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Update util.c

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Candas1 2020-10-28 23:42:22 +01:00 committed by GitHub
parent aaeb44d0b6
commit e508a2131a
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1 changed files with 26 additions and 26 deletions
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Src/util.c
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@ -429,7 +429,7 @@ void calcAvgSpeed(void) {
* - release potentiometers to the resting postion * - release potentiometers to the resting postion
* - press the power button to confirm or wait for the 20 sec timeout * - press the power button to confirm or wait for the 20 sec timeout
*/ */
void inputCalibLim(void) { void adcCalibLim(void) {
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return; return;
} }
@ -451,6 +451,7 @@ void inputCalibLim(void) {
// Extract MIN, MAX and MID from ADC while the power button is not pressed // Extract MIN, MAX and MID from ADC while the power button is not pressed
while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) { // 20 sec timeout while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && input_cal_timeout++ < 4000) { // 20 sec timeout
readInput();
filtLowPass32(cmd1_in, FILTER, &input1_fixdt); filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
filtLowPass32(cmd2_in, FILTER, &input2_fixdt); filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095); // convert fixed-point to integer INPUT1_MID_temp = (uint16_t)CLAMP(input1_fixdt >> 16, 0, 4095); // convert fixed-point to integer
@ -500,36 +501,35 @@ void updateCurSpdLim(void) {
if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning if (speedAvgAbs > 5) { // do not enter this mode if motors are spinning
return; return;
} }
#ifdef CONTROL_ADC
consoleLog("Torque and Speed limits update started... "); consoleLog("Torque and Speed limits update started... ");
int32_t adc1_fixdt = adc_buffer.l_tx2 << 16; int32_t input1_fixdt = cmd1_in << 16;
int32_t adc2_fixdt = adc_buffer.l_rx2 << 16; int32_t input2_fixdt = cmd2_in << 16;
uint16_t cur_spd_timeout = 0; uint16_t cur_spd_timeout = 0;
uint16_t cur_factor; // fixdt(0,16,16) uint16_t cur_factor; // fixdt(0,16,16)
uint16_t spd_factor; // fixdt(0,16,16) uint16_t spd_factor; // fixdt(0,16,16)
// Wait for the power button press // Wait for the power button press
while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) { // 10 sec timeout while (!HAL_GPIO_ReadPin(BUTTON_PORT, BUTTON_PIN) && cur_spd_timeout++ < 2000) { // 10 sec timeout
filtLowPass32(adc_buffer.l_tx2, FILTER, &adc1_fixdt); readInput();
filtLowPass32(adc_buffer.l_rx2, FILTER, &adc2_fixdt); filtLowPass32(cmd1_in, FILTER, &input1_fixdt);
HAL_Delay(5); filtLowPass32(cmd2_in, FILTER, &input2_fixdt);
} HAL_Delay(5);
}
// Calculate scaling factors // Calculate scaling factors
cur_factor = CLAMP((adc1_fixdt - (ADC1_MIN_CAL << 16)) / (ADC1_MAX_CAL - ADC1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A cur_factor = CLAMP((input1_fixdt - (INPUT1_MIN_CAL << 16)) / (INPUT1_MAX_CAL - INPUT1_MIN_CAL), 6553, 65535); // ADC1, MIN_cur(10%) = 1.5 A
spd_factor = CLAMP((adc2_fixdt - (ADC2_MIN_CAL << 16)) / (ADC2_MAX_CAL - ADC2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm spd_factor = CLAMP((input2_fixdt - (INPUT2_MIN_CAL << 16)) / (INPUT2_MAX_CAL - INPUT2_MIN_CAL), 3276, 65535); // ADC2, MIN_spd(5%) = 50 rpm
// Update maximum limits
rtP_Left.i_max = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
rtP_Left.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
rtP_Right.i_max = rtP_Left.i_max;
rtP_Right.n_max = rtP_Left.n_max;
// Update maximum limits cur_spd_valid = 1;
rtP_Left.i_max = (int16_t)((I_MOT_MAX * A2BIT_CONV * cur_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4) consoleLog("OK\n");
rtP_Left.n_max = (int16_t)((N_MOT_MAX * spd_factor) >> 12); // fixdt(0,16,16) to fixdt(1,16,4)
rtP_Right.i_max = rtP_Left.i_max;
rtP_Right.n_max = rtP_Left.n_max;
cur_spd_valid = 1;
consoleLog("OK\n");
#endif
} }
/* /*