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Merge pull request #229 from trosenband/refactor_DUAL_MOTORS 

Refactor some HAS_DUAL_MOTORS
This commit is contained in:
Benjamin Vedder 2020-10-28 14:52:45 +01:00 committed by GitHub
parent c69032e882 64d9132389
commit d71433d22c
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GPG Key ID: 4AEE18F83AFDEB23
2 changed files with 17 additions and 59 deletions
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71
mcpwm_foc.c
View File

@ -293,6 +293,14 @@ static volatile bool hfi_thd_stop;
TIM2->CR1 &= ~TIM_CR1_UDIS;
#endif
// #define M_MOTOR: For single motor compilation, expands to &m_motor_1.
// For dual motors, expands to &m_motor_1 or _2, depending on is_second_motor.
#ifdef HW_HAS_DUAL_MOTORS
#define M_MOTOR(is_second_motor) (is_second_motor ? &m_motor_2 : &m_motor_1)
#else
#define M_MOTOR(is_second_motor) (((void)is_second_motor), &m_motor_1)
#endif
static void update_hfi_samples(foc_hfi_samples samples, volatile motor_all_state_t *motor) {
utils_sys_lock_cnt();
@ -751,12 +759,7 @@ int mcpwm_foc_isr_motor(void) {
* Switch off all FETs.
*/
void mcpwm_foc_stop_pwm(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
#else
(void)is_second_motor;
volatile motor_all_state_t *motor = &m_motor_1;
#endif
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
motor->m_control_mode = CONTROL_MODE_NONE;
motor->m_state = MC_STATE_OFF;
@ -1082,69 +1085,34 @@ bool mcpwm_foc_is_using_encoder(void) {
}
float mcpwm_foc_get_tot_current_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq) * motor->m_motor_state.i_abs;
#else
(void)is_second_motor;
return SIGN(m_motor_1.m_motor_state.vq * m_motor_1.m_motor_state.iq) * m_motor_1.m_motor_state.i_abs;
#endif
}
float mcpwm_foc_get_tot_current_filtered_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
return SIGN(motor->m_motor_state.vq * motor->m_motor_state.iq_filter) * motor->m_motor_state.i_abs_filter;
#else
(void)is_second_motor;
return SIGN(m_motor_1.m_motor_state.vq * m_motor_1.m_motor_state.iq_filter) * m_motor_1.m_motor_state.i_abs_filter;
#endif
}
float mcpwm_foc_get_tot_current_in_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_bus;
#else
(void)is_second_motor;
return m_motor_1.m_motor_state.i_bus;
#endif
return M_MOTOR(is_second_motor)->m_motor_state.i_bus;
}
float mcpwm_foc_get_tot_current_in_filtered_motor(bool is_second_motor) {
// TODO: Filter current?
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_bus;
#else
(void)is_second_motor;
return m_motor_1.m_motor_state.i_bus;
#endif
return M_MOTOR(is_second_motor)->m_motor_state.i_bus;
}
float mcpwm_foc_get_abs_motor_current_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_abs;
#else
(void)is_second_motor;
return m_motor_1.m_motor_state.i_abs;
#endif
return M_MOTOR(is_second_motor)->m_motor_state.i_abs;
}
float mcpwm_foc_get_abs_motor_current_filtered_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_motor_state.i_abs_filter;
#else
(void)is_second_motor;
return m_motor_1.m_motor_state.i_abs_filter;
#endif
return M_MOTOR(is_second_motor)->m_motor_state.i_abs_filter;
}
mc_state mcpwm_foc_get_state_motor(bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
return (is_second_motor ? &m_motor_2 : &m_motor_1)->m_state;
#else
(void)is_second_motor;
return m_motor_1.m_state;
#endif
return M_MOTOR(is_second_motor)->m_state;
}
/**
@ -1418,12 +1386,7 @@ void mcpwm_foc_get_current_offsets(
volatile int *curr1_offset,
volatile int *curr2_offset,
bool is_second_motor) {
#ifdef HW_HAS_DUAL_MOTORS
volatile motor_all_state_t *motor = is_second_motor ? &m_motor_2 : &m_motor_1;
#else
(void)is_second_motor;
volatile motor_all_state_t *motor = &m_motor_1;
#endif
volatile motor_all_state_t *motor = M_MOTOR(is_second_motor);
*curr0_offset = motor->m_curr_ofs[0];
*curr1_offset = motor->m_curr_ofs[1];
*curr2_offset = motor->m_curr_ofs[2];

5
terminal.c
View File

@ -1033,8 +1033,6 @@ void terminal_process_string(char *str) {
commands_printf("Invalid arguments\n");
}
}
} else if (strcmp(argv[0], "build_date") == 0) {
commands_printf("Build date and time: %s at %s\n", __DATE__, __TIME__);
} else if (strcmp(argv[0], "crc") == 0) {
unsigned mc_crc0 = mc_interface_get_configuration()->crc;
unsigned mc_crc1 = mc_interface_calc_crc(NULL, false);
@ -1179,9 +1177,6 @@ void terminal_process_string(char *str) {
commands_printf("io_board_set_output_pwm [id] [ch] [duty]");
commands_printf(" Set pwm output of IO board.");
commands_printf("build_date");
commands_printf(" Print build date and time.");
commands_printf("crc");
commands_printf(" Print CRC values.");