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Tachometer improvement and rpm-dep bug fix

This commit is contained in:
Benjamin Vedder 2014-09-16 10:44:56 +02:00
parent fd83286cd6
commit e4c7fca84d
3 changed files with 23 additions and 23 deletions
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2
datatypes.h
View File

@ -52,7 +52,7 @@ typedef struct {
volatile float cycle_int_limit_max;
volatile float comm_time_sum;
volatile float comm_time_sum_min_rpm;
volatile uint32_t comms;
volatile int32_t comms;
volatile uint32_t time_at_comm;
} mc_rpm_dep_struct;

42
mcpwm.c
View File

@ -448,7 +448,7 @@ void mcpwm_init(mc_configuration *configuration) {
WWDG_Enable(100);
}
const mc_configuration* mcpwm_get_configuration(void) {
const volatile mc_configuration* mcpwm_get_configuration(void) {
return &conf;
}
@ -905,7 +905,7 @@ static void set_duty_cycle_ll(float dutyCycle) {
if (state != MC_STATE_RUNNING) {
state = MC_STATE_RUNNING;
if (rpm_now < conf.sl_min_erpm) {
if (fabsf(rpm_now) < conf.sl_min_erpm) {
commutate();
}
}
@ -1019,10 +1019,10 @@ static msg_t rpm_thread(void *arg) {
chRegSetThreadName("rpm timer");
for (;;) {
if (rpm_dep.comms > 0.0) {
if (rpm_dep.comms != 0) {
utils_sys_lock_cnt();
const float comms = (float) rpm_dep.comms;
const float time_at_comm = (float) rpm_dep.time_at_comm;
const float comms = (float)rpm_dep.comms;
const float time_at_comm = (float)rpm_dep.time_at_comm;
rpm_dep.comms = 0;
rpm_dep.time_at_comm = 0;
utils_sys_unlock_cnt();
@ -1034,7 +1034,7 @@ static msg_t rpm_thread(void *arg) {
float rpm_tmp = (MCPWM_RPM_TIMER_FREQ * 60.0)
/ ((float) TIM2 ->CNT * 6.0);
if (rpm_tmp < rpm_now) {
if (fabsf(rpm_tmp) < fabsf(rpm_now)) {
rpm_now = rpm_tmp;
}
}
@ -1049,7 +1049,7 @@ static msg_t rpm_thread(void *arg) {
conf.sl_cycle_int_rpm_br, conf.sl_cycle_int_limit,
conf.sl_cycle_int_limit * conf.sl_cycle_int_limit_high_fac);
rpm_dep.cycle_int_limit_running = rpm_dep.cycle_int_limit + (float)ADC_Value[ADC_IND_VIN_SENS] *
conf.sl_bemf_coupling_k / (rpm_now > conf.sl_min_erpm ? rpm_now : rpm_now > conf.sl_min_erpm);
conf.sl_bemf_coupling_k / (rpm_now > conf.sl_min_erpm ? rpm_now : conf.sl_min_erpm);
rpm_dep.cycle_int_limit_max = rpm_dep.cycle_int_limit + (float)ADC_Value[ADC_IND_VIN_SENS] *
conf.sl_bemf_coupling_k / conf.sl_min_erpm_cycle_int_limit;
@ -1296,7 +1296,7 @@ void mcpwm_adc_inj_int_handler(void) {
(float*) current_fir_samples, (float*) current_fir_coeffs,
CURR_FIR_TAPS_BITS, current_fir_index);
last_inj_adc_isr_duration = (float) TIM4->CNT / 10000000;
last_inj_adc_isr_duration = (float) TIM4->CNT / 10000000.0;
}
/*
@ -1633,7 +1633,7 @@ void mcpwm_adc_int_handler(void *p, uint32_t flags) {
main_dma_adc_handler();
last_adc_isr_duration = (float)TIM4->CNT / 10000000;
last_adc_isr_duration = (float)TIM4->CNT / 10000000.0;
}
void mcpwm_set_detect(void) {
@ -1909,22 +1909,22 @@ static void update_adc_sample_pos(mc_timer_struct *timer_tmp) {
}
static void update_rpm_tacho(void) {
rpm_dep.comms++;
rpm_dep.time_at_comm += TIM2->CNT;
TIM2->CNT = 0;
int step = comm_step - 1;
static int last_step = 0;
int tacho_diff = 0;
int tacho_diff = (step - last_step) % 6;
last_step = step;
if (comm_step == 1 && last_step == 6) {
tacho_diff++;
} else if (comm_step == 6 && last_step == 1) {
tacho_diff--;
} else {
tacho_diff += comm_step - last_step;
if (tacho_diff > 3) {
tacho_diff -= 6;
} else if (tacho_diff < -2) {
tacho_diff += 6;
}
last_step = comm_step;
if (tacho_diff != 0) {
rpm_dep.comms += tacho_diff;
rpm_dep.time_at_comm += TIM2->CNT;
TIM2->CNT = 0;
}
// Tachometers
tachometer_for_direction += tacho_diff;

2
mcpwm.h
View File

@ -31,7 +31,7 @@
// Functions
void mcpwm_init(mc_configuration *configuration);
const mc_configuration* mcpwm_get_configuration(void);
const volatile mc_configuration* mcpwm_get_configuration(void);
void mcpwm_set_configuration(mc_configuration *configuration);
void mcpwm_init_hall_table(int dir, int fwd_add, int rev_add);
void mcpwm_set_duty(float dutyCycle);