Merge branch 'master' into bmw-i3-adc

jsphuebner · May 4, 2021 · 6cd5bd1 · 6cd5bd1
2 parents 64cff59 + fc2c185
commit 6cd5bd1
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Showing 8 changed files with 26 additions and 25 deletions.
diff --git a/include/anain_prj.h b/include/anain_prj.h
@@ -7,8 +7,8 @@
 #define NUM_SAMPLES 12
 #define SAMPLE_TIME ADC_SMPR_SMP_7DOT5CYC
 #elif CONTROL == CTRL_FOC
-#define NUM_SAMPLES 3
-#define SAMPLE_TIME ADC_SMPR_SMP_1DOT5CYC
+#define NUM_SAMPLES 8
+#define SAMPLE_TIME ADC_SMPR_SMP_7DOT5CYC
 #endif // CONTROL
 
 #define ANA_IN_LIST \

diff --git a/include/hwdefs.h b/include/hwdefs.h
@@ -9,7 +9,6 @@
 #define USART_BAUDRATE 115200
 //Maximum PWM frequency is 36MHz/2^MIN_PWM_DIGITS
 #define MIN_PWM_DIGITS 11
-#define RCC_CLOCK_SETUP rcc_clock_setup_in_hse_8mhz_out_72mhz
 
 #define PWM_TIMER     TIM1
 #define PWM_TIMRST    RST_TIM1
@@ -25,10 +24,7 @@
 #define OVER_CUR_POS       hwRev == HW_BLUEPILL ? TIM_OC2 : TIM_OC3
 
 //Address of parameter block in flash
-#define FLASH_PAGE_SIZE 1024
-#define PARAM_ADDRESS 0x0801FC00
-#define PARAM_BLKSIZE FLASH_PAGE_SIZE
-#define CANMAP_ADDRESS 0x0801F800
+#define PARAM_BLKSIZE 1024
 
 #define REV_CNT_IC         hwRev == HW_REV1 ? TIM_IC3 : TIM_IC1
 #define REV_CNT_OC         hwRev == HW_REV1 ? TIM_OC3 : TIM_OC1

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 5.02.R
+#define VER 5.05.R
 
 /* Entries must be ordered as follows:
    1. Saveable parameters (id != 0)
@@ -78,6 +78,7 @@
     PARAM_ENTRY(CAT_DERATE,  idcmax,      "A",       0,      5000,   5000,   96  ) \
     PARAM_ENTRY(CAT_DERATE,  idcmin,      "A",       -5000,  0,     -5000,   98  ) \
     PARAM_ENTRY(CAT_DERATE,  idckp,       "dig",     0.1,    20,    2,       130 ) \
+    PARAM_ENTRY(CAT_DERATE,  idcflt,      "dig",     0,      11,    9,       132 ) \
     PARAM_ENTRY(CAT_DERATE,  tmphsmax,    "°C",      50,     150,   85,      125 ) \
     PARAM_ENTRY(CAT_DERATE,  tmpmmax,     "°C",      70,     300,   300,     127 ) \
     PARAM_ENTRY(CAT_DERATE,  throtmax,    "%",       0,      100,   100,     97  ) \
@@ -176,7 +177,7 @@
     VALUE_ENTRY(din_ocur,    OKERR,   2030 ) \
     VALUE_ENTRY(din_desat,   OKERR,   2031 ) \
     VALUE_ENTRY(din_bms,     ONOFF,   2032 ) \
-    VALUE_ENTRY(cpuload,     "%",     2035 )
+    VALUE_ENTRY(cpuload,     "%",     2035 ) \
 
 #define VALUES_SINE \
     VALUE_ENTRY(ilmax,       "A",     2005 ) \
@@ -198,12 +199,12 @@
     MOTOR_PARAMETERS_SINE \
     MOTOR_PARAMETERS_COMMON \
     INVERTER_PARAMETERS_COMMON \
-    DERATE_PARAMETERS_COMMON \
-    DERATE_PARAMETERS_SINE \
-    CHARGER_PARAMETERS \
     THROTTLE_PARAMETERS_COMMON \
     THROTTLE_PARAMETERS_SINE \
     REGEN_PARAMETERS \
+    DERATE_PARAMETERS_COMMON \
+    DERATE_PARAMETERS_SINE \
+    CHARGER_PARAMETERS \
     AUTOMATION_CONTACT_PWM_COMM_PARAMETERS \
     PARAM_ENTRY(CAT_TEST,    fslipspnt,   "Hz",      -100,   1000,   0,      0   ) \
     PARAM_ENTRY(CAT_TEST,    ampnom,      "%",       0,      100,    0,      0   ) \
@@ -218,11 +219,11 @@
     MOTOR_PARAMETERS_COMMON \
     INVERTER_PARAMETERS_COMMON \
     INVERTER_PARAMETERS_FOC \
-    DERATE_PARAMETERS_COMMON \
-    CHARGER_PARAMETERS \
     THROTTLE_PARAMETERS_COMMON \
     THROTTLE_PARAMETERS_FOC \
     REGEN_PARAMETERS \
+    DERATE_PARAMETERS_COMMON \
+    CHARGER_PARAMETERS \
     AUTOMATION_CONTACT_PWM_COMM_PARAMETERS \
     PARAM_ENTRY(CAT_TEST,    manualiq,    "A",       -400,   400,    0,      0  ) \
     PARAM_ENTRY(CAT_TEST,    manualid,    "A",       -400,   400,    0,      0  ) \

diff --git a/libopencm3 b/libopencm3
diff --git a/libopeninv b/libopeninv
diff --git a/src/hwinit.cpp b/src/hwinit.cpp
@@ -43,8 +43,9 @@
 */
 void clock_setup(void)
 {
-   RCC_CLOCK_SETUP();
+   rcc_clock_setup_in_hse_8mhz_out_72mhz();
 
