Merge branch 'vedderb:master' into master

CHANGELOG.md

@@ -55,6 +55,7 @@
 * Fixed some braking glitches.
 * Configurable HFI error truncation to reject noise.
 * Removed GPDrive.
+* FOC: Option to short phases on 0 duty.
 
 ### 6.02
 #### 2023-03-12

conf_general.h

@@ -24,7 +24,7 @@
 #define FW_VERSION_MAJOR			6
 #define FW_VERSION_MINOR			05
 // Set to 0 for building a release and iterate during beta test builds
-#define FW_TEST_VERSION_NUMBER		30
+#define FW_TEST_VERSION_NUMBER		31
 
 #include "datatypes.h"
 

confgenerator.c

@@ -141,6 +141,7 @@ int32_t confgenerator_serialize_mcconf(uint8_t *buffer, const mc_configuration *
 	buffer_append_float16(buffer, conf->foc_fw_ramp_time, 1000, &ind);
 	buffer_append_float16(buffer, conf->foc_fw_q_current_factor, 10000, &ind);
 	buffer[ind++] = conf->foc_speed_soure;
+	buffer[ind++] = conf->foc_short_ls_on_zero_duty;
 	buffer[ind++] = conf->sp_pid_loop_rate;
 	buffer_append_float32_auto(buffer, conf->s_pid_kp, &ind);
 	buffer_append_float32_auto(buffer, conf->s_pid_ki, &ind);
@@ -476,6 +477,7 @@ bool confgenerator_deserialize_mcconf(const uint8_t *buffer, mc_configuration *c
 	conf->foc_fw_ramp_time = buffer_get_float16(buffer, 1000, &ind);
 	conf->foc_fw_q_current_factor = buffer_get_float16(buffer, 10000, &ind);
 	conf->foc_speed_soure = buffer[ind++];
+	conf->foc_short_ls_on_zero_duty = buffer[ind++];
 	conf->sp_pid_loop_rate = buffer[ind++];
 	conf->s_pid_kp = buffer_get_float32_auto(buffer, &ind);
 	conf->s_pid_ki = buffer_get_float32_auto(buffer, &ind);
@@ -807,6 +809,7 @@ void confgenerator_set_defaults_mcconf(mc_configuration *conf) {
 	conf->foc_fw_ramp_time = MCCONF_FOC_FW_RAMP_TIME;
 	conf->foc_fw_q_current_factor = MCCONF_FOC_FW_Q_CURRENT_FACTOR;
 	conf->foc_speed_soure = MCCONF_FOC_SPEED_SOURCE;
+	conf->foc_short_ls_on_zero_duty = MCCONF_FOC_SHORT_LS_ON_ZERO_DUTY;
 	conf->sp_pid_loop_rate = MCCONF_SP_PID_LOOP_RATE;
 	conf->s_pid_kp = MCCONF_S_PID_KP;
 	conf->s_pid_ki = MCCONF_S_PID_KI;

confgenerator.h

@@ -8,7 +8,7 @@
 #include <stdbool.h>
 
 // Constants
-#define MCCONF_SIGNATURE		4193379058
+#define MCCONF_SIGNATURE		2490415037
 #define APPCONF_SIGNATURE		2099347128
 
 // Functions

datatypes.h

@@ -487,6 +487,7 @@ typedef struct {
 	float foc_fw_ramp_time;
 	float foc_fw_q_current_factor;
 	FOC_SPEED_SRC foc_speed_soure;
+	bool foc_short_ls_on_zero_duty;
 
 	PID_RATE sp_pid_loop_rate;
 

motor/foc_math.h

@@ -127,6 +127,12 @@ typedef struct {
 	float sample_voltage;
 } mc_audio_state;
 
