Made syncadv direction dependent, Removed unused parameters

jsphuebner · Nov 7, 2019 · de76838 · de76838
1 parent 71ac7ed
commit de76838
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Showing 8 changed files with 894 additions and 24 deletions.
diff --git a/include/hwdefs.h b/include/hwdefs.h
@@ -38,9 +38,9 @@
 #define CANMAP_ADDRESS 0x0801F800
 
 #define REV_CNT_IC         hwRev == HW_REV1 ? TIM_IC3 : TIM_IC1
+#define REV_CNT_OC         hwRev == HW_REV1 ? TIM_OC3 : TIM_OC1
 #define REV_CNT_CCR        hwRev == HW_REV1 ? TIM3_CCR3 : TIM3_CCR1
 #define REV_CNT_CCR_PTR    hwRev == HW_REV1 ? (uint32_t)&TIM3_CCR3 : (uint32_t)&TIM3_CCR1
-#define REV_CNT_CCER       hwRev == HW_REV1 ? TIM_CCER_CC3P : TIM_CCER_CC1P
 #define REV_CNT_SR         hwRev == HW_REV1 ? TIM_SR_CC3IF : TIM_SR_CC1IF
 #define REV_CNT_DMAEN      hwRev == HW_REV1 ? TIM_DIER_CC3DE : TIM_DIER_CC1DE
 #define REV_CNT_DMACHAN    hwRev == HW_REV1 ? DMA_CHANNEL2 : DMA_CHANNEL6

diff --git a/include/inc_encoder.h b/include/inc_encoder.h
@@ -39,7 +39,6 @@ class Encoder
    static uint16_t DecodeAngle(bool invert);
    static int GetPulseTimeFiltered();
    static void GetMinMaxTime(uint32_t& min, uint32_t& max);
-   static void DMASetup();
 };
 
 #endif // INC_ENCODER_H_INCLUDED
diff --git a/include/param_prj.h b/include/param_prj.h
@@ -17,7 +17,7 @@
  * along with this program.  If not, see <http://www.gnu.org/licenses/>.
  */
 
-#define VER 4.62.R
+#define VER 4.64.R
 
 /* Entries must be ordered as follows:
    1. Saveable parameters (id != 0)
@@ -158,8 +158,6 @@
     PARAM_ENTRY(CAT_MOTOR,   dofsramp,    "",        0,      10000,  1000,   117 ) \
     PARAM_ENTRY(CAT_MOTOR,   frqfac,      "dig/Hz",  -10000, 10000,  10,     116 ) \
     PARAM_ENTRY(CAT_MOTOR,   dmargin,     "Hz",      -10000, 0,      -1000,  113 ) \
-    PARAM_ENTRY(CAT_MOTOR,   fweak,       "Hz",      0,      1000,   90,     2   ) \
-    PARAM_ENTRY(CAT_MOTOR,   idweak,      "A/Hz",    -2,     2,      0,      112 ) \
     PARAM_ENTRY(CAT_MOTOR,   polepairs,   "",        1,      16,     2,      32  ) \
     PARAM_ENTRY(CAT_MOTOR,   respolepairs,"",        1,      16,     1,      93  ) \
     PARAM_ENTRY(CAT_MOTOR,   encmode,     ENCMODES,  0,      5,      0,      75  ) \
@@ -185,7 +183,6 @@
     PARAM_ENTRY(CAT_DERATE,  bmslimlow,   "%",       -100,   0,      -1,     56  ) \
     PARAM_ENTRY(CAT_DERATE,  udcmin,      "V",       0,      1000,   450,    42  ) \
     PARAM_ENTRY(CAT_DERATE,  udcmax,      "V",       0,      1000,   520,    43  ) \
-    PARAM_ENTRY(CAT_DERATE,  iacmax,      "A",       0,      5000,   5000,   89  ) \
     PARAM_ENTRY(CAT_DERATE,  idcmax,      "A",       0,      5000,   5000,   96  ) \
     PARAM_ENTRY(CAT_DERATE,  idcmin,      "A",       -5000,  0,     -5000,   98  ) \
     PARAM_ENTRY(CAT_DERATE,  throtmax,    "%",       0,      100,   100,     97  ) \

diff --git a/libopeninv b/libopeninv
diff --git a/src/inc_encoder.cpp b/src/inc_encoder.cpp
@@ -327,19 +327,6 @@ u32fp Encoder::CalcFrequencyFromAngleDifference(uint16_t angle)
    return frq;
 }
 
