycycle_set, ramp_step);
@ -1866,7 +1864,25 @@ static void commutate(void) {
static void set_next_timer_settings(mc_timer_struct *settings) {
chSysLock();
memcpy((void*)&timer_struct, settings, sizeof(mc_timer_struct));
timer_struct_updated = 1;
int cnt = TIM1->CNT;
int top = TIM1->ARR;
// If there is enough time to update all values at once during this cycle,
// do it here. Otherwise, schedule the update for the next cycle.
if ((top - cnt) > 400) {
TIM1->ARR = timer_struct.top;
TIM8->ARR = timer_struct.top;
TIM1->CCR1 = timer_struct.duty;
TIM1->CCR2 = timer_struct.duty;
TIM1->CCR3 = timer_struct.duty;
TIM8->CCR1 = timer_struct.val_sample;
TIM1->CCR4 = timer_struct.curr1_sample;
TIM8->CCR2 = timer_struct.curr2_sample;
} else {
timer_struct_updated = 1;
}
chSysUnlock();
}