+   //Run ADC at 12 MHz
 	rcc_set_adcpre(RCC_CFGR_ADCPRE_PCLK2_DIV6);
 
    //The reset value for PRIGROUP (=0) is not actually a defined
@@ -60,7 +61,7 @@ void clock_setup(void)
    rcc_periph_clock_enable(RCC_TIM2); //Scheduler, over current on blue pill
    rcc_periph_clock_enable(RCC_TIM3); //Rotor Encoder
    rcc_periph_clock_enable(RCC_TIM4); //Overcurrent / AUX PWM, scheduler on blue pill
-   rcc_periph_clock_enable(RCC_DMA1);  //ADC, Encoder and UART receive
+   rcc_periph_clock_enable(RCC_DMA1);  //ADC, Encoder and UART3
    rcc_periph_clock_enable(RCC_ADC1);
    rcc_periph_clock_enable(RCC_CRC);
    rcc_periph_clock_enable(RCC_AFIO); //CAN

diff --git a/src/pwmgeneration-foc.cpp b/src/pwmgeneration-foc.cpp
@@ -56,6 +56,7 @@ void PwmGeneration::Run()
       Encoder::UpdateRotorAngle(dir);
 
       CalcNextAngleSync(dir);
+      FOC::SetAngle(angle);
 
       frqFiltered = IIRFILTER(frqFiltered, frq, 8);
       int moddedKi = curki + kifrqgain * FP_TOINT(frqFiltered);
@@ -68,7 +69,7 @@ void PwmGeneration::Run()
 
       if (opmode == MOD_RUN && initwait == 0)
       {
-         s32fp fwIdRef = idref <= 0 ? fwController.Run(iq) : 0;
+         s32fp fwIdRef = idref <= 0 ? fwController.RunProportionalOnly(iq) : 0;
          dController.SetRef(idref + fwIdRef);
       }
       else if (opmode == MOD_MANUAL)
@@ -82,11 +83,11 @@ void PwmGeneration::Run()
       int32_t qlimit = FOC::GetQLimit(ud);
       qController.SetMinMaxY(-qlimit, qlimit);
       int32_t uq = qController.Run(iq);
-      FOC::InvParkClarke(ud, uq, angle);
+      FOC::InvParkClarke(ud, uq);
 
       s32fp idc = (iq * uq + id * ud) / FOC::GetMaximumModulationIndex();
       idc = FP_MUL(idc, dcCurFac);
-      idcFiltered = IIRFILTER(idcFiltered, idc, 10);
+      idcFiltered = IIRFILTER(idcFiltered, idc, Param::GetInt(Param::idcflt));
 
       Param::SetFlt(Param::fstat, frq);
       Param::SetFlt(Param::angle, DIGIT_TO_DEGREE(angle));
@@ -229,7 +230,6 @@ void PwmGeneration::PwmInit()
 
 s32fp PwmGeneration::ProcessCurrents(s32fp& id, s32fp& iq)
 {
-
    if (initwait > 0)
    {
       initwait--;
@@ -239,9 +239,9 @@ s32fp PwmGeneration::ProcessCurrents(s32fp& id, s32fp& iq)
    s32fp il2 = GetCurrent(AnaIn::il2, ilofs[1], Param::Get(Param::il2gain));
 
    if ((Param::GetInt(Param::pinswap) & SWAP_CURRENTS) > 0)
-      FOC::ParkClarke(il2, il1, angle);
+      FOC::ParkClarke(il2, il1);
    else
-      FOC::ParkClarke(il1, il2, angle);
+      FOC::ParkClarke(il1, il2);
    id = FOC::id;
    iq = FOC::iq;
 
@@ -259,9 +259,11 @@ void PwmGeneration::CalcNextAngleSync(int dir)
    {
       uint16_t syncOfs = Param::GetInt(Param::syncofs);
       uint16_t rotorAngle = Encoder::GetRotorAngle();
+      int syncadv = (frq - FP_FROMINT(10)) * 10;
+      syncadv = MAX(0, syncadv);
 
       //Compensate rotor movement that happened between sampling and processing
-      syncOfs += FP_TOINT(dir * frq * 10);
+      syncOfs += FP_TOINT(dir * syncadv);
 
       angle = polePairRatio * rotorAngle + syncOfs;
       frq = polePairRatio * Encoder::GetRotorFrequency();

diff --git a/src/stm32_sine.cpp b/src/stm32_sine.cpp
@@ -182,6 +182,7 @@ static void Ms10Task(void)
 
    if (newMode != MOD_OFF)
    {
+      opmode = newMode;
       DigIo::dcsw_out.Set();
       DigIo::err_out.Clear();
       DigIo::prec_out.Clear();
+5 −2		include/foc.h
+7 −1		include/picontroller.h
+1 −0		include/stm32_can.h
+0 −1		include/stm32scheduler.h
+13 −1		src/anain.cpp
+17 −11		src/foc.cpp
+16 −4		src/param_save.cpp
+11 −0		src/picontroller.cpp
+14 −3		src/stm32_can.cpp
+4 −13		src/stm32scheduler.cpp