-void Encoder::DMASetup()
-{
-   dma_disable_channel(DMA1, REV_CNT_DMACHAN);
-   dma_set_peripheral_address(DMA1, REV_CNT_DMACHAN, REV_CNT_CCR_PTR);
-   dma_set_memory_address(DMA1, REV_CNT_DMACHAN, (uint32_t)timdata);
-   dma_set_peripheral_size(DMA1, REV_CNT_DMACHAN, DMA_CCR_PSIZE_16BIT);
-   dma_set_memory_size(DMA1, REV_CNT_DMACHAN, DMA_CCR_MSIZE_16BIT);
-   dma_set_number_of_data(DMA1, REV_CNT_DMACHAN, MAX_REVCNT_VALUES);
-   dma_enable_memory_increment_mode(DMA1, REV_CNT_DMACHAN);
-   dma_enable_circular_mode(DMA1, REV_CNT_DMACHAN);
-   dma_enable_channel(DMA1, REV_CNT_DMACHAN);
-}
-
 void Encoder::InitTimerSingleChannelMode()
 {
    const ENCODER_CONFIG* currentConfig = &encoderConfigurations[0];
@@ -391,7 +378,7 @@ void Encoder::InitTimerSingleChannelMode()
    /* Save timer value on input pulse with smaller filter constant */
    timer_ic_set_filter(REV_CNT_TIMER, REV_CNT_IC, selectedConfig->captureFilter);
    timer_ic_set_input(REV_CNT_TIMER, REV_CNT_IC, TIM_IC_IN_TI1);
-   TIM_CCER(REV_CNT_TIMER) |= REV_CNT_CCER; //No API function yet available
+   timer_set_oc_polarity_high(REV_CNT_TIMER, REV_CNT_OC);
    timer_ic_enable(REV_CNT_TIMER, REV_CNT_IC);
 
    timer_enable_irq(REV_CNT_TIMER, REV_CNT_DMAEN);
@@ -401,8 +388,17 @@ void Encoder::InitTimerSingleChannelMode()
    timer_enable_counter(REV_CNT_TIMER);
    gpio_set_mode(NORTH_EXC_PORT, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, NORTH_EXC_PIN);
    gpio_set_mode(GPIOA, GPIO_MODE_INPUT, GPIO_CNF_INPUT_FLOAT, GPIO6 | GPIO7);
-   DMASetup();
-   exti_disable_request(EXTI2);
+   exti_disable_request(NORTH_EXC_EXTI);
+
+   dma_disable_channel(DMA1, REV_CNT_DMACHAN);
+   dma_set_peripheral_address(DMA1, REV_CNT_DMACHAN, REV_CNT_CCR_PTR);
+   dma_set_memory_address(DMA1, REV_CNT_DMACHAN, (uint32_t)timdata);
+   dma_set_peripheral_size(DMA1, REV_CNT_DMACHAN, DMA_CCR_PSIZE_16BIT);
+   dma_set_memory_size(DMA1, REV_CNT_DMACHAN, DMA_CCR_MSIZE_16BIT);
+   dma_set_number_of_data(DMA1, REV_CNT_DMACHAN, MAX_REVCNT_VALUES);
+   dma_enable_memory_increment_mode(DMA1, REV_CNT_DMACHAN);
+   dma_enable_circular_mode(DMA1, REV_CNT_DMACHAN);
+   dma_enable_channel(DMA1, REV_CNT_DMACHAN);
 }
 
 void Encoder::InitSPIMode()

diff --git a/src/pwmgeneration.cpp b/src/pwmgeneration.cpp
@@ -222,7 +222,7 @@ void PwmGeneration::CalcNextAngleSync(int dir)
       uint16_t rotorAngle = Encoder::GetRotorAngle();
 
 #if CONTROL == CTRL_FOC
-      syncOfs += FP_TOINT(frq * Param::GetInt(Param::syncadv));
+      syncOfs += FP_TOINT(dir * frq * Param::GetInt(Param::syncadv));
 #endif // CONTROL
 
       angle = polePairs * rotorAngle + syncOfs;
+1 −0		include/stm32_can.h
+110 −2		src/stm32_can.cpp
+4 −4		src/stm32scheduler.cpp