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@ -58,16 +58,16 @@ r_cos_M1 = cos((a_elecAngle_XA + 30)*(pi/180));
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%% Control Manager
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%% Control Manager
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% Control type selection
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% Control type selection
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CTRL_COM = 0; % [-] Commutation Control
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CTRL_COM = 0; % [-] Commutation Control
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CTRL_FOC = 1; % [-] Field Oriented Control (FOC)
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CTRL_FOC = 1; % [-] Field Oriented Control (FOC)
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z_ctrlTypSel = 1; % [-] Control Type Selection (default)
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z_ctrlTypSel = CTRL_FOC; % [-] Control Type Selection (default)
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% Control model request
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% Control model request
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OPEN_MODE = 0; % [-] Open mode
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OPEN_MODE = 0; % [-] Open mode
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VLT_MODE = 1; % [-] Voltage mode
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VLT_MODE = 1; % [-] Voltage mode
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SPD_MODE = 2; % [-] Speed mode
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SPD_MODE = 2; % [-] Speed mode
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TRQ_MODE = 3; % [-] Torque mode
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TRQ_MODE = 3; % [-] Torque mode
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z_ctrlModReq = 1; % [-] Control Mode Request (default)
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z_ctrlModReq = VLT_MODE; % [-] Control Mode Request (default)
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%% F01_Estimations
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%% F01_Estimations
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% Position Estimation Parameters
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% Position Estimation Parameters
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@ -137,7 +137,7 @@
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* 1. In BLDC_controller_data.c you can find the field weakening Map as a function of input target: MAP = id_fieldWeak_M1, XAXIS = r_fieldWeak_XA
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* 1. In BLDC_controller_data.c you can find the field weakening Map as a function of input target: MAP = id_fieldWeak_M1, XAXIS = r_fieldWeak_XA
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* 2. The default calibration was experimentally calibrated to my particular needs
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* 2. The default calibration was experimentally calibrated to my particular needs
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* 3. If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
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* 3. If you re-calibrate the field weakening map please take all the safety measures! The motors can spin very fast!
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* 4. During the recalibration make sure the speed values in XAXIS are equally spaced for a correct Map interpolation.
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* 4. During the recalibration make sure the values in XAXIS are equally spaced for a correct Map interpolation.
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*/
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*/
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@ -152,7 +152,7 @@
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*/
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*/
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// Value of FILTER is in fixdt(0,16,16)
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// Value of FILTER is in fixdt(0,16,16)
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// VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6554 = 0.1 * 2^16
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// VAL_fixedPoint = VAL_floatingPoint * 2^16. In this case 6553 = 0.1 * 2^16
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#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [ 0.0 - 1.0].
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#define FILTER 6553 // 0.1f [-] lower value == softer filter [0, 65535] = [ 0.0 - 1.0].
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// Value of COEFFICIENT is in fixdt(1,16,14)
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// Value of COEFFICIENT is in fixdt(1,16,14)
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@ -79,10 +79,9 @@ static int16_t offsetdcr = 2000;
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int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
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int16_t batVoltage = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE;
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static int16_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 4; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
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static int16_t batVoltageFixdt = (400 * BAT_CELLS * BAT_CALIB_ADC) / BAT_CALIB_REAL_VOLTAGE << 4; // Fixed-point filter output initialized at 400 V*100/cell = 4 V/cell converted to fixed-point
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// =================================
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//scan 8 channels with 2ADCs @ 20 clk cycles per sample
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// DMA interrupt frequency =~ 16 kHz
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//meaning ~80 ADC clock cycles @ 8MHz until new DMA interrupt =~ 100KHz
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// =================================
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//=640 cpu cycles
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void DMA1_Channel1_IRQHandler(void) {
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void DMA1_Channel1_IRQHandler(void) {
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DMA1->IFCR = DMA_IFCR_CTCIF1;
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DMA1->IFCR = DMA_IFCR_CTCIF1;
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