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Some refactoring and a fix

This commit is contained in:
Benjamin Vedder 2014-05-09 12:45:11 +02:00
parent 0bfe9bce9a
commit c525ce4671
2 changed files with 13 additions and 46 deletions
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12
applications/app_sten.c
View File

@ -175,17 +175,7 @@ static msg_t sten_thread(void *arg) {
servo_val = 0.0;
}
// Use duty cycle control when running slowly, otherwise use current control.
if (fabsf(mcpwm_get_rpm()) < 4500 && fabsf(servo_val) > MCPWM_MIN_DUTY_CYCLE) {
if (servo_val > 0.0) {
utils_truncate_number(&servo_val, 0.1, 0.3);
mcpwm_set_duty(servo_val);
} else {
mcpwm_set_duty(0.0);
}
} else {
mcpwm_set_current(servo_val * MCPWM_CURRENT_MAX);
}
mcpwm_set_current(servo_val * MCPWM_CURRENT_MAX);
} else {
mcpwm_set_current(0.0);
}

47
mcpwm.c
View File

@ -204,10 +204,6 @@ static void set_next_timer_settings(mc_timer_struct *settings);
static void set_switching_frequency(int frequency);
static int try_input(void);
#if MCPWM_IS_SENSORLESS
static int integrate_cycle(float v_diff);
#endif
// Defines
#define ADC_CDR_ADDRESS ((uint32_t)0x40012308)
#define CYCLE_INT_START (0.0)
@ -528,7 +524,6 @@ void mcpwm_set_duty(float dutyCycle) {
}
control_mode = CONTROL_MODE_DUTY;
set_duty_cycle_hl(dutyCycle);
}
@ -881,10 +876,7 @@ static void set_duty_cycle_ll(float dutyCycle) {
#if MCPWM_IS_SENSORLESS
if (state != MC_STATE_RUNNING) {
state = MC_STATE_RUNNING;
if (rpm_now < MCPWM_MIN_RPM) {
set_next_comm_step(comm_step);
commutate();
}
pwm_cycles_sum = 0.0;
}
#else
if (state != MC_STATE_RUNNING) {
@ -1355,34 +1347,38 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
case 1:
v_diff = ph1;
break;
case 2:
v_diff = -ph2;
break;
case 3:
v_diff = ph3;
break;
case 4:
v_diff = -ph1;
break;
case 5:
v_diff = ph2;
break;
case 6:
v_diff = -ph3;
break;
default:
break;
}
if (v_diff > 0) {
if (state == MC_STATE_RUNNING || state == MC_STATE_OFF) {
integrate_cycle((float)v_diff);
cycle_integrator += v_diff / (float)switching_frequency_now;
const float rpm_fac = rpm_now / 50000.0;
const float cycle_int_limit = MCPWM_CYCLE_INT_LIMIT_LOW * (1.0 - rpm_fac) +
MCPWM_CYCLE_INT_LIMIT_HIGH * rpm_fac;
const float limit = (cycle_int_limit * 0.0005);
if (cycle_integrator >= limit) {
commutate();
cycle_integrator = CYCLE_INT_START;
}
}
} else {
cycle_integrator = CYCLE_INT_START;
@ -1524,25 +1520,6 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
chSysUnlockFromIsr();
}
#if MCPWM_IS_SENSORLESS
static int integrate_cycle(float v_diff) {
cycle_integrator += v_diff / (float)switching_frequency_now;
const float rpm_fac = rpm_now / 50000.0;
const float cycle_int_limit = MCPWM_CYCLE_INT_LIMIT_LOW * (1.0 - rpm_fac) +
MCPWM_CYCLE_INT_LIMIT_HIGH * rpm_fac;
const float limit = (cycle_int_limit * 0.0005);
if (cycle_integrator >= limit) {
commutate();
cycle_integrator = CYCLE_INT_START;
return 1;
}
return 0;
}
#endif
void mcpwm_set_detect(void) {
if (try_input()) {
return;