+typedef enum {
+	FOC_PWM_DISABLED = 0,
+	FOC_PWM_ENABLED,
+	FOC_PWM_FULL_BRAKE
+} foc_pwm_mode;
+
 typedef struct {
 	mc_configuration *m_conf;
 	mc_state m_state;
@@ -143,7 +149,7 @@ typedef struct {
 	float m_current_off_delay;
 	float m_openloop_speed;
 	float m_openloop_phase;
-	bool m_output_on;
+	foc_pwm_mode m_pwm_mode;
 	float m_pos_pid_set;
 	float m_speed_pid_set_rpm;
 	float m_speed_command_rpm;

motor/mc_interface.c

@@ -2176,7 +2176,7 @@ void mc_interface_mc_timer_isr(bool is_second_motor) {
 
 			m_vzero_samples[m_sample_now] = zero;
 			m_curr_fir_samples[m_sample_now] = (int16_t)(current * (8.0 / FAC_CURRENT));
-			m_f_sw_samples[m_sample_now] = (int16_t)(0.1 / t_samp);
+			m_f_sw_samples[m_sample_now] = (int16_t)(0.1 / t_samp / m_sample_int);
 			m_status_samples[m_sample_now] = mcpwm_get_comm_step() | (mcpwm_read_hall_phase() << 3);
 
 			m_sample_now++;

motor/mcconf_default.h

@@ -493,6 +493,9 @@
 #ifndef MCCONF_FOC_SPEED_SOURCE
 #define MCCONF_FOC_SPEED_SOURCE			FOC_SPEED_SRC_CORRECTED // Position source for speed trackers
 #endif
+#ifndef MCCONF_FOC_SHORT_LS_ON_ZERO_DUTY
+#define MCCONF_FOC_SHORT_LS_ON_ZERO_DUTY false // Short low-side phases on zero duty cycle
+#endif
 
 // GPD
 #ifndef MCCONF_GPD_BUFFER_NOTIFY_LEFT

motor/mcpwm_foc.c

@@ -57,6 +57,7 @@ static void control_current(motor_all_state_t *motor, float dt);
 static void update_valpha_vbeta(motor_all_state_t *motor, float mod_alpha, float mod_beta);
 static void stop_pwm_hw(motor_all_state_t *motor);
 static void start_pwm_hw(motor_all_state_t *motor);
+static void full_brake_hw(motor_all_state_t *motor);
 static void terminal_tmp(int argc, const char **argv);
 static void terminal_plot_hfi(int argc, const char **argv);
 static void timer_update(motor_all_state_t *motor, float dt);
@@ -4693,13 +4694,22 @@ static void control_current(motor_all_state_t *motor, float dt) {
 #endif
 	}
 
-	// do not allow to turn on PWM outputs if virtual motor is used
 	if(virtual_motor_is_connected() == false) {
-		if (!motor->m_output_on) {
+		// If all duty cycles are equal the phases should be shorted. Instead of
+		// modulating the short we keep all low-side FETs on - that will draw less
+		// power and not suffer from dead-time distortion. It also gives more
+		// braking torque at low speed.
+		if (conf_now->foc_short_ls_on_zero_duty && duty1 == duty2 && duty2 == duty3) {
+			if (motor->m_pwm_mode != FOC_PWM_FULL_BRAKE) {
+				full_brake_hw(motor);
+			}
+		} else {
+			if (motor->m_pwm_mode != FOC_PWM_ENABLED) {
 				start_pwm_hw(motor);
 			}
 		}
 	}
+}
 
 static void update_valpha_vbeta(motor_all_state_t *motor, float mod_alpha, float mod_beta) {
 	motor_state_t *state_m = &motor->m_motor_state;
@@ -4895,8 +4905,6 @@ static void stop_pwm_hw(motor_all_state_t *motor) {
 #ifdef HW_HAS_DRV8313
 		DISABLE_BR();
 #endif
-
-		motor->m_output_on = false;
 		PHASE_FILTER_OFF();
 	} else {
 		TIM_SelectOCxM(TIM8, TIM_Channel_1, TIM_ForcedAction_InActive);
@@ -4917,9 +4925,10 @@ static void stop_pwm_hw(motor_all_state_t *motor) {
 		DISABLE_BR_2();
 #endif
 
-		motor->m_output_on = false;
 		PHASE_FILTER_OFF_M2();
 	}
+
+	motor->m_pwm_mode = FOC_PWM_DISABLED;
 }
 
 static void start_pwm_hw(motor_all_state_t *motor) {
@@ -4950,6 +4959,10 @@ static void start_pwm_hw(motor_all_state_t *motor) {
 		TIM_CCxNCmd(TIM8, TIM_Channel_3, TIM_CCxN_Enable);
 
