Added 2FOC V3.5 application.

.gitignore

@@ -0,0 +1,11 @@
+# Build products
+**/build*/
+**/debug/
+**/dist/
+
+# System hidden files
+.DS_Store
+
+# Linux temp files
+*~
+

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/2FOC.h

@@ -45,8 +45,11 @@ typedef union
         unsigned has_hall:1;
         unsigned has_tsens:1;
         unsigned has_index:1;
+
         unsigned has_speed_qe:1;
         unsigned verbose:1;
+        unsigned unused:1;
+        unsigned configured:1;
     };
 
     unsigned int bitmask;

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/ADC.h

@@ -10,18 +10,21 @@
 #include "MeasCurr.h"
 
 // number of samples taken to calculate zero calibration
-#define ADC_CAL_N_SAMPLES 200
+#define ADC_CAL_N_SAMPLES 1024
 
 // Timeout for polling loops during zero calibration
 #define ADC_CAL_TIMEOUT   1000
 
+extern SFRAC16 ADCBuffer[4];
+
 extern volatile tMeasCurrParm MeasCurrParm;
 
 int ADCGetVDCLink();
 // read dclink voltage in [100mV] units
 unsigned int ADCVDCLinkTo100mV(int vdc);
 // pewrform offset calibration
 void ADCDoOffsetCalibration();
+void ADCDoGainCalibration();
 // setup ADC for PWM sync and DMA
 void ADCConfigPWMandDMAMode();
 void ADCInterruptAndDMAEnable();

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/DHES.h

@@ -10,6 +10,7 @@
 
 extern void DHESInit();
 extern unsigned char DHESRead();
+extern char DHESSector();
 extern long DHESPosition();
 extern int DHESVelocity();
 

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/MeasCurr.h

@@ -41,10 +41,10 @@ typedef struct {
     SFRAC16   Offseta;
 
     SFRAC16   qKb;        // Q15 
-    SFRAC16   Offsetbc;
+    SFRAC16   Offsetc;
 
     SFRAC16   qKc;        // Q15
-    } tMeasCurrParm;
+} tMeasCurrParm;
 
 void MeasAndCompIaIcCalculateIb();
 void MeasAndCompIaIb();

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/UserParms.h

@@ -17,7 +17,13 @@
 
 //#define UDEF_CURRENT_MAX 4000 // 4 A
 #define UDEF_SPEED_MAX  32767
+#ifndef RELENTLESS
 #define UDEF_PWM_MAX    25600 // 800*32 = 80%
+#else
+#define UDEF_PWM_MAX    25600 // 800*32 = 80%
+#endif
+
+#define HALL_ERROR_MAX_CNT 1000
 
 //
 // Quadrature (incremental) Encoders parameters
@@ -122,7 +128,7 @@
 #define CAN_CMD_ALWAYS_ACCEPT
 
 // Oscillator Parameters
-#define PLLIN              10000000  // External Crystal or Clock Frequency (Hz)
+#define PLLIN          10000000  // External Crystal or Clock Frequency (Hz)
 #define DESIREDMIPS	   40000000  // Enter desired MIPS
 
 // number of elements in the list of possible contents of periodic message

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/can_icubProto.h

@@ -28,8 +28,8 @@
 
 /************ FIRMWARE AND CAN PROTOCOL VERSION DEFINITION *******************************************/
 #define FW_VERSION_MAJOR          3
-#define FW_VERSION_MINOR          3
-#define FW_VERSION_BUILD          3
+#define FW_VERSION_MINOR          5
+#define FW_VERSION_BUILD          0
 
 #define CAN_PROTOCOL_VERSION_MAJOR      1
 #define CAN_PROTOCOL_VERSION_MINOR      6

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/park.h

@@ -58,7 +58,7 @@ typedef struct {
 //void ClarkePark(void);  // Calculate qId,qIq from qCos,qSin,qIa,qIb
 //void InvPark(void);     // Calculate qValpha, qVbeta from qSin,qCos,qVd,qVq
 
-extern tParkParm ParkParm;
+extern volatile tParkParm ParkParm;
 #endif
 
 

emBODY/eBcode/arch-dspic/board/2foc/appl/2FOC-V3/include/qep.h

@@ -37,11 +37,16 @@ extern volatile BOOL qe_ready;
 extern volatile int QE_RESOLUTION;
 #define QEready() qe_ready
 
+// MECAPION
+//#define QEgetRaw() (POSCNT<<5)
+//#define QEgetElettrDeg() ((int)(__builtin_muluu(POSCNT,360)>>11))
+
 extern void QEinit(int qe_resolution,int motor_num_poles,char use_index);
 extern unsigned int QEgetRaw();
 extern int QEcountError();
 extern void QEcountErrorClear();
 extern int QEgetElettrDeg();
 extern int QEgetPos();
+extern void QEsignalZeroCrossing(int UPDN);
 
 #endif