Current and speed setting for all variants
This commit is contained in:
Candas1
parent
4cc02fddc1
commit
11ab848103
21
Inc/config.h
21
Inc/config.h
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@ -135,8 +135,8 @@
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#define TRQ_MODE 3 // [-] TORQUE mode
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// Enable/Disable Motor
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//#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
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//#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
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#define MOTOR_LEFT_ENA // [-] Enable LEFT motor. Comment-out if this motor is not needed to be operational
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#define MOTOR_RIGHT_ENA // [-] Enable RIGHT motor. Comment-out if this motor is not needed to be operational
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// Control selections
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#define CTRL_TYP_SEL FOC_CTRL // [-] Control type selection: COM_CTRL, SIN_CTRL, FOC_CTRL (default)
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@ -324,6 +324,7 @@
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#define FILTER 3276 // 0.05f
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#define SPEED_COEFFICIENT 8192 // 0.5f
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#define STEER_COEFFICIENT 62259 // -0.2f
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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// #define SUPPORT_BUTTONS // Define for Nunchuck buttons support
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#endif
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// ############################# END OF VARIANT_NUNCHUK SETTINGS #########################
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@ -371,6 +372,11 @@
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*/
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#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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// #define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 2 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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@ -519,7 +525,11 @@
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#define CTRL_MOD_REQ TRQ_MODE // SKATEBOARD works best in TORQUE Mode
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//#define CONTROL_PWM_LEFT // use RC PWM as input on the LEFT cable. disable DEBUG_SERIAL_USART2!
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#define CONTROL_PWM_RIGHT // use RC PWM as input on the RIGHT cable. disable DEBUG_SERIAL_USART3!
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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// Min / Max values of each channel (use DEBUG to determine these values)
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#define INPUT1_TYPE 0 // 0:Disabled 1:Normal POT 2:Middle Resting Pot
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#define INPUT1_DEADBAND 100 // How much of the center position is considered 'center' (100 = values -100 to 100 are considered 0)
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@ -542,11 +552,6 @@
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// #define SUPPORT_BUTTONS_LEFT // use left sensor board cable for button inputs. Disable DEBUG_SERIAL_USART2!
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// #define SUPPORT_BUTTONS_RIGHT // use right sensor board cable for button inputs. Disable DEBUG_SERIAL_USART3!
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// #define STANDSTILL_HOLD_ENABLE // [-] Flag to hold the position when standtill is reached. Only available and makes sense for VOLTAGE or TORQUE mode.
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#ifdef CONTROL_PWM_RIGHT
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#define DEBUG_SERIAL_USART2 // left sensor cable debug
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#else
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#define DEBUG_SERIAL_USART3 // right sensor cable debug
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#endif
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#endif
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// ############################# END OF VARIANT_SKATEBOARD SETTINGS ############################
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42
Src/util.c
42
Src/util.c
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@ -464,7 +464,7 @@ void adcCalibLim(void) {
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HAL_Delay(5);
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}
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HAL_Delay(50);
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HAL_Delay(10);
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uint16_t input_margin = 0;
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#ifdef CONTROL_ADC
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@ -489,7 +489,7 @@ void adcCalibLim(void) {
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consoleLog("Input1 is a mid-resting pot");
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}
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HAL_Delay(50);
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HAL_Delay(10);
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#ifdef CONTROL_ADC
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if ( (INPUT1_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT1_MAX_CAL + ADC_PROTECT_THRESH) < 4095){
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consoleLog(" and protected");
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@ -498,9 +498,9 @@ void adcCalibLim(void) {
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input_cal_valid = 1;
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}
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HAL_Delay(50);
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HAL_Delay(10);
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consoleLog("\n");
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HAL_Delay(50);
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HAL_Delay(10);
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threshold = (INPUT2_MAX - INPUT2_MIN) / 10;
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INPUT2_MIN_CAL = INPUT2_MIN_temp + input_margin;
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@ -520,7 +520,7 @@ void adcCalibLim(void) {
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consoleLog("Input2 is a mid-resting pot");
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}
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HAL_Delay(50);
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HAL_Delay(10);
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#ifdef CONTROL_ADC
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if ( (INPUT2_MIN_CAL - ADC_PROTECT_THRESH) > 0 && (INPUT2_MAX_CAL + ADC_PROTECT_THRESH) < 4095 ){
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@ -530,11 +530,11 @@ void adcCalibLim(void) {
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input_cal_valid = 1;
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}
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HAL_Delay(50);
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HAL_Delay(10);
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consoleLog("\n");
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HAL_Delay(50);
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HAL_Delay(10);
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consoleLog("Saved limits\n");
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HAL_Delay(50);
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HAL_Delay(10);
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setScopeChannel(0, (int16_t)INPUT1_MIN_CAL);
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setScopeChannel(1, (int16_t)INPUT1_MID_CAL);
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setScopeChannel(2, (int16_t)INPUT1_MAX_CAL);
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@ -545,8 +545,9 @@ void adcCalibLim(void) {
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setScopeChannel(7, (int16_t)0);
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consoleScope();
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HAL_Delay(50);
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HAL_Delay(20);
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consoleLog("OK\n");
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#endif
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}
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@ -565,7 +566,7 @@ void updateCurSpdLim(void) {
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#if !defined(VARIANT_HOVERBOARD) && !defined(VARIANT_TRANSPOTTER)
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consoleLog("Torque and Speed limits update started... ");
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consoleLog("Torque and Speed limits update started...\n");
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int32_t input1_fixdt = cmd1_in << 16;
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int32_t input2_fixdt = cmd2_in << 16;
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@ -582,14 +583,29 @@ void updateCurSpdLim(void) {
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}
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// Calculate scaling factors
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cur_factor = CLAMP((input1_fixdt - (INPUT1_MIN_CAL << 16)) / (INPUT1_MAX_CAL - INPUT1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A
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spd_factor = CLAMP((input2_fixdt - (INPUT2_MIN_CAL << 16)) / (INPUT2_MAX_CAL - INPUT2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm
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cur_factor = CLAMP((input1_fixdt - ((int16_t)INPUT1_MIN_CAL << 16)) / ((int16_t)INPUT1_MAX_CAL - (int16_t)INPUT1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A
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spd_factor = CLAMP((input2_fixdt - ((int16_t)INPUT2_MIN_CAL << 16)) / ((int16_t)INPUT2_MAX_CAL - (int16_t)INPUT2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm
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// Update maximum limits
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rtP_Left.i_max = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
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rtP_Left.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
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rtP_Right.i_max = rtP_Left.i_max;
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rtP_Right.n_max = rtP_Left.n_max;
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HAL_Delay(10);
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consoleLog("Saved limits\n");
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HAL_Delay(10);
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setScopeChannel(0, (int16_t)input1_fixdt);
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setScopeChannel(1, (uint16_t)cur_factor);
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setScopeChannel(2, (int16_t)rtP_Right.i_max);
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setScopeChannel(3, (int16_t)0);
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setScopeChannel(4, (int16_t)input2_fixdt);
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setScopeChannel(5, (uint16_t)spd_factor);
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setScopeChannel(6, (int16_t)rtP_Right.n_max);
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setScopeChannel(7, (int16_t)0);
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consoleScope();
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HAL_Delay(20);
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cur_spd_valid = 1;
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consoleLog("OK\n");
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#endif
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