 		PHASE_FILTER_ON_M2();
+
+#ifdef HW_HAS_DRV8313_2
+		ENABLE_BR_2();
+#endif
 #endif
 
 		// Generate COM event in ADC interrupt to get better synchronization
@@ -4958,7 +4971,6 @@ static void start_pwm_hw(motor_all_state_t *motor) {
 #ifdef HW_HAS_DRV8313
 		ENABLE_BR();
 #endif
-		motor->m_output_on = true;
 		PHASE_FILTER_ON();
 	} else {
 		TIM_SelectOCxM(TIM8, TIM_Channel_1, TIM_OCMode_PWM1);
@@ -4976,9 +4988,75 @@ static void start_pwm_hw(motor_all_state_t *motor) {
 #ifdef HW_HAS_DRV8313_2
 		ENABLE_BR_2();
 #endif
-		motor->m_output_on = true;
 		PHASE_FILTER_ON_M2();
 	}
+
+	motor->m_pwm_mode = FOC_PWM_ENABLED;
+}
+
+static void full_brake_hw(motor_all_state_t *motor) {
+	if (motor == &m_motor_1) {
+		TIM_SelectOCxM(TIM1, TIM_Channel_1, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM1, TIM_Channel_1, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM1, TIM_Channel_1, TIM_CCxN_Enable);
+
+		TIM_SelectOCxM(TIM1, TIM_Channel_2, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM1, TIM_Channel_2, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM1, TIM_Channel_2, TIM_CCxN_Enable);
+
+		TIM_SelectOCxM(TIM1, TIM_Channel_3, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM1, TIM_Channel_3, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM1, TIM_Channel_3, TIM_CCxN_Enable);
+
+		TIM_GenerateEvent(TIM1, TIM_EventSource_COM);
+		PHASE_FILTER_ON();
+
+#ifdef HW_HAS_DRV8313
+		ENABLE_BR();
+#endif
+
+#ifdef HW_HAS_DUAL_PARALLEL
+		TIM_SelectOCxM(TIM8, TIM_Channel_1, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM8, TIM_Channel_1, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM8, TIM_Channel_1, TIM_CCxN_Enable);
+
+		TIM_SelectOCxM(TIM8, TIM_Channel_2, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM8, TIM_Channel_2, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM8, TIM_Channel_2, TIM_CCxN_Enable);
+
+		TIM_SelectOCxM(TIM8, TIM_Channel_3, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM8, TIM_Channel_3, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM8, TIM_Channel_3, TIM_CCxN_Enable);
+
+		TIM_GenerateEvent(TIM8, TIM_EventSource_COM);
+		PHASE_FILTER_ON_M2();
+
+#ifdef HW_HAS_DRV8313_2
+		ENABLE_BR_2();
+#endif
+#endif
+	} else {
+		TIM_SelectOCxM(TIM8, TIM_Channel_1, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM8, TIM_Channel_1, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM8, TIM_Channel_1, TIM_CCxN_Enable);
+
+		TIM_SelectOCxM(TIM8, TIM_Channel_2, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM8, TIM_Channel_2, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM8, TIM_Channel_2, TIM_CCxN_Enable);
+
+		TIM_SelectOCxM(TIM8, TIM_Channel_3, TIM_ForcedAction_InActive);
+		TIM_CCxCmd(TIM8, TIM_Channel_3, TIM_CCx_Enable);
+		TIM_CCxNCmd(TIM8, TIM_Channel_3, TIM_CCxN_Enable);
+
+		TIM_GenerateEvent(TIM8, TIM_EventSource_COM);
+		PHASE_FILTER_ON_M2();
+
+#ifdef HW_HAS_DRV8313_2
+		ENABLE_BR_2();
+#endif
+	}
+
+	motor->m_pwm_mode = FOC_PWM_FULL_BRAKE;
 }
 
 static void terminal_plot_hfi(int argc, const char **